Device and method for operating such a teaching device

Abstract

The invention relates to a gauge for a hairpin (3) by means of which a deviation of the actual hairpin contour of the hairpin (3) to be tested from a target hairpin contour can be determined, comprising a workpiece holder (1) on which the hairpin (3) rests in a predefined test position, and with at least one adjustable sensing element (17), wherein in a test operation it can be determined by adjusting the sensing element (17) whether a deviation of the actual hairpin contour from the target hairpin contour exists. According to the invention, the workpiece holder (1) has an inclined receiving plane (A) on which the hairpin (3) rests, as well as a zero-point pin (9) and a support pin (11). In the test position, the hairpin (3) is supported with its inner corner region (12) at the hairpin tip (13) under the influence of gravity on the zero point pin (9) and with one of its hairpin legs (7) is supported under the influence of gravity on the support pin (11).

Description

[0001] The invention relates to a gauge device for a hairpin according to the preamble of claim 1 and a method for operating such a gauge device according to the preamble of claim 10.

[0002] In the manufacturing of an electric motor, for example for a vehicle drive, individual winding elements (so-called hairpins) are produced. These are then processed into a stator winding. To manufacture a hairpin, wire material wound in a coil is straightened and then formed into a hairpin using a bending machine. The hairpins are then separated from the wire. They are individually inserted into a holder or fixture in the correct sequence to create a hairpin cage. This cage is then removed from the holder, inserted into the stator, twisted, and laser-welded.

[0003] Due to manufacturing processes, the hairpins produced in the bending machine exhibit differing actual hairpin contours. A standard gauge is provided for hairpin production control. Using this gauge, the finished hairpins are randomly inspected to determine any deviation of the actual hairpin contour from the target contour. The gauge has a workpiece holder on which the hairpin to be inspected rests in a predefined inspection position. The gauge also includes at least one sensing element that is adjustable between a starting position and an end position. In a contour inspection process, the sensing element is moved to its end position. By moving the sensing element to its end position, it is determined whether the hairpin contour is correct or defective.

[0004] DE 10 2015 208 350 B3 discloses a method for manufacturing molded parts and a forming machine for carrying out the method. In this method, a characteristic curve is specified that represents a functional relationship between a target geometry parameter of the molded part and the feed rate of a forming tool, which influences the geometry parameter, that must be set to achieve the target geometry parameter. WO 2019 / 244090 A1 discloses a device that serves to model hairpins in such a way that the insertion of winding sets made of hairpins is supported, enabling increased filling of the slot space when mounting winding sets on such a stator or rotor.

[0005] The object of the invention is to provide a gauge for determining a deviation of a hairpin actual contour of a hairpin to be tested from a hairpin target contour, by means of which the deviation can be determined reliably.

[0006] The problem is solved by the features of claim 1 or 10. Preferred embodiments of the invention are disclosed in the dependent claims.

[0007] The invention relates to a gauge for a hairpin, by means of which a deviation of the actual hairpin contour of the hairpin under test from a target hairpin contour can be determined. The gauge has a workpiece holder on which the hairpin under test rests in a predefined test position. Furthermore, the gauge has at least one sensing element that is adjustable between a starting position and an end position. In a test operation, adjusting the sensing element determines whether or not there is a deviation of the actual hairpin contour from the target hairpin contour.For example, a flawless hairpin contour can be inferred from a collision-free adjustment of the query element from its initial position to its final position; a collision-prone adjustment of the query element, where the query element hits the hairpin before reaching its final position, can be inferred from a faulty hairpin contour.

[0008] According to the characterizing part of claim 1, the following measures are taken to provide the predefined test position: The workpiece holder is designed with an inclined mounting plane on which the hairpin to be tested is arranged. The workpiece holder also has a zero-point pin and a support pin. In the test position, the hairpin is supported on the zero-point pin by gravity with its inner corner region at the hairpin tip. Simultaneously, one of the hairpin legs is supported on the support pin by gravity.

[0009] To ensure a stable and easily achievable predefined test position, the hairpin under test is rotated around the zero-point pin at an angle until it is tilted. The outer side of the hairpin leg rests on the support pin, against the direction of rotation and under the force of gravity acting on the hairpin under test.

