Method and clamping device for producing plug-in winding of electric machine
The conductor rod ends of the motor plug-in winding are clamped and plastically deformed by a clamping device, which solves the problem of poor welding quality and achieves high-quality welding results.
Patent Information
- Application Number
- CN202480010234.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2023-02-02
- Filing Date
- 2024-01-23
- Publication Date
- 2025-09-12
AI Technical Summary
In the prior art, it is difficult to effectively clamp the ends of the conductor rods of the plug-in winding of the motor during welding, resulting in poor welding quality and problems such as many weld pores and a lot of spatter.
A clamping device is used for clamping, wherein the rod end pairs of the conductor rods are clamped in a radial direction by a first clamp and a second clamp, and a pre-tightening force is maintained by a spacer element, and then a punching force is applied to plastically deform the rod ends, and finally welding is performed.
Improves welding quality, reduces the number of pores in the weld, reduces spatter, improves welding process stability and the quality of material locking connection.
Smart Images
Figure CN120642190A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a method for producing a plug-in winding for an electric machine, wherein a pair of rod ends of a conductor rod to be welded is plastically deformed by the generated punching force. The invention also relates to a clamping device designed to carry out the method according to the invention. Background Art
[0002] US 2022 / 0247285 A1 discloses a method for producing a plug-in winding for a stator of an electric motor and a clamping tool. Summary of the Invention
[0003] The object of the present invention is to improve the clamping of the shank ends of conductor shanks of a plug-in winding of an electric machine during welding of the shank ends, thereby increasing the material-bonded connection after welding of the shank ends.
[0004] According to the invention, the above objects are achieved according to independent claims 1 and 6 .
[0005] The present invention relates to a method for producing a plug-in winding for an electric motor, the method comprising providing a stator for the electric motor. The provided stator comprises a plurality of conductor bars for the plug-in winding, each of which is received in a cavity, preferably a groove, extending parallel to the axial direction of the stator, or, advantageously in the case of U-shaped bent conductor bars, in two different cavities, preferably grooves, extending parallel to the axial direction of the stator. One or more cavities can optionally be at least partially closed in the radial direction or in the clamping direction. Preferably, the conductor bars are received in the grooves by insertion prior to the method. Advantageously, insulating paper is arranged between the conductor bars and the stator core. Each two bar ends, or pairs of bar ends, of different conductor bars overlap, in particular according to a predetermined winding pattern and, in particular, outside the stator, preferably at the winding head. In other words, the stator comprises pairs of bar ends of different conductor bars to be welded, wherein the bar ends outside the stator core overlap at the end faces of the stator. In other words, the provided stator comprises overlapping conductor bars, wherein the overlapping is advantageously performed prior to the method. According to the invention, the provided stator is then arranged in or at a clamping device, wherein the clamping device comprises at least one first clamp, a second clamp and a spacing element. When the stator is arranged at the clamping device, the first clamp and the second clamp are advantageously arranged in the radial direction or clamping direction of the stator so that they are preferably set up for clamping the rod end pairs of conductor rods that overlap each other and are to be welded. Advantageously, the clamping device comprises as many first clamps and second clamps as there are corresponding grooves or cavities in the stator that accommodate the conductor rods. The spacing element is arranged between the first clamp and the second clamp. By arranging or introducing the provided stator into the clamping device, the spacing element is positioned from above or below or laterally between the two pairs of rod ends to be welded. In the steps of the method, the first clamp is positioned at a predetermined stop position by moving the first clamp from the inside to the outside in the radial direction. Subsequently, a preload is generated radially from the outside inwards on the second clamp and in the direction of the first clamp, wherein the pair of rod ends to be welded is clamped between the second clamp and the first clamp by means of a spacer element. The preload can be generated, for example, by arranging a spring element at the second clamp. Preferably, all rod ends of overlapping conductor rods to be welded are clamped simultaneously between the first clamp and the second clamp of the clamping device by means of a preload generated by means of a separate spring element, wherein a plurality of spring elements of the clamping device are positioned or arranged at the second clamp by means of an actuator, wherein the actuator is designed to move each spring element in a radial clamping direction by means of a rotatably mounted guide, wherein the guide has, for example, a groove for each spring element, into which a guide element for the spring engages by means of a pin, and wherein the guide element for the spring can be moved by rotation of the guide.Here, at least one spacer element holds the pairs of rod ends to be welded, in particular at a predetermined spacing. According to the invention, a punching force is then generated from the outside inward in a radial clamping direction within a predetermined time period. The punching