Handling device for gripping and handling a stator of an electrical machine, in particular for a motor vehicle

Abstract

A handling device (10) for gripping and handling a stator (12) of an electrical machine, comprising a gripper (20) having at least two gripping elements (22, 24) which are coupled to one another in an articulated manner and which are movable relative to one another between at least one receiving position (A) and at least one gripping position (G) and, at least in the gripping position (G), delimit a cylindrical gripping space (30) in which the stator (12) can be at least partially received and gripped by means of the gripper (20) and thereby reversibly releasably held on the handling device (10), wherein the gripper (20) has at least one coupling device (32) arranged outside the gripping space (30), by means of which the gripper (20) can be coupled to a movement device (34) of the handling device (10) designed to move the gripper (20), and wherein the handling device (10) comprises the movement device (34), characterized in thatthat the gripper (20), in a state in which the gripper (20) is coupled to the movement device (34) via the coupling device (32), can be pivoted manually by a person relative to the movement device (34) about a pivot axis (42) which runs perpendicular to the central axis (58) of the cylindrical gripping space (30) and in a plane parallel to the longitudinal direction of the cylindrical gripping space (30).

Description

[0001] The invention relates to a handling device and a method for gripping and handling a stator of an electrical machine, in particular for a motor vehicle.

[0002] CN 105 417 144 A discloses a mechanical arm for transporting a rotor. CH 710 323 A1 discloses a gripper for gripping a spool or a spool tube, comprising a fastening element and a cylindrical holding element with a longitudinal axis, wherein the holding element has an inner wall and an outer wall. A pneumatically actuated clamping element is arranged on the inner wall and can be supplied with compressed air via an air duct. Furthermore, DE 20 2010 008 429 U1 discloses a gripper by means of which a cylindrical portion of a body can be gripped at its surface, which represents the boundary of a gripping space.

[0003] EP 3 176 925 A2 discloses a method for producing stators for electrical machines from motor elements.

[0004] The object of the present invention is to provide a handling device and a method by means of which an electrical machine, in particular for a motor vehicle, can be manufactured particularly simply and in particular particularly time- and cost-effectively.

[0005] This object is achieved according to the invention by a handling device having the features of patent claim 1 and by a method having the features of patent claim 7. Advantageous embodiments with expedient further developments of the invention are specified in the remaining claims.

[0006] A first aspect of the invention relates to a handling device for gripping and handling a stator of an electrical machine, in particular for a motor vehicle such as a car. However, the handling device can alternatively or additionally be used for electrical machines for stationary applications or for industrial stators. Gripping the stator is understood in particular to mean that the stator is held at least indirectly on the handling device, so that the stator can be handled by means of the handling device in a state in which the stator is held on the handling device, in particular in a reversibly detachable manner.Handling is understood to mean that the stator, in particular in its state held on the handling device, is moved by means of the handling device, in particular in space, wherein handling is also referred to as handling, manipulating or manipulating.

[0007] In order to be able to grip the stator particularly advantageously and handle it in a simple manner, the handling device has at least one gripper which comprises at least two gripping elements which are coupled to one another in an articulated manner. The gripping elements are movable relative to one another between at least one receiving position and at least one gripping position and, at least in the gripping position, delimit a cylindrical gripping space. This is to be understood in particular that the gripping space, which is formed or delimited by the gripping elements at least in the gripping position, is at least substantially cylindrical or cylinder-shaped or in the shape of a cylinder segment. In particular, the gripping space preferably has the shape of a right circular cylinder, at least in the gripping position.

[0008] The stator can be at least partially, in particular at least predominantly or completely, accommodated in the gripping space and gripped by the gripper and thus reversibly releasably held on the handling device. In particular, the gripper can at least partially, in particular at least predominantly or completely, circumferentially encompass an outer peripheral cylindrical surface of the stator in the circumferential direction of the stator, so that the stator can be held, for example, at least or exclusively force- or frictionally, on the gripper and thus on the handling device.

