Device for arranging an insulation on a coil end of a stator

Abstract

The invention relates to a device (2) for arranging an insulation (56) on a coil end of an electric motor stator, wherein the device comprises a control device, a holding device (13, 19), a first manipulator (14), a second manipulator (15), a wire grab (16) and a tube sliding gripper (17). The control device regulates or controls the movement of the holding device, the first manipulator or the second manipulator. The holding device can automatically attach to the holding device, or move, a transport device (3) transporting the stator. The wire grab is arranged on the first manipulator such that said wire grab can be moved by a movement of the first manipulator, and the tube sliding gripper is arranged on the second manipulator such that the tube sliding gripper can be moved by a movement of the second manipulator. The device is designed to provide each of the coil ends with an insulating tube (56) when the transport device is attached to the holding device. The invention furthermore relates to a method for arranging said insulation on a coil end.

Description

[0001] "Device for arranging insulation on a coil lead"

[0002] State of the art

[0003] Devices for manufacturing electric motors are known. For example, devices used for winding rotor wires of the rotor of an electric motor are known.

[0004] In electric motors, it is particularly important to ensure that the individual wires are electrically insulated. To achieve this, the wires are typically provided with an insulating layer and usually with an additional insulating layer, which electrically insulates the wires from the stator housing. The insulating layer can be formed, for example, by electrically insulating paper or a so-called insulating tube, which is pulled over the wire.

[0005] The installation of the insulating tube is comparatively time-consuming and often requires manual labor. Objective and advantages of the invention

[0006] The object of the present invention is to provide an improved device for applying insulation to a coil lead of a stator of an electric motor. In particular, the object of the present invention is to provide an improved automated device for manufacturing a stator.

[0007] The problem is solved by the independent claims.

[0008] The dependent claims mention exemplary embodiments of the invention.

[0009] According to the invention, a device for arranging insulation on a coil lead of a stator of an electric motor is proposed, wherein the device has a control device, a holding device, a first manipulator, a second manipulator, a wire gripper and a hose sliding gripper, wherein the control device is designed to regulate and / or control a movement of the holding device, a movement of the first manipulator and / or a movement of the second manipulator, wherein the holding device is designed to automatically fasten a transport device to the holding device and / or to move the transport device, wherein the wire gripper is arranged on the first manipulator so that the wire gripper can be moved by a movement of the first manipulator, wherein the hose sliding gripper is arranged on the second manipulator,so that the hose sliding gripper is movable by a movement of the second manipulator, wherein, when the transport device is arranged on the holding device, the device is designed to provide each coil lead of the stator arranged on the transport device with insulation. This enables an automated arrangement of the insulation on the coil lead of the stator, thus saving an employee's working time.

[0010] A typical electric motor has a stationary part, the stator, and a part that rotates relative to the stator, the rotor. The stator is typically made of a permanent magnet. In newer electric motors, the magnetic effect of the stator is realized by a field coil of the stator. Such a stator therefore has coil wires that are electrically contacted at coil leads of the coil wires so that current can be supplied to the coils. These coil leads should be electrically insulated from each other and from other components to ensure proper function. To ensure electrical insulation of the coil leads, they are conventionally covered with an insulating sleeve.

[0011] A coil lead conventionally comprises several coil wires or coil cores which, when combined in a bundle, form the coil lead. For example, each coil wire or coil core is electrically insulated by an insulation layer. For example, the insulation layer is electrically insulating and thus not electrically conductive. As a result, the coil wires or coil cores are electrically insulated from one another. A coil conventionally has several coil lead wires. For example, a stator has several coil lead wires. For example, each coil lead of the stator of an electric motor has insulation which encloses the bundle of coil wires or coil cores and thus electrically insulates the coil lead from the environment. For example, the insulation is present as an insulation tube or an insulating sleeve.

[0012] For example, the stator has a plurality of coil leads. For example, the stator has 6, 7 or 8 coil leads. It is conceivable that one coil lead has 14 coil wires or more. For example, the control device is present as a controller of the device in order to control the individual components. For example, the control device has a power supply, e.g. a power pack. It is conceivable that the control device has intelligence. For example, the intelligence is present as a computer or as an NC controller. For example, the control device is provided to control and / or monitor movements of the transport device, the wire catching gripper, the hose sliding gripper, the holding device and / or other components of the device. For example, the control device has sensors in order to monitor the components of the device, in particular their movements.

[0013] It is conceivable that the device comprises the transport device. For example, the transport device is designed to accommodate the stator. For example, the stator can be attached to the transport device. For example, the transport device is designed as a plate.

[0014] For example, the first manipulator and the second manipulator can be moved independently of one another. It is conceivable that a movement range of the first manipulator depends on a position of the second manipulator, and vice versa. It is conceivable that the control device is designed to control a movement of the first and second manipulators. It is also conceivable that the control device is designed to prevent a collision between the first and second manipulators. For example, the control device is designed to monitor and / or control the movements of the manipulators based on sensor signals from sensors of the device.

