Gripping device for gripping hairpins and for inserting gripped hairpins, in particular into stators of electric motors

Abstract

Gripping device (10, 100) for gripping hairpins and for placing gripped hairpins in, in particular, stators of electric motors, comprising a base body (12), a first gripper (20) provided on the base body (12), and a second gripper (22), wherein the first gripper (20) and the second gripper (22) each have gripping jaws (26) that can be moved towards and away from each other along a gripping axis (24), wherein a cantilever arm (32) is provided on the base body (12) which is pivotable about a cantilever arm pivot axis (36), and in that the second gripper (22) is rotatable on the cantilever arm (32) about a transverse axis (34) extending transversely to its gripping axis (24), characterized in that a first drive train which can be driven by a first drive (44) is provided in or on the base body (12) with which the second gripper (22) is rotatable about its transverse axis (34).

Description

[0001] The invention relates to a gripping device for the automated gripping of hairpins and for inserting the gripped hairpins, in particular into stators of electric motors. Such a gripping device comprises a base body and a first gripper and a second gripper provided on the base body, wherein the first gripper and the second gripper each have gripping jaws that can be moved towards and away from each other along a gripping axis.

[0002] Such a gripping device is known, for example, from DE 10 2019 114 221 A1. This type of gripping device has the disadvantage that the grippers used to hold sections of the hairpin to be gripped have comparatively few degrees of freedom. In particular, gripping and inserting hairpins with complex geometries, or those to be inserted into fixtures, especially for pre-assembling a ring of hairpins or directly into stators with complex geometries, cannot always be satisfactorily accomplished with such a gripping device. The hairpins can be inserted either directly into a stator or into a fixture, which can then be arranged on the stator or with which the hairpins can be inserted into the stator.

[0003] Other gripping devices for the mechanical gripping and setting of hairpins are known, for example, from EP 3 758 202 A1 and EP 3 664 264 A1.

[0004] DE 10 2018 108 656 A1 discloses a device for bending wire with two holding elements, one of which is rotatable about its transverse axis. US 4,780,047 discloses a modular manipulator with a plurality of drives for powering shoulder, elbow, and wrist joints. DE 20 2014 100 334 U1 discloses a robot tool with an integrated drive train for moving a drive component.

[0005] The present invention is based on the objective of further developing a gripping device mentioned above in such a way that more complex hairpins can be gripped and complex insertion processes can be carried out. The gripping device should be flexible in its application, operate reliably, and yet be comparatively small.

[0006] This problem is solved by a gripping device with the features of claim 1. In particular, it is provided that a cantilever arm is provided on the base body, which is pivotable about a cantilever axis of rotation, and that the second gripper is rotatable on the cantilever arm about a transverse axis extending perpendicular to its gripping axis. The second gripper is therefore a gripper movably arranged on the base body.

[0007] The inclusion of a pivotable cantilever arm, to which the second, movable gripper is attached, allows the gripper to be moved within a predefined space. Furthermore, the gripper can be rotated about its transverse axis, depending on the required position. This results in a high degree of freedom and flexibility, enabling a wide variety of gripping and setting tasks for the hairpins. The cantilever arm does not need to be directly attached to or supported by the base body, but can be indirectly connected to or supported by suitable movement elements.

[0008] A first drive train, powered by a drive mechanism, is provided in or on the base body, enabling the second, movable gripper to rotate about its transverse axis. This drive allows the rotational position of the second gripper to be adjusted around its axis of rotation, thus ensuring optimal gripping and placement performance. In particular, such a gripping device allows different hairpins to be used in the same stator.

[0009] Furthermore, it is advantageous if a second drive train, which can be driven by a second drive, is provided in or on the base body, allowing the cantilever arm to be pivoted about a cantilever arm axis of rotation spaced apart from the transverse axis of the second gripper. The cantilever arm, on which the second, movable gripper is provided, can therefore be pivoted via this second drive train and the associated second drive train. Depending on the hairpins to be gripped, the cantilever arm can thus be pivoted about the cantilever arm axis of rotation as required.

[0010] To further increase the flexibility of the gripping device, it is advantageous to provide a third drive train, powered by a third drive, in or on the base body. This drive train allows the cantilever arm to be moved so that its axis of rotation is moved along a circular arc. Consequently, the entire cantilever arm can be displaced relative to the base body such that its axis of rotation moves along the circular arc. A movement along the circular arc of ±90°, ±45°, and ±35° is preferably advantageous.