[0009] The gripper further comprises at least one coupling device, arranged in particular entirely outside the gripping space, by means of which the gripper can be coupled to a movement device of the handling device designed to move the gripper. By coupling the gripper to the movement device, in particular reversibly, the gripper and, via the gripper, the stator, which is held at least or exclusively by force-locking on the gripper, can be moved by means of the movement device, in particular in space, whereby the gripper and, via the gripper, the stator, can be handled particularly advantageously. The idea underlying the invention is to separate the functions of gripping and handling the stator in terms of components and to divide them between the gripper and the movement device.For example, the stator cannot be moved around in space by means of the gripper alone, so that with regard to the functions of gripping and handling, for example, the gripper only provides or fulfills the gripping function. The stator cannot be gripped by means of the movement device alone, so that with regard to the functions of gripping and handling, the movement device only provides or fulfills the handling function. This separation or division of functions allows the stator to be gripped and handled particularly advantageously, whereby the weight and installation space requirement of the gripper itself can be kept particularly low. This means that the gripper itself can be handled particularly easily and, for example, can be brought into interaction with the stator.

[0010] The invention is based in particular on the following findings: In principle, it is possible to grip a stator for an electrical machine, for example, an at least substantially annular stator, from the inside, i.e., at least or exclusively frictionally, using an auxiliary tool, on an inner circumferential surface of the stator, or such a stator can be gripped frictionally on the outer circumference. For example, if auxiliary tools that grip the respective stator from the inside are used to grip stators, the respective stator cannot be rotated or can only be rotated with great effort.Externally gripping auxiliary tools can be designed to be light and simple in their construction, but do not allow the stator to be rotated, or externally gripping auxiliary tools do allow the stator to be rotated, but have particularly large external dimensions and a particularly high weight, so that the handling of such auxiliary tools is very difficult in itself.

[0011] The division or separation of functions according to the invention makes it possible to avoid the disadvantages and problems described above because, for example, the gripper itself is designed to be structurally and lightweight, and can therefore be easily handled, in particular manually, by one person. Furthermore, the gripper makes it possible to grip the stator on the outer circumference, i.e. on a jacket surface on the outer circumference of the stator, so that the stator can be handled in a particularly simple manner by means of the handling device according to the invention, and in particular can be rotated about an axis. In particular, the handling device according to the invention makes it possible to design the gripper with such an economical weight that the gripper can be handled manually by one person, and therefore without a movement device orThe device can be moved using an aid and reversibly detachably connected to the stator, so that the stator can be connected to the gripper in the manner described, at least or exclusively in a force-fitting manner, and held on the gripper, or vice versa. The movement device can then be coupled to the gripper, for example, in order to then handle the gripper by means of the movement device and, via the gripper, the stator, which is at least or exclusively in a force-fitting manner, i.e. to move it around in space. The person can arrange the gripper on the stator without tools and with only minimal effort, and can bring it into interaction with it, in particular in a force-fitting manner. This means that the gripping function can, for example, be carried out exclusively manually by one person.The handling function can then be realized by connecting the movement device to the gripper, whereupon the gripper and, via this, the stator held on the gripper can be moved around in space.

[0012] Within the scope of the handling function, for example, the gripper and thus the stator are raised and / or lowered, particularly in the vertical direction, and / or rotated about at least one rotational axis. The handling device comprises the movement device. In other words, it is preferably provided that the movement device is a component of the handling device according to the invention. This allows the gripping and handling functions to be implemented particularly advantageously.

[0013] A further embodiment is characterized in that the movement device is designed to move the gripper and, via the latter, the stator translationally along at least one axis and / or to rotate it about at least one axis. As part of the translational movement, for example, the stator or the gripper can be raised and / or lowered again, in particular in the vertical direction. During translational movement of the gripper and thus of the stator, for example, both the gripper or the stator and at least a part of the movement device are moved translationally along at least one axis. When rotating the gripper and thus of the stator, for example, both the gripper or the stator and at least a part of the movement device are rotated about the at least one axis.