[0010] To ensure a stable test position, the gauge may also have an alignment base. When the hairpin is in the test position, the alignment base is positioned at a distance below the hairpin legs. In the test position, at least one of the two hairpin legs, in particular the leg resting on the support pin, is oriented perpendicular to the alignment base.

[0011] The hairpin to be tested is inserted into the gauge by an operator. The operator places the hairpin onto the aforementioned inclined mounting plane, where it rests on the zero-point pin and the support pin under the influence of gravity. A right-angle profile section can be provided to ensure the hairpin leg is aligned perpendicular to the alignment base; this section can be placed against both the hairpin leg and the alignment base.

[0012] A key aspect of the invention relates to a calibration process that takes place before the hairpin contour test. In this calibration process, the spatial position and / or the path of movement of the sensing element is checked with reference to a target hairpin contour, particularly with the aim of ensuring collision-free adjustment of the sensing element to its end position. The calibration process according to the invention is performed digitally using a software unit of the gauge device, which computationally models the calibration process.

[0013] For this purpose, the software unit of the gauge device comprises the following program modules: a gauge calculation module in which the gauge data is read into a gauge coordinate system; a target hairpin calculation module in which the target hairpin data is read into a target hairpin coordinate system; and a comparator module in which the gauge coordinate system is superimposed on the target hairpin coordinate system. It is essential that the two coordinate systems correspond with each other in such a way as to ensure identical gauge and target hairpin alignment, which is required for the calibration process.

[0014] As mentioned above, the gauge coordinate system must correspond to the target hairpin coordinate system so that both coordinate systems, including the gauge data and target hairpin data entered into them, can be correctly superimposed in the comparator module. Against this background, the zero point pin can serve as a first reference (zero point of the gauge and target hairpin coordinate system), the workpiece fixture plane as a second reference (for spatial orientation), and the alignment base as a third reference (for plane orientation) when determining the gauge coordinate system and / or the target hairpin coordinate system.

[0015] When determining the gauge coordinate system, the gauge calculation module can define an intersection of the zero-point pin axis with the mounting plane as the zero point of the gauge coordinate system within a computational model. The workpiece mounting plane (i.e., formed by, for example, three support areas of the workpiece holder) constitutes a first spatial axis as the spatial orientation of the gauge coordinate system. An axis perpendicular to the alignment base, which is placed at the zero point of the gauge coordinate system, is defined by the gauge calculation module as the second spatial axis as the plane orientation. Furthermore, the gauge calculation module determines the third spatial axis of the gauge coordinate system from the first and second spatial axes.

[0016] As mentioned above, when determining the jig coordinate system, the jig calculation module in a computational model can define an intersection of the zero-point pin axis with the recording plane as the zero point of the jig coordinate system. The zero-point pin axis forms the first spatial axis of the jig coordinate system. An axis perpendicular to the alignment surface, which passes through the zero point of the jig coordinate system, is defined by the jig calculation module as the second spatial axis. Furthermore, the jig calculation module determines the third spatial axis of the jig coordinate system from the first and second spatial axes.

[0017] The target hairpin coordinate system is determined using the target hairpin calculation block as follows: The target hairpin calculation block models the target hairpin and the shape of the zero-point pin, as well as its positioning in the inner corner region at the hairpin tip of the target hairpin. Based on this, the target hairpin calculation block establishes an intersection point of the zero-point pin axis with the theoretical plane spanned by the hairpin legs. The target hairpin coordinate system is then created as follows: A theoretical plane is placed on the hairpin legs; its vector forms the first spatial axis (spatial orientation). The second spatial axis is determined as the plane orientation and is formed by one of the two leg midlines (one leg axis).

[0018] The Sollhairpin component determines the third spatial axis of the Sollhairpin coordinate system from the first and second spatial axes.

[0019] As mentioned above, the target hairpin coordinate system is determined using the target hairpin calculation module as follows: The target hairpin calculation module computationally, i.e., digitally, models the target hairpin, the workpiece fixture's mounting plane, the shape of the zero-point pin, its positioning in the inner corner area at the hairpin tip, and the alignment base in a computational model. Based on this, the target hairpin calculation module defines an intersection of the zero-point pin axis with the mounting plane as the zero point of the target hairpin coordinate system. Furthermore, the zero-point pin axis is defined as the first spatial axis of the target hairpin coordinate system. Additionally, an axis perpendicular to the alignment base, passing through the zero point of the target hairpin coordinate system, is defined as the second spatial axis.The Sollhairpin component determines the third spatial axis of the Sollhairpin coordinate system from the first and second spatial axes.