[0011] To enable the first gripper to be adapted to the gripping task, it is advantageous to provide a fourth drive train, driven by a fourth drive, in or on the base body. This drive train allows the first gripper to be rotatable on the base body, particularly about a transverse axis extending perpendicular to its gripping axis, and / or displaceable along a lateral axis, particularly parallel to the gripping axis. Because the second, movable gripper has comparatively high degrees of freedom, it is sufficient if the first gripper is mounted in a fixed position on the base body or is rotatable about its transverse axis and / or displaceable along the lateral axis.

[0012] It has been shown that when at least one, and preferably all, drive trains comprise one or more gear wheels of a gear drive and / or a belt drive, the gripping device can be built comparatively small, yet the positioning of the two grippers can still be advantageously achieved. It is particularly advantageous if the drive trains consist of both gear drives and belt drives.

[0013] Furthermore, it is advantageous if the base body has two frame elements arranged parallel to each other and enclosing a gap, with at least some of the gear wheels being located in this gap. It is also advantageous if the gear wheels are rotatably mounted on the frame elements along, in particular, parallel axes of rotation. By placing the gear wheels between the frame elements, they are well protected. Furthermore, it is ensured that the gear wheels, or their axes of rotation, can be designed to run parallel to each other. The parallel axes of rotation also preferably run parallel to the transverse axes about which the respective gripper can be rotatably arranged.

[0014] To enable the gripping device to be designed as compactly as possible, it is advantageous to arrange two or more gear wheels from different drive trains so that they can rotate around a single axis of rotation. In particular, it is conceivable that gear wheels from different drive trains can be arranged so that they can rotate around the same axis of rotation, whereby the gear wheels on the same axis of rotation, but originating from different drive trains, are not directly coupled to each other. This allows several gear wheels from different drive trains to be arranged in a minimal installation space.

[0015] Furthermore, it is advantageous if a control unit is provided for controlling the drive(s). The movement of the grippers can then be controlled and regulated via the control unit. Depending on the gripping task, the grippers can then assume different gripping positions.

[0016] Overall, it is advantageous if the drives are designed as lockable rotary actuators. With such drives, the gripper position can be approached with relatively high precision.

[0017] Further details and advantageous embodiments of the invention can be found in the following description, which describes and explains two exemplary embodiments of the invention in more detail.

[0018] They show: Fig. 1 a first gripping device according to the invention in isometric view from an oblique front view; Fig. 2 the gripping device according to Fig. 1 from a slightly rear angle; Fig. 3 the gripping device according to Fig. 1 and Fig. 2 in side view; Fig. 4 the front view of the gripping device according to Fig. 1 and Fig. 2; Fig. 5 the rear view of the gripping device according to Fig. 1 and Fig. 2; Fig. 6 the view according to Fig. 4 without frame elements; Fig. 7 the view according to Fig. 5 without frame elements; Fig. 8 a second gripping device according to the invention in an isometric view from an oblique front view; Fig. 9 the gripping device according to Fig. 8 from the rear at an angle; Fig. 10 the gripping device according to Fig. 8 and Fig. 9 in side view; Fig. 11 the front view of the gripping device according to Fig. 8 and Fig. 9; Fig. 12 the rear view of the gripping device according to Fig. 8 and Fig. 9; and Fig. 13 a cross-section through a section of the gripping device according to Fig. 8 and Fig. 9.

[0019] The in the Fig. The gripping device 10 shown in Figures 1 to 7 comprises a base body 12, which includes two frame elements 16, 18 arranged parallel to each other. The frame elements 16, 18 are connected to each other by means of spacer elements 13 and form a gap 14. Two grippers 20, 22 are movably arranged on the base body 12. Both grippers 20, 22 each have gripper jaws 26 that can move towards and away from each other along their respective gripping axis 24. The gripper jaws 26 of a gripper can be designed such that both gripper jaws 26 are movable; it is also advantageous if one of the gripper jaws 26 is fixed and one of the gripper jaws 26 is movable.

[0020] The gripper 20 is rotatably and lockably mounted on the base body 12, or on its frame element 16, about a pivot axis 30 transverse to its gripping axis 24 via a retaining element 28. The gripper 22 is rotatably mounted at the free end of a cantilever arm 32 about a transverse axis 34 extending transversely to its gripping axis 24. The transverse axis 34 also runs orthogonally to the planes in which the frame elements 16, 18 lie.

[0021] The cantilever arm 32 is thus extended by one in Fig. 1 and Fig. 4 clearly recognizable cantilever pivot axis 36 pivotable.

[0022] Furthermore, the entire cantilever arm 32 is movably arranged on the base body 12 such that the cantilever arm's axis of rotation 36 is displaceable along a circular arc 38. The circular arc 38, which is particularly in Fig. As can be clearly seen, the arc 38 runs around a central axis 40. The circular arc 38 lies in a ring-section-shaped recess 42, which is provided in the frame element 16.