[0014] This allows the stator to be moved particularly advantageously and as needed, so that, for example, the stator can be moved particularly advantageously and especially as needed during the manufacture of the electrical machine. Overall, it can be seen that, due to the functional separation, the gripper can be connected to the stator in a particularly simple and thus time- and cost-effective manner, in particular in a reversibly detachable manner. The gripper can then be coupled to the movement device, for example, whereby the stator can be moved particularly as needed, particularly spatially, by means of the gripper and the movement device.In this way, for example, the stator can be moved in a particularly time- and cost-effective manner during the manufacture of the electrical machine, initially in cooperation with the gripper and then particularly as required, so that, for example, the electrical machine can be manufactured, i.e. produced, particularly easily and thus particularly time- and cost-effectively.

[0015] Furthermore, it is provided that the gripper, in a state in which the gripper is coupled to the movement device via the coupling device, in particular in a reversibly detachable manner, can be pivoted or rotated about a pivot axis relative to the movement device. This allows the gripper and the movement device to be designed in a particularly simple and weight- and space-efficient manner, so that the gripper, in particular, can be brought into interaction with the stator particularly easily. In the described state in which the gripper is coupled to the movement device via the coupling device, the gripper can be pivoted manually by a person about the pivot axis relative to the movement device. In this case, it is possible, for example, for the stator to be supported, in particular in the vertical direction downwards, for example initially on a support element such as a floor or a carrier, and thus has contact with the support element.Then, for example, the gripper, which has initially been separated or detached from the stator, is brought into at least or exclusively frictional engagement with the stator, in particular in the manner described. In particular, the gripper is connected to the stator while the gripper is detached or separated from the movement device. After, for example, the gripper has been connected to the stator, in particular in a reversibly detachable manner, the movement device is connected to the gripper via the coupling device.

[0016] The gripper and thus the stator connected to the gripper can then, for example, be moved translationally along at least one axis by means of a movement device and thereby moved upwards, for example, in a vertical direction, whereby the stator is lifted and thereby removed from the support element or from the ground. As a result, the stator floats in the air, for example, because the stator is held in the air by means of the gripper and the movement device. It is then possible, for example, to rotate the gripper and with it the stator, in particular manually, about the pivot axis relative to the movement device. This allows, for example, the stator floating in the air to be aligned as required, whereupon the stator can be assembled easily, quickly and cost-effectively. In this way, the electrical machine can be manufactured particularly easily, quickly and cost-effectively.

[0017] In order to be able to pivot the gripper and thus the stator as required, the pivot axis runs perpendicular to the central axis of the cylindrical gripping space and in a plane which runs parallel to the longitudinal direction of the cylindrical gripping space.

[0018] A further embodiment is characterized in that the gripping elements are coupled to one another so as to be pivotable relative to one another about a pivot axis, wherein the pivot axis extends entirely outside the gripping area. This allows the gripping elements to be pivoted relative to one another, for example, like a clamp or a pair of pliers, and thus pivoted toward and away from one another, allowing the gripping elements to be easily pivoted relative to one another between the receiving position and the gripping position.

[0019] For example, to connect the stator to the gripper, the stator is arranged in the gripping space. To do this, for example, the receiving position of the gripping elements is first adjusted. While the gripping elements are in the receiving position, for example, the stator can be moved between the gripping elements or the gripping elements can each be arranged at least partially around the stator. If the gripping elements are then moved from the receiving position to the gripping position, the gripping elements, which are moved towards one another in the process, form the gripping space, and the gripping elements come into contact, for example, with the stator, in particular with an outer peripheral surface of the stator. The outer peripheral surface is preferably cylindrical and has the shape of a right circular cylinder.In this way, for example, the stator is connected to the gripper, in particular at least or exclusively in a force-locking manner, whereby the stator is held on the gripper, in particular in a reversibly detachable manner.

[0020] To then release the gripper from the stator, for example, the gripping elements are moved from the gripping position to the receiving position, allowing the stator to be moved out of the gripping space or away from the gripping elements. In particular, it is possible to move the stator in its radial direction and / or in its axial direction into the gripper or between the gripping elements while the gripping elements are in the receiving position.

[0021] In order to hold the stator particularly firmly on the gripper in a simple manner, in particular in a reversibly detachable manner, it is provided in a further embodiment that a respective inner circumferential surface of the respective gripping element, which partially delimits the gripping space at least in the gripping position, is formed by a non-slip coating.

