WO2015186835A1 - ステータの組立方法およびステータの組立装置 - Google Patents
ステータの組立方法およびステータの組立装置 Download PDFInfo
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- WO2015186835A1 WO2015186835A1 PCT/JP2015/066403 JP2015066403W WO2015186835A1 WO 2015186835 A1 WO2015186835 A1 WO 2015186835A1 JP 2015066403 W JP2015066403 W JP 2015066403W WO 2015186835 A1 WO2015186835 A1 WO 2015186835A1
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- coil
- diameter side
- slot
- guide jig
- inner diameter
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
- H02K15/024—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies with slots
- H02K15/026—Wound cores
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/06—Embedding prefabricated windings in machines
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/06—Embedding prefabricated windings in machines
- H02K15/062—Windings in slots; salient pole windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/06—Embedding prefabricated windings in machines
- H02K15/062—Windings in slots; salient pole windings
- H02K15/065—Windings consisting of complete sections, e.g. coils, waves
- H02K15/066—Windings consisting of complete sections, e.g. coils, waves inserted perpendicularly to the axis of the slots or inter-polar channels
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/08—Forming windings by laying conductors into or around core parts
- H02K15/085—Forming windings by laying conductors into or around core parts by laying conductors into slotted stators
Definitions
- the present invention relates to a stator assembling method and a stator assembling apparatus.
- a stator manufacturing method including a step of inserting a coil into an annular stator core slot is known.
- a method for manufacturing such a stator is disclosed in, for example, Japanese Patent Application Laid-Open No. 2011-193597.
- a jig having a cylindrical shape and having a plurality of holding grooves formed on the outer peripheral surface at the same pitch as the slots is prepared. Then, a plurality of coils are inserted into the plurality of holding grooves of the jig. Then, the coil is pushed out from the inner diameter side to the outer diameter side in a state where the jig is disposed inside the stator core so that the holding groove and the slot communicate with each other. Thus, the coil is inserted into the slot while being guided by the holding groove and the teeth between the slots.
- the present invention has been made in order to solve the above-described problems, and one object of the present invention is to insert the coil slot housing portion into the stator core slot in the radial direction of the coil and the teeth.
- one object of the present invention is to insert the coil slot housing portion into the stator core slot in the radial direction of the coil and the teeth.
- a stator assembling method includes a coil having a slot accommodating portion and a coil end portion, each formed by a conductor, extending radially inward from a back yoke.
- a method of assembling a stator to be attached to an annular stator core including slots formed between adjacent teeth, the step of forming a coil assembly in which a plurality of coils are arranged in an annular shape, and an inner diameter side space of the stator core When inserting a plurality of coils forming the coil assembly disposed in the slot of the stator core, the guide jig separates the coil and the edge portion extending in the radial direction of the teeth as the slot accommodating portion moves in the slot. Form the coil assembly while guiding the coil to maintain the spacing A plurality of coils by extruding from the inner diameter side to an outer diameter side that includes a step of inserting the slot portions of the coil to the stator core slots.
- the guide jig when inserting the plurality of coils forming the coil assembly disposed in the inner diameter side space of the stator core into the slots of the stator core, the guide jig is used.
- the plurality of coils forming the coil assembly are removed from the inner diameter side while guiding the coils so as to maintain the spacing between the coil and the edge portion extending in the radial direction of the teeth as the slot accommodating portion moves in the slot.
- a step of inserting the slot accommodating portion of the coil into the slot of the stator core by pushing out to the radial side is provided.
- the coil slot accommodating portion is inserted into the stator core slot, the coil The coil can be prevented from being damaged due to the contact between the teeth and the edge portion extending in the radial direction of the teeth.
- contact means that the coil receives a pressing force from the edge of the tooth via the slot paper (insulating member, insulating paper) disposed between the edge portion of the tooth and the coil. It is a broad concept including. Further, “holding the separation interval” is a broad concept including a case where a slot paper exists between the coil and the edge portion of the tooth.
- a coil having a slot accommodating portion and a coil end portion each formed by a conductor is formed between adjacent teeth extending radially inward from the back yoke.
- the coil housing is separated from the edge portion extending in the radial direction of the teeth in the process of moving in the slot. While guiding the coil to maintain the spacing, And it is configured to be inserted into stator core slots.
- the guide jig inserts the plurality of coils forming the coil assembly disposed in the inner diameter space of the stator core into the slots of the stator core.
- the coil is guided so as to maintain a separation distance between the coil and the edge portion extending in the radial direction of the teeth in the process of moving the slot accommodating portion in the slot.
- the guide jig prevents the coil from coming into contact with the edge portion extending in the radial direction of the teeth, so the coil slot housing portion is inserted into the stator core slot.
- 1 is a perspective view of a stator according to a first embodiment of the present invention.
