EP4547416A1 - Dispositif de préhension pour un système d'estampage, appareil partiel, système d'estampage et procédé pour adapter un dispositif de préhension et un appareil partiel - Google Patents

Dispositif de préhension pour un système d'estampage, appareil partiel, système d'estampage et procédé pour adapter un dispositif de préhension et un appareil partiel

Info

Publication number
EP4547416A1
EP4547416A1 EP23738475.5A EP23738475A EP4547416A1 EP 4547416 A1 EP4547416 A1 EP 4547416A1 EP 23738475 A EP23738475 A EP 23738475A EP 4547416 A1 EP4547416 A1 EP 4547416A1
Authority
EP
European Patent Office
Prior art keywords
arm
cross member
busbar
longitudinal axis
holder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23738475.5A
Other languages
German (de)
English (en)
Inventor
Martin Hagel
Niklas LÄNGLE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hsf Automation GmbH
Original Assignee
Hsf Automation GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hsf Automation GmbH filed Critical Hsf Automation GmbH
Publication of EP4547416A1 publication Critical patent/EP4547416A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D28/00—Shaping by press-cutting; Perforating
    • B21D28/02—Punching blanks or articles with or without obtaining scrap; Notching
    • B21D28/22—Notching the peripheries of circular blanks, e.g. laminations for dynamo-electric machines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K15/00—Processes or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
    • H02K15/02—Processes or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
    • H02K15/021—Magnetic cores

Definitions

  • the present invention relates to a gripping device for gripping at least one electrical sheet, to a dividing apparatus, to a punching system, in particular for punching grooves into the electrical sheet, and to a method for adapting the gripping device and the dividing apparatus.
  • the single groove process on so-called groove punches is usually used.
  • the necessary grooves are punched in rotor and stator laminations in several successive steps.
  • a sheet metal blank is fed to the slot punching machines using suitable automation, and the punched sheet metal is then removed or transported further for the next processing step.
  • a corresponding groove punch is described, for example, in DE 102017 124 334 A1.
  • the sheet metal blanks are gripped using several electrically controllable magnets that are located on appropriate holders (tooling).
  • the tooling in the area within the machine is adapted to the new component.
  • the setting options and the space available are very limited.
  • Each individual magnet and sensor has at least one electrical cable, which must be laid securely so that it does not get caught during transport.
  • the electrical installation must not be too bulky, since the tooling interacts with the tool and the opening width of the tool is very limited.
  • Rotor tooling has an additional lifting stroke in which the rotor is raised above the stator so that the stator can be put down.
  • a gripping device for gripping at least one electrical sheet, a dividing apparatus, a punching system, a method for adapting the gripping device and a method for adapting the dividing apparatus according to the main claims.
  • busbars eliminates the need for difficult-to-handle and error-prone cabling of devices in a punching system.
  • busbars can be used, which allows the punching system to be easily and safely adapted to differently shaped electrical sheets. This means that a changeover process can be carried out very quickly, optionally automated, and safe operation can be guaranteed.
  • a rod-shaped element of the punching system suitable for positioning an electromagnet for example a guide rail or a carrier, can be equipped with at least one suitable busbar or can itself form a corresponding busbar.
  • a gripping device for gripping at least one electrical sheet for a generator comprises the following features: at least one cross member; and at least one arm with a holder for holding an electromagnet, the longitudinal axis of the arm being aligned differently to the longitudinal axis of the cross member and the arm being mechanically connected to the cross member.
  • the at least one cross member comprises at least one first busbar extending along a longitudinal axis of the cross member for carrying an electrical current for operating the electromagnet for gripping the electrical sheet;
  • the at least one arm comprises at least one first busbar extending along a longitudinal axis of the arm for conducting the electrical current.
  • a circuit required to operate the electromagnet can be routed via at least one busbar, so that at least one cable can be saved compared to a realization completely without a busbar.
  • the gripping device can be used as automation or part of an automation to feed an electrical sheet to a slot punch and then remove the punched sheet or transport it further for the next processing step.
  • a cross member may be sufficient for gripping small electrical sheets. Especially with thin electrical sheets with a large diameter, it can make sense to use two opposing cross members in order to be able to grip and hold the electrical sheet securely. In this sense, it can make sense to provide a plurality of arms per cross member. At least one electromagnet can be carried per arm, which, when activated, can exert a magnetic force to attract the electrical sheet. Tightening using an electromagnet can be understood as gripping.
  • the at least one cross member and the at least one arm can each have a suitable profile, which can be optimized, for example, with regard to stability and weight.
  • Each of the busbars can be designed as an electrical conductor, for example in the form of a copper rail.
  • a corresponding busbar can be placed as a separate element on a body of the respective cross member or arm, integrated into the corresponding body or formed by the body itself.
  • the at least one cross member can have or form the at least one busbar depending on the embodiment.
  • the at least one arm can have or form the at least one busbar depending on the embodiment.
  • the at least one cross member and the at least one arm can be designed in accordance with cross members and arms of known gripping devices. The only difference can be that the cross member and/or arm are provided with at least one busbar or at least form such a busbar through their body. This means that there is no need for an otherwise necessary cable for power supply per busbar.
  • both the cross member and the at least one arm each comprise at least one busbar
  • the at least one first busbar of the arm can be electrically conductively connected to the at least one first busbar of the crossmember. In this way, a current path for conducting a current for an electromagnet can be routed over the busbar of the cross member and the corresponding busbar of the arm. In this way, an otherwise required cable can be saved.
  • the holder can have a current collector for electrically contacting the at least one first busbar of the arm.
  • the current collector enables the current to be tapped safely without the use of a cable, even when the holder is moved along the arm.
  • the cross member and/or the at least one arm each have at least one busbar, which are assigned to one another and are connected to one another in an electrically conductive manner. If several separate busbars are provided per arm and per cross member, each busbar of an arm can be electrically conductively connected to an associated busbar of the cross member. Mutually assigned busbars of the cross member and the arm can be part of a current path of a circuit with which, for example, an electromagnet or a sensor can be operated.
  • the cross member can include a pair of busbars extending along the longitudinal axis of the cross member for feeding an electric current back and forth to operate the electromagnet.
  • the at least one arm can comprise at least one pair of busbars extending along the longitudinal axis of the arm for feeding an electrical current back and forth to operate the electromagnet.
  • the gripping device can be equipped with at least one electromagnet, which is held by the holder.
  • the electromagnet can be removably received from the holder when the gripping device is in the operational state. If the holder has a current collector, the electromagnet can be electrically connected to the current collector.
  • the holder can include a plug for contacting connections of the electromagnet.
  • a sensor can be held by the holder or another holder.
  • the sensor can be used, for example, to sense the electrical sheet.
  • the sensor can be electrically connected to the current collector of the holder or another current collector of the arm.
  • the gripping device can comprise a supply device which is designed to feed the electrical current into the at least one busbar of the cross member in response to a gripping signal.
  • the supply device can be, for example, a voltage source.
  • the supply device can be connected via an electrical conductor to the cross member or, for example, a carrier of the gripping device if the current is fed into the cross member via a carrier. Using the gripping signal, activation and deactivation of the at least one electromagnet can thus be controlled.
  • the arm can be slidably connected to the cross member along the longitudinal axis of the cross member. In this way, a position of the electromagnet held by the arm can be adjusted in one direction.
  • the arm can be mounted on the cross member so that it can be moved manually or automatically.
  • the arm can be slidably connected to the cross member along the longitudinal axis of the arm.
  • the arm can be mounted on the cross member so that it can be moved manually or automatically.
  • the holder can be connected to the arm so as to be displaceable along the longitudinal axis of the arm.
  • the holder can be mounted on the arm so that it can be moved manually or automatically. This way you can a position of the electromagnet held by the arm can be adjusted in a further direction.
  • the arm and the cross member are slidably connected to one another via at least one rail guide.
  • a rail connection enables a secure and stable coupling between the arm and the cross member.
  • the gripping device comprises at least one cross connector, which is shaped to mechanically connect the arm and the cross member in a different orientation to one another and to electrically conductively connect the at least one busbar of the cross member to the at least one busbar of the arm.
  • the cross connector can be shaped to connect the arm and the cross member to one another orthogonally aligned to one another, but an oblique connection can also be realized.
  • the cross connector can be made in several parts. One cross connector can be used per arm to attach the arm to the associated cross member. If more than one busbar is provided, each of the busbars of the cross connector can be connected to the corresponding busbar of the arm, provided that the crossbeam and arm are both equipped with busbars.
  • the cross member can include a connection for a cable used instead of a busbar.
  • a cross connector By using a cross connector, a stable yet easily modifiable connection between the arm and the cross member can be achieved.
  • the cross connector can be shaped to encompass the cross member.
  • the cross member can be guided securely within the cross connector and can optionally be displaceable in one direction relative to the cross connector.
  • the cross connector can be shaped to engage in a groove extending along the longitudinal axis of the arm or to grip around a web extending along the longitudinal axis of the arm.
  • a rail guide allows the arm to be displaceable in one direction relative to the cross connector.