[0015] For example, the first manipulator and the second manipulator are present as a robot arm, as an industrial robot, as a handling system, and / or as a 6-axis articulated-arm robot. It is conceivable that the first manipulator and / or the second manipulator have multiple degrees of freedom of movement. For example, the first manipulator and / or the second manipulator has five, in particular six, degrees of freedom of movement. For example, the first manipulator and / or the second manipulator is arranged with a first end on a base plate. For example, the first manipulator and the second manipulator are fixedly attached to the base plate, e.g., screwed.

[0016] For example, the wire catching gripper is arranged at a second end of the first manipulator. For example, the first manipulator comprises the wire catching gripper. It is conceivable that the hose sliding gripper is arranged at a second end of the second manipulator. For example, the second manipulator comprises the hose sliding gripper. For example, the wire catching gripper has several degrees of freedom of movement, e.g., five or six degrees of freedom of movement, due to the mobility of the first manipulator. For example, the hose sliding gripper has several degrees of freedom of movement, e.g., five or six degrees of freedom of movement, due to the mobility of the second manipulator.

[0017] For example, the first manipulator, the second manipulator, and the holding device are arranged on the base plate or on a support surface of the device and are spaced apart from one another in the area of ​​the base plate or the support surface. For example, the holding device is attached to a frame.

[0018] It is also proposed that the hose sliding gripper has a base body and a coupling element, wherein the coupling element is designed to arrange the hose sliding gripper on the second manipulator, wherein the hose sliding gripper has a hose sliding gripper drive, wherein the hose sliding gripper has a first gripping element and a second gripping element for gripping the insulation, wherein the first gripping element has a first elastic member, wherein the second gripping element has a second elastic member, wherein the first and the second gripping elements are movable relative to one another, wherein the first gripping element and / or the second gripping element is movable by the hose sliding gripper drive. This advantageously ensures that the insulation is gripped.

[0019] For example, the first and second gripping elements are provided as a plate or a small piece. It is conceivable for the first and second gripping elements to be plate-shaped. This ensures, for example, a planar support of the first and second elastic members on the respective gripping element.

[0020] For example, the first elastic member is arranged so that it can be replaced on the first gripping element. For example, the second elastic member is arranged so that it can be replaced on the second gripping element.

[0021] For example, the first elastic member and / or the second elastic member is designed as a pad, e.g. as a rubber pad. For example, the first elastic member and / or the second elastic member has a trough, recess or depression on which the insulation can be arranged. For example, the insulation arranged on the hose sliding gripper can be aligned on the hose sliding gripper by means of the trough, recess or depression. For example, the insulation can be gripped by means of the recess in such a way that the insulation can be pushed onto the coil lead without excessively compressing the insulation, but ensuring that the insulation is held by the hose sliding gripper at all times.

[0022] For example, the first and second elastic members are cuboid-shaped. It is conceivable that the first and second elastic members are identical. For example, the first elastic member is arranged on the hose sliding gripper in a mirrored position relative to the second elastic member.

[0023] It is conceivable that the recess of the first and second elastic members form a round opening or a non-circular opening and / or an oval opening in cross-section when the first and second gripping elements are closed. For example, the first elastic member and the second elastic member each have a surface. For example, the surface is flat or planar. It is conceivable that the surfaces of the first and second elastic members abut one another when the first and second gripping elements are closed. For example, the recess of the first elastic member is a recess on the surface of the first elastic member. For example, the recess of the second elastic member is a recess on the surface of the second elastic member.For example, the recess extends continuously from a first end of the first elastic member to a second end of the first elastic member, wherein the first and second ends of the first elastic member are opposite one another and spaced apart from one another. For example, the recess extends continuously from a first end of the second elastic member to a second end of the second elastic member, wherein the first and second ends of the second elastic member are opposite one another and spaced apart from one another. For example, the recess of the first elastic member and the recess of the second elastic member extend parallel to one another.

[0024] For example, the recesses of the first and second elastic members are designed to receive and grip the insulation tube of the insulation along its longitudinal axis.

[0025] For example, the hose sliding gripper drive is designed as a spindle drive. For example, the first gripping element and the second gripping element are movable relative to the base body. For example, the first and second gripping elements can be moved toward or away from each other by the hose sliding gripper drive.

[0026] It is further proposed that the hose sliding gripper have a funnel for catching the coil lead and guiding the coil lead by moving the hose sliding gripper arranged on the second manipulator toward the first elastic member and / or the second elastic member. This makes threading the coil lead into an opening of the insulation hose gripped by the hose sliding gripper comparatively easy.

[0027] For example, the funnel is constructed in two parts. It is conceivable that the funnel has a first funnel element and a second funnel element. For example, the funnel is funnel-shaped. For example, the first funnel element is fixed in position on the first gripping element. It is conceivable that the second funnel element is fixed in position on the second gripping element. It is conceivable that the first funnel element and the second funnel element are identical.