- 1 is a perspective view of a stator core according to a first embodiment of the present invention. It is a perspective view of the concentric winding coil by 1st Embodiment of this invention. It is a perspective view of two concentric winding coils arrange
- FIG. 3 is a perspective view of a state in which the slot accommodating portion according to the first embodiment of the present invention is inserted into the slot. It is a figure for demonstrating the state by which the slot accommodating part by 1st Embodiment of this invention is inserted in a slot. It is a figure for demonstrating the removal process (1) of the guide jig by 1st Embodiment of this invention. It is a figure for demonstrating the removal process (2) of the guide jig by 1st Embodiment of this invention.
- FIGS. 1 and 2 show cross-sectional views of the stator 100 (stator core 10).
- the stator 100 includes a stator core 10 and a concentric coil 20.
- the stator 100 is configured to generate a magnetic field that rotates a rotor (not shown) when the concentric winding coil 20 is energized.
- the concentric winding coil 20 is an example of a “coil”.
- the stator core 10 is formed in an annular shape (hollow cylindrical shape).
- An inner diameter side space 30 for accommodating the rotor is formed on the inner diameter side (radially inner side) of the stator core 10.
- the stator core 10 is formed, for example, by laminating a plurality of insulating coated electromagnetic steel sheets in the direction of the rotation axis.
- the stator core 10 includes an annular back yoke 11 and a plurality of (for example, 48) teeth 12 extending radially inward from the back yoke 11.
- the plurality of teeth 12 are provided in the stator core 10 at substantially equal angular intervals in the circumferential direction.
- a slot 13 is formed between adjacent teeth 12.
- the stator core 10 is provided with ears 14 for fixing the stator 100 to a motor case (not shown).
- edge part 14 is formed so that it may protrude outside from the end surface (outer peripheral surface 10a) of the radial direction outer side of the stator core 10.
- a plurality of ear portions 14 are provided in the circumferential direction.
- three ear portions 14 are provided at substantially equal angular intervals.
- the ear portion 14 is provided with a through hole 14a penetrating in the rotation axis direction.
- the stator 100 is fixed to the motor case by fastening a bolt (not shown) to the motor case through the through hole 14a of the ear portion 14.
- the concentric winding coil 20 is formed of a rectangular conductive wire having a substantially rectangular cross section.
- the flat conducting wire is made of a highly conductive metal (for example, copper or aluminum).
- angular part of a flat conducting wire may be chamfered (R process) by the round shape.
- a plurality of (for example, 48) concentric winding coils 20 are arranged on the stator core 10 along the circumferential direction.
- the flat conductive wire is an example of “conductive wire”.
- the concentric winding coil 20 is composed of a cassette coil formed by winding a rectangular conductor wire a plurality of times.
- the concentric coil 20 is formed by winding a single straight rectangular conductor wire a plurality of times by a winding forming device (not shown) and then forming a predetermined shape (for example, by a forming device (not shown)).
- a substantially hexagonal shape or a substantially octagonal shape may be formed of a predetermined shape.
- the concentric winding coil 20 includes slot accommodating portions 21 and 22 and coil end portions 23 and 24.
- the slot accommodating portions 21 and 22 have a substantially linear shape and are accommodated in the slots 13 of the stator core 10. Further, the slot accommodating portion 21 and the slot accommodating portion 22 are accommodated in different slots 13 that are spaced apart from each other by a predetermined distance in the circumferential direction of the stator core 10.
- the coil end portions 23 and 24 protrude outward from the end portion of the stator core 10 in the rotation axis direction, and are configured to connect the slot accommodating portion 21 and the slot accommodating portion 22.
- the concentric coil 20 is configured such that a plurality of rectangular conductors are stacked in the direction of the short side of the rectangular conductor.
- the stacked rectangular conductive wires are arranged at predetermined intervals in the stacking direction (radial direction) (see FIG. 5).
- the slot accommodating portions 21 and 22 are formed so that the interval along the circumferential direction between the slot accommodating portion 21 and the slot accommodating portion 22 is widened from the inner diameter side to the outer diameter side so as to change according to the stacking direction. Has been.
- the concentric coil 20 can be smoothly inserted into the slot 13.
- the concentric coil 20 is mounted in the slot 13 so that the lamination direction of the flat conductors and the direction (radial direction) in which the slot 13 extends substantially coincide with each other when viewed from the rotation axis direction.
- the coil end portions 23 and 24 include crank portions 23 a and 24 a formed in a crank shape that bends stepwise in the radial direction of the stator core 10, and the annular stator core 10. And curved portions 23b and 24b that are curved in an arc shape in accordance with the arc.
- the concentric winding coil 20 is formed by edgewise forming a flat wire (vertically winding the short side of the flat wire as an inner diameter surface).
- a coil assembly 40 is configured by arranging a plurality of concentric winding coils 20 in the circumferential direction.
- the coil assembly 40 is annular and has a hook shape.
- Each concentric coil 20 constitutes one of a U-phase coil, a V-phase coil, and a W-phase coil when stator 100 is applied to a three-phase AC motor.
- the stator 100 is disposed between the stator core 10 and the concentric winding coil 20 to insulate the stator core 10 from the concentric winding coil 20.
- An insulating member 41 is provided.
- the insulating member 41 has a shape corresponding to the shape of the slot 13 of the stator core 10 (substantially U-shaped when viewed from the rotation axis direction).