  • the cross connector can have a closure device, for example in the form of a play-free quick-release fastener.
  • the closure device can be switched manually or automatically between an open position and a closed position be transferable.
  • the closure device is designed to fix the arm to the cross connector without play in the closed position. This means that the electrical sheet gripped by the gripping device can be securely held and transported.
  • the holder and the arm can be slidably connected to one another via a rail guide. This allows for a stable coupling and yet easy adjustability.
  • the holder may include a mounting portion formed to slidably attach the holder to the arm along the longitudinal axis of the arm.
  • the fastening section can at least partially surround the arm. This prevents the holder from tilting relative to the arm.
  • the fastening section of the holder can be shaped to engage in a groove extending along the longitudinal axis of the arm or to grip around a web extending along the longitudinal axis of the arm.
  • the holder can have an adjusting device that can be moved between an open position and a closed position.
  • the adjusting device can be designed to fix the holder on the arm in the closed position. This can prevent the electromagnet from slipping during operation of the gripping device.
  • the arm can have at least one grid extending along the longitudinal axis of the arm.
  • the adjusting device can be designed to engage in the grid in the closed position. This allows a positive connection to be created between the arm and the holder.
  • the holder can have a light source that can be electrically conductively connected to the current collector.
  • an electrical voltage applied to the current collector can be displayed and, additionally or alternatively, a current flowing through an electromagnet held by the holder can be displayed.
  • a body of the cross member can be formed from an electrically conductive material.
  • the at least one busbar extending along the longitudinal axis of the cross member can be electrically insulated from the body. The body and the at least one busbar can thus serve as a forward and return conductor of a circuit carrying the electrical current. In this way, several circuits can be implemented, each of which uses the body as a neutral conductor, for example.
  • a body of the arm can be formed from an electrically conductive material and the at least one busbar extending along the longitudinal axis of the arm can be electrically insulated from the body.
  • the body and the at least one busbar can thus serve as a forward and return conductor of a circuit carrying the electrical current.
  • the current collector of the holder can also be shaped to electrically contact the body of the arm.
  • a body of the cross-connector can accordingly be formed from an electrically conductive material.
  • the body of the cross member and the body of the arm can be electrically conductively connected via the body of the cross connector.
  • the cross connector can have at least one electrical conductor insulated from the body of the cross connector, with which a busbar of the cross member can be connected in an electrically conductive manner to a corresponding busbar of the arm.
  • the bodies of the arm and/or the cross connector and/or the cross member and/or the holder may be formed from an electrically insulating material.
  • the at least one circuit for operating the at least one electromagnet can be conducted via busbars guided along the respective body.
  • the cross member can thus have a second busbar extending along the longitudinal axis of the cross member.
  • the arm can have at least one second busbar extending along the longitudinal axis of the arm, the second busbar of the cross member being electrically conductively connected to the second busbar of the arm, for example directly or using a cross connector.
  • the current collector of the holder can contact the second busbar of the arm.
  • at least a third busbar can be provided.
  • the at least one busbar of the arm can have a first busbar section and a second busbar section.
  • the busbar sections can extend on different sides of the arm along the longitudinal axis of the arm.
  • a suitable connector can be included in the arm or attached to the arm, for example in the form of a cap that can be placed on a free end of the arm with at least one connecting conductor for electrically conductively connecting the busbar sections.
  • a first busbar section of a busbar can be arranged on a side of the arm facing the cross member and a second busbar section of the same busbar can be arranged on a side of the arm facing away from the cross member.
  • the current collector of the holder can be designed to electrically contact the second busbar section.
  • the use of the busbar sections is advantageous in order to be able to place the holder at the height of the cross member or to be able to push it to another side of the cross member.
  • each of the arms can have at least one busbar extending along a longitudinal axis of the arm for carrying an electric current and a holder for holding an electromagnet.
  • Each of the arms can be mechanically connected to an assigned cross member and the at least one busbar of each of the arms can be electrically conductively connected to a corresponding busbar of the assigned cross member if the assigned cross member has a corresponding busbar.
  • the arms can be aligned parallel to each other, but also at an angle to each other.
  • a plurality of electromagnets can also be positioned in a distributed manner. This means that the electrical sheet can be gripped at several points.
  • the gripping device can comprise a displacement device which is designed to move the cross member along the longitudinal axis of the cross member. In this way, an electrical sheet held by the gripping device can be moved.
  • the gripping device can have at least one second cross member, which optionally comprises at least one busbar extending along a longitudinal axis of the second cross member for carrying an electrical current.
  • the gripping device can have at least one second arm, which optionally comprises at least one busbar extending along a longitudinal axis of the second arm.
  • the arm can include at least one holder for holding a second electromagnet. The at least one second arm can be mechanically connected to the second cross member.
  • both the at least one second cross member and the at least one second arm comprise busbars
  • the at least one busbar of the at least one second arm can be electrically conductively connected to the at least one busbar of the second cross member.
  • the holder can have a current collector for electrically contacting the at least one busbar of the second arm in order to operate the second electromagnet for gripping the electrical sheet using the current conducted via the at least one busbar of the second arm to be able to.
  • a length of the cross member can be greater than a length of the second cross member.
  • arms of the second cross member can be arranged between arms of the cross member.
  • an inner section of the electrical sheet resulting from a punching process can be gripped using the second arms of the second cross member and an outer section of the electrical sheet can be gripped using the arms of the cross member.
  • the cross member and the second cross member can be arranged parallel to one another.
  • the cross members can be arranged offset from one another along the longitudinal axis of one of the arms.
  • the cross members can be arranged in one plane.
  • the cross members can be arranged to be movable relative to one another along a vertical axis.
  • an offset device can be provided for raising or lowering the cross member and/or the second cross member. In this way, for example, a rotor sheet held using the second arms of the second cross member can be moved relative to a stator sheet held by the arms of the cross member, for example in order to be able to lay down the finished stator sheet.
  • the gripping device can comprise at least one carrier.
  • the cross member can be movably connected to the carrier along a longitudinal axis of the carrier, for example using a carriage.
  • the longitudinal axis of the carrier and the longitudinal axis of the cross member can be aligned parallel to one another.
  • the second cross member can be movably connected to the carrier along the longitudinal axis of the carrier in accordance with the cross member.
  • the cross member and the second cross member can each only be moved together or, according to one embodiment, independently of one another along the longitudinal axis of the carrier.
  • the carrier can be designed to be telescopic. This means that the at least one cross member can be moved very quickly.
  • the gripping device can comprise a further carrier arranged opposite the carrier.
  • at least one further cross member with at least one further arm and holder can be carried by the further carrier.
  • the at least one further cross member can comprise at least one busbar and, additionally or alternatively, the at least one further arm can comprise at least one busbar. This means that even with the additional cross member arm arrangement, a circuit can be routed exclusively via busbars or via a combination of busbars and cables.
  • the gripping device can have at least one further cross member arranged opposite the cross member, which optionally comprises at least one busbar extending along a longitudinal axis of the further cross member for conducting the or a further electrical current.
  • the at least one further arm can comprise at least one busbar extending along a longitudinal axis of the further arm for conducting the electrical current.
  • the arm can include at least one holder for holding another electromagnet.
  • the longitudinal axis of the at least one further arm can be aligned differently to the longitudinal axis of the further cross member.
  • the at least one further arm can be mechanically connected to the further cross member.
  • both the cross member and the arm comprise at least one busbar
  • the at least one busbar of the further arm can be electrically conductively connected to the at least one busbar of the further cross member.
  • the holder of the at least one further arm can have a current collector for electrical purposes Contact the at least one busbar of the further arm if the further arm has a corresponding busbar.
  • the holder can have a connection for connecting a cable.
  • the further electromagnet for gripping the electrical sheet can be operated using the current, which is conducted either via the at least one busbar of the further arm or alternatively via a cable.
  • the carrier and the further carrier can be arranged parallel to one another. Accordingly, the cross member and the further cross member can be arranged parallel to one another.
  • a dividing apparatus for a punching device for carrying out a punching process for punching at least one groove in an electrical sheet has the following features: a support; a support plate for the electrical sheet during the stamping process; at least one guide rail arranged between the support plate and the support, which comprises at least one first busbar extending along the longitudinal axis of the guide rail for conducting an electrical current; and at least one holder for holding at least one electromagnet, wherein the holder is arranged on the guide rail so as to be movable along a longitudinal axis of the guide rail and has a current collector for electrically contacting the at least one first busbar of the guide rail in order to use the current to fix the electromagnet for fixing the electrical sheet to be able to operate.
  • the dividing apparatus can be designed in accordance with known dividing apparatuses, whereby due to the equipment of the at least one guide rail with at least one busbar, an otherwise electrical contacting of the at least one electromagnet can be reduced. If the guide rail is designed with two separate busbars, for example with a pair of busbars, or a body of the busbar is used as an electrical conductor in addition to the at least one first busbar, the at least one electromagnet can be used exclusively via the guide rail to operate the electromagnet required power can be supplied. It is not necessary to run a cable along the busbar to the electromagnet or the holder.