[0028] For example, the recesses and the funnel elements of the first and the second gripping element form, in the closed state of the gripping elements, a continuous opening which extends along a longitudinal axis.

[0029] It is also proposed that the holding device be mounted on a frame of the device for linear movement. The holding device has a support element, and a receptacle is mounted on the support element for rotation relative to the support element. The receptacle is designed to accommodate the transport device. This enables the stator to be transported and processed by the device. For example, when the transport device is mounted on the holding device, the transport device can be moved by the holding device through two or three degrees of freedom of movement.

[0030] For example, the frame is designed as a portal. It is conceivable that the frame is designed as a portal. This creates a space for arranging the manipulators.

[0031] It is conceivable that the frame is mounted on the base plate of the device. This allows the device to be designed in a modular manner and delivered as a pre-installed module.

[0032] For example, the frame has a portal strut on which a vertically extending support beam is arranged. It is conceivable that the support device is arranged on the support beam so that it can move vertically. For example, a drive, e.g., a linear drive, is provided that moves the support device along a movement rail in a vertical direction relative to the support beam. For example, the support element of the support device is movably connected to the support beam.

[0033] It is conceivable that the support element is arranged on the support beam so that it can move vertically and is also rotatable about a rotational axis. For example, the rotational axis is horizontally aligned. For example, the support element is movable by 180° or 360° around the rotational axis. This allows the stator arranged on the transport device to move in several spatial directions.

[0034] It is also conceivable that the drive of the holding device drives both a movement of the support element relative to the support beam and a rotational movement of the holder relative to the support element. For example, a second drive is provided on the support element, with the second drive driving a movement of the holder relative to the support element.

[0035] For example, the mount is rotatable relative to the support element about a rotational axis. It is conceivable that the rotational axis is vertically aligned. For example, the mount is movable by 180° or 360° about the rotational axis. This allows the stator arranged on the transport device to be movable in different spatial directions.

[0036] For example, the rotational axis and the rotational axis of the holding device are aligned transversely to each other. It is conceivable that the rotational axis and the rotational axis are aligned perpendicularly to each other.

[0037] For example, the receptacle has a receiving element for releasably securing the transport device to the receptacle. For example, the receptacle has two receiving elements. For example, the receiving element is bolt-like. For example, the receiving element is designed as a pneumatic bolt. For example, the receiving element has fastening elements that are movably mounted on the receiving element, whereby the transport device can be clamped to the receptacle by means of the fastening elements.

[0038] It is also conceivable for the holder to have positioning elements in order to align and position the transport device relative to the holder. For example, a positioning element is designed as a pin, e.g. as a dowel pin. It is conceivable for the transport device to have a positioning element that matches the positioning element. For example, the positioning element is designed as an opening or bore, e.g. as a fit. For example, the holder has two positioning elements. It is conceivable for the transport device to be arranged in an assembly position on the holder, protruding downwards from the holder when the insulation is being attached to the coil lead. It is also conceivable for the transport device to be arranged lying on the holder for transfer to a change magazine and protruding upwards from the holder in a change position.For example, the holder can be rotated around the rotation axis from the recording position to the change position and back.

[0039] For example, the holder can be rotated around the rotation axis and / or the rotation axis in the holder position in order to be able to provide the various or several coil leads with insulation.

[0040] It is conceivable that the receptacle has an opening into which the stator arranged on the transport device protrudes when the transport device is in its installed state, or through which the stator protrudes. For example, the holding device is designed to accommodate a single transport device.

[0041] It is also proposed that the wire catching gripper has a base body, a wire catching gripper drive, and a coupling element, wherein the coupling element is designed to arrange the wire catching gripper on the first manipulator, wherein the wire catching gripper has a catching element which is designed to receive and collect wires of a coil lead, wherein the catching element is arranged on the base body, wherein the wire catching gripper has a stamp element which is movable relative to the base body and / or relative to the catching element, wherein the wire catching gripper drive can drive a movement of the stamp element. For example, the catching element is designed like a hook. As a result, the wires of the coil lead can be bundled comparatively easily and reliably. For example, the wire catching gripper drive drives a movement of the stamp element. For example, the wire catching gripper drive is designed as a spindle drive.For example, the stamping element can be linearly movable relative to the base body and / or relative to the catching element. It is conceivable that the stamping element is in the form of a pin or a stud.

[0042] For example, the catching element is designed as a hook. For example, the catching element has a U-shaped hook. It is conceivable that the U-shaped hook has two opposing and spaced-apart long inner surfaces and a short inner surface connecting the two long inner surfaces. For example, the short inner surface is located opposite a stamping surface of the stamping element, so that when the stamping element is closed, the coil lead can be clamped between the short inner surface and the stamping surface.

[0043] For example, the surface of the catching element is polished. It's conceivable that the catching element has a smooth surface. This comparatively minimizes friction between the catching element and the coil lead.