- the insulating member 41 is formed of paper or resin (for example, thermosetting resin or thermoplastic resin).
- the insulating member 41 has a thin film shape.
- the assembling apparatus 200 includes a guide jig 50 that guides the slot accommodating portions 21 and 22 of the concentric winding coil 20 to the slot 13, and a roller (not shown) that pushes the concentric winding coil 20 from the inner diameter side to the outer diameter side. It has.
- the guide jig 50 (first guide jig 51) includes a plurality of concentric coils 20 that form the coil assembly 40 arranged in the inner diameter side space 30 of the stator core 10.
- the slot accommodating portions 21 and 22 are moved in the slot 13
- the spacing between the concentric coil 20 and the edge portion 12 a extending in the radial direction of the teeth 12 (the width W11 when viewed from the axial direction,
- the concentric winding coil 20 is configured to be guided so as to be held.
- the guide jig 50 pushes the plurality of concentric coils 20 forming the coil assembly 40 from the inner diameter side to the outer diameter side, so that the slot accommodating portions 21 and 22 of the concentric coil 20 are inserted into the slots of the stator core 10. 13 to be inserted. This will be specifically described below.
- the first guide jig 51 (the first guide jigs 51 a and 51 b) is viewed from the outer diameter side toward the inner diameter side when viewed from the rotation axis direction.
- the circumferential width W1 gradually decreases, and the stator 100 is arranged so as to overlap the teeth 12 when the stator 100 is assembled (when the concentric winding coil 20 is inserted into the slot 13).
- the first guide jig 51 is inserted between one slot accommodating part 21 and the other slot accommodating part 21 of the concentric winding coils 20 adjacent to each other in the coil assembly 40 (see the tooth hole 25, FIG. 4). It is configured to be.
- the first guide jig 51 has a function of guiding the slot accommodating portions 21 and 22 of the concentric coil 20 to the slot 13 and suppressing the insulating member 41 from coming out radially outward.
- the first guide jig 51 (first guide jigs 51a and 51b) is an example of a “guide jig”.
- the circumferential width (the distance d between the one slot accommodating portion 21 and the other slot accommodating portion 21) at each radial position of the tooth hole 25 (see FIG. 4) is the first guide jig. 51 is substantially equal to the circumferential width W1 of the same radial position.
- the first guide jig 51 has a circumferential width W1 at each radial position of the first guide jig 51 as viewed from the rotation axis direction.
- the circumferential width W2 of the teeth 12 at the same radial position.
- the circumferential width W1 at each radial position of the first guide jig 51 is larger than the circumferential width W2 at the same radial position of the tooth 12.
- the width W1 of the first guide jig 51 is larger than the width W2 of the teeth 12 by a width W11 (total 2 ⁇ width W11) on one side in the circumferential direction. That is, the edge portion 12 a extending in the radial direction of the tooth 12 as viewed from the rotation axis direction is covered with the first guide jig 51.
- the first guide jig 51 is viewed from the end 12 b on the inner diameter side of the tooth 12 to the end 12 b on the inner diameter side of the tooth 12 as viewed from the rotational axis direction. It is formed to have a portion 151 extending to the inner diameter side space 30 of the stator core 10 on the inner diameter side. That is, the first guide jig 51 is configured to guide the concentric coil 20 from the inner diameter side space 30 of the stator core 10 to the outer diameter side end portion 13 a of the slot 13.
- the first guide jig 51 includes first guide jigs 51 a and 51 b arranged on both one side and the other side of the tooth 12 in the rotation axis direction.
- the first guide jigs 51a and 51b have substantially the same shape.
- the first guide jig 51 (first guide jigs 51a and 51b) is a portion of the first guide jig 51 that comes into contact with the concentric coil 20 (the part that guides the concentric coil 20).
- a corner 152) on the outer side in the rotation axis direction is chamfered into a round shape.
- the first guide jig 51 is disposed on the circumferential end portion 153 side so as to overlap the teeth 12 (see FIG. 6).
- a step-shaped cutout portion 154 is provided that is cut out in a shape corresponding to the shape of the slot 13 when viewed from the rotation axis direction.
- the notch 154 is provided on the inner diameter side of the first guide jig 51.
- the guide hole 155 has a shape (substantially U-shaped) corresponding to the shape of the slot 13 when viewed from the axial direction.
- the first guide jig 51 (first guide jigs 51 a and 51 b) is provided on the end surfaces of the teeth 12 on one side and the other side when the concentric coil 20 is inserted into the slot 13. It is arranged to touch.
- the second guide jig 52 has a circumferential width W3 (see FIG. 7) gradually from the outer diameter side toward the inner diameter side as seen from the rotation axis direction. As it becomes smaller, it is arranged in the inner diameter side space 30 of the stator core 10 on the inner diameter side of the teeth 12.
- the second guide jig 52 has a plate shape.
- the second guide jig 52 is configured to guide the slot accommodating portions 21 and 22 of the concentric winding coil 20 from the circumferential direction when the concentric winding coil 20 is inserted into the slot 13.