  • the approach described can be used in connection with a punching system that includes a punching device for carrying out a punching process for punching at least one groove in an electrical sheet, a dividing apparatus and/or a gripping device which is designed to load and/or unload the electrical sheet the punching device.
  • the dividing apparatus and/or the gripping device can be designed as described.
  • the punching device can also be referred to as a slot punch, punch or machine.
  • the punching device can be used, for example, to produce stator and rotor sheets for electrical machines.
  • the gripping device can be used as a replacement for known gripping devices in order to feed the punching device a sheet to be punched and/or to remove one or more punched sheets.
  • At least one step of a method for adapting the gripping device can be carried out.
  • at least one electromagnet can be moved to a position suitable for gripping the electrical sheet.
  • the holder can be displaced along the longitudinal axis of the arm relative to the arm, additionally or alternatively the arm along the longitudinal axis of the arm relative to the cross member and additionally or alternatively the arm relative to the cross member along the longitudinal axis of the cross member.
  • At least one step of a method for adapting the dividing apparatus can be carried out.
  • at least one electromagnet of the partial apparatus can be moved to a position suitable for fixing the electrical sheet.
  • the at least one holder of the dividing attachment is displaced along the longitudinal axis of the guide rail relative to the guide rail on which the holder is arranged. If the holder is coupled to a suitable actuator, the moving step can be carried out automatically.
  • FIG. 1 shows a schematic representation of a punching system according to an exemplary embodiment
  • FIG. 2 shows an isometric view of a gripping device according to an exemplary embodiment
  • FIG. 3 shows an isometric view of a gripping device according to an exemplary embodiment
  • FIG. 4 shows a front view of a gripping device according to an exemplary embodiment
  • FIG. 5 shows a side view of a gripping device according to an exemplary embodiment
  • FIG. 6 shows a gripping device according to an exemplary embodiment
  • FIG. 7 shows a flowchart of an exemplary embodiment of a method for adapting a gripping device
  • FIG. 8 shows a schematic cross-sectional representation of a dividing apparatus according to an exemplary embodiment
  • FIG. 9 shows a schematic side view of an exemplary embodiment of a guide rail with a holder and at least one electromagnet
  • FIG. 10 shows a schematic cross-sectional representation of an exemplary embodiment of a guide rail for a dividing apparatus
  • FIG. 11 shows a schematic top view of a support for a dividing apparatus according to an exemplary embodiment
  • Fig. 12 is a flowchart of an exemplary embodiment of a method for adapting a dividing head.
  • one or more cross members and one or more arms are used according to the approach described here. All cross members and all arms can at least be functionally identical.
  • the cross members can be identical apart from their length and the arms can also be identical apart from their length. This means that a large number of identical parts can be used.
  • the punching system 100 includes a punching device 102 and at least one gripping device 104.
  • the punching device 102 is used to punch at least one groove, typically a plurality of grooves, into an electrical sheet 106.
  • the gripping device 104 is used to load the punching device 102 with the electrical sheet 106 and additionally or alternatively to remove the processed electrical sheet 106 from the punching device 102 after the punching process has been completed.
  • a single gripping device 104 for loading and unloading or, for example, the gripping device 104 and at least one further corresponding gripping device can be provided.
  • the punching device 102 can be designed according to known punching devices and typically includes a frame 110, a dividing head 112 and a ram 114.
  • the frame 110 is designed as an O-frame 110 purely as an example.
  • the O-frame 110 has, for example, two stands anchored to the floor and a head piece connecting the stands, so that the O-frame spans an archway.
  • the electrical sheet 106 to be processed can advantageously be fed from one side of the frame 110, for example from the front, processed by the punching device 102, and after processing from the opposite side of the O- Frame 110, for example the back, can be removed.
  • the electrical sheet 102 is passed completely through the archway spanned by the O-frame, i.e. passed between the two stands.
  • the frame 110 can be designed, for example, as a so-called C-frame with only one stand, in which the electrical sheet 106 is fed and removed from the same side.
  • the ram 114 is moved up and down along a punching axis 116 to carry out the punching process.
  • the plunger 114 is coupled to the head piece of the frame 110.
  • the plunger 114 is driven by a drive device of the punching device 102, for example by a direct drive.
  • the dividing apparatus 112 is shaped to receive the electrical sheet metal 106 to be processed and to hold it during the punching process.
  • the dividing apparatus 112 is designed to rotate the electrical sheet 106 about a dividing apparatus axis 118.
  • the dividing apparatus 112 has, for example, a suitable rotating device, for example in the form of an electric motor.
  • the electrical sheet 106 can be processed during the punching process, for example along the entire circumference of the electrical sheet 106.
  • a rotor sheet and a stator sheet can be punched out of the electrical sheet 106 by the punching process.
  • Such rotor laminations and stator laminations can be used in a known manner to produce a rotor and a stator of an electrical machine, for example a generator for a wind turbine.
  • the gripping device 104 comprises at least one cross member 130.
  • the cross member 130 is attached to a carrier 132.
  • At least one arm 134 is attached to the cross member 130.
  • the cross member 130 and the arm 134 are directly connected to each other or connected to each other using at least one cross connector.
  • a cross connector can be a separate component or be designed as part of the arm 134 or the cross member 130.
  • the cross member 130 and the arm 134 are aligned non-parallel to one another, here orthogonal to one another.
  • the electromagnet 136 is designed to generate a magnetic field when activated, i.e. when energized, which causes an attraction between the electromagnet 136 and the electrical sheet 106. In this way, the electrical sheet 106 can be gripped and held using the electromagnet 136.
  • the electromagnet 136 is attached to the arm 134 using a holder.
  • the holder can be designed as a separate component or as part of the arm 134 or the electromagnet 136.
  • the cross member 130 has a first busbar 140 and the arm 134 also has a first busbar 142.
  • the first busbar 140 extends along a longitudinal axis of the cross member 130 and the first busbar 142 extends along a longitudinal axis of the arm 134.
  • the first busbar 140 of the cross member 130 is electrically conductively connected to the first busbar 142 of the arm 134.
  • the holder for holding the electromagnet 136 includes a current collector for electrically contacting the first busbar 142 of the arm, so that a current suitable for activating and operating the electromagnet 136 can be conducted via a circuit comprising the first busbars 140, 142.
  • a supply device 144 is designed to provide the current required to activate the at least one electromagnet 136 in response to a gripping signal 146.
  • the supply device 144 is connected to the first busbar 140 of the cross member 130 via an electrical line or via another conductor connected to the first busbar 140 of the cross member 130.
  • the current provided by the supply device 144 is provided to the cross member 130 via the carrier 150.
  • the supply device 144 can be part of the gripping device 104 or implemented into the gripping device 104.
  • the gripping signal 146 is provided, for example, by a control device of the punching system 100. Activating the at least one electromagnet 136 and thus gripping and holding the electrical sheet 106 as well as deactivating the at least one electromagnet 136 and thus releasing the electrical sheet 106 can be controlled via the gripping signal 146.
  • the cross member 130 is, for example, below
  • the cross member 130 can be moved, for example, along a longitudinal axis of the carrier 132, for example using a carriage. Additionally or alternatively 132, the carrier 132 is movable or, for example, telescopic in order to be able to move the cross member 130. In this way, the cross member 130 together with the arm 134 and, if necessary, the gripped electrical sheet 106 can be moved. According to one exemplary embodiment, the gripped electrical sheet 106 can be moved towards and/or away from the working space of the punching device 102 in this way, for example, it can be moved towards the dividing apparatus 112 and away from the dividing apparatus 112.
  • At least one electric motor is controlled using a travel signal that is provided, for example, by the control device of the punching system 100.
  • a travel signal that is provided, for example, by the control device of the punching system 100.
  • the electromagnet 136 is adjustably attached to the arm 134 and additionally or alternatively the arm 134 is adjustably attached to the cross member 130.
  • additional correspondingly designed arms are attached to the cross member 130 in addition to the arm 134.
  • Each of the arms can hold an electromagnet.
  • a plurality of electromagnets positioned distributed over the surface of the electrical sheet 106 can be used to securely grip and hold the electrical sheet 106.
  • each first busbar of each of the arms is electrically conductively connected to the first busbar 140 of the cross member 130.
  • a sensor is arranged on at least one of the arms instead of or in addition to an electromagnet, with which it can be detected, for example, whether the electrical sheet 106 is being held or not. The sensor is also supplied with electrical energy via the first busbar of the respective arm or alternatively, for example, via an additional busbar of the respective arm.
  • the cross member 130 and the at least one arm 134 attached to the cross member 130 for holding the electromagnet 136 form a holding device.
  • the gripping device 104 has a correspondingly shaped one further holding device so that the electrical sheet 106 can be gripped from both sides.
  • the further holding device comprises at least one further cross member 150 in accordance with the holding device.
  • the further cross member 150 is attached to another carrier 152.
  • At least one further arm 154 is attached to the further cross member 150, as has already been described in connection with the cross member 130 and the arm 134.