[0023] The gripping device 10 has a total of three drive trains. The first drive train allows the gripper 22 to be rotated about its transverse axis 34. The second drive train allows the cantilever arm 32 to be pivoted about the cantilever arm rotation axis 36, which is spaced apart from the transverse axis 34. The third drive train allows the cantilever arm 32 to be moved such that its cantilever arm rotation axis 36 is moved along the circular arc 38.

[0024] To power the first drive train, a [missing information] is required. Fig. Figure 2 schematically depicts a drive 44 which rotates a first rotary element 46 about a first axis 48. The rotary element 46 is rotaryally coupled to a gear wheel 50 in the form of a gear, which is rotatably mounted between the two frame elements 16 about the first axis 48.

[0025] In Fig. Figure 7 shows the functional relationship of the first drive train; the gear wheel 50, via further gear wheels 52, 54, 56 and 58, which are designed as gears, ultimately drives the gear wheel 60, which is also designed as a gear and is rotatably arranged about the transverse axis 34. While the axes of rotation of the wheels 50, 52, 54 and 56 are spaced apart from each other, the two wheels 56 and 58 are mounted on a common shaft 61, which is rotatable about the cantilever axis 36, and are rotationally fixed to each other. A rotary element 62 is provided on the gear wheel 60 and is rotatably mounted on the cantilever 32 about the transverse axis 34. The gripper 22 is arranged in a rotationally fixed manner on the side of the rotary element 62 facing away from the gear wheel 60, so that when the gear wheel 60 or the rotary element 62 is rotated, the gripper 22 is rotated about its transverse axis 34.By means of the drive 44, depending on the direction of rotation, the rotary element 62, and thus the gripper 22, can therefore be freely rotated about the transverse axis 34 via the first drive train.

[0026] In Fig. Figure 2 shows a second drive 64, which is schematically indicated and with which a second rotary element 66 of the second drive train, arranged to be rotatable about the central axis 40, can be rotated. The second rotary element 66 is mounted on a shaft 63 rotatably on the frame elements 16 and 18 ( Fig. 3) rotaryally coupled to the gear wheel 68, which is in Fig. Figure 4 clearly shows that the gear wheel 68, designed as a toothed gear, meshes with a gear wheel 70, which is rotatably mounted about the cantilever arm axis 36 and fixedly mounted on the cantilever arm 32. By actuating the drive 64, the wheel 70, and thus the entire cantilever arm 32, can be pivoted about the cantilever arm's axis of rotation 36.

[0027] In Fig. Figure 2 shows a third drive 72, schematically indicated, with which a third rotary element 74 can be rotated about a third axis 76. The third rotary element 74 is connected to a Fig. The gear wheel 78, designed as a gear, shown in Figure 6, is rotaryally coupled to a main arm 80 designed like a gear segment. The cantilever axis of rotation 36 is fixed in the main arm 80. As can be seen from the Fig. 6 and Fig. As can be clearly seen in Figure 7, the cantilever arm's axis of rotation 36 lies in the axis of rotation of the two gears 56 and 58 arranged on the shaft 61. By rotating the main arm 80 about the central axis 40, the shaft 61 with the gears 56 and 58, and thus also the cantilever arm's axis of rotation 36, is moved along the circular arc 38. The shaft 61 is guided in the recess 42, and movement of the shaft 61 within the recess 42 is possible within an angular range of approximately 70° to 90°.

[0028] In Fig. In section 7, the gear wheel 54 of the first drive train is indeed rotatably mounted about the central axis 40; however, the gear wheel 54 is not rotationally coupled to the second rotary element 66 of the second drive train. Therefore, the two gear wheels 54 and 68 are both rotatably mounted about the central axis 40, but independently of each other. Accordingly, the three gear wheels 56, 58, and 70 are rotatably mounted about the cantilever axis 36. The two gear wheels 56 and 58, which are both assigned to the first drive train and mounted on the shaft 61, are rotationally fixed to each other. Gear wheel 70, however, which is assigned to the second drive train, is rotationally independent of the other two gear wheels 56 and 58 about the cantilever axis 36. Because several gear wheels from different drive trains are rotatably mounted about the same axis, a comparatively compact and stable design is achieved.

[0029] In order to pivot the first gripper 20 about the axis 30, it is conceivable that a fourth drive, not shown, is provided, which actuates a fourth rotary element, also not shown, which is mounted to rotate about the axis 30.