- the second guide jig 52 is an example of a “slot housing part guide jig”.
- the second guide jig 52 has an outer diameter side end 52 a (see FIG. 6) of the second guide jig 52 and an inner diameter side end 12 b of the teeth 12. It arrange
- the circumferential width W3 of the outer diameter side end portion 52a of the second guide jig 52 is equal to or greater than the circumferential width W4 of the inner diameter side end portion 12b of the tooth 12.
- the circumferential width W3 of the outer diameter side end portion 52a of the second guide jig 52 is equal to the inner diameter side end portion 12b of the tooth 12. It is larger than the circumferential width W4. Further, the width W3 in the circumferential direction at each radial position of the second guide jig 52 when viewed from the rotational axis direction is the first guide jig 51 (a portion 151 formed to extend to the inner diameter side space 30). ) Substantially equal to the circumferential width W1 at each radial position.
- the length L1 along the rotation axis direction of the second guide jig 52 is substantially equal to the length L2 (see FIG. 2) along the rotation axis direction of the teeth 12.
- the inner surface 12c (side surface) (see FIG. 2) of the tooth 12 is covered with the second guide jig 52. That is, the edge portion 12d (the edge portion 12d along the rotation axis direction, see FIG. 2) of the surface 12c (side surface) on the inner diameter side of the tooth 12 is covered with the second guide jig 52.
- the second guide jig 52 is configured to be disposed between the first guide jigs 51a and 51b (tooth hole 25, see FIG. 4). As shown in FIG. 7, when viewed from the rotational axis direction, the portion 151 formed to extend to the inner diameter side space 30 of the stator core 10 of the first guide jig 51 and the second guide jig 52 are over. A second guide jig 52 is arranged between the first guide jigs 51a and 51b so as to wrap.
- the slot accommodating portion when the plurality of concentric winding coils 20 forming the coil assembly 40 disposed in the inner diameter side space 30 of the stator core 10 are inserted into the slots 13 of the stator core 10, the slot accommodating portion.
- a guide jig 50 (first guide) that guides the concentric winding coil 20 so as to maintain a separation distance between the slot 13 and the edge portion 12a extending in the radial direction of the tooth 12 during the movement of the slots 21 and 22 in the slot 13.
- a jig 51 is provided.
- the guide jig 50 prevents the concentric winding coil 20 from contacting the edge portion 12 a extending in the radial direction of the tooth 12.
- the concentric winding coil 20 and the edge portion 12a extending in the radial direction of the teeth 12 are in contact with each other. Damage to the core wound coil 20 can be prevented.
- FIGS. 11 to 14, 17, 17, 19 and 20 are sectional views of the stator 100 (stator core 10).
- a coil assembly 40 in which a plurality of concentric coils 20 are arranged in an annular shape is formed.
- the plurality of concentric coils 20 are arranged so as to be adjacent to each other in the circumferential direction while being shifted by the pitch of the slots 13.
- the concentric winding coils 20 arranged so as to be adjacent to each other in the circumferential direction are arranged so that the rectangular conductive wires at each stage are alternately arranged in the stacking direction (radial direction) (see FIG. 5).
- the insulating member 41 is attached to the slot accommodating portions 21 and 22 of the concentric winding coil 20.
- the insulating member 41 is attached to the slot accommodating portions 21 and 22 by moving from the outer diameter side to the inner diameter side of the coil assembly 40.
- the guide jig 50 (the first jig 50) is attached to the concentric winding coil 20 that forms the coil assembly 40.
- Guide jigs 51a and 51b and a second guide jig 52) are inserted.
- the coil assembly 40 with the insulating member 41 mounted thereon, the plurality of guide jigs 50, and the stator core 10 are arranged at predetermined positions.
- the plurality of guide jigs 50 (first guide jigs 51 a and 51 b, second guide jig 52) are arranged on the outer diameter side of the coil assembly 40, and the stator core 10 is a rotating shaft of the coil assembly 40. Arranged on the direction side.
- a plurality of guide jigs 50 are inserted into the concentric coil 20 from the outer diameter side to the inner diameter side of the coil assembly 40. Specifically, for each tooth hole 25 of the coil assembly 40, a plurality of first guide jigs 51b disposed on one side (Z2 direction side) in the rotation axis direction (Z direction) and a plurality of second guide jigs. The tool 52 is inserted all at once.
- the coil assembly 40 is disposed in the inner diameter side space 30 of the stator core 10 by moving the stator core 10 relative to the coil assembly 40 along the rotation axis direction (Z direction). Is done. Specifically, the stator core 10 is moved with respect to the coil assembly 40 from the side (Z1 direction side) where the guide jig 50 (first guide jig 51b) of the coil assembly 40 is not attached. 40.
- a plurality of guide jigs 50 are concentric winding coils from the outer diameter side to the inner diameter side of the coil assembly 40. 20 are inserted all at once.
- the concentric winding coil is adjacent to the circumferential direction of the portion 151 formed to extend to the inner diameter side space 30 of the stator core 10 of the first guide jig 51.
- Twenty slot accommodating portions 21 (or slot accommodating portions 22) are arranged.