[0044] For example, a first of the two long inner surfaces is longer than a second of the two long inner surfaces. For example, the catching element has a catching tip at a second end of the second long inner surface. It is conceivable that the second end of the second long inner surface is opposite and spaced from the short inner surface. For example, the catching tip is designed to run away from the first inner surface, starting from the second end of the second long inner surface. This improves the catching of the wires of the coil lead. An exemplary embodiment of the invention is a machine with a device according to one of the aforementioned embodiments and with a transport device. This makes it comparatively easy to transport the stator to different assembly devices and align them there.

[0045] For example, the transport device is plate-shaped. For example, the transport device has mounting elements for attaching the stator to the transport device. For example, the mounting elements are designed to releasably arrange the stator on the transport device. It is conceivable that the stator, when arranged on the transport device, is screwed to the transport device. It is conceivable that a mounting element is designed as a blind hole or as a blind hole thread. For example, the transport device has a circular opening in which the stator can be arranged.

[0046] It is also conceivable that the transport device has fastening elements for arranging the transport device on the holder. It is conceivable that the fastening elements of the transport device are provided in a manner that matches the fastening elements of the holder. For example, the fastening elements are provided as openings into which the fastening elements can be arranged to engage.

[0047] It is conceivable that the transport device is cuboid-shaped, with four narrow sides and two large sides, with the fastening elements arranged on one large side. For example, the fastening elements are provided as a through-opening on the transport device. It is conceivable that the large sides of the transport device have a circular or cylindrical opening.

[0048] It is also proposed that the transport device include a transport element for arranging the insulated coil lead. This allows for further machining of the stator.

[0049] For example, the transport element is designed as a clamp, an eyelet, and / or a hook. It is also conceivable for the transport element to have a clip element that locks automatically. For example, the transport element is arranged on a large side of the transport device. It is conceivable for the transport device to have multiple transport elements. For example, the transport elements are spaced apart from one another around the opening of the transport device on the large side.

[0050] It is further proposed that the machine include an insulation sleeve dispenser with two insulation sleeve magazines. This makes it relatively easy to provide two insulation sleeves. This allows, for example, alternating refilling of the insulation sleeve magazines during ongoing operation, thus ensuring uninterrupted operation.

[0051] However, it is also conceivable that each insulation sleeve magazine contains an insulation sleeve, and the insulation sleeves in the two insulation sleeve magazines differ from one another. For example, the insulation sleeves differ in diameter, length, and / or technical design. One technical design, for example, is the insulation effect. It is also conceivable that the two insulation sleeve magazines allow for different lengths of insulation to be pushed onto the coil lead.

[0052] For example, the insulation sleeve dispenser has a pin onto which the insulation sleeve is pushed. This allows for improved gripping of the insulation sleeve by the sleeve-sliding gripper. It is also conceivable for the insulation sleeve dispenser to have a drive that moves the pin with the pushed-on insulation sleeve from a starting position to a transfer position and back. It is also conceivable for the insulation sleeve dispenser to have a cutting device that can separate the portion of the insulation sleeve gripped by the sleeve-sliding gripper from the remaining portion. It is also proposed that the insulation sleeve dispenser have a belt conveyor to transport the insulation sleeve, for example with the pin, from the starting position to the transfer position and / or back. For example, the portion of the insulation sleeve gripped by the sleeve-sliding gripper has a length of 50 mm.

[0053] It is also proposed that the machine include a change magazine. This change magazine allows the device to be automatically loaded and unloaded with a stator, thus enabling an automated, e.g., fully automated, stator manufacturing process.

[0054] For example, the transport device has attachment members for arranging the transport device on the changing magazine. For example, the attachment members are provided on a narrow side of the plate-shaped transport device. It is conceivable that the attachment members are provided on two narrow, opposite sides of the plate-shaped transport device. However, it is also conceivable that an attachment member is provided on each of the four narrow sides of the plate-shaped transport device. It is conceivable that an attachment member is designed as an opening, as a bore, e.g. as a blind hole, or as a fit. For example, the two large, opposite sides of the transport device are square.

[0055] It is also conceivable for a change magazine to provide one, two, three, four, or more change stations. A transport device can be arranged at each change station. Having more than one change station allows for comparatively faster processing of the stator and thus a higher cycle rate.

[0056] For example, the change magazine has exactly two change stations, positioned opposite each other. This allows for a comparatively simple and quick change of the transport device on the device.

[0057] For example, the change magazine is arranged opposite and at a distance from the holding beam on the machine, e.g. on the base plate of the machine or the base plate of the device.

[0058] For example, the device, in particular the machine, has a first sensor that detects whether the transport device is locked to the receptacle or whether the lock is open. It is also conceivable for the device, in particular the machine, to have a second sensor that detects whether the transport device is locked to the change magazine or whether the lock is open. This makes it possible to control the transfer of the transport device from the change magazine to the receptacle and vice versa.