[0020] The hairpin according to the invention is a hairpin-like winding element for a winding carrier, in particular for a stator of an electric machine. The hairpin is U-shaped, with a hairpin tip forming the base of the U and hairpin legs running parallel to each other. Each of the hairpin legs transitions at a transition edge into angled hairpin flanks. The hairpin flanks converge at the hairpin tip. The two hairpin legs lie in the same plane, while the hairpin flanks and the hairpin tip extend three-dimensionally out of the plane of the legs with constant or variable radii.

[0021] An embodiment of the invention is described below with reference to the accompanying figures. These show: Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. 8 different views, each illustrating the structure and function of the teaching device according to the invention.

[0022] In the Fig. Figure 1 shows a hairpin 3 produced using a bending machine (not shown). The hairpin 3 is made from a wire blank with a rectangular cross-section. The wire blank is separated only after bending. The hairpin 3 is a hairpin-shaped winding element for a winding support, in particular for a stator of an electric machine. As can be seen from the Fig. As can be seen from Figure 1, the hairpin 3 is U-shaped, with a hairpin tip 13 forming the U-base and hairpin legs 7 running parallel to each other. Each of the hairpin legs 7 transitions at a transition edge 8 into angled hairpin flanks 10. The flanks 10 converge at the hairpin tip 13. The two hairpin legs 7 lie in the same plane, while the hairpin flanks 10 and the hairpin tip 13 extend three-dimensionally out of the plane of the legs with constant or variable radius profiles, as can be seen from the Fig. 3 is evident.

[0023] In the Fig. 2, Fig. 3, Fig. 4 to Fig. Figure 5 shows a gauge device to the extent necessary for understanding the invention. Accordingly, the gauge device has a workpiece holder 1 on which the hairpin 3 is arranged in a predefined test position. The workpiece holder 1 has a total of three support pins 5 on which the two hairpin legs 7 of the hairpin 3 rest loosely in a three-point bearing arrangement. The contact surfaces between the support pins 5 and the hairpin legs 7 define an inclined receiving plane A ( Fig. 3) with a slope angle α.

[0024] The workpiece holder 1 also has a zero-point pin 9 and a support pin 11. In the Fig. 2 and Fig. The test position shown in 3 is the hairpin 3 with its inner corner area 12 ( Fig. 1) The hairpin tip 13 is supported under the influence of gravity on the circumferential surface of the zero-point pin 9. In its test position, the hairpin 3 is rotated around the zero-point pin 9 from its vertical position to an inclined position by a rotation angle.

[0025] In the inclined position, one of the hairpin legs 7 rests with its outer surface on the support pin 11, opposite to the direction of rotation and under the gravitational influence of the hairpin 3. Both the zero-point pin 9 and the support pin 11 are cylindrical. Their zero-point pin axis N and their support pin axis are oriented perpendicular to the recording plane A. The support pin 11 is adjustable (not shown) perpendicular to the recording plane A for an additional adjustment / alignment option.

[0026] The teaching device points into the Fig. 2 and Fig. 3. Place a leveling base 14 on top. This is located in the Fig. 2 or Fig. The test position of the hairpin 3 shown in section 3 is arranged at a distance below the hairpin legs 7. In the test position ( Fig. 2 or Fig. 3) The hairpin leg 7 resting on the support pin 11 is aligned at a right angle to the alignment base 14. The positioning of the hairpin 3 to be tested in the gauge is carried out manually by an operator. This operator can use a right-angle profile section 15 as an alignment aid, which is located in the Fig. 2 is shown with a dashed line. The right-angle profile section 15 is in the Fig. 2 is attached both to the right hairpin leg 7 and to the alignment base 14. The alignment base 14 is perpendicular to the receiving plane formed by the support pins 5.