  • the further electromagnet 156 is designed to generate a magnetic field when activated, i.e. when energized, which causes an attraction between the further electromagnet 156 and the electrical sheet 106. In this way, the electrical sheet 106 can be gripped and held using the electromagnets 136, 156.
  • the further electromagnet 156 is attached to the further arm 154 using a holder. The holder can be designed as a separate component or as part of the further arm 154 or the further electromagnet 156.
  • the holding device has, in addition to the cross member 130, a second cross member arranged in parallel with at least one second arm.
  • the second cross member and the second arm can be shaped accordingly to the cross member 130 and the arm 134.
  • the further holding device can have, in addition to the further cross member 150, a further parallel second cross member with at least one further second arm.
  • the further second cross member and the further second arm can be shaped accordingly to the further cross member 150 and the further arm 154.
  • two sections of the electrical sheet resulting from the punching process for example a rotor sheet and a stator sheet separated from the rotor sheet, can be gripped separately from one another.
  • the further cross member 150 has a first busbar 140 and the further arm 154 also has a first busbar 142, as was described in connection with the cross member 130 and the arm 134.
  • the first busbar 140 of the further cross member 150 is electrically conductively connected to the first busbar 142 of the further arm 154.
  • the holder for holding the further electromagnet 156 comprises a current collector for electrically contacting the first busbar 142 of the further arm 154, so that a current suitable for activating and operating the further electromagnet 156 is transmitted via a the first busbars 140, 142 of the further cross member 150 and the further arm 134 can be guided in a circuit comprising.
  • the supply device 144 is designed to provide the current required to activate the at least one further electromagnet 156 in response to the gripping signal 146.
  • the supply device 144 is connected to the first busbar 140 of the further cross member 150 via an electrical line or via another conductor connected to the first busbar 140 of the further cross member 150.
  • the current provided by the supply device 144 is provided to the further cross member 150 via the further carrier 152.
  • the further cross member 150 is arranged to be movable in accordance with the cross member 130.
  • the further cross member 150 can be moved along the longitudinal axis of the further cross member 150 using the further carrier 152. In this way, the cross member 130 together with the arm 134 and the further cross member 150 together with the further arm 154 can be moved synchronously.
  • the further electromagnet 156 is adjustably fastened to the further arm 154 and, additionally or alternatively, the further arm 154 is adjustably fastened to the further cross member 150.
  • additional correspondingly designed further arms are attached to the further cross member 150 in addition to the further arm 154.
  • Each of the other arms can hold another electromagnet.
  • a plurality of electromagnets and other electromagnets positioned distributed over the surface of the electrical sheet 106 can be used to securely grip and hold the electrical sheet 106.
  • each first busbar of each of the further arms is electrically conductively connected to the first busbar 140 of the further cross member 150.
  • a further sensor is arranged on at least one of the further arms instead of or in addition to a further electromagnet, with which, for example, it can be detected whether the electrical sheet 106 is being held or not.
  • the additional sensor is also connected via the first busbar of the respective one Arms or alternatively, for example, supplied with electrical energy via an additional busbar of the respective arm.
  • the cross member 130 and the arm 136 are arranged on a first side of the dividing apparatus 112 and the further cross member 150 and the further arm 156 are arranged on a second side of the dividing apparatus 112 opposite the first side when the arms 136, 156 are in the area of the working space of the punching device 102.
  • the dividing apparatus axis 118 is thus arranged between the cross member 130 and the further cross member 150.
  • the arm 136 extends starting from the cross member 130 in the direction of the second side of the dividing apparatus 112 and thus in the direction of the further cross member 150.
  • the further arm 156 extends starting from the further cross member 150 in the direction of the first side of the dividing apparatus 112 and thus in the direction of the cross member 130.
  • both cross members 130, 150 and arms 134, 154 are each designed with at least one busbar 140, 142, a mixed form of cabling and busbars 140, 142 can also be used in alternative exemplary embodiments.
  • only the at least one arm 134, 154 is designed with at least one busbar 142.
  • at least one cable for carrying the current is guided along the at least one cross member 130, 150, for example between the carrier 132 or the supply device 144 and the corresponding arm 134, 154 or the corresponding cross connector.
  • only the at least one cross member 130, 150 is designed with at least one busbar 140.
  • at least one cable is used along the at least one arm 134, 154 to carry the current, for example between the cross member 130, 150 or the cross connector and the respective electromagnet 156 or holder of the electromagnet 156.
  • a circuit per cross member 130, 150 on the one hand via a busbar 140 of the respective cross member 130, 150 and on the other hand via a along the respective cross member 130, 150 guided cable is closed.
  • a circuit can be closed on the one hand via a busbar 142 of the respective arm 134, 154 and on the other hand via a cable guided along the respective arm 134, 154.
  • the at least one first busbar 140 of at least one of the cross members 130, 150 is formed by a body of the respective cross member 130, 150 itself.
  • the at least one first busbar 142 of at least one of the arms 134, 154 is formed by a body of the respective arm 134, 154 itself.
  • the gripping device 104 comprises a cross member 130 and at least one arm 134 attached to the cross member 130, as described by way of example with reference to FIG. 1.
  • the gripping device 104 according to the exemplary embodiment shown comprises a cross connector 230 designed as a separate component for attaching the arm 134 to the cross member 130.
  • the gripping device 104 includes a holder 236 for holding an electromagnet for gripping and holding the electrical sheet, as shown in FIG Fig. 1 is described.
  • the holder 236 is designed as a separate component that can accommodate the electromagnet and that is attached to the arm 134.
  • the holder 236 or a correspondingly shaped holder may be shaped to accommodate a sensor.
  • the cross member 130 has a first busbar 140 which extends along a longitudinal axis of the cross member 130.
  • the cross member 130 has a second busbar 240, which extends parallel to the first busbar 140 of the cross member 130 along the longitudinal axis of the cross member 130.
  • the arm 134 has a first busbar 142 that extends along a longitudinal axis of the arm 134.
  • the arm 134 has a second busbar 242 which extends parallel to the first busbar 142 of the arm 134 along the longitudinal axis of the arm 134.
  • the arm 134 and the cross member 130 are mechanically connected to one another, here using the cross connector 230.
  • the first busbar 142 of the arm 134 is electrically conductively connected to the first busbar 140 of the cross member 130, either directly, or using the cross connector 230 or using another connecting device.
  • the optional second busbar 242 of the arm 134 is electrically conductively connected to the optional second busbar 240 of the cross member 130, either directly, or using the cross connector 230 or using another connection device.
  • the holder 236 has a first current collector for electrically contacting the first busbar 142 of the arm 134 and optionally a second current collector for electrically contacting the second busbar 142 of the arm 134.
  • a first connection of the electromagnet is, according to one exemplary embodiment, electrically conductively connected to the first busbar 142 of the arm 134 via the first current collector of the holder 236.
  • a second connection of the electron magnet is electrically conductively connected to the second busbar 142 of the arm 134 via the second current collector of the holder 236 or optionally, for example, to a body of the arm 134. In this way the electromagnet can be operated via the current conducted via the first busbars 140, 142.
  • the arm 134 is attached to the cross member 130 so as to be displaceable along the longitudinal axis of the cross member 130. As a result, the arm 134 can be moved along the cross member 130 to a suitable position during an adjustment phase of the handle device 104.
  • the cross member 130 and the arm 134 are fixed together using a fixing device, so that the arm 134 can no longer be moved along the cross member 130 after being moved into the appropriate position, in particular during operation of the handle device 104.
  • the cross connector 230 is used to connect the arm 134 and the cross member 130.
  • the arm 134 is slidably connected to the cross member 130 along the longitudinal axis of the arm 134. As a result, the arm 134 can be moved transversely to the cross member 130 into a suitable position during the adjustment phase of the handle device 104.
  • the cross member 130 and the arm 134 are fixed together using a locking device 249, so that the arm 134 is in the appropriate position after being moved, in particular during an operation of the handle device 104, can no longer be moved relative to the cross member 130.
  • the cross connector 230 is used to connect the arm 134 and the cross member 130 and the closure device 249 is designed as a part of the cross connector 230.
  • the closure device 249 includes a manually operable clamping lever which, in the closed state, blocks a relative movement between the arm 134 and the cross member 130.
  • the holder 236 is slidably connected to the arm 134 along the longitudinal axis of the arm 134. This allows the holder 236 to be moved to a suitable position along the longitudinal axis of the arm 134 during the adjustment phase of the handle device 104.
  • the cross member 130 and the arm 134 are fixed together using an adjusting device, so that the holder 236 can no longer be moved relative to the arm 134 after being moved into the appropriate position, in particular during operation of the handle device 104.
  • the holder 236 is part of the arm 134, for example fixedly attached to the arm 134, or formed as part of the electromagnet.
  • the cross member 130 is elongated, for example rod-shaped or tubular.
  • the cross connector 230 has a through opening through which the cross member 130 is passed.
  • the through opening is shaped to accommodate the cross member 130 without play.
  • the arm 134 is elongated, for example rod-shaped.
  • the arm 134 and the cross member 130 or here the cross connector 230 are connected to one another via a rail guide.
  • the rail guide enables the arm 134 to be moved transversely to the cross member 130.