[0022] To avoid undesirable relative movements between the stator and the gripper, especially when the stator is suspended in mid-air, it has proven advantageous for the coating to be made of a plastic. The coating is applied, for example, to a corresponding base body of the respective gripping element. In particular, the coating can be made of rubber, so that the coating is designed, for example, as a rubber coating. The coating can be flexible and thus designed as a flexible coating.

[0023] To further prevent the stator from becoming undesirably detached from the gripper, a further embodiment of the invention provides for the handling device to have a fixing device by means of which the gripping elements can be mechanically fixed relative to one another in the gripping position. The fixing device is preferably a quick-release fastener, or has a quick-release fastener, which can be locked and unlocked manually without the need for tools. This allows the gripper to be handled particularly easily, quickly, and cost-effectively, particularly by one person, and thus manually.

[0024] A second aspect of the invention relates to a method for gripping and handling a stator of an electrical machine, in particular of a motor vehicle, by means of a handling device, in particular by means of a handling device according to the invention. In the method, two gripping elements of a gripper of the handling device, which are coupled to one another in an articulated manner, are movable relative to one another between at least one receiving position and at least one gripping position and, at least in the gripping position, delimit a cylindrical gripping space, are moved relative to one another from the receiving position into the gripping position, whereby the stator is at least partially arranged in the gripping space and gripped in the gripping space by means of the gripper and is thereby held reversibly releasably on the gripper or on the handling device.The gripper has at least one coupling device arranged outside the gripping area, by means of which the gripper is coupled, in particular reversibly detachably, to a movement device of the handling device designed to move the gripper. Advantages and advantageous embodiments of the first aspect of the invention are to be regarded as advantages and advantageous embodiments of the second aspect of the invention, and vice versa.

[0025] It is provided that the gripper, in a state in which the gripper is coupled to the movement device via the coupling device, is manually pivoted by a person relative to the movement device about a pivot axis which runs perpendicular to the central axis of the cylindrical gripping space and in a plane running parallel to the longitudinal direction of the cylindrical gripping space.

[0026] The invention also encompasses combinations of the described embodiments. The invention also includes further developments of the inventive method that have features already described in connection with the further developments of the handling device according to the invention. For this reason, the corresponding further developments of the inventive method are not described again here.

[0027] An exemplary embodiment of the invention is described below. It shows: Fig. 1 a schematic front view of a handling device according to the invention according to a first embodiment for handling a stator of an electrical machine, in particular for a motor vehicle; Fig. 2 a schematic and perspective side view of the stator; Fig. 3 is a schematic perspective view of a gripper of the handling device according to the first embodiment, wherein the gripper is in a receiving position; Fig. 4 a schematic and perspective side view of the gripper according to Fig. 3, which is in its gripping position; Fig. 5 a schematic front view of a movement device of the handling device according to a second embodiment; Fig. 6 is a schematic perspective view of the movement device of the handling device according to the second embodiment; Fig. 7 is a schematic perspective view of the gripper of the handling device according to the second embodiment; and Fig. 8 is a schematic side view of the gripper of the handling device according to the second embodiment;

[0028] The exemplary embodiment explained below is a preferred embodiment of the invention. In the exemplary embodiment, the described components of the embodiment each represent individual features of the invention that are to be considered independently of one another. These features also further develop the invention independently of one another and are thus to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described embodiment can also be supplemented by further features of the invention already described.

[0029] In the figures, elements with the same function are each provided with the same reference symbol.

[0030] Fig. 1 shows a schematic front view of a handling device 10 according to a first embodiment for gripping and handling a Fig. 2 of the stator 12 of an electric machine, in particular for a motor vehicle. The motor vehicle is designed, for example, as a motor vehicle and preferably as a passenger car and can be driven by the electric machine. Thus, the motor vehicle is designed, for example, as a hybrid or electric vehicle, which can be electrically driven by the electric machine.