force is preferably generated by means of an actuator that is in at least indirect contact with the second clamp and is designed to generate a punching force on the second clamp. The actuator is, for example, a hydraulic, pneumatic, or electric actuator. The generated punching force acts on the second clamp, in particular in the direction of the first clamp, and therefore advantageously also acts on all pairs of rod ends to be welded that are clamped between the second clamp and the first clamp using the spacer element. The punching force is greater than the preload force, in particular at least ten times greater or an order of magnitude greater. The generated punching force advantageously causes plastic deformation of the conductor rods of the clamped pairs of rod ends. Preferably, all overlapping conductor rod ends to be welded are simultaneously clamped between a first clamp and a second clamp of a clamping device using a preload force generated by a spring. Subsequently, all clamped and welded rod ends are plastically deformed simultaneously using a stamping force generated by an actuator. A welding process, in particular a laser welding process, is then performed to weld the respective clamped rod end pairs. Alternative welding methods, such as resistance welding or arc welding, or a combination of welding methods, are possible. Preferably, the welding process is repeated for all or each pair of clamped and welded rod ends. In an alternative embodiment of the present invention, the welding process is performed simultaneously on all clamped rod ends. The method according to the present invention achieves zero gap between the welded rod ends during the welding process, even in the event of misalignment of the conductor rods during stator provision. This results in an improved quality of the material-locked connection or weld seam between the welded conductor rod ends. Furthermore, the number of pores in the weld seam is advantageously reduced. Furthermore, the use of a clamping device for clamping and stamping results in low process costs.
[0006] In a preferred extension of the method, before or during the welding process, an operating clamping force is applied in a radial clamping direction from the outside inward toward the first clamp, particularly to the second clamp. In other words, the operating clamping force is advantageously generated after the punching force is generated, and during the welding process, this operating clamping force acts on the rod end clamped between the first and second clamps and to be welded. The operating clamping force is less than the punching force. Preferably, the operating clamping force is less than or equal to the preload force. Therefore, the operating clamping force advantageously corresponds to the preload force and is generated in particular by means of a spring element. Alternatively, the operating clamping force is particularly preferably less than the preload force. In this case, the operating clamping force can be generated in particular by a second position of a spring element or a guide rail or by means of an actuator for generating the punching force. In other words, the actuator is advantageously deactivated or controlled to generate a lower operating clamping force after the punching force is generated. Preferably, the operating clamping force is established to bring the surfaces of the rod ends to be welded into contact. In one continuation approach, contact is advantageously detected by electrical detection of the resistance between the rod ends to be welded or by visual detection using a camera. This continuation approach allows for low forces to be applied between the rod ends during the welding process, thereby improving the quality of the weld seam. For example, the number of pores in the weld seam is further reduced. Furthermore, this continuation approach results in a more robust laser welding process with less spatter.
[0007] In a further development of the invention, at least one pair of rod ends to be welded is detected by means of a camera in the form of a camera image, wherein the preload force and / or the punching force and / or the operating clamping force and / or the welding process are adapted based on the detected camera image, for example, the laser power and / or the feed rate of the laser beam are adapted during the welding process. The camera image can be used to assess, for example, the quality of the plastic deformation and / or the orientation of the rod ends relative to one another. If the assessed quality falls below a threshold value or an error is detected by image analysis methods (such as a large gap size between the clamped pair of rod ends to be welded), the punching force is increased in particular to achieve a predetermined quality or orientation of the conductor rod ends relative to one another. This further development allows, in particular, small misalignments of the conductor rods relative to one another and / or small misalignments of overlapping rod ends relative to one another to be detected and to reduce scrap.
[0008] In another embodiment of the present invention, the preload force and / or the punch force and / or the operating clamping force are detected and, in particular, adjusted using force sensors. The welding process, for example, the laser power and / or the laser beam feed rate, is then advantageously adapted based on the detected preload force and / or the punch force and / or the operating clamping force. This embodiment allows for very low operating clamping forces to be generated and / or for the welding process, such as welding parameters, to be adapted to the detected operating clamping force, thereby improving the quality of the weld seam. Alternatively, in this embodiment, very high punching forces can be generated based on the detected camera image to plastically deform the rod end without risking damage to the rod end, thereby improving the quality of the weld seam.