[0059] An exemplary further embodiment of the invention is a method for arranging insulation on a coil lead of a stator of an electric motor with a device according to one of the aforementioned embodiments or with a machine according to one of the aforementioned variants, wherein the method comprises the following method steps:

[0060] — Gripping the coil section by a wire gripper of the device

[0061] — Collecting and bundling of coil lead wires by the wire gripper

[0062] — Alignment and positioning of the coil lead by the wire gripper — Gripping of the coil lead by the hose sliding gripper

[0063] — Alignment of an insulation relative to the coil lead by the hose sliding gripper

[0064] — Pushing the insulation onto one end of the coil lead using the hose sliding gripper up to a first intermediate position.

[0065] Further process steps of the embodiment can be:

[0066] — Gripping the coil lead at a first point by the wire gripper

[0067] — Gripping the insulation using the hose sliding gripper.

[0068] It is also proposed that the procedure include the following further steps:

[0069] — Release of the wire gripper from the first point of the coil lead and gripping of the coil lead by the wire gripper at a second point of the coil lead

[0070] — Pushing the insulation through the hose sliding gripper to a second intermediate position

[0071] It is also conceivable that the insulation is pushed onto the coil lead in several steps, i.e. that the wire catching gripper changes its gripping position on the coil lead several times and the hose sliding gripper pushes the insulation onto the coil lead step by step accordingly.

[0072] The coil lead or the wires of the coil lead have one end. The end of the coil lead is spaced from the coil, which is formed by the wires of the coil lead. It is conceivable that the coil lead extends from the coil to the end of the coil lead.

[0073] For example, the first point of the coil lead at which the wire gripper grips the wires of the coil lead is in a region of the first end of the coil lead. It is also conceivable that the second point of the coil lead at which the wire gripper grips the wires of the coil lead is located between the first point and the coil. It is also conceivable that if the wire gripper grips the coil lead at a further point, e.g., a third point, the further point of the coil lead is located in a region between the second point and the coil.

[0074] It is also proposed that the procedure include the following further steps:

[0075] — Release of the wire catching gripper from the coil lead at the second point and gripping the coil lead by the wire catching gripper at another point of the coil lead

[0076] — Pushing the insulation through the wire gripper to a final position of the insulation on the coil lead

[0077] — Moving the coil lead through the wire gripper so that the coil lead rests on a hook element of the transport device

[0078] — Attaching the end of the coil lead to a clamp of the transport device using the wire gripper so that the end is held in position by the clamp on the transport device.

[0079] For example, one transport element is designed as a hook element, and another transport element is designed as a clamp. For example, the wire gripper grips the coil lead at the other point along with the insulation.

[0080] It is also proposed that the method include the following further step:

[0081] — Moving the wire gripper parallel to the extension of the coil lead toward the end of the coil lead after attaching the end of the coil lead to the clamp, whereby the wire gripper is moved beyond the end of the coil lead, thereby safely releasing the wire gripper. It is also conceivable that the method comprises the following additional or alternative method step:

[0082] - Moving the wire catching gripper along the extension of the coil lead towards the end of the coil lead after attaching the end of the coil lead to the clamp, whereby the wire catching gripper is moved beyond the end of the coil lead, whereby the wire catching gripper is safely moved free.

[0083] Character description

[0084] An embodiment is explained in more detail with reference to the following drawings, giving further details and advantages:

[0085] They show:

[0086] Figure 1 shows a machine with an insulation tube dispenser and a change magazine in a perspective view from the side above,

[0087] Figure 2 is a detailed view of the transport device according to Figure 1 from an oblique side view above,

[0088] Figure 3 is a sectional view of a wire gripper from an angled side,

[0089] Figure 4 is a sectional view of a hose sliding gripper from an angled side,

[0090] Figure 5 is a top view of an insulation tube dispenser,

[0091] Figure 6 is a side view of an insulation tube magazine of the insulation tube dispenser according to Figure 5,

[0092] Figure 7 is a detailed view from the side of a device in a first processing position, in which a transport device is transported to the device by the changing magazine,

[0093] Figure 8 is a detailed view from the side of the device in a second processing position, in which the transport device is arranged on the device and a processing of the

[0094] Stator arranged in the transport device has begun

[0095] Figure 9 is a detailed view from the side of the device in a third processing position, in which the wire gripper has gripped a coil lead and the hose sliding gripper begins to push the insulation onto the coil lead,

[0096] Figure 10 is a detailed view from the side of the device in a fourth processing position, in which the hose sliding gripper has partially pushed the insulation onto the coil lead,

[0097] Figure 11 is a detailed view from the side of the device in a fifth processing position, in which the pushing of the insulation onto the coil lead by the hose sliding gripper is completed and the wire catching gripper continues to process the coil lead,

[0098] Figure 12 is a detailed view from the side of the device in a fifth processing position, in which the processing of the stator by the device is finished and the device begins to exchange another transport device with another stator.

[0099] Figure 1 shows a machine 1, wherein the machine 1 comprises a device 2, a transport device 3, a change magazine 4 and an insulation tube dispenser 5.