[0031] In its fully manufactured state, the electric machine comprises the stator 12 and a rotor which is driven by the stator 12 and is thereby rotatable about an axis of rotation relative to the stator 12. Fig. 2 that the stator 12 is designed, for example, as a laminated core 14 or has such a laminated core 14. The laminated core 14 is designed, for example, as an electrical sheet and / or comprises a plurality of segments designed, in particular, as sheet segments, which are arranged, for example, along a Fig. 2 are arranged consecutively or one behind the other in the stacking direction indicated by a double arrow 16 and are thus stacked one on top of the other along the stacking direction. The individual segments are connected to one another.

[0032] During production of the electrical machine, for example, the stator 12 is mounted on at least one other component of the electrical machine. In particular, it is provided, for example, that the stator 12 is arranged in a corresponding housing and / or that the stator 12 is mounted on the rotor or vice versa. In order to be able to manufacture the electrical machine particularly simply and thus in a time- and cost-effective manner, it is desirable to move the stator 12, in particular spatially, so that, for example, the stator 12 can be mounted on the component particularly easily or vice versa. As will be explained in more detail below, the stator 12 can be gripped and handled, i.e. moved around spatially, in a particularly simple and tailored manner as needed by means of the handling device 10, so that the electrical machine can be manufactured particularly time- and cost-effectively.The handling device 10 is used in a method for gripping and handling the stator 12, so that in the course of the method the stator 12 is gripped and handled by means of the handling device 10.

[0033] Out of Fig. 2 shows that the stator 12 is at least substantially annular and cylindrical on both its outer and inner circumferences, i.e., it has the shape of a right circular cylinder. In other words, the stator 12 has an at least substantially cylindrical outer circumferential surface 18 and a cylindrical inner circumferential surface 19.

[0034] Particularly good from a summary of Fig. 1 with Fig. 3 and Fig. 4 shows that the handling device 10 has at least one gripper 20, by means of which—as will be explained in more detail below—the stator 12 can be gripped particularly easily and advantageously at its outer circumferential surface 18. Thus, the stator 12 is gripped by the gripper 20 from the outside and not from the inside via the inner circumferential surface 19, so that the stator 12 can be handled and, in particular, rotated particularly advantageously.

[0035] Particularly good looking Fig. 3 it can be seen that the gripper 20 has two gripping elements 22 and 24 which are coupled to one another in an articulated manner. The gripping elements 22 and 24 are arranged relative to one another between at least one Fig. 3 shown exceptional position A and at least one in Fig. 4 and pivotable relative to one another about a pivot axis 26. At least in the gripping position G, the gripping elements 22 and 24 delimit an at least substantially cylindrical gripping space 30 in which the stator 12 can be received at least partially, in particular at least predominantly. In order to receive the stator 12 in the gripping space 30 and to grip it by means of the gripper 20, the stator 12 is first arranged in the gripper 20 while the gripping elements 22 and 24 are in the receiving position A. During this time, the stator 12 is supported, for example, on a support element in the form of a base 28 of a station or system for manufacturing the electrical machine.

[0036] The gripper 20 is designed, for example, as a thin-walled tube. In other words, the gripping elements 22 and 24 are, for example, thin-walled tubular elements, so that the gripper 20 is particularly lightweight. Thus, the gripper can be moved around the room by one person without tools and without any movement devices, so that, for example, the gripper 20 can be arranged around the stator 12.

[0037] First, while the gripping elements 22 and 24 are in their receiving position A, the stator 12 is arranged in the gripper 20.

[0038] Thereupon, for example, the gripping elements 22 and 24 are pivoted relative to one another about the pivot axis 26 and in doing so pivoted towards one another, whereby the gripping elements 22 and 24 are moved from the receiving position A into the gripping position G. Since the stator 12 was previously arranged in front of the gripper 20, the stator 12 is arranged in the gripping space 30 by the gripping elements 22 / 24 being moved into the gripping position G. In this way, the gripping elements 22 and 24 come into contact, for example, with the stator 12, in particular with the outer circumferential surface 18, whereby, for example, the stator 12 is connected to the gripper 20 at least or exclusively in a force-fitting manner. As a result, the stator 12 is held on the gripper 20.