[0027] The gauge also has a series of query elements 17, each of which is linearly adjustable in an element guide 19, between a retracted initial position ( Fig. 2) and an extended end position ( Fig. 4) Each of the query elements 17 has two query prongs 20 spaced apart from each other by a clearance on its end face facing the hairpin 3 to be tested ( Fig. 4) During the testing process, each of the probe elements 17 is driven from its initial position to its end position. Provided that the hairpin 3 to be tested has a flawless actual hairpin contour, the probe element 17 moves without collision to its end position. In the end position, the hairpin 3 to be tested is located without contact in a clearance between the two probe pins 20, as shown in the Fig. 4 is indicated. If, on the other hand, the adjustment process of the query element 17 towards its end position is subject to collision, the gauge device concludes that the actual hairpin contour of the hairpin 3 to be tested is faulty.

[0028] The distance between the two probe pins 20 represents a measure of the maximum component tolerance in the specified directions. The probe elements 17 are available in different versions: Instead of the version shown, a U-shaped element can be used. In this case, the groove width and groove depth of the U-shaped element are used for a control function. The probe elements 17 can be used with or without a hairline linear encoder.

[0029] In the case of defective hairpins 3, it is still possible to force them into a correctly oriented contour profile – as depicted by the gauge – using the query elements 17. The force can be controlled with a force meter. This method makes it possible to recover such hairpins 3 for further processing, which can be deformed from a defective hairpin contour to a defect-free hairpin contour with the appropriate force.

[0030] The geometry of query elements 17 is not based on that in the Fig. The embodiment shown in section 4 is limited. Rather, the gauge can also incorporate an additional query element 17 according to the Fig. 5 can be used to check the hairpin length in a length query. In the Fig. In Figure 5, the query element 17 is formed with a projection 22. Provided that the query element 17, with its projection 22, can engage the lower end of one of the hairpin legs 7 without contact (as in the Fig. (as shown in Figure 5), the hairpin leg 7 has a length within the tolerance range.

[0031] A key aspect of the invention relates to a calibration process described below, which is performed prior to the hairpin test described above. In the calibration process, the spatial position and trajectory of the respective scanning element 17 are checked in computational models with reference to a theoretical target hairpin contour of a target hairpin 21, taking into account the surface shape / contour tolerance. If the respective scanning element 17 is moved into its end position without collision with the target hairpin 21, the scanning element 17 is correctly designed (according to the Fig. 6 “Query element OK”). The distance is checked and evaluated. The target value is zero, and a corresponding tolerance is to be applied. Based on this, it is determined whether query element 17 is faulty or not (according to the Fig. 6 “Query element niO” or “iO”).

[0032] The following should be noted: When measuring the query elements 17 in the query position, reference is made to the hairpin target contour; however, this contour is extended with surface form tolerance / contour tolerance; and for this purpose, the query distances of the query pins 20 are checked in corresponding directions during the measurement, as described in the Fig. 4 is indicated by the dashed perimeter line 22. Furthermore, in the Fig. 4. The query distances 18 of the query element 17 are indicated with respect to the hairpin target contour, but with contour / surface tolerance included. Furthermore, in the Fig. 4. The recording level A of the teaching device is indicated by a dashed line. Recording level A is the same as the theoretical level.

[0033] The measurement can be performed tactilely or optically. During the measurement, the distance between the hairpin target contour (extended with contour tolerance / form tolerance) and the probe mandrel surface is checked and evaluated in the corresponding direction.

[0034] According to the invention, the calibration process is carried out in a software unit 23 ( Fig. 6) the gauge is computationally simulated, that is, the calibration process is carried out digitally in computational models in software unit 23. Software unit 23, according to the Fig. 6 the following program modules: a teaching calculation module 25, in which the teaching data D L into a teaching coordinate system K L are read in; a target hairpin calculation module 27, in which the target hairpin data Ds are read into a target hairpin coordinate system Ks; and a comparator module 24, in which the gauge coordinate system K Land the target hairpin coordinate system Ks are superimposed. The two coordinate systems K L The Ks correspond to each other to ensure identical gauge and target hairpin alignment required for the calibration process. The comparator module 24 determines whether the query elements 17 are correctly designed or faulty.

[0035] A key aspect of the invention is the use of corresponding gauge and target hairpin coordinate systems K L , to provide Ks in order to perform a process-safe digital comparison of the target hairpin 21 with the gauge device.

[0036] When creating the teaching coordinate system K L and of the target hairpin coordinate system Ks, the zero point pin 9, the inclined recording plane A and the alignment base 14 each form references, on the basis of which the respective coordinate system K S and K L can be determined.