[0009] In other embodiments of the present invention, electrical parameters are detected between the rod ends to be welded after the punching force is generated. These electrical parameters are, in particular, the level of current and / or resistance and / or electrical impedance between the rod ends to be welded. The level of the operating clamping force and / or the welding process are then adapted based on the detected electrical parameters. This embodiment enables electrical detection of contact between the rod ends and minimizes the operating clamping force and / or optimizes the welding process.
[0010] The present invention also relates to a clamping device designed to be arranged at a top end of a stator of an electric motor, perpendicular to the axial direction. The stator has conductor bars of a plug-in winding that extend from the stator at the top end and overlap in pairs according to a predetermined winding pattern. The clamping device includes at least one first clamp designed to be moved in a radial clamping direction perpendicular to the axial direction of the stator from the inside outward toward the innermost bar end in the radial clamping direction and to be positioned at a predetermined stop position. The clamping device also includes a second clamp designed to be moved in a radial clamping direction from the outside inward toward the first clamp toward the outermost bar end in the radial clamping direction. The pair of bar ends to be welded are clamped between the second clamp and the first clamp by generating a preload force using at least one spacer element. The at least one spacer element of the clamping device, which is mounted so as to be movable in the radial clamping direction, maintains the pair of bar ends to be welded at a predetermined distance from each other. The clamping device also includes a spring element or actuator configured to generate a preload and / or operating clamping force in a radial clamping direction on the second clamping tool for clamping the pair of rod ends to be welded between the second clamping tool and the first clamping tool using at least one spacer element. Furthermore, the clamping device includes at least one actuator configured to generate a pressing force in a radial clamping direction, in particular on the second clamping tool, for clamping. The optional actuator for generating the preload and the actuator for generating the pressing force can be the same actuator or different or separate actuators.
[0011] Preferably, at least one spacer element of the clamping device is supported on the first clamp and / or the second clamp in a manner that it can move in a radial clamping direction, wherein the at least one spacer element is connected to the first clamp and / or the second clamp by means of a spring and is designed to be introduced between two pairs of rod ends to be welded when the stator is arranged in the clamping device by means of two side faces of the spacer element that are particularly pointed obliquely relative to the rod ends.
[0012] Preferably, the second clamp has a first element and a second element, wherein the first element is arranged further inwardly relative to the second element in the radial clamping direction and is designed to directly contact the rod end arranged in the outermost position in the radial clamping direction. The first element and the second element of the second clamp are advantageously in contact, in particular releasably in contact, at least in the radial clamping direction. Advantageously, the first element and the second element are not fixed to each other. In particular, the first element and the second element are advantageously designed to engage with each other. Advantageously, the first element and the second element are designed to transfer forces acting on the first element of the second clamp from the first element to the second element. The two elements of the second clamp or the two-piece embodiment of the second clamp make it possible to more easily assemble the second clamp and, in particular, to easily replace the first element of the second clamp that is subject to wear.
[0013] In a further embodiment, the clamping device comprises at least one force sensor which is designed to detect a preload force and / or an operating clamping force and / or a pressing force applied by means of the actuator.
[0014] In other embodiments, it can be provided that the clamping device comprises a camera which is designed to detect at least one clamped rod end pair to be welded in the form of a camera image.