[0039] Particularly good looking Fig. 1 shows that the gripper 20 has at least one coupling device 32 arranged entirely outside the gripping space 30, by means of which the gripper 20 can be reversibly and detachably coupled to a movement device 34 designed to move the gripper 20, the handling device 10. The stator 12 is arranged, for example, in the described manner in the gripping space 30 while the gripper 20 is still detached from the movement device 34, i.e., not yet connected to the movement device 34. This allows the person to manually handle the gripper 20 and place the stator 12 in the gripping space 30. The movement device 34 is then reversibly and detachably connected to the gripper 20 via the coupling device 32, for example. In the exemplary embodiment illustrated in the figures, the movement device 34 is a component of the handling device 10.

[0040] The movement device 34 comprises, for example, a lifting device 36, by means of which the movement device 34 is held on a ceiling 38 of a station or system for producing the electrical machine. By means of the movement device 34, in particular by means of the lifting device 36, for example, the gripper 20 and above it the stator 12 are moved along at least one in a state in which the gripper 20 is coupled to the movement device 34 by means of the coupling device 32. Fig. 1 by a double arrow 40 and is lifted, for example, in a vertical direction, that is to say moved upwards, whereby, for example, the stator 12 is lifted and removed from the base 28.

[0041] As a result, the stator 12, for example, floats in the air. In the state in which the gripper 20 is coupled to the movement device 34 via the coupling device 32, the gripper 20 and, with it, the stator 12 held on the gripper 20 can, for example, be pivoted or rotated about a pivot axis 42 relative to the movement device 34, in particular manually by a person, which Fig. 1 is illustrated by an arrow 44. In this way, the stator 12 can be moved as required. Fig. 1 and Fig. 4 it can be seen that the coupling device 32 has, for example, several coupling points 46, wherein one of the coupling points 46 in Fig. 4 can be seen. The gripper 20 can be coupled to the movement device 34, in particular reversibly detachably, at or via the coupling points 46.

[0042] Overall, it can be seen that a division of functions or a separation of functions is provided, within the framework of which the functions of gripping and handling are separated from one another and divided between the gripper 20 and the movement device 34. With regard to the functions of gripping and handling, the gripper 20 only fulfils the function of gripping, whereby with regard to the functions of gripping and handling, the movement device 34 only fulfils the function of handling. Since the gripper 20 and the movement device 34 can be reversibly and detachably connected to one another via the coupling device 32, the functions of gripping and handling can be fulfilled particularly advantageously by means of the handling device 10.Functional division makes it possible to design both the gripper 20 and the movement device 34 in a simple, compact, space-saving, and lightweight manner, so that the gripper 20 and the movement device 34 can be moved or operated particularly advantageously by one person. In the raised state, the stator 12 can be handled even in the wound state and, in particular, can be pivoted or rotated about the pivot axis 42. The wound state is understood to mean that coils are already held on the stator 12 or on the respective stator 12.

[0043] Particularly good looking Fig. 3 shows that the respective gripping element 22 or 24 is cylindrical or cylinder-segment-shaped on the inner circumference and thus has the shape of a segment of a right circular cylinder on the inner circumference. The respective gripping element 22 or 24 thus delimits, for example, a respective half of the gripping space 30, so that the gripping space 30 is formed entirely by the gripping elements 22 and 24 when the gripping elements 22 and 24 are in their gripping position G.

[0044] In this case, a respective inner peripheral surface 48 or 50 of the respective gripping element 22 or 24, which partially and in this case half delimits the gripping space 30 at least in the gripping position G, is formed by a non-slip coating 52 or 54, which is applied, for example, to a respective base body of the respective gripping element 22 or 24. In particular, the coating 52 or 54 is made of a plastic. As a result, the gripper 20 can interact particularly advantageously in a force-fitting manner with the stator 12, in particular with its outer peripheral surface 18, via the gripping elements 22 and 24, in particular via the surfaces 48 and 50, so that the stator 12 can be held, for example, at least or exclusively in a force-fitting manner on the gripper 20.

[0045] The coupling of the gripper 20 via the coupling device 32 to the movement device 34 is achieved, for example, via a quick-release fastener, which can be unlocked and locked manually, for example, and thus without the need for tools. In this way, the gripper 20 can be coupled to and detached from the movement device 34 easily, quickly, and cost-effectively.