  • the rail guide is realized by a groove 250 extending in the longitudinal direction of the arm 134 and a pin of the cross member 130 or here the cross connector 230 engaging in the groove 250.
  • the arm 134 can have a web instead of the groove 250 and the cross member 130 or here the cross connector 230 can have a groove encompassing the web.
  • the groove 250 is arranged on a side of the arm 134 facing the cross member 130.
  • the arm 134 points next to the groove 250 has at least one further groove 251, 252, 253.
  • the arm 134 has a second groove 251 on a side opposite the groove 250 and/or a third groove 252 on a side wall and/or a fourth groove on a side wall opposite the side wall.
  • the holder 236 is fixed to the arm 134 via at least one of the grooves 250, 251, 252, 253.
  • the holder 236 has at least one pin which is guided in one of the grooves 250, 251, 252, 253.
  • the arm 134 and the holder 236 can be connected to one another via a rail guide.
  • the first busbar 142 and the optional second busbar 242 are guided along at least one of the grooves 250, 251, 252, 253.
  • the first busbar 142 of the arm 134 has a first busbar section and a second busbar section, which are guided in different grooves 250, 251, 252, 253.
  • the first busbar section of the first busbar 142 is guided through the groove 250 and the second busbar section is guided through the second groove 251.
  • the first busbar section and the second busbar section are electrically conductively connected at a free end of the arm 134, for example using a suitable connector, such as a cap that can be plugged onto the free end of the arm 134.
  • the first busbar section and the second busbar section are electrically conductively connected to one another in a different way.
  • the second busbar 242 has a first busbar section and a second busbar section.
  • FIG. 3 shows another isometric view of the gripping device 104 shown with reference to FIG. 2 according to an exemplary embodiment.
  • the holder 236 has two extensions, one of the extensions engaging in the second groove 251 and the other of the extensions engaging in the third groove 253.
  • one of the grooves 251, 253, by which the holder 236 is guided is provided with a grid 353.
  • an adjusting device of the holder 236 is designed to engage in the grid in a closed position in order to connect the holder 236 and the arm 134 to one another in a form-fitting manner.
  • a bottom of the cross member 130 facing the arm 134 is provided with longitudinal grooves in which the first busbar 140 and the optional second busbar 240 of the cross member 130 are arranged recessed.
  • a further closure device 349 is provided in order to be able to fix the arm 134 and, according to this exemplary embodiment, the cross connector 230 to one another.
  • the closure device 249 and the further closure device 349 are arranged on opposite sides of the cross member 130 and are optionally designed to be identical.
  • the cross connector 230 is shaped to electrically conductively connect the first busbars 140, 142 and the optional second busbars 240, 242 to one another.
  • the cross connector 230 has a first current collector for electrically contacting the first busbar 140 of the cross member 130, a further first current collector for electrically contacting the first busbar 142 of the arm 134 and a conductor for electrically conductively connecting the first current collector.
  • the cross connector 230 for electrically conductively connecting the second busbars 240, 242 has a second current collector for electrically contacting the second busbar 240 of the cross member 130, a further second current collector for electrically contacting the second busbar 242 of the arm 134 and a conductor for electrically conductive connection the second pantograph. If the body of the cross member 130 and additionally or alternatively the body of the arm 134 are used for power conduction, the cross connector 230 is shaped according to an exemplary embodiment to make the body of the cross member 130 and the body of the arm 134 electrically conductive to one another or, if necessary, to one of the busbars 140, 142, 240, 242 to connect.
  • FIG 4 shows a front view of the gripping device 104 shown with reference to FIGS. 2 and 3 according to an exemplary embodiment.
  • the cross member 130 is designed, for example, as a cross tube, the closure device 249, for example, as a play-free quick-release fastener, the arm 134 as a Tolling arm and the holder 236 as a magnetic holder.
  • the gripping device 104 is also referred to as a tooling system.
  • the cross connector 230 has at least one pin 450 which engages in the groove of the arm 134 facing the cross connector 230.
  • the pin 450 is coupled to the closure device 249 and the pin 450 can be pressed against projections formed by the groove by closing the closure device 249, here by turning a lever of the closure device 249. This makes it possible to achieve a play-free connection between the cross connector 230 and the arm 134.
  • the pin 450 can slide along in the groove, whereby the arm 134 can be displaced relative to the cross connector 230.
  • an insulating layer is arranged at an end of the pin 450 facing the arm 134, through which an electrically conductive contact between the pin 450 and a busbar of the arm 134 is prevented.
  • the holder 236 has a fastening portion for slidably fastening the holder 236 to the arm 134.
  • the holder 236 has a first extension, the free end of which is shaped as a pin inserted into the second groove 251, and a second extension, the free end of which is shaped as a pin 453 inserted into the third groove 253.
  • the holder 236 can also be attached to the arm 134 via only one of the grooves 250, 251, 252, 253 or in another way.
  • the holder 236 has an adjusting device 436 which fixes the holder 236 on the arm 134 in a closed position. In an open position, the adjusting device 436 enables the holder 236 to be moved along the longitudinal axis of the arm 134.
  • the adjusting device 436 has a lever, by actuating which the adjusting device 436 can be transferred from the open to the closed position, and vice versa.
  • the adjusting device 436 is designed as a button or grid for quick adjustment, which interacts with a grid running along the longitudinal axis of the arm 134.
  • the holder 236 has a current collector 460, which is designed to contact the first busbar of the arm 134 in an electrically conductive manner.
  • the holder 236 has a conductor in order to guide the current taken from the current collector 460 to a contact for electrically contacting the electromagnet.
  • the current collector 460 or optionally a second current collector is optionally designed to contact the second busbar of the arm 134 in an electrically conductive manner.
  • the holder 236 optionally has a second conductor in order to guide the current taken from the second busbar to a second contact for electrically contacting the electromagnet.
  • the current collector 460 or another element of the body of the holder 236 is designed to electrically conductively connect the body of the holder 236 to the body of the arm 134.
  • the holder 236 is shaped, for example, to electrically conductively connect one of the contacts for electrically contacting the electromagnet via the body of the holder 236 to the body of the arm 134.
  • the cross connector 230 is optionally designed to electrically conductively connect the body of the arm 134 to the body of the cross member 130 or electrically conductively to a busbar of the cross member 130.
  • the first busbar of the arm 134 comprises a first busbar section 462 and a second busbar section 464.
  • the two busbar sections 462, 464 are guided parallel to one another along the longitudinal axis of the arm 134 and are electrically conductively connected to one another, for example via one on a free end of the Arms 134 attachable cap.
  • the busbar sections 462, 464 are guided along different ones of the grooves 250, 251, 252, 253.
  • the first busbar section 462 is guided along the groove 250 and the second busbar section 464 is guided along the second groove 251.
  • the busbar sections 462, 464 extend over the entire length or over at least 90% of the length of the arm 134.
  • the cross connector 230 is shaped to electrically conductively connect the first busbar of the cross member 130 to the first busbar section 462.
  • the current collector 460 of the holder 236 is designed to tap the current carried via the first busbar of the arm 134 from the second busbar section 464.
  • the current collector 460 is arranged, for example, so that the current can be taken from the first busbar section 462.
  • the second busbar section 464 can be dispensed with.
  • the optional second busbar of the arm 134 comprises a first busbar section 466 and a second busbar section 468 corresponding to the first busbar of the arm 134.
  • the two busbar sections 466, 468 of the second busbar are guided parallel to one another along the longitudinal axis of the arm 134 and are electrical conductively connected to one another, for example via the cap that can be placed on the free end of the arm 134.
  • the cross connector 230 is shaped according to an exemplary embodiment to electrically conductively connect the optional second busbar of the cross member 130 to the first busbar section 466 of the second busbar of the arm 134.
  • the current collector 460 of the holder 134 is designed to tap the current carried via the second busbar of the arm 134 from the second busbar section 468 of the second busbar of the arm 134.
  • the current collector 460 is arranged, for example, so that the current can be taken from the first busbar section 466 of the second busbar of the arm 134.
  • the second busbar section 468 of the second busbar of the arm 134 can be dispensed with.
  • the arm 134 has at least one insulator 470, 472 for electrically isolating the at least one bus bar from the body of the arm 134.
  • a first insulator 470 lines the groove 250 to isolate the first busbar portions 462, 466 from the body of the arm 134 and a second insulator 472 lines the second groove 251 to isolate the second busbar portions 464, 468 from the body of the arm 134 to isolate.
  • the body of the arm 134 is formed from an electrically conductive material, the body can be used as an additional path for power conduction in addition to the bus bars.
  • a circuit can be connected via the first busbar of the cross member 130, the first busbar of the arm 134, a first line of the current collector 468 of the holder 326, by an electromagnet or sensor held by the holder 326 in the operational state of the gripping device 104, a second line of the Current collector 468 of the holder 326, the second busbar of the arm 134 and the second busbar of the cross member 130 are guided.