[0100] For example, the insulation tube dispenser 5 has two insulation tube magazines 6, 7 (Figure 5). For example, an insulation tube magazine 6 has a tube magazine 8, a drive 9, a pin 10, and a cutting device 11 (Figure 6). For example, the tube magazine 8 is designed as a roll onto which insulation in the form of an insulation tube is wound. For example, the drive 9 is designed as a belt drive. For example, the insulation is mounted between the two belts of the belt drive and is moved by the drive via the two belts. The cutting device 11 has, for example, a knife, wherein the knife is movable by means of a knife drive of the cutting device 11. For example, the knife has two cutting edges that can be moved towards one another and away from one another.

[0101] For example, the insulation is threaded onto the pin 10, so that the insulation can be moved along the longitudinal axis of the pin by means of the drive 9. For example, this advantageously stiffens the insulation, allowing the insulation to be gripped by a hose gripper.

[0102] The device 2 comprises a control device 12, a holding device 13, a first manipulator 14, a second manipulator 15, a wire catching gripper 16 and a hose sliding gripper 17.

[0103] The holding device 13 is, for example, suspended from a frame 18 of the device 2. For example, a support element 19 of the holding device 13 is attached to the frame 18. A receptacle 20 of the holding device 13 is movably arranged on the support element 19.

[0104] The change magazine 4 is movable, for example, by means of a linear drive 21 (Figure 2). It is conceivable that the linear drive 21 is arranged on the frame 18. For example, a transport device 5 arranged on the change magazine 4 is rotatable about a rotation axis D through the change magazine 4. For example, the transport device 5 is movable through the change magazine 4 along the rotation axis D. It is further conceivable that the transport device 5 is movable through the change magazine 4 in a direction transverse to the rotation axis D.

[0105] For example, a wire gripper 16 is arranged on the first manipulator 14, and a hose-sliding gripper 17 is arranged on the second manipulator 15 (Figure 9). A stator 24 can be arranged on the transport device 3. The stator 24 has coil leads 25. For example, the coil leads 25 each have a plurality of coil wires or coil cores 26.

[0106] The wire gripper 16 comprises, for example, a base body 22, a wire gripper drive 23, and a coupling member 27 (Figure 3). It is conceivable that the base body 22 comprises the coupling member 27. For example, the base body 22 and the coupling member 27 are provided as a single piece. It is also conceivable that the coupling member 27 is designed to transmit a movement of the first manipulator 14 to the wire gripper drive 23 when arranged on the first manipulator 14.

[0107] It is further proposed that the wire catching gripper 16 have a catching element 28. The catching element 28 is arranged, for example, on the base body 22. For example, the wire catching gripper 16 has a stamp element 29. It is conceivable that the stamp element 29 is movable relative to the base body 22 and / or relative to the catching element 28. For example, the stamp element 29 is mounted on the base body 22 for linear movement. It is conceivable that the stamp element 29 is connected to the wire catching gripper drive 23 and is designed to be drivable by the wire catching gripper drive 23. For example, the stamp element 29 is exclusively linearly movable.

[0108] The catching element 28 is, for example, hook-shaped. It is conceivable that the catching element 28 has an opening 30 into which the punch element 29 can be moved by the wire catching gripper drive 23. For example, the catching element 28 has a hook 31. For example, the hook 31 has two opposite and spaced-apart long inner surfaces 32, 33 and a short inner surface 34 connecting the two inner surfaces 32, 33. It is conceivable that a second end 35 of the second long inner surface 32 is designed as a catching tip 36.

[0109] The hose sliding gripper 17 comprises, for example, a base body 37 and a coupling element 38 (Figure 4). It is conceivable that the base body 37 comprises the coupling element 38. For example, the base body 37 and the coupling element 38 are provided in one piece. It is also conceivable that the coupling element 38 is designed to transmit a movement of the second manipulator 15 to a hose sliding gripper drive 39 of the hose sliding gripper 17 when arranged on the second manipulator 15.

[0110] For example, the hose sliding gripper 17 has a first gripping element 40 and a second gripping element 41.

[0111] For example, the first and second gripping elements 40, 41 can be moved toward and away from each other by means of the hose sliding gripper drive 39. It is also conceivable that a first elastic member 42 is arranged on the first gripping element 40 and a second elastic member 43 is arranged on the second gripping element 41.

[0112] For example, the first elastic member 42 and / or the second elastic member 43 is designed as a pad, e.g., as a rubber pad. For example, the first elastic member 42 and / or the second elastic member 43 has a depression, recess

[0113] 44 or recess to which insulation can be arranged.

[0114] It is also conceivable that a funnel 45 is arranged on the hose sliding gripper 17. It is conceivable that the funnel

[0115] 45 has a first funnel element 46 and a second funnel element 47. For example, the first funnel element 46 is fixedly connected to the first gripping element 40, and the second funnel element 47 is fixedly connected to the second gripping element 41 (Figure 11).