[0046] It has also proven particularly advantageous if a Fig. 3 and Fig. 4, a fixing device 56 is provided, illustrated particularly schematically, by means of which the gripping elements 22 and 24 can be mechanically fixed or secured relative to one another in the gripping position. For example, the fixing device 56 can be designed as a quick-release fastener or have such a quick-release fastener, so that the gripping elements 22 and 24 can be mechanically fixed relative to one another manually and without tools. Furthermore, this fixing can be released manually and without tools, so that the handling device 10 can be operated easily and thus quickly and cost-effectively. As a result, the electrical machine can be manufactured particularly quickly and cost-effectively.

[0047] Furthermore, Fig. 1 that the pivot axis 42 runs perpendicular to the central axis 58 of the cylindrical gripping space 30, also referred to as the cylinder central axis or cylinder axis. As can be seen in the figures, the gripper 20 and the movement device 34 are designed as components that are separately formed from one another and can be reversibly detachably coupled or coupled to one another by means of the coupling device 32, whereby the previously described functional separation or functional division can be advantageously realized.

[0048] Fig. 5 to 8 illustrate a second embodiment of the handling device 10. Fig. 5 shows the movement device 34 according to the second embodiment. As in the first embodiment, the movement device 34 comprises, for example, two gripping arms 58, which are arranged along a Fig. 5 can be moved translationally relative to one another in the direction of movement illustrated by a double arrow 60. This means that the gripper arms 58 can be moved toward and away from one another along the direction of movement, in order, for example, to be able to adjust a distance between the gripper arms 58 along the direction of movement as required or to different values. As a result, for example, different grippers can be gripped by means of the movement device 34, which differ from one another, for example, in their respective outer circumferences, in particular outer diameters. In particular, the different grippers differ, for example, in their respective distances between the coupling points 46 along the direction of movement.

[0049] Furthermore, the different grippers differ, for example, in the size of their respective gripping areas, so that different stators, which differ from one another, for example, in their outer circumferences, in particular their outer diameters, can be gripped by the different grippers. Since the different grippers can be attached to the movement device 34 via the gripper arms 58, the different stators can be handled and, in particular, moved, for example, by one and the same movement device 34.

[0050] The gripping arms 58 can be moved relative to one another, in particular along the direction of movement, and can thereby be moved into different positions, wherein the movement device 34 has, for example, a securing device 62. By means of the securing device 62, the gripping arms 58 can be fixed in the respective positions relative to one another, so that, for example, the different grippers can be securely gripped.

[0051] Particularly good looking Fig. 5 shows coupling elements 64 of the movement device 34, which can be coupled via the coupling elements 64, in particular reversibly detachably, to the respective gripper and, in this case, for example, to the gripper 20, in particular at the coupling points 46 of the gripper 20. The previous and following explanations regarding the gripper 20 can also be readily applied to the other grippers and vice versa. In other words, the coupling elements 64, in particular reversibly detachably, can be coupled, for example, to the coupling points 46 and thus to the gripper 20.In this way, the gripper 20 can be coupled or coupled to the movement device 34 in such a way that, for example, the gripper 20 can be moved, in particular pivoted, with the movement device 34 via the coupling points 46 and the coupling elements 64, pivoted about the pivot axis 42 relative to the movement device 34. This allows the stator 14 to be handled particularly advantageously.

[0052] Out of Fig. 7 it can be seen that the gripper 20 has, for example, a plurality of through-openings 65 in order to be able to keep the weight of the gripper 20 particularly low. Fig. 5 and Fig. 6 it is particularly clearly visible that the movement device 34 has at least one coupling device 66, by means of which the movement device 34 can be coupled, for example, in particular reversibly detachably, to a conveying device such as the hoist 36.

[0053] The securing device 62 comprises, for example, an actuating element 68, which can be manually operated and thus actuated, for example, by a person. By operating or actuating the operating element 68, the securing device 62 can be switched, for example, between a release state and a fixation state. In the fixation state, for example, the gripping arms 58 are fixed relative to one another by means of the securing device 62. In the release state, for example, the securing device 62 releases the gripping arms 58 for a movement relative to one another along the direction of movement, so that the distance between the gripping arms 58, in particular between the coupling elements 64, can be adjusted as required.