  • a circuit can, for example, via the first busbar of the cross member 130, the first busbar of the arm 134, the first line of the current collector 468 of the holder 326, through the from the holder 326 in the operational state of the gripping device 104 held electromagnet or sensor, the second line of the current collector 468 of the holder 326 or the body of the holder 326, the body of the arm 134 and the second busbar of the cross member 130 or the body of the cross member 130 become.
  • FIG 5 shows a side view of the gripping device 104 shown in FIGS. 2 to 4 according to an exemplary embodiment.
  • the third groove 253 extends along a side wall of the arm 134.
  • the grid 353 for the adjustment device of the holder 236 is formed along a wall of the third groove 253.
  • the grid 353 extends over the entire length of the arm 134.
  • the cross connector 230 is designed, for example, with a frame and a base part.
  • the frame forms a through opening through which the cross member 130 is guided.
  • the cross connector 230 is coupled to the arm 134 via the base part.
  • an outer wall of the cross member 130 rests on a wall of the through opening. This can prevent the cross member 130 from tilting relative to the cross connector 230.
  • the cross member 130 is mounted displaceably by the frame along a longitudinal axis of the cross member 130.
  • the cross connector 230 has at least one current collector 570 for electrically contacting the at least one busbar 140, 240 of the cross member 130.
  • the busbar 140, 240 of the cross member 130 are electrically insulated from the body of the cross member 130 using an insulator 572.
  • the at least one current collector 570 of the cross connector 230 is arranged on a bottom of the frame of the cross connector 230 facing the arm 134 and is shaped to provide a first electrically conductive connection to the first busbar 140 of the cross member 130 and optionally a second electrically conductive connection to the second busbar 142 of the cross member 130 to produce.
  • the cross connector 230 has at least one additional current collector for electrically contacting the at least one busbar of the arm.
  • this is at least an additional one Current collector of the cross connector 230 is arranged on a side of the bottom part of the cross connector 230 facing the arm 134 and is shaped to produce a first electrically conductive connection to the first busbar of the arm 134 and optionally a second electrically conductive connection to the second busbar of the arm 134.
  • the cross connector 230 has at least one conductor for electrically conductively connecting the at least one current collector 570 to the at least one additional current collector.
  • the conductor can be implemented, for example, via another busbar or a cable. Instead of a cable, a ready-made copper bar or similar can also be used to conduct the current between the cross member 130 and the arm 134.
  • the frame of the cross connector 230 is placed centrally on the bottom part of the cross connector 230.
  • the base part has a web on both sides of the frame, on which the closure devices 249, 349, here for example two, are placed.
  • FIG. 6 shows a gripping device 104 according to an exemplary embodiment.
  • the gripping device 104 at least one electrical sheet 106, here two separate electrical sheets, for example a rotor sheet 606 and a stator sheet 607, can be gripped, held and moved.
  • the gripping device 104 can be used for a punching system as shown in FIG.
  • the gripping device 104 has at least one carrier 132 and at least one cross member 130 to which at least one arm 134 is attached.
  • the carrier 132 provides a support profile for supporting the cross member 130.
  • the cross member 130 can be moved along the carrier 132 and/or can be moved using the carrier 132.
  • the carrier 132 is telescopic, designed as a so-called telescopic feeder.
  • the cross member 130 is coupled to the carrier 132 using a carriage 680. Using the carriage 680, the cross member 130 can be moved along a longitudinal axis of the carrier 132.
  • a plurality of arms 134 are arranged on the cross member 130.
  • each of the arms 134 is used respectively a cross connector 230 connected to the cross member 130.
  • the cross connectors 230 and arms 134 can be designed as described with reference to FIGS. 2 to 5.
  • each of the arms 134 is used to hold at least one electromagnet 136.
  • the electromagnets 136 are each attached to the arms 134 using a suitable holder, for example a holder described with reference to FIGS. 2 to 5.
  • the electromagnets 136 are arranged at different suitable positions along the longitudinal axes of the arms 134, for example at a free end of one of the arms 134 or at a position lying between the free end of one of the arms 134 and the cross member 130.
  • each of the arms 134 has at least one first busbar 142, which extends along a longitudinal axis of the respective arm 134, for carrying an electrical current.
  • Each of the arms 134 is mechanically connected to the one cross member 130, for example using the cross connectors 230.
  • the at least one busbar of the arms 134 is electrically connected to the corresponding busbar of the cross member 130, for example using the cross connector 230.
  • the gripping device 104 has a further carrier 152, which is arranged opposite the carrier 132.
  • the carriers 132, 152 are aligned parallel to one another and can correspond in their design.
  • At least one further cross member 150 is carried by the further carrier 152.
  • the further cross member 150 is coupled to the further carrier 152 via a further carriage 682.
  • a plurality of further arms 154 are arranged on the further cross member 150, to each of which a further electromagnet 156 is attached using a holder.
  • Each of the further arms 154 can be shaped as described with reference to FIGS. 2 to 5 and can be mechanically and electrically connected to the further cross member 150, for example using a cross connector 230.
  • at least two of the further electromagnets 156 are arranged on free ends of second further arms 154 which are arranged on different sides of the further cross member 150.
  • a plurality of the further electromagnets 156 are arranged on a side of the further cross member 150 facing the cross member 130 and at least one of the further electromagnets 156 on a side of the further cross member 150 facing away from the cross member 130.
  • the electromagnet 136-carrying sections of a plurality of the arms 134 extend finger-like in the direction of the further cross member 150 and the further electromagnet 156-carrying sections of a plurality of the further arms 154 extend finger-like in the direction of the cross member 130.
  • opposite pairs of the arms 134 are located, 154 each on one axis.
  • the electrical sheet 106 or, for example, after a punching process, the stator sheet 607 punched out of the electrical sheet 106 can be securely gripped using the electromagnets 136 and the further electromagnets 156.
  • the gripping device 104 is designed to grip the stator lamination 607 and the rotor lamination 606, which are only shown as two separate stamped parts by way of example, separately from one another and optionally to move them independently of one another.
  • the gripping device optionally has a second cross member 630, which is held by the carrier 132.
  • the second cross member 630 is designed, for example, to correspond to the cross member 130, with the two cross members 130, 630 differing in their length according to one exemplary embodiment.
  • the second cross member 630 is also coupled to the carrier 132 via the carriage 680 or via another second carriage.
  • a plurality of second arms 634 are arranged on the second cross member 630, to each of which a second electromagnet 636 is attached using a holder.
  • Each of the second arms 634 can be shaped as described with reference to FIGS.
  • the second cross member 630 is shorter than the cross member 130 and, for example, arranged centrally to the cross member 130. This allows the second arms 634 to be arranged between arms 134 of the cross member 130.
  • the gripping device 104 has a further second cross member 650, which is held by the further carrier 152.
  • the further second cross member 650 is designed, for example, in accordance with the second cross member 630.
  • the further second cross member 650 is coupled to the further carrier 152 via the carriage 682 or via another second carriage.
  • a plurality of further second arms 654 are arranged on the further second cross member 650, to each of which a further second electromagnet 656 is attached using a holder.
  • Each of the further second arms 654 can be shaped as described with reference to FIGS. 2 to 5 and can be mechanically and electrically connected to the further second cross member 650.
  • the further second cross member 650 is shaped to be shorter than the further cross member 150, corresponding to the second cross member 630, and is arranged, for example, centrally to the further cross member 150. This makes it possible for the further second arms 654 to be arranged between arms 154 of the further cross member 150.
  • the second holding device and the further second holding device can also be referred to as rotor tooling.
  • the supports 132, 152 and the cross supports 130, 150, 630, 650 are aligned parallel to one another, for example parallel to a y-axis.
  • the arms 134, 154, 634, 654 are aligned parallel and orthogonal to the cross members 130, 150, 630, 650, for example parallel to an x-axis.
  • the cross beams 130, 150, 630, 650 can, for example, be aligned obliquely to the beams 132, 152 and/or the arms 134, 154, 634, 654 can be aligned obliquely to the cross beams 130, 150, 630, 650.
  • the arms 134, 154 lie in a common plane and the second arms 634, 654 also lie in a common plane.
  • the holding devices and the second holding devices are arranged to be movable transversely to the longitudinal axes of the cross members 130, 150, 630, 650.
  • the cross members 130, 150, 630, 650 are coupled to the carriers 132, 152 such that the cross member 130 can be moved relative to the second cross member 130, in particular transversely to the longitudinal axis of the cross member 130 and transversely to the longitudinal axis of the arms 134 .
  • the further cross member 150 can be moved relative to the further second cross member 650, in particular transversely to the longitudinal axis of the further cross member 150 and transversely to the longitudinal axis of the further arms 154.
  • the carrier 132 includes an offset device 684, which is designed to move the cross member 130 relative to the second cross member 630 along a vertical axis.
  • the displacement device 684 is arranged on the carriage 680.
  • the further carrier 152 optionally comprises a further displacement device, which is designed correspondingly to the displacement device 684 in order to move the further cross beam 150 relative to the further second cross beam 650 along a vertical axis.
  • the further displacement device is arranged on the further carriage 682.
  • a sensor 688 is arranged on at least one of the arms 134, 154, 634, 654, which enables sensing of the electrical sheet 106.