[0015] In an extended design, the clamping device includes a controller that is configured to control the actuator based on the detected preload force, the detected operating clamping force and / or the detected punching force and / or the detected camera image in order to adapt the preload force, the operating clamping force and / or the detected punching force. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Further advantages are apparent from the following description of exemplary embodiments with reference to the accompanying drawings, in which:
[0017] Figure 1 A flow chart of the method is shown as a block diagram;
[0018] Figure 2 The clamping device is shown in side view together with the provided stator;
[0019] Figure 3A detail of a clamping device with a provided stator is shown in cross section. DETAILED DESCRIPTION
[0020] exist Figure 1The flowchart of a method for manufacturing plug-in windings for electric motors is schematically shown in a block diagram. In the first step 110 of the method, a stator for an electric motor is provided. The stator has a plurality of conductor bars for the plug-in windings, which are accommodated in grooves or cavities. At the winding heads of the plug-in windings or at the ends of the stator, two bar ends of different conductor bars to be welded overlap. The stator is then placed 120 in a clamping device. The clamping device preferably includes a plurality of first and second clamps, and at least one spacer element in each radial clamping direction between the respective first and second clamps. The spacer elements are arranged between the first and second clamps and between the two pairs of overlapping bar ends to be welded. The number of spacer elements depends on the size and winding pattern of the stator plug-in windings. Subsequently, in a further step 130, the first clamp is positioned in the respective radial clamping direction at a predetermined stop position. Positioning is achieved by moving the first clamp from the inside out in the respective radial clamping direction. In step 130, multiple first clamping ends of the clamping device can be simultaneously positioned at predetermined stop positions, for example, by means of a cone inserted into the clamping device. Subsequently, in step 140, a preload force is applied to the second clamping device in a radial clamping direction toward the first clamping device, particularly from the outside inward. The generated preload force clamps the rod ends to be welded together using a spacer element between the second clamping device and the first clamping device. Preferably, the preload force is generated simultaneously in all radial clamping directions using a spring element or an actuator, with the actuator advantageously positioning the spring element at the second clamping device in each radial clamping direction. Positioning multiple corresponding spring elements at the corresponding second clamping devices by the actuator can be accomplished, for example, by means of a rotating guide. It can be provided that, during the generation of the preload force 140, at least one rod end pair to be welded is detected in an optional step 141 using a camera in the form of a camera image. Additionally, it can be optionally provided that the generated preload force is detected 142 using a force sensor. Subsequently, in step 140, the generated preload force is optionally adapted based on the detected camera image and / or the detected preload force. Then, in step 150, a punching force is generated in the radial clamping direction toward the first clamp on the second clamp within a predetermined time period. The generated punching force is greater than the preload force, wherein the generated punching force plastically deforms the conductor rods of the clamped rod end pair. This reduces the gap size and / or the stresses in the material of the conductor rods prior to the plastic deformation, thereby improving the quality and / or stresses in the weld seam subsequently produced between the overlapping rod ends of the conductor rods. It can be provided that during step 150, in an optional step 151, at least one rod end pair to be welded is detected by means of a camera in the form of a camera image. Additionally, it can be optionally provided that the generated punching force is detected 152 by means of a force sensor.Then, optionally in step 150, the level of the punching force is adapted based on the detected camera image and / or the detected punching force. Then, in step 160, an operating clamping force is generated (step 160a), and a welding process is subsequently performed to weld the rod ends of the corresponding rod end pair to be welded (step 160b). During the execution of 160b, the welding process 160, or the welding process 160, the operating clamping force generated, applied, or acting acts on the second clamp in a radial clamping direction, in particular from the outside inward toward the first clamp, wherein the operating clamping force is less than the punching force. Preferably, the generated operating clamping force is less than or equal to the preload force. Furthermore, it can be provided that, before or during the execution of the welding process 160, in an optional step 161, at least one rod end pair to be welded is detected by means of a camera in the form of a camera image. Furthermore, it can be provided that, before or during the execution of the welding process 160, in an optional step 162, the generated operating clamping force is detected by means of a force sensor. Furthermore, it can be provided that the electrical contact of the surfaces of the rod ends to be welded is detected by optionally detecting 163 an electrical variable, in particular an electrical resistance, between the rod ends to be welded. Subsequently, in step 160, the level of the generated operating clamping force is optionally adapted as a function of the detected camera image and / or the detected operating clamping force and / or as a function of the detected electrical variable, wherein the operating clamping force is adapted in particular before the welding process is carried out. It can also be optionally provided that the welding process is adapted as a function of the detected camera image and / or the detected operating clamping force and / or as a function of the detected electrical variable.
[0021] exist Figure 2 Schematically shows the clamping device 200 in a side view together with the provided stator 250. For the sake of clarity of the illustration, the stator 250 is Figure 2 In the embodiment, at the end side 251 perpendicular to the axial direction 290 of the stator 250, there is only one pair of mutually overlapping rod ends 270 of the conductor rods 270 of the plug-in winding of the stator. The conductor rods are received in grooves 252 extending parallel to the axial direction 290. Thus, in Figure 2 The plurality of additional overlapping rod ends 270 of the conductor rods are not shown. The clamping device 200 is arranged at the end face 251 of the provided stator 250. The clamping device can include a laser source 210 and / or a camera 220. Alternatively, the laser source 210 and / or the camera 220 can be arranged outside the clamping device 200. The laser source 210 is configured to weld the overlapping rod ends 270 of the plurality of conductor rods 260, thereby producing the plug-in winding of the stator 250. The plurality of pairs of welded rod ends 270 at the end face 251 of the stator 250 are also referred to as winding heads.