- the slot accommodating part 21 (or slot accommodating part 22) of the concentric winding coil 20 is arrange
- the second guide jig 52 is disposed so as to abut on the inner diameter side end portion 12 b of the tooth 12 on the outer diameter side end portion 52 a of the second guide jig 52.
- the stator core 10 and the coil assembly 40 are positioned with respect to each other.
- the guide jig 50 (first guide) The spacing between the concentric winding coil 20 and the edge portion 12a extending in the radial direction of the tooth 12 during the process in which the slot accommodating portions 21 and 22 move in the slot 13 by the jigs 51a and 51b) W11, see FIG. 7), while guiding the concentric coil 20 so as to hold the concentric coil 20, the plurality of concentric coils 20 forming the coil assembly 40 are pushed from the inner diameter side to the outer diameter side, thereby forming the concentric coil. Twenty slot accommodating portions 21 and 22 are inserted into the slots 13 of the stator core 10.
- the first guide jigs 51 a and 51 b are seen from the direction of the rotation axis, and overlap the teeth 12 so that the other side of the teeth 12 in the direction of the rotation axis.
- the slot accommodating portions 21 and 22 are inserted into the slot 13 while the concentric winding coil 20 is guided by the first guide jigs 51a and 51b in a state of being arranged on both the (Z1 direction side) and the one side (Z2 direction side). Inserted.
- the concentric coil 20 is guided by a guide hole 155 formed by one notch portion 154 and the other notch portion 154 of two adjacent first guide jigs 51.
- the circumferential width W1 at each radial position of the first guide jigs 51a and 51b is larger than the circumferential width W2 at the same radial position of the teeth 12 when viewed from the rotation axis direction.
- the slot accommodating portions 21 and 22 are inserted into the slot 13 without contact between the slot accommodating portions 21 and 22 and the edge portion 12 a of the tooth 12.
- the concentric winding coil 20 is guided from the inner diameter side space 30 of the stator core 10 by the portion 151 formed to extend to the inner diameter side space 30 of the stator core 10 of the first guide jig 51.
- the slot accommodating portions 21 and 22 are inserted into the slot 13 by pushing the concentric coil 20 from the inner diameter side to the outer diameter side.
- the second guide jig 52 is disposed in the inner diameter side space 30 of the stator core 10 on the inner diameter side of the teeth 12, and the concentric winding coil 20 is guided by the second guide jig 52.
- the slot accommodating portions 21 and 22 are inserted into the slot 13 by pushing the concentric winding coil 20 from the inner diameter side to the outer diameter side.
- the circumferential width W3 of the outer diameter side end portion 52a of the second guide jig 52 is larger than the circumferential width W4 of the inner diameter side end portion 12b of the tooth 12. Therefore, the slot accommodating portions 21 and 22 are inserted into the slot 13 without the concentric winding coil 20 contacting the end portion 12 b on the inner diameter side of the tooth 12.
- the portion 151 formed so as to extend to the inner diameter side space 30 of the stator core 10 of the first guide jig 51 and the second guide jig 52 as viewed from the rotation axis direction In a state of being overlapped, while the concentric winding coil 20 is guided by the first guide jig 51 and the second guide jig 52, the concentric winding coil 20 is pushed out from the inner diameter side to the outer diameter side. 21 and 22 are inserted into the slot 13.
- the slot accommodating portions 21 and 22 are guided by two first guide jigs 51a and 51b (notch portions 154) adjacent in the circumferential direction, and two adjacent in the circumferential direction. Guided by the second guide jig 52. Thereby, when the slot accommodating portions 21 and 22 are inserted into the slot 13, the slot accommodating portions 21 and 22 are prevented from swelling in the circumferential direction and buckling in the circumferential direction.
- the guide jig 50 is removed from the stator 100 on which the concentric winding coil 20 is mounted. Specifically, first, as shown in FIG. 19, the first guide jig 51 a is moved from the stator 100 by moving the first guide jig 51 a from the inner diameter side of the coil assembly 40 toward the outer diameter side. Removed.
- the stator 100 on which the concentric coil 20 is mounted is moved to the Z1 direction side.
- the first guide jig 51b and the second guide jig 52 are moved from the inner diameter side to the outer diameter side. That is, the first guide jigs 51 a and 51 b and the second guide jig 52 are returned to the predetermined positions before the stator 100 is assembled. Thereby, the assembly of the stator 100 is completed.
- the first guide jig 51 when the plurality of concentric winding coils 20 forming the coil assembly 40 disposed in the inner diameter side space 30 of the stator core 10 are inserted into the stator core 10, the first guide jig 51. As a result, the concentric winding coil 20 is guided so as to maintain a separation distance between the concentric winding coil 20 and the edge portion 12a extending in the radial direction of the tooth 12 in the process in which the slot accommodating portions 21 and 22 move in the slot 13.
- the concentric winding coil 20 when the concentric winding coil 20 is inserted into the slot 13 of the stator core 10, the concentric winding coil 20 is prevented from coming into contact with the edge portion 12 a extending in the radial direction of the tooth 12.