[0037] To determine the teaching coordinate system K L In a calculation model, the teaching calculation module 25 defines an intersection point of the zero-point pen axis N with the inclined recording plane A as a zero point of the teaching coordinate system K. L fixed. The axis / vector of the recording plane A forms a first spatial axis or spatial orientation of the teaching coordinate system K. L Furthermore, the jig calculation module 25 defines an axis perpendicular to the alignment base 14, which passes through the zero point of the jig coordinate system K. L The second spatial axis or plane orientation is fixed. The third spatial axis is determined by the teaching calculation module 25 from the first and second spatial axes.

[0038] As mentioned above, K is used to determine the teaching coordinate system. LThe teaching calculation module 25 in a calculation model defines an intersection point of the zero-point pen axis N with the inclined recording plane A as a zero point of the teaching coordinate system K. L fixed. The zero-point axis N forms a first spatial axis z of the tactile coordinate system K. L Furthermore, the jig calculation module 25 defines an axis perpendicular to the alignment base 14, which passes through the zero point of the jig coordinate system K. L The second spatial axis y is fixed. From the first and second spatial axes y and z, the teaching calculation module 25 determines the third spatial axis x.

[0039] To determine the target hairpin coordinate system Ks, the target hairpin calculation module 27 forms the target hairpin 21. The target hairpin coordinate system is formed as follows: A theoretical plane is placed on the hairpin legs 7. Its vector defines the first spatial axis (spatial orientation). The second spatial axis, as the plane orientation, is formed by one of the two leg midlines (a shaft axis). The origin of the target hairpin coordinate system Ks is the intersection of the theoretical plane and the theoretical cylinder positioned at right angles to the theoretical plane.

[0040] As mentioned above, to determine the target hairpin coordinate system Ks, the target hairpin calculation module 27 computationally, i.e., digitally, models the target hairpin 21, the inclined mounting plane A of the workpiece holder 1, the shape of the zero-point pin 9, its positioning in the inner corner area 12 at the hairpin tip of the target hairpin 21, and the alignment base 14 in a computational model. The target hairpin calculation module 27 defines an intersection point of the zero-point pin axis N with the inclined mounting plane A as a zero point of the gauge coordinate system K in this computational model. LFurthermore, the target hairpin calculation module 27 defines the zero-point pin axis N as the first spatial axis z of the target hairpin coordinate system Ks. Additionally, an axis perpendicular to the alignment base 14, which passes through the zero point of the target hairpin coordinate system Ks, is defined as the second spatial axis y. The target hairpin module 27 then determines the third spatial axis x from the first and second spatial axes y and z. REFERENCE MARK LIST: 1 workpiece holder 3 Hairpin 5 support pin 7 Hairpin legs 8 Transition edge 9 Zero point pen 10 Hairpin flank 11 Support pin 12 Inside corner area 13 Hairpin tip 14 Alignment floor 15 Right-angle profile section 17 Query element 18 query intervals 19 Element guidance 20 query pin 21 Sollhairpin 22 Circumference line 23 Software Unit 24 Comparator module 25 Teaching Calculation Module 27. Debit hairpin calculation module A slanted recording plane N zero point pen axis L Hairpin leg longitudinal axis α angle of inclination K L Teaching coordinate system K S Sollhairpin coordinate system D S Sollhairpin data D L Teaching data QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2015 208 350 B3

[0004] WO 2019 / 244090 A1

[0004]