[0116] Figure 7 shows a detailed view obliquely from the side of the device 2 in a first processing position, in which a second transport device 49 is transported to the device 2 by the change magazine 4. For example, a stator 48, which has already been processed by the device 2, is arranged on the transport device 3. The second transport device 49, on which the stator 24 is arranged, is shown on the change magazine 4 (in the background), and the coil leads 25 are still to be provided with insulation (not shown).

[0117] For example, the holding device 13 has a receiving element 50, by means of which the transport device 3, 49 can be secured to the holding device 13. It is also conceivable for the interchangeable magazine 4 to have an attachment element 51, by means of which the transport device 3, 49 can be secured to the interchangeable magazine 4. It is also conceivable for the transport device 3, 49 to have an attachment member 52 for securing the transport device 3, 49 to the interchangeable magazine 4. It is conceivable for the attachment element 51 and the attachment member 52 to be coordinated with one another.

[0118] For example, the attachment member 52 is provided on a narrow side 53 of the plate-shaped transport device 3, 49. It is conceivable that the attachment member 52 is provided on two narrow, opposite sides 53 of the transport device 3, 49.

[0119] Figure 8 shows the beginning of the application of insulation to a coil lead 25. For example, the wire gripper 16 grips the coil lead 25 at a first end, which faces a coil 54 of the stator 24, so that the coil wires 26 of the coil lead 25 come to rest in the opening 30 of the wire gripper 16. In a further movement, the wire gripper guides the opening 30 to a second end 55 of the coil lead 25 (Figure 9). This movement combines the coil wires 26 of the coil lead 25 into a coil wire bundle. For example, the first and second ends 55 are opposite one another and spaced apart from one another.

[0120] In a further assembly step, the hose sliding gripper 17 threads the second end 55 of the coil lead 25 into an opening of an insulation in the form of an insulation hose 56 by means of its funnel 45. For example, the hose sliding gripper 17 has gripped the insulation hose 56 by means of its gripping elements 40, 41 (Figure 9).

[0121] In a further assembly step, the wire catching gripper 16 grips the coil lead 25 at a further point between the first and second end 55, so that the hose sliding gripper 17 can push the insulation hose 56 in the direction of the first end of the coil lead 25 onto the coil wires 26 of the coil lead 25 (Figure 10).

[0122] In a further assembly step (Figure 11), the hose sliding gripper 17 opens its gripping elements 40, 41 so that the hose sliding gripper 17 can move away from the insulation hose 56 and moves away from the insulation hose 56. In a further assembly step (Figure 11), the wire catching gripper 16 grips the insulation hose 56 at one point and pushes the insulation hose 56 further toward the first end of the coil lead 25 onto the coil lead 25.

[0123] In a further assembly step (not shown), the wire gripper 16 clips the coil lead 25, insulated with the insulating tube 56, to a transport element 57 of the transport device 49 (Figure 11). This secures and / or positions the insulated coil lead 25 for further processing or transport on the transport device 49. The transport element 57 is designed, for example, as a clamping element, e.g., as a clamp.

[0124] List of reference symbols

[0125] 1 machine 30 opening

[0126] 2 device 31 hooks

[0127] 3 Transport device 32 Inner surface

[0128] 4 Exchange magazine 33 inner surface

[0129] 5 insulation tube dispenser 34 inner surface

[0130] 6 Insulation hose magazine 35 end

[0131] 7 Insulation hose magazine 36 Catch tip

[0132] 8 hose magazine 37 base body

[0133] 9 Drive 38 Coupling element

[0134] 10 Pin 39 Hose slide

[0135] 11 Cutting device gripper drive

[0136] 12 Control device 40 Gripping element

[0137] 13 Holding device 41 Gripping element

[0138] 14 Manipulator 42 elastic organ

[0139] 15 Manipulator 43 elastic organ

[0140] 16 wire gripper 44 recess

[0141] 17 hose sliding gripper 45 funnel

[0142] 18 Frame 46 Funnel element

[0143] 19 Support element 47 Funnel element

[0144] 20 Recording 48 Stator

[0145] 21 Linear drive 49 Transport device

[0146] 22 Base body 50 Receiving element

[0147] 23 Wire gripper drive 51 Attachment element

[0148] 24 Stator 52 Attachment element

[0149] 25 Coil lead 53 Page

[0150] 26 coil wire 54 coil

[0151] 27 coupling element 55 end

[0152] 28 Catch element 56 Insulation hose

[0153] 29 stamp element 57 transport element

Claims

Claims 1. Device (2) for arranging insulation on a coil lead (25) of a stator (24) of an electric motor, wherein the device (29) comprises a control device (12), a holding device (13), a first manipulator (14), a second manipulator (15), a wire gripper (16), and a hose sliding gripper (17), wherein the control device (12) is designed to regulate and / or control a movement of the holding device (13), a movement of the first manipulator (14), and / or a movement of the second manipulator (15), wherein the holding device (13) is designed to automatically fasten a transport device (3) to the holding device (13) and / or to move the transport device (3), wherein the wire gripper (16) is arranged on the first manipulator (14) such that the wire gripper (16) can be moved by a movement of the first manipulator (14),wherein the hose sliding gripper (17) is arranged on the second manipulator (15) so that the hose sliding gripper (17) can be moved by a movement of the second manipulator (15), wherein in the arranged state of the transport device (3) on the holding device (13), the device (2) is designed to provide coil leads (25) of the stator (24) arranged on the transport device (3, 48) with an insulation.