- the concentric winding coil 20 is caused by contact between the concentric winding coil 20 and the edge portion 12 a extending in the radial direction of the teeth 12. Damage can be prevented.
- the first guide jig 51 gradually decreases in width in the circumferential direction from the outer diameter side toward the inner diameter side as seen from the rotation axis direction, and the teeth 12. It is arranged so as to overlap.
- the step of inserting the slot accommodating portions 21 and 22 into the slot 13 is performed by the first guide jig 51 in a state where the first guide jig 51 is arranged so as to overlap the teeth 12 when viewed from the rotation axis direction.
- a step of inserting the slot accommodating portions 21 and 22 into the slot 13 while guiding the concentric winding coil 20 is included.
- the concentric winding coil 20 is disposed on the surface (upper surface and lower surface) of the tooth 12 on the rotation axis direction side. ) Can be effectively prevented by the first guide jig 51.
- the circumferential width W1 at each radial position of the first guide jig 51 is set to the circumference of the tooth 12 at the same radial position as seen from the rotational axis direction. It is made larger than the width W2 in the direction. Accordingly, the first guide jig 51 covers not only the upper surface (or lower surface) of the tooth 12 but also the edge portion 12a of the tooth 12 in the circumferential direction when viewed from the rotation axis direction. It is possible to reliably prevent the winding coil 20 from coming into contact with the edge portion 12a of the tooth 12.
- the first guide jig 51 is viewed from the inner diameter side end portion 12 b of the tooth 12 than the inner diameter side end portion 12 b of the tooth 12 as viewed from the rotation axis direction. It is formed to extend to the inner diameter side space 30 of the inner diameter side stator core 10, and the step of inserting the slot accommodating portions 21 and 22 into the slot 13 is performed from the inner diameter side space 30 of the stator core 10 by the first guide jig 51. While guiding the concentric winding coil 20, the step of inserting the slot accommodating portions 21 and 22 into the slot 13 by pushing the concentric winding coil 20 from the inner diameter side to the outer diameter side is included. Thereby, the slot accommodating portions 21 and 22 are guided from the inner diameter side of the inner diameter side end portion 12 b of the tooth 12, so that the slot accommodating portions 21 and 22 can be inserted into the slot 13 more smoothly.
- the portion of the first guide jig 51 that contacts the concentric coil 20 is chamfered in a round shape. Therefore, damage to the concentric winding coil 20 resulting from contact between the concentric winding coil 20 and the first guide jig 51 can be effectively prevented.
- the rotating shaft is arranged with the first guide jig 51 overlapping the teeth 12 on the circumferential end 153 side of the first guide jig 51.
- a stepped cutout 154 is provided that is cut into a shape corresponding to the shape of the slot 13 when viewed from the direction.
- the guide hole 155 can be formed by one notch portion 154 and the other notch portion 154 of the two adjacent first guide jigs 51, and therefore the concentric coil 20 is formed by the guide hole 155. Can be smoothly inserted into the slot 13.
- the width W3 in the circumferential direction gradually decreases from the outer diameter side toward the inner diameter side when viewed from the rotation axis direction, and the stator core 10 on the inner diameter side of the teeth 12 is reduced.
- a second guide jig 52 disposed in the inner diameter side space 30 is provided.
- the step of inserting the slot accommodating portions 21 and 22 into the slot 13 includes the second guide jig 52 in a state where the second guide jig 52 is disposed in the inner diameter side space 30 of the stator core 10 on the inner diameter side of the teeth 12. And inserting the slot accommodating portions 21 and 22 into the slot 13 by pushing the concentric winding coil 20 from the inner diameter side to the outer diameter side while guiding the concentric winding coil 20.
- the slot accommodating portions 21 and 22 are guided (sandwiched) by the two second guide jigs 52 adjacent in the circumferential direction. Therefore, when the slot accommodating portions 21 and 22 are inserted into the slot 13, the slot accommodating portions are accommodated.
- the portions 21 and 22 can be prevented from swelling in the circumferential direction and buckling in the circumferential direction.
- the width W3 in the circumferential direction of the end 52a on the outer diameter side of the second guide jig 52 is set to the end on the inner diameter side of the tooth 12 as viewed from the rotational axis direction. It is made larger than the circumferential width W4 of 12b.
- the inner surface 12c (side surface) on the inner diameter side of the tooth 12 is covered with the second guide jig 52. Contact with the edge portion 12d) along the direction can be prevented by the second guide jig 52.
- the step of inserting the slot accommodating portions 21 and 22 into the slot 13 is performed up to the inner diameter side space 30 of the stator core 10 of the first guide jig 51 when viewed from the rotation axis direction. While the portion 151 formed to extend and the second guide jig 52 overlap each other, the concentric coil 20 is guided while being guided by the first guide jig 51 and the second guide jig 52.
- a step of inserting the slot accommodating portions 21 and 22 into the slot 13 by pushing the wound coil 20 from the inner diameter side to the outer diameter side is included. Thereby, since the concentric winding coil 20 is guided by both the first guide jig 51 and the second guide jig 52, the slot accommodating portions 21 and 22 can be smoothly inserted into the slot 13.