[0030] A control unit 82 can be provided to control the drives 44, 64, and 72. Furthermore, it is conceivable that position sensors are provided on the grippers 20 and 22 and / or on various gears, with which the respective position of the grippers 20 and 22 can be queried. This position information can be transmitted to the control unit 82 to regulate the movement of the grippers 20 and 22.

[0031] To achieve precise control of the rotary elements 46, 74, and 66, the drives 44, 64, and 72 are preferably designed as lockable rotary actuators. The drives 44, 64, and 72 can be flanged to the frame element 18; however, it is also conceivable that further rotary coupling elements are provided between the respective rotary elements 46, 66, and 74 and the associated drives 44, 64, and 72.

[0032] In the Fig. Figures 8 to 13 show a second embodiment of a gripping device 100 according to the invention. In the gripping device 100, components are included that correspond to the components of the gripping device 10 as shown in the figures. Fig. The numbers shown in 1 to 7 correspond to those marked with the appropriate reference symbols.

[0033] Unlike gripping device 10, which uses only gear drives, gripping device 100 also uses belt drives.

[0034] With regard to the first drive train, with which the gripper 22 is rotated about its transverse axis 34, in Fig. 9 The first drive 44 is clearly visible. The drive 44 has a rotary element 46, which is designed as a pulley or belt pulley, with which a belt 51 can be driven. The belt 51 is coupled to the gear wheel 50, which is designed as a pulley. The gear wheel 50 is non-rotatably connected to a rotary sleeve 53, which in turn is non-rotatably connected to a gear wheel 52, which is also designed as a pulley, as can be seen in particular from the Fig. 10 and Fig. 13 becomes clear. The respective rotary couplings are described in Fig. 13 screws 71 can be identified.

[0035] The wheels 50, 52 and the pivot sleeve 53 are arranged to rotate about the central axis 40. As further shown, in particular from the Fig. 10 and Fig. As can be clearly seen in Figure 13, the gear wheel 52 is coupled to another gear wheel 56, which is rotatably arranged around the cantilever axis 36, via a belt 55.

[0036] As also from Fig. As can be clearly seen in Figure 13, the gear wheel 56 is non-rotatably connected to the gear 58 via a rotary sleeve 57. The gear 58 meshes with the gear 60, which is rotatably mounted about the transverse axis 34. The rotary element 62 is non-rotatably mounted on the gear 60 and is rotatably mounted on the cantilever arm 32 about the transverse axis 34. The gripper 22 is non-rotatably arranged on the side of the rotary element 62 facing away from the gear 60, so that rotation of the gear wheel 60 or the rotary element 62 rotates the gripper 22 about its transverse axis 34. Consequently, depending on the direction of rotation, the rotary element 62, and thus the gripper 22, can be freely rotated about the transverse axis 34 via the first drive train by means of the drive 44.

[0037] Especially in the Fig. Figure 8 shows the second drive 64 of the second drive train, which drives a second rotary element 66, designed as a pulley, that is rotatably arranged about an axis 65. The rotary element 66 drives a belt 67 of a belt drive, which, as shown in the Fig. 10 and Fig. As is clearly shown in Figure 13, it is operatively connected to a gear wheel 68.1. The gear wheel 68.1 is connected to a gear wheel 68.2 via a rotating sleeve 69 by means of screws 71 ( Fig. 13) connected in a rotationally fixed manner. The gear wheels 68.1 and 68.2 and the rotary sleeve 69 are arranged to be rotatably mounted about the central axis 40. As further shown in particular in the Fig. 10 and Fig. As is clearly shown in Figure 13, the gear wheel 68.2 drives a belt 73, which in turn drives the gear wheel 70, which is rotatably mounted about the cantilever axis 36. The gear wheel 70 is connected via a Fig. 13. The recognizable spacer 75 is rotatably coupled to the cantilever arm 32 such that when the gear wheel 70, and thus the spacer 75, is rotated, the cantilever arm 32 is rotated about the cantilever arm's axis of rotation 36. Fastening screws 77 are provided to prevent the gear wheel 70 with the spacer 75 and the cantilever arm 32 from rotating on the spacer 75.

[0038] Furthermore, how from Fig. As can be clearly seen in Figure 13, the spacer 75, which is assigned to the second drive train, is rotatably mounted in the main arm 80 about the cantilever pivot axis 36 by means of a rotary bearing 81. Furthermore, the rotary sleeve 57 of the first drive train is freely rotatable with the gear 58 about the cantilever pivot axis 36 and about the spacer 75.