2. Device (2) according to the preceding claim 1, characterized in that the hose sliding gripper (17) has a base body (37) and a coupling element (38), wherein the coupling element (38) is designed to arrange the hose sliding gripper (17) on the second manipulator (15), wherein the hose sliding gripper (17) has a hose sliding gripper drive (39), wherein the hose sliding gripper (17) has a first gripping element (40) and a second gripping element (41) to grip the insulation, wherein the first gripping element (40) has a first elastic member (42), wherein the second gripping element (41) has a second elastic member (43), wherein the first and the second gripping element (40, 41) are provided so as to be movable relative to one another, wherein the first gripping element (40) and / or the second gripping element (41) is movable by the hose sliding gripper drive (39). 3.Device (2) according to one of the preceding claims, characterized in that the hose sliding gripper (17) has a funnel (45) to catch the coil lead (25) and to guide it by a movement of the hose sliding gripper (17) arranged on the second manipulator (15) in the direction of the first elastic member (42) and / or in the direction of the second elastic member (43). 4.Device (2) according to one of the preceding claims, characterized in that the holding device (13) is mounted on a frame (18) of the device (2) in a linearly movable manner, wherein the holding device (13) has a carrier element (19), wherein a receptacle (20) is mounted on the carrier element (19) in a rotatable manner relative to the carrier element (19), wherein the receptacle (20) is designed to arrange the transport device (3).

5. Device (2) according to one of the preceding claims, characterized in that the wire catching gripper (16) has a base body (22), a wire catching gripper drive (23) and a coupling member (27), wherein the coupling member (27) is designed to arrange the wire catching gripper (16) on the first manipulator (14), wherein the wire catching gripper (16) has a catching element (28) which is designed to receive and collect wires of a coil lead (25), wherein the catching element (28) is arranged on the base body (22), wherein the wire catching gripper (16) has a stamping element (29) which is movable relative to the base body (22) and / or relative to the catching element (28), wherein the wire catching gripper drive (23) can drive a movement of the stamp element (29), wherein the catching element (28) is designed like a hook. 6.Machine (1) with a device (2) according to one of the preceding claims and with a transport device (3). 7.Machine (1) according to the preceding claim 6, characterized in that the machine (1) has an insulation tube dispenser (5) which has two insulation tube magazines (6, 7). 8.Machine (1) according to one of the preceding claims 6 or 7, characterized in that the machine (1) has a change magazine (4).

9. Method for arranging insulation on a coil lead (25) of a stator (24) of an electric motor with a device (2) according to one of the preceding claims 1 to 5 or with a machine (1) according to one of the preceding claims 6 to 8, wherein the method comprises the following method steps: - Gripping the coil section (25) by a wire gripper (16) of the device (2) - Collecting and bundling wires (26) of the coil lead (25) by the wire gripper (16) - Alignment and positioning of the coil lead (25) by the wire gripper (16) - Gripping the coil lead (25) by the hose sliding gripper (17) - Aligning an insulation relative to the coil lead (25) by means of the hose sliding gripper (17) - Pushing the insulation onto one end of the coil lead (25) by means of the hose sliding gripper (17) up to a first intermediate position.

10. A method for arranging insulation on a coil lead (25) of a stator (24) of an electric motor according to the preceding claim 9, wherein the method comprises the following further method steps: - Detach the wire gripper (16) from the coil lead (25) and grip the coil lead (25) by the wire gripper (16) at a second point of the coil lead (25) - Pushing the insulation through the hose sliding gripper (17) up to a second intermediate position.

11. A method for arranging insulation on a coil lead (25) of a stator (24) of an electric motor according to the preceding claim 10, wherein the method comprises the following further method steps: - Detach the wire gripper (16) from the coil lead (25) at the second point and engage the coil lead (25) by the wire gripper (16) at a third point of the coil lead (25) - Pushing the insulation through the wire gripper (16) to an end position of the insulation on the coil lead (25) - Moving the coil lead (25) by the wire gripper (16) so that the coil lead (25) comes to rest on a hook element of the transport device (3) - Attaching the end of the coil lead (25) to a clamp of the transport device (3) by the Wire catching gripper (16) so that the end is held in position by the clamp on the transport device (3).

12. A method for arranging insulation on a coil lead (25) of a stator (24) of an electric motor according to one of the preceding claims 9 to 11, wherein the method comprises the following further method step: - Moving the wire gripper (16) parallel to the extension of the coil lead (25) towards the end of the coil lead (25) after attaching the end of the coil lead (25) to the clamp, whereby the wire catching gripper (16) is moved beyond the end of the coil lead (25), whereby the wire catching gripper (16) is safely released.

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