[0022] exist Figure 3FIG2 schematically shows a cross-section of a clamping device 200 together with a detail of a provided stator 250. The clamping device 200 is designed to be arranged at an end face 251 of the stator 250 of an electric motor, perpendicular to the axial direction 290. The clamping device 200 includes a first clamp 201, which is designed to be moved from the inside outward in a radial clamping direction 295 perpendicular to the axial direction 290 of the stator 250 from a starting position x1 toward the innermost rod end 270, 270a in the radial clamping direction 295 and positioned at a predetermined stop position x2. The clamping device also includes a second clamp 202, which is designed to be moved from the outside inward toward the first clamp 201 in the radial clamping direction 295 toward the outermost rod end 270, 270f in the radial clamping direction 295 and to apply a preload force acting in the radial clamping direction 295 to the outermost rod end 270, 270f. The second fixture 202 can be designed in one piece or advantageously in two pieces. If the second fixture 202 comprises a first element 202a and a second element 202b of the second fixture, the assembly of the first element 202a and the replacement of the first element 202a are simplified in the event of wear of the first element 202a of the second fixture 202. The first element 202a is subject to increased wear, for example due to stamping and close welding processes. When the first element 202a is replaced, the second element 202b can remain unchanged. Figure 3 In the embodiment of FIG, three pairs 280 of rod ends 270 to be welded are clamped to each other by means of two spacer elements 203 between the second clamp 202 and the first clamp 201 positioned at the stop position x2 by means of a preload generated by means of a spring element 205. Figure 3 In the example in , the movement of the second clamp 202 and the generation of the preload are achieved by means of a spring element 205, which is received in a guide element 206 and guided therein. The guide element 206 can be moved in a radial clamping direction 295 by rotation of a rotatable slide 204, wherein the rotatable slide 204 has a guide groove 204a for this purpose. Preferably, the rotation of the slide 204 is performed by means of an actuator (not shown here). In addition, the two spacer elements 203 are supported in a manner that can be moved in a radial clamping direction 295, in particular at the first clamp and / or the second clamp 201, 202 and by means of a spring 203a. During clamping, the spacer elements 203 hold the pairs 280 of rod ends 270 to be welded at a predetermined distance relative to each other. In addition, in Figure 3 2 shows an actuator 207, which is designed here to generate a running clamping force and / or a punching force on the second clamp in a radial clamping direction 295. The punching force generated by the actuator 207 is detected by means of a force sensor 208. The force sensor can also be different from Figure 3Arranged at other locations, the actuator 207 comprises, for example, a force sensor.
Claims
1. A method for manufacturing a plug-in winding for an electric motor, the method comprising the following steps: providing (110) a stator (250) of the electric machine, the stator having an axial direction (290), wherein The stator (250) has a plurality of conductor bars (260), wherein in each case two bar ends (270) of different conductor bars (260) to be welded to produce the plug-in winding from the conductor bars (260) overlap one another. Arranging (120) the stator in a clamping device (200), wherein the clamping device (200) comprises, in a radial clamping direction (295) perpendicular to the axial direction (290), at least one first clamp (201), a second clamp (202) and at least one spacer element (203), wherein the spacer element (203) is arranged between the first clamp (201) and the second clamp (202) and between two pairs (280) of rod ends (270) to be welded, Positioning (130) the first clamp (201) at a predetermined stop position (x2) by moving the first clamp (201) from inside to outside in a radial clamping direction (295), generating (140) a preload force in a radial clamping direction (295) from the outside inwards towards the first clamp (201) on the second clamp (202), wherein the pair (280) of rod ends (270) to be welded is clamped between the second clamp (202) and the first clamp (201) by means of the spacer element (203), generating a pressing force (150) in a radial clamping direction (295) towards the first clamp (201) on the second clamp (202) within a predetermined time period, wherein the pressing force is greater than the preload force, wherein the conductor rods (260) of the pair (280) of clamped rod ends (270) are plastically deformed, and • Performing (160) a welding process for welding the rod ends (270) of the corresponding pairs (280) of rod ends (270) to be welded.