  • the sensor 688 is designed as a mechanical, inductive or capacitive sensor.
  • the sensor 699 is held by a holder instead of an electromagnet.
  • the sensor 699 is held by a sensor holder, which, for example, functionally corresponds to a holder suitable for holding an electromagnet, but is adapted to a shape of the sensor 699.
  • both the sensor 699 and an electromagnet 136, 156, 636, 656 are arranged on one of the arms 134, 154, 634, 654. Based on the previous figures, exemplary embodiments of the gripping device 104 will be described below.
  • the gripping device 104 can be used as part of an automation in the variable production of electrical sheets for generators, especially for the wind power industry.
  • the individual groove method is used on so-called groove punches, such as the punching device 102 shown in FIG. 1.
  • the necessary grooves are punched in rotor and stator sheets 606, 607 in several successive steps.
  • a sheet metal blank for example the electrical sheet metal 106, also referred to as sheet metal for short, is fed to the slot punching machines via suitable automation, or the punched sheet metal sheet, for example the rotor sheet metal 606 and the stator sheet metal 607, is then removed or transported further for the next processing step.
  • the sheet metal blanks are gripped via several electrically controllable magnets, for example the electromagnets 136, 156, 636, 656, which are located on corresponding holders (tooling), such as the holder 236 shown in Figures 2 to 5.
  • the electromagnets 136, 156, 636, 656 which are located on corresponding holders (tooling), such as the holder 236 shown in Figures 2 to 5.
  • one or more additional part controls are attached to the tooling to monitor the presence of the sheet metal during transport.
  • a corresponding parts control includes, for example, the sensor 688 shown in FIG. 6.
  • the tooling or the electromagnets 136, 156, 636, 656 are adapted or set for each product. With an increasing number of variants of different sheet metal in the future, the batch sizes will become smaller. As a result, the time required for the setup process has a decisive influence on productivity.
  • the approach described here enables positioning of each of the electromagnets 136, 156, 636, 656 and sensor 688 to be carried out easily and optionally in an automated manner.
  • the approach described can also be used in toolings in which the rotor lamination 606 and the stator lamination 607 are accommodated separately from one another.
  • rotor tooling has an additional lifting stroke in which the rotor plate 606 is raised above the stator plate 607 so that the stator plate 607 can be placed down.
  • the gripping device shown in FIG. 6 represents a tooling system as a whole for rotor and stator with feeder automation.
  • cables or at least one cable from the electromagnet 136, 156, 636, 656 are guided within a holder via a plug to a sliding contact. From this sliding contact, the required current is supplied to the electromagnets 136, 156, 636, 656 wirelessly via a rail system. This is done, for example, via the underside of a profile of an arm 134, as shown in FIG.
  • the holder 236 forms the holder and the current collector 460 forms the sliding contact.
  • the current collector 460 forms two sliding contacts for contacting the first busbar 142 and the second busbar 242 or a further sliding contact for contacting the body of the arm 134.
  • the other arms 154, 634, 654, described for example with reference to FIG. 6, and their holders are designed accordingly according to an exemplary embodiment.
  • a correspondingly designed rail system is located on the top of the profile of the arm 134.
  • a corresponding rail system on the top of the arm 134 includes, for example, the or at least one of the first busbar sections 462, 466 shown in FIG. 4. The power is transmitted here between the cross connector 230 and the arm 134.
  • the electromagnet 136, 156, 636, 656 and also the arm can be freely moved and adjusted without the cable having to be tightened and fastened.
  • the magnet holder including magnet i.e. the holder 236 with held electromagnets 136, 156, 636, 656 can easily be used on the opposite side of the profile of the arm 134 without further adjustment.
  • One and the same holder 236 can thus be attached to both side walls of the arm 134, for example using one of the grooves 252, 253.
  • both panels 252, 253 are designed with a grid corresponding to the grid 353 shown, for example, in FIG.
  • Another busbar system which is integrated, for example, at the bottom of the cross member 130, enables the arm 134 to be adjusted transversely, also without a cable. They are there For example, using the other cross member 150, 630, 650 shown in FIG.
  • a light source for example an LED, is installed in the holder 236, which indicates whether power is present, i.e. whether the corresponding electromagnet 136, 156, 636, 656 held by this holder 236 is active or inactive.
  • the first busbars 140, 142 can be designed as neutral conductors and the second busbars 240, 242 as operating voltage conductors, for example to carry a +24V voltage, or vice versa.
  • Another possibility is to transfer one of the conductors, for example the neutral conductor, via the material of the respective arm 134, 154, 634, 654 and/or cross member 130, 150, 630, 650 and to separate the two busbars 140, 142, 240, 242 each with an operating voltage, for example +24V for two different functions, such as. B. to control the electromagnets 136, 156, 636, 656 and to transmit a sensor signal from the at least one sensor 688.
  • the arm 134 is made of plastic, for example as a 3D print, then the insulator on the respective busbar can be omitted.
  • the profile of the arm 134 has the grid 353 and, according to one exemplary embodiment, the adjusting device 436 shown in FIG. 4 is attached to the holder 236 with a spring-loaded counterpart. By pressing down on the counterpart, the holder can be unlocked and moved or removed. The electromagnets 136, 156, 636, 656 together with the holder 236 can therefore be adjusted quickly, easily and in a locking manner.
  • the cross connector 230 is clamped using the locking device 249, which is designed, for example, as a quick release. This allows the arm 234 to be connected to the cross connector 230 without play.
  • the cross members 130, 150, 630, 650 shown, for example, in FIG.
  • the system is fed into the respective holder or quick coupling of the corresponding cross member 130, 150, 630, 650.
  • This means, for example Busbars 140, 240 of the cross member 130 are supplied with power via the carrier 130.
  • an electrical connection from the lower busbar sections 464, 468 shown in FIG connects with each other.
  • the cross member 130 is attached to the automation, for example the carrier 130, via a fixed connection.
  • a quick coupling is used, which allows the tooling to be removed and pre-equipped at a suitable setup station outside the machine.
  • the pre-equipment can be done by carrying out at least one of the steps described with reference to FIG. 7.
  • the supports 132, 152 are designed as support profiles of a telescopic feeder.
  • the carriers 132, 152 can thus form a telescope, with one of the carriages 680, 682 moving at the bottom of the carriers 132, 152.
  • the gripping device 104 is only used to pick up a blank or a stator lamination 607 or a rotor lamination 606, only one cross member 130, 150 is required per side.
  • the stator sheet 607 is usually punched and the rotor sheet 606 is also cut out.
  • there are two parts and two cross members 130, 150, 630, 650 are required per side, since the inner tooling with the rotor sheet 606 is moved relatively upwards so that the finished stator sheet 607 can be placed down.
  • FIG. 7 shows a flowchart of an exemplary embodiment of a method for adapting a gripping device, as described with reference to the previous figures.
  • the electromagnet(s) of the gripping device can be positioned so that the electrical sheet can be gripped securely.
  • the holder for holding the at least one electromagnet is displaced along the longitudinal axis of the corresponding arm. This allows, for example, an x position of the electromagnet to be set.
  • a step 703 the arm is displaced relative to the cross member along the longitudinal axis of the arm. In this way, for example, an x position of the electromagnet can also be set.
  • a step 705 the arm is displaced relative to the cross member along the longitudinal axis of the cross member. This allows, for example, a y-position of the electromagnet to be set.
  • Steps 701, 703, 705 can be repeated and performed in any order. Only one or some of the steps 701, 703, 705 can also be carried out. At least one of the steps 701, 703, 705 can be carried out automatically, for example using an electric motor to effect the corresponding displacement. To adjust the position of a plurality of electromagnets, steps 701, 703, 705 or one or some of steps 701, 703, 705 may be performed for each of the electromagnets. Corresponding steps 701, 703, 705 can also be carried out to position a sensor.
  • FIG. 8 shows a schematic cross-sectional representation of a dividing apparatus 112 according to an exemplary embodiment.
  • the dividing apparatus can be used in connection with a punching device, as described with reference to FIG. 1.
  • the dividing head has a support 811 and a support plate 813 arranged at a distance from the support 811.
  • the electrical sheet 106 rests on the support plate 813 and is rotated about the dividing apparatus axis 118 between two punching processes, for example, using a rotating device 815, as described with reference to FIG. 1.
  • the rotating device 815 can have a suitable drive for this purpose.
  • the support plate 813 is formed, for example, as a stainless steel sheet on which the electrical sheet 106 can slide along.
  • the electromagnets 817 When the electromagnets 817 are active are, they generate a magnetic field that acts on the electrical sheet 106 and pulls the electrical sheet 106 to the support plate 813.
  • the electromagnets 817 thus function as hold-down devices for the electrical sheet 106 or parts punched out of the electrical sheet 106, such as a rotor sheet and a stator sheet.
  • a suitable positioning of the electromagnets 817 is required.
  • the electromagnets 817 are arranged to be movable along guide rails 821 using holders 819.
  • the guide rails 821 are fixed to the support 811. To position the electromagnets 817, they can be moved automatically or manually during an adjustment phase of the dividing head 112 along the guide rails 821 to a suitable position.