Claims

[1] A gauge device for a hairpin (3) by means of which a deviation of an actual hairpin contour of the hairpin (3) to be tested from a target hairpin contour can be determined, comprising a workpiece holder (1) on which the hairpin (3) rests in a predefined test position, and comprising at least one adjustable sensing element (17), wherein in a test operation it can be determined by adjusting the sensing element (17) whether a deviation of the actual hairpin contour from the target hairpin contour, in particular extended with tolerance, exists, characterized by, that to provide the predefined test position the workpiece fixture (1) has an inclined mounting plane (A) on which the hairpin (3) rests, as well as a zero point pin (9) and a support pin (11), and that in the test position the hairpin (3) is supported with its inner corner region (12) at the hairpin tip (13) under the influence of gravity on the zero point pin (9) and is supported with one of its hairpin legs (7) under the influence of gravity on the support pin (11). [2] Teaching device according to claim 1, characterized by , that in the test position the hairpin (3) is rotated around the zero point pin (9) to an inclined position, and that the hairpin leg (7) rests with its outer side on the support pin (11), in particular against the direction of rotation. [3] Teaching device according to claim 1 or 2, characterized by, that the gauge device has an alignment base (14) which is arranged at a distance below the hairpin legs (7), and that in the test position at least one of the hairpin legs (7), in particular the hairpin leg (7) resting on the support pin (11), is aligned perpendicular to the alignment base (14), and that in particular one of the hairpins (3) to be tested is inserted into the gauge device by an operator, preferably with the aid of a right-angle profile part (15) which can be placed against both the hairpin leg (7) and the alignment base (14). [4] Teaching device according to any of the preceding claims, characterized by, that prior to carrying out the hairpin contour test a calibration process is performed in which the spatial position and / or the movement path of the probe element (17) can be checked with reference to a hairpin target contour of a target hairpin (21), in particular with the aim of a collision-free adjustment of the probe element (17) to its end position, and that in particular the calibration process is computationally replicated in computational models by means of a software unit (23) of the gauge device, i.e. it is carried out digitally. [5] Teaching device according to claim 4, characterized by , that the software unit (23) has the following program modules: - a teaching calculation module (25) in which the teaching data (D L ) into a teaching coordinate system (K L ) are read in, - a target hairpin calculation block (27) in which the target hairpin data (Ds) are read into a target hairpin coordinate system (Ks), and - a comparator module (24) in which the teaching coordinate system (K L ) can be superimposed on the Sollhairpin coordinate system (Ks), and that the two coordinate systems (K S , K L ) correspond to each other to ensure an identical gauge and target hairpin alignment required for the calibration process. [6] Teaching device according to claim 5, characterized by , that the zero point pin (9) is a first reference, the recording plane (A) of the tool holder (1) is a second reference and the alignment base (14) is a third reference for determining the coordinate systems (K S , K L ) form. [7] Teaching device according to claim 6, characterized by , that to determine the teaching coordinate system (K L ) the gauge calculation module (25) in a calculation model defines an intersection point of the zero-point pen axis (N) with the recording plane (A) as a zero point of the gauge coordinate system (K). L) specifies that the zero-point pen axis (N) or the vector of the recording plane is a first spatial axis (z) of the tactile coordinate system (K) L ) forms, in particular an axis perpendicular to the alignment base (14), which passes through the zero point of the gauge coordinate system (K L ) goes, forms the second spatial axis (y), and that the teaching calculation module (25) determines the third spatial axis (x) from the first and second spatial axes (y, z). [8] Teaching device according to claim 6 or 7, characterized by , that the determination of the target hairpin coordinate system (Ks) in the target hairpin calculation module (27) in a computational model can be carried out as follows: - a theoretical plane is placed on the hairpin legs (7); its vector forms the first spatial axis, i.e., spatial orientation; - the second spatial axis forms the plane alignment, which is formed by one of the two leg midlines (i.e., a leg axis); - The zero point of the Sollharpin coordinate system (Ks) is the intersection point of the theoretical plane with the theoretical cylinder placed at right angles on the theoretical plane. [9] Teaching device according to claim 6 or 7, characterized by, that to determine the target hairpin coordinate system (Ks), the target hairpin calculation module (27) computationally, i.e. digitally, models in a computational model the target hairpin (21), the receiving plane (A) of the workpiece holder (1), the shape of the zero point pin (9) and its positioning in the inner corner area (12) at the hairpin tip (13) of the target hairpin (21) and the alignment base (14), that the target hairpin calculation module (27) defines an intersection point of the zero point pin axis (N) with the receiving plane (A) as a zero point of the target hairpin coordinate system (Ks), that the zero point pin axis (N) is a first spatial axis (z) of the gauge coordinate system (K L ) forms, in particular an axis perpendicular to the alignment base (14), which passes through the zero point of the gauge coordinate system (K L) goes, forms the second spatial axis (y), and that the teaching calculation module (25) determines the third spatial axis (x) from the first and second spatial axes (y, z). [10] Method for operating a teaching device according to any of the preceding claims.

Images