- the guide jig 50 (the first guide jig 51 and the second guide is attached to the concentric winding coil 20 forming the coil assembly 40.
- the step of inserting the guide jig 50 (the first guide jig 51 and the second guide jig 52) into the concentric winding coil 20 is performed by using the outer diameter of the coil assembly 40.
- the guide jig 50 is inserted into the concentric coil 20 from the side toward the inner diameter side.
- the apparatus for moving the guide jig 50 is a relatively wide space. It can be arranged on the outer diameter side of the coil assembly 40. That is, a device for moving the guide jig 50 can be easily arranged.
- the guide jig 50 is inserted into the concentric winding coil 20 in the middle of forming the coil assembly 140. Specifically, after the plurality of concentric winding coils 20 (a part of all the concentric winding coils 20) are arranged adjacent to each other, the slots of the concentric winding coils 20 are arranged. An insulating member 41 is attached to the accommodating portions 21 and 22. Thereafter, a plurality of guide jigs 50 (first guide jig 51b, second guide jig 52) are sequentially inserted into the tooth holes 25 (see FIG. 4) of the coil assembly 140.
- stator core 10 is attached to the coil assembly 140.
- a plurality of guide jigs 50 are sequentially inserted into the tooth holes 25.
- the step of forming the coil assembly 140 is performed by guiding the concentric winding coil 20 during the formation of the coil assembly 140 by arranging a plurality of concentric winding coils 20 in an annular shape. Including a step of inserting the jig 50. Accordingly, since the plurality of guide jigs 50 can be inserted into the concentric winding coil 20 one by one, all of the plurality of guide jigs 50 are simultaneously formed in the coil assembly 140 (concentric winding coil). Unlike the case of inserting in 20) (that is, when all the guide jigs 50 are moved simultaneously), the driving force for moving the guide jigs 50 can be reduced.
- the coil assembly is configured by concentric winding coils made of a rectangular conducting wire, but the present invention is not limited to this.
- the coil assembly may be configured by a coil other than a concentric coil such as a wave winding or a concentric coil made of a round wire.
- the concentric coils arranged so as to be adjacent to each other in the circumferential direction are arranged such that the flat conductors at each stage are alternately arranged in the stacking direction (radial direction).
- the present invention is not limited to this.
- the concentric winding coils may be arranged in a state where the slot accommodating portions of the concentric winding coils are bundled.
- the circumferential width at each radial position of the first guide jig is greater than the circumferential width at the same radial position of the teeth as viewed from the rotation axis direction.
- the present invention is not limited to this.
- the width W5 may be configured to be equal to the circumferential width W6 of the teeth 12 at the same radial position.
- the first guide jig includes a portion formed so as to extend to the inner diameter side space of the stator core
- the present invention is not limited to this.
- the first guide jig may be formed so as to extend from the outer diameter side of the teeth to the end portion on the inner diameter side.
- the present invention is not limited to this. I can't.
- the first guide jig is only on one side or the other side in the rotation axis direction of the teeth. It may be arranged.
- the coil assembly is formed in a substantially cylindrical shape
- the present invention is not limited to this.
- the coil assembly may be formed in a shape (conical shape) in which the cross section in which the radius gradually changes along the rotation axis direction is a tapered shape. In this case, for example, only the end portion formed with a small radius may be guided by the first guide jig.
- the circumferential width of the outer diameter side end of the second guide jig is equal to the circumferential width of the inner diameter side end of the tooth as viewed from the rotational axis direction.
- the present invention is not limited to this.
- the width W7 in the circumferential direction of the end portion on the outer diameter side of the second guide jig as viewed from the rotation axis direction is You may comprise so that it may become equal to the width W8 of the circumferential direction.
- the first guide jig and the teeth (stator core) are in contact with each other in a state where the first guide jig is inserted into the coil assembly (concentric coil).
- the present invention is not limited to this.
- the first guide jigs 51a and 51b are arranged apart from the stator core 10 (tooth 12) by a distance L3. May be.
- the width in the circumferential direction at each radial position of the first guide jig may be less than the width in the circumferential direction at the same radial position of the teeth as viewed from the rotation axis direction.
- the slot accommodating portion may be extruded with a rod-like or plate-like jig extending in the axial direction.
- the entire circumference of the coil assembly (coaxially wound coil) can be simultaneously pushed with a rod-shaped or plate-shaped jig.
- the present invention is not limited to this.
- the present invention can also be applied to the case where an insulating member (slot paper, insulating paper) is disposed between the coil and the tooth and the edge portion and the slot paper are in direct contact.
- the insulating member is attached to the coil assembly.
- the present invention is not limited to this.
- the coil may be inserted in a state where an insulating member is assembled to the slot of the stator core.