[0054] Out of Fig.8, the fixing device 56 of the gripper 20 can be seen particularly well. The fixing device 56 comprises, for example, a plurality of, and thus at least two, fixing parts 70, which are held, for example, on the gripping element 22 and can be brought into particular form-fitting interaction with connecting elements 72 of the fixing device 56, wherein the connecting elements 72 are fixed to the gripping element 24. In particular, the respective fixing part 70 comprises, for example, a toggle lever, by means of which the gripping elements 22 and 24 can be clamped against one another and thereby particularly firmly fixed to one another. This allows the stator 14 to be securely fastened to the gripper 20. For this purpose, the respective fixing part 70 comprises, for example, a handle 74, which can be manually operated by a person in order to, for example, clamp and release the toggle lever.

Claims

[1] A handling device (10) for gripping and handling a stator (12) of an electrical machine, comprising a gripper (20) having at least two gripping elements (22, 24) which are coupled to one another in an articulated manner and which are movable relative to one another between at least one receiving position (A) and at least one gripping position (G) and, at least in the gripping position (G), delimit a cylindrical gripping space (30) in which the stator (12) can be at least partially received and gripped by means of the gripper (20) and thereby reversibly releasably held on the handling device (10), wherein the gripper (20) has at least one coupling device (32) arranged outside the gripping space (30), by means of which the gripper (20) can be coupled to a movement device (34) of the handling device (10) designed to move the gripper (20), and wherein the handling device (10) comprises the movement device (34), characterized byin that the gripper (20), in a state in which the gripper (20) is coupled to the movement device (34) via the coupling device (32), can be pivoted manually by a person relative to the movement device (34) about a pivot axis (42) which runs perpendicular to the central axis (58) of the cylindrical gripping space (30) and in a plane running parallel to the longitudinal direction of the cylindrical gripping space (30). [2] Handling device (10) according to claim 1, characterized by that the movement device (34) is designed to move the gripper (20) and via this the stator (12) translationally along at least one axis (40) and / or to rotate about at least one axis (42). [3] Handling device (10) according to one of the preceding claims, characterized bythat the gripping elements (22, 24) are coupled to one another so as to be pivotable relative to one another about a pivot axis (26), wherein the pivot axis (26) extends completely outside the gripping space (30). [4] Handling device (10) according to one of the preceding claims, characterized by that a respective inner peripheral surface (48, 50) of the respective gripping element (22, 24), which partially delimits the gripping space (30) at least in the gripping position (G), is formed by a non-slip coating (52, 54). [5] Handling device (10) according to claim 4, characterized by that the coating (52, 54) is formed from a plastic. [6] Handling device (10) according to one of the preceding claims, characterized by that a fixing device (56) is provided, by means of which the gripping elements (22, 24) can be mechanically fixed relative to one another in the gripping position. [7] A method for gripping and handling a stator (12) of an electrical machine by means of a handling device (10), in which two gripping elements (22, 24) of a gripper (20) of the handling device (10) are articulated to one another, movable relative to one another between at least one receiving position (A) and at least one gripping position (G) and delimiting a cylindrical gripping space (30) at least in the gripping position (G), are moved relative to one another from the receiving position (A) into the gripping position (G), whereby the stator (12) is at least partially arranged in the gripping space (30) and gripped in the gripping space (30) by means of the gripper (20) and is thereby held reversibly releasably on the handling device (10), wherein the gripper (20) has at least one coupling device (32) arranged outside the gripping space (30),by means of which the gripper (20) is coupled to a movement device (34) of the handling device (10) designed to move the gripper (20), and wherein the handling device (10) comprises the movement device (34), , characterized by in that the gripper (20), in a state in which the gripper (20) is coupled to the movement device (34) via the coupling device (32), is manually pivoted by a person relative to the movement device (34) about a pivot axis (42) which runs perpendicular to the central axis (58) of the cylindrical gripping space (30) and in a plane running parallel to the longitudinal direction of the cylindrical gripping space (30).

Images