  • the guide rails 821 each have at least one first busbar 823 for conducting an electrical current.
  • the holders 819 are shaped to pick up the current from the at least one first busbar 823 and forward it to connections of the electromagnets 817 in order to activate the electromagnets 817.
  • each of the guide rails 821 has at least one second busbar and the holders 819 are each shaped to pick up the current from the first busbar 823 and from the second busbar 823 and forward it to connections of the electromagnets 817 in order to create a circuit through the electromagnets 817 close.
  • the current is provided by a supply device 844, which is designed to feed the current into the at least one first busbar 823 of the guide rails 821 in response to a fixation signal 846.
  • the supply device 844 can correspond to the supply device described with reference to FIG. 1.
  • the dividing apparatus 112 can be equipped with one or a plurality of guide rails 821.
  • One or more holders 819 can be arranged per guide rail 821, each of which can hold one or more electromagnets 817.
  • a suitable number and positioning of electromagnets 817 can thus be implemented.
  • the electromagnets 817 are inserted into the holders 819 when the dividing apparatus 112 is ready for operation.
  • the electromagnets 817 can be removed into the holder 819 be used. This means that suitable magnets can be used depending on the application.
  • the electromagnet or electromagnets 817 are therefore an optional component of the dividing apparatus 112. According to an alternative exemplary embodiment, the electromagnet 817 and holder 819 form a fixed unit.
  • FIG. 9 shows a schematic side view of an exemplary embodiment of a guide rail 821 with a holder 821 and at least one electromagnet 817 for a dividing apparatus, as described by way of example with reference to FIG. 8.
  • the holder 819 is shaped as a carriage that can be moved along the longitudinal axis of the guide rail 821.
  • the holder 819 has at least one current collector 931 for electrically contacting the at least one first busbar 823 of the guide rail 821.
  • the current collector 931 is electrically connected to a connection of an assigned electromagnet 817 via a conductor.
  • the holder 819 has two electromagnets 817 and two separate current collectors 931 for connecting the electromagnets 817 to the at least one first busbar 823 of the guide rail 821. If several busbars are provided for independently operating the two electromagnets 817, the two current collectors 931 can contact different ones of the busbars. Alternatively, the holder 819 only has one current collector 931 for contacting both electromagnets 817.
  • electromagnets 817 per guide rail 821 are advantageous in order to be able to separately fix parts punched out of an electrical sheet.
  • two or more corresponding holders 819 are movably arranged on the guide rail 821.
  • the holder 819 has at least one locking device 933, with which the holder 819 can be fixed by moving along the guide rail 821, i.e. can be fixed on the guide rail 821.
  • the locking device 933 is designed as a clamping lever.
  • the electromagnet(s) 817 are resiliently mounted on the holder 819.
  • 10 shows a schematic cross-sectional representation of an exemplary embodiment of a guide rail 821 for a dividing apparatus, as described by way of example with reference to FIG. 8.
  • the guide rail 821 has a body 1021 and a first busbar 823 and at least one second busbar 1023.
  • the body has a flat bottom and a recess opposite the bottom in which the busbars 823, 1023 are arranged.
  • a circuit for operating the electromagnet can be routed via a single busbar, for example the first busbar 823 and the body 1021.
  • the holder is shaped to contact the body 1021 in an electrically conductive manner.
  • the at least one busbar 823 is insulated from the body 1021 in this case. Appropriate insulation may be provided between the body 1021 and the support.
  • FIG. 11 shows a schematic top view of a support 811 with a plurality of guide rail arrangements 1121, each of which includes a guide rail 821 with at least one busbar, at least one holder 819 and at least one electromagnet 817.
  • the guide rails 821 are arranged radially in relation to a center of the support 811.
  • the support is circular, apart from a recess 1135 for a punching tool.
  • support rails 1137 are arranged on the support 811 to support the support plate 813.
  • the approach described can also be used on a grooving punch itself.
  • the support plate for example a stainless steel sheet, on which the electrical sheet (circular blank) is then twisted by the dividing apparatus for punching.
  • the magnets here the electromagnets 817, are used, which attract the sheet metal during the punching process so that, for example, the stator sheet does not become wedged with the rotor sheet during punching. Thanks to the busbar system described, it is not necessary to tighten cables when positioning the electromagnets 817.
  • Fig. 12 shows a flowchart of an exemplary embodiment of a method for adapting a dividing head, as shown, for example, in Fig. 8.
  • a step 1201 the at least one holder is displaced relative to the guide rail along the longitudinal axis of the guide rail. Moving is carried out automatically or manually.
  • the holder is locked on the guide rail after being moved.
  • the electromagnet(s) can thus be positioned appropriately in order to be able to securely fix the electrical sheet.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Power Engineering (AREA)
  • Punching Or Piercing (AREA)
  • Manufacture Of Motors, Generators (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de préhension (104) pour saisir au moins une tôle électrique (106) pour un générateur. Le dispositif de préhension (104) comporte au moins une traverse (130) avec une première barre omnibus (140) s'étendant le long d'un axe longitudinal de la traverse (130) pour guider un courant électrique, et de manière additionnelle ou en variante au moins un bras (134) avec une première barre omnibus (142) s'étendant le long d'un axe longitudinal du bras (134) pour guider le courant électrique, et avec un support (236) pour maintenir un électroaimant (136). Le bras (134) est relié mécaniquement à la traverse (130) et la première barre omnibus (142) du bras (134) est connectée électriquement à la première barre omnibus (140) de la traverse (130). Le support comporte un collecteur de courant pour la mise en contact électrique de la première barre omnibus (142) du bras (134) pour pouvoir faire fonctionner l'électroaimant (136) afin que la tôle électrique (106) soit saisie en utilisant le courant.
EP23738475.5A 2022-07-01 2023-07-03 Dispositif de préhension pour un système d'estampage, appareil partiel, système d'estampage et procédé pour adapter un dispositif de préhension et un appareil partiel Pending EP4547416A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022116488.8A DE102022116488A1 (de) 2022-07-01 2022-07-01 Greifvorrichtung für ein Stanzsystem, Teilapparat, Stanzsystem und Verfahren zum Anpassen einer Greifvorrichtung und eines Teilapparats
PCT/EP2023/068184 WO2024003410A1 (fr) 2022-07-01 2023-07-03 Dispositif de préhension pour un système d'estampage, appareil partiel, système d'estampage et procédé pour adapter un dispositif de préhension et un appareil partiel

Publications (1)

Publication Number Publication Date
EP4547416A1 true EP4547416A1 (fr) 2025-05-07

Family

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Application Number Title Priority Date Filing Date
EP23738475.5A Pending EP4547416A1 (fr) 2022-07-01 2023-07-03 Dispositif de préhension pour un système d'estampage, appareil partiel, système d'estampage et procédé pour adapter un dispositif de préhension et un appareil partiel

Country Status (3)

Country Link
EP (1) EP4547416A1 (fr)
DE (1) DE102022116488A1 (fr)
WO (1) WO2024003410A1 (fr)

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE6600489U (de) 1968-09-24 1969-01-23 Licentia Gmbh Vorrichtung zum stanzen von nuten in blech
DE2807066C2 (de) * 1978-02-18 1987-02-26 L. Schuler GmbH, 7320 Göppingen Nutenstanzautomat mit einer Nutenstanzmaschine
DE3249402C2 (de) * 1982-11-11 1987-01-22 Maschinenfabrik Müller-Weingarten AG, 7987 Weingarten Zuführvorrichtung für Platinen zu einer Nutenstanzanlage
DD300532A5 (de) * 1989-04-07 1992-06-17 Schubert & Salzer Maschinen Verfahren und Vorrichtung zum Transport von Spulen oder spulenähnlichen Gütern der Textilindustrie
DE59007502D1 (de) 1989-11-09 1994-11-24 Mueller Weingarten Maschf Nutenstanzanlage.
US8985936B2 (en) 2012-09-11 2015-03-24 Nidec Minster Corporation Method and apparatus for orienting a lamination
CN204504039U (zh) * 2015-04-02 2015-07-29 安徽江淮汽车股份有限公司 一种冲压生产线及其端拾器
DE102016211670A1 (de) 2016-06-29 2018-01-04 MTU Aero Engines AG Vorrichtung zur Energieversorgung bewegter Maschinenkomponenten
DE102017205095B3 (de) * 2017-03-27 2018-06-28 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Vorrichtung und Verfahren zum Entnehmen eines Werkstückteils aus einem Restwerkstück
DE102017124334A1 (de) 2017-10-18 2019-04-18 Hsf Automation Gmbh Vorrichtung zum Nutenstanzen und Stanzsystem
CN109848285B (zh) 2018-11-23 2020-10-16 芜湖电工机械有限公司 用于高速冲槽机自动上下料的四轴平面式机器人集成系统
CN215614619U (zh) 2021-08-20 2022-01-25 靖江市天勤电机科技有限公司 一种下模冲片的伺服快速收料装置

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DE102022116488A1 (de) 2024-01-04

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