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Abstract
Description
(ステータの構造)
図1~図7を参照して、第1実施形態によるステータ100の構造について説明する。なお、図1および図2は、ステータ100(ステータコア10)の断面図が示されている。
次に、図6および図7を参照して、第1実施形態によるステータ100の組立装置200について説明する。組立装置200は、同芯巻コイル20のスロット収容部21および22をスロット13にガイドするガイド治具50と、同芯巻コイル20を内径側から外径側に押し出すローラ(図示せず)とを備えている。
ここで、第1実施形態では、図6に示すように、第1ガイド治具51(第1ガイド治具51aおよび51b)は、回転軸方向から見て、外径側から内径側に向かって徐々に周方向の幅W1(図7参照)が小さくなるとともに、ステータ100の組み立て時(同芯巻コイル20をスロット13に挿入する時)に、ティース12と重なるように配置される。第1ガイド治具51は、コイルアッセンブリ40の隣接する同芯巻コイル20のうちの一方のスロット収容部21と、他方のスロット収容部21との間(ティース穴25、図4参照)に挿入されるように構成されている。また、第1ガイド治具51は、同芯巻コイル20のスロット収容部21および22をスロット13にガイドするとともに、絶縁部材41が半径方向外側に抜け出すのを抑制する機能を有する。なお、第1ガイド治具51(第1ガイド治具51aおよび51b)は、「ガイド治具」の一例である。
第1実施形態では、図6に示すように、第2ガイド治具52は、回転軸方向から見て、外径側から内径側に向かって徐々に周方向の幅W3(図7参照)が小さくなるとともに、ティース12の内径側のステータコア10の内径側空間30に配置される。第2ガイド治具52は、板状を有している。また、第2ガイド治具52は、同芯巻コイル20をスロット13に挿入する際に、同芯巻コイル20のスロット収容部21および22を周方向からガイドするように構成されている。なお、第2ガイド治具52は、「スロット収容部ガイド治具」の一例である。
第1実施形態では、以下のような効果を得ることができる。
次に、図7~図20を参照して、ステータ100の組立方法について説明する。なお、図11~図14、図17、図19および図20は、ステータ100(ステータコア10)の断面図が示されている。
まず、図8に示すように、複数の同芯巻コイル20が円環状に配置されたコイルアッセンブリ40が形成される。具体的には、複数の同芯巻コイル20が、スロット13のピッチ分ずらしながら、互いに周方向に隣接するように配置される。また、互いに周方向に隣接するように配置される同芯巻コイル20同士は、各段の平角導線が積層方向(半径方向)に交互に並ぶように配置(図5参照)される。また、複数の同芯巻コイル20によりコイルアッセンブリ40が形成された状態では、互いに周方向に隣接するように配置される同芯巻コイル20のうちの一方のスロット収容部21と、他方のスロット収容部21との間に、ステータコア10のティース12が挿入されるティース穴25(図4参照)が形成される。
次に、図9および図10に示すように、コイルアッセンブリ40を形成する工程の後に、同芯巻コイル20のスロット収容部21および22に、絶縁部材41が装着される。なお、絶縁部材41は、コイルアッセンブリ40の外径側から内径側に移動されることにより、スロット収容部21および22に装着される。
ここで、第1実施形態では、コイルアッセンブリ40を形成する工程を行って、さらに、絶縁部材を挿入する工程の後に、コイルアッセンブリ40を形成する同芯巻コイル20にガイド治具50(第1ガイド治具51aおよび51b、第2ガイド治具52)が挿入される。
次に、図16および図17に示すように、コイルアッセンブリ40がステータコア10の内径側空間30に配置された状態で、コイルアッセンブリ40を形成する複数の同芯巻コイル20を、内径側から外径側に押し出すことにより、同芯巻コイル20のスロット収容部21および22が、ステータコア10のスロット13に挿入される。具体的には、図示しないローラにより、同芯巻コイル20のコイルエンド部23および24を内径側から外径側に押し出すことにより、同芯巻コイル20のスロット収容部21および22が、ステータコア10のスロット13に挿入される。このとき、ローラがコイルアッセンブリ40に対して相対的に移動して、コイルアッセンブリ40のローラに押し出される部分が徐々に変化するので、コイルアッセンブリ40が徐々に挿入されていく。
次に、同芯巻コイル20が装着されたステータ100から、ガイド治具50が取り外される。具体的には、まず、図19に示すように、第1ガイド治具51aを、コイルアッセンブリ40の内径側から外径側に向かって移動させることにより、第1ガイド治具51aがステータ100から取り外される。
第1実施形態では、以下のような効果を得ることができる。
(ステータの組立方法)
図21を参照して、第2実施形態によるステータ110の組立方法(組立装置201)について説明する。第2実施形態では、上記コイルアッセンブリ40を形成する工程の後に、同芯巻コイル20にガイド治具50が挿入されていた第1実施形態と異なり、コイルアッセンブリ140を形成する途中に、同芯巻コイル20にガイド治具50が挿入される。
図21に示すように、第2実施形態では、コイルアッセンブリ140を形成する途中に、同芯巻コイル20にガイド治具50が挿入される。具体的には、複数の同芯巻コイル20(全ての同芯巻コイル20のうちの一部の同芯巻コイル20)が互いに隣接するように配置された後、同芯巻コイル20のスロット