[0039] The third powertrain, which is from the in Fig. The drive 72, which is recognizable as a belt drive, also comprises a belt drive. The drive 72 drives the gear wheel 74, designed as a belt pulley, around the axis 76. The gear wheel 74 drives a belt 83, which is particularly in the Fig. 9, Fig. 10 and Fig. 13 can be seen. The belt 83 drives the gear wheel 78, which is rotatably mounted about the central axis 40 and is rotationally fixed to the main arm 80. This allows the main arm 80 to pivot about the central axis 40, thereby also pivoting the cantilever arm's axis of rotation 36 along the arc 38, which is located in the Fig. 11 and Fig. As can be clearly seen in Figure 12, the main arm 80 is moved. The rotational movement of the main arm 80 around the central axis 40 or around the stationary shaft 87 is possible within an angular range of over 180°.

[0040] The main arm 80 is, as seen from Fig. As is clearly shown in Figure 13, the shaft is rotatably mounted on a fixed shaft 87 extending around the central axis 40 via a rotary bearing 85. As also shown in Figure 13, the shaft 87 is... Fig. As can be clearly seen in Figure 13, the gear wheels 68.1, 68.2 of the first drive train as well as the gear wheels 50, 52 and the rotary sleeve 53 of the second drive train are rotatably mounted.

[0041] Even in the embodiment according to the Fig. A control unit for controlling the respective drives 44, 64 and 72 can be provided at positions 8 to 13. Accordingly, the drives 44, 64 and 72 are preferably designed as lockable rotary actuators.

[0042] The gripping devices 10 and 100 shown in the figures have the advantage that both grippers 20 and 22, and in particular the respective gripper 22, can assume a suitable gripping position with a comparatively large number of degrees of freedom in order to optimally grip and hold sections of the hairpin to be gripped and placed in a corresponding device or in a stator.

Claims

[1] Gripping device (10, 100) for gripping hairpins and for setting gripped hairpins in particular stators of electric motors, comprising a base body (12), a first gripper (20) provided on the base body (12) and a second gripper (22), wherein the first gripper (20) and the second gripper (22) each have gripping jaws (26) that can be moved towards and away from each other along a gripping axis (24), wherein a cantilever arm (32) is provided on the base body (12) which is pivotable about a cantilever axis of rotation (36), and wherein the second gripper (22) is rotatable on the cantilever arm (32) about a transverse axis (34) extending transversely to its gripping axis (24), characterized by , that a first drive train which can be driven by a first drive (44) is provided in or on the base body (12), with which the second gripper (22) can be rotated about its transverse axis (34). [2] Gripping device (10, 100) according to claim 1, characterized by, that a second drive train which can be driven by a second drive (64) is provided in or on the base body (12), with which the cantilever arm (32) can be pivoted about a cantilever arm pivot axis (36) spaced apart from the transverse axis (34) of the second gripper (22). [3] Gripping device (10, 100) according to claim 1 or 2, characterized by , that a third drive train which can be driven by a third drive (72) is provided in or on the base body (12), with which the cantilever arm (32) can be moved in such a way that the cantilever arm rotation axis (36) is moved along a circular arc (38). [4] Gripping device (10, 100) according to one of the preceding claims, characterized by , that a fourth drive train, which can be driven by a fourth drive, is provided in or on the base body (12), with which the first gripper (20) on the base body (12) can be rotated about a transverse axis (30) extending transversely to its gripping axis (24) and / or displaced along a displacement axis. [5] Gripping device (10, 100) according to one of the preceding claims, characterized by , that at least one of the drive trains comprises one or more gear wheels (50, 52, 54, 56, 58, 60, 62, 68, 70, 78, 80) of a gear transmission and / or a belt transmission. [6] Gripping device (10, 100) according to one of the preceding claims, characterized by , that the base body (12) has two frame elements (16, 18) arranged parallel to each other, enclosing an intermediate space (14), wherein gear wheels (50, 52, 54, 56, 58, 60, 62, 68, 70, 78, 80) are provided in the intermediate space (14) and are rotatably mounted on the frame elements (16, 18) along axes of rotation (40, 48, 76). [7] Gripping device (10, 100) according to one of the preceding claims, characterized by , that two or more gear wheels (56, 58, 70; 54, 68; 50, 52; 68.1, 68.2; 70, 56)) of different drive trains are arranged to be rotatable about a pivot axis (36; 40). [8] Gripping device (10, 100) according to one of the preceding claims, characterized by , that the drive(s) (44, 64, 72) are flanged to a side of a frame element (16, 18) facing away from the space (14). [9] Gripping device (10, 100) according to one of the preceding claims, characterized by , that a control unit (82) is provided for controlling the drive(s) (44, 64, 72). [10] Gripping device (10, 100) according to one of the preceding claims, characterized by , that the drive(s) (44, 64, 72) are designed as lockable rotary actuators.

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