2. The method according to claim 1, wherein During the execution (160) of the welding process, an operating clamping force acts in a radial clamping direction (295), wherein the resulting operating clamping force is less than the punching force and in particular less than or equal to the preload force.
3. A method according to any one of the preceding claims, wherein At least one pair (280) of rod ends (270) to be welded is detected in the form of a camera image by means of a camera (220), wherein the preload force, the punching force, the operating clamping force and / or the welding process are adapted as a function of the detected camera image.
4. A method according to any one of the preceding claims, wherein The generated preload force, the generated punch force and / or the generated operating clamping force are detected by means of force sensors, wherein the welding process is adapted as a function of the detected preload force, the detected punch force and / or the detected operating clamping force.
5. A method according to any one of the preceding claims, wherein After the punching force is generated (150), an electrical variable, in particular an electrical resistance, is detected (163) between the rod ends (270) to be welded, wherein the level of the operating clamping force and / or the welding process is adapted as a function of the detected electrical variable.
6. A clamping device (200) designed to be arranged on an end side (251) of a stator (250) of an electric machine, perpendicular to an axial direction (290), wherein: The stator (250) has conductor bars (260) which extend from the stator (250) at the end face (251) and overlap each other in pairs according to a predetermined winding pattern. The clamping device comprises at least the following components: a first clamp (201) configured to be moved in a radial clamping direction (295) perpendicular to the axial direction (290) of the stator (250) from the inside outward toward the innermost rod end (270) in the radial clamping direction (295) and to be positioned at a predetermined stop position (x2), a second clamp (202) configured to be moved in a radial clamping direction (295) from the outside to the inside in the direction of the first clamp (201) onto the rod end (270) located outermost in the radial clamping direction, wherein the pair (280) of rod ends (270) to be welded is clamped between the second clamp (202) and the first clamp (201) by means of at least one spacing element (203), wherein the at least one spacing element (203) of the clamping device (200) supported so as to be movable in the radial clamping direction (295) holds the pair (280) of rod ends (270) to be welded at a predetermined distance relative to one another; and at least one spring element (205) or actuator, which is designed to generate a preload force and / or an operating clamping force in the radial clamping direction on the second clamp (202) for clamping the pair (280) of rod ends (270) to be welded between the second clamp (202) and the first clamp (201) using at least one spacer element (203); At least one actuator (207) is designed to generate a pressing force in a radial clamping direction (295), in particular onto the second clamping tool (202), for clamping.
7. The clamping device according to claim 6, wherein: The at least one spacer element (203) is supported on the first clamp (201) and / or the second clamp (202) in a manner that allows it to move in a radial clamping direction (295), wherein the at least one spacer element (203) is connected to the first clamp (201) and / or the second clamp (202) respectively by means of a spring and is designed to be introduced between two pairs (280) of rod ends (270) to be welded by means of two side faces of the spacer element (203) that are particularly inclined relative to the rod ends (270) when the stator (250) is arranged in the clamping device (200).
8. The clamping device according to any one of claims 6 or 7, wherein: The second clamp (202) includes a first element (202a) and a second element (202b), wherein the first element (202a) is arranged more inwardly in the radial clamping direction relative to the second element (202b) and is configured to directly contact the rod end (270) arranged at the outermost position in the radial clamping direction.
9. The clamping device according to any one of claims 6 to 8, comprising the following components: A force sensor (208) is designed to detect the preload force and / or the operating clamping force and / or the pressing force applied by means of the actuator (207).
10. The clamping device according to any one of claims 6 to 9, comprising the following components: A camera (220) is configured to detect at least one pair (280) of clamped rod ends (270) to be welded in the form of a camera image.
11. The clamping device according to any one of claims 6 to 10, comprising the following components: A controller configured to control the actuator based on the detected preload force, the detected operating clamping force and / or the detected punching force and / or the detected camera image in order to adapt the preload force, the operating clamping force and / or the detected punching force.
Citation Information
Patent Citations
Manufacturing method of stator, and clamp jig
US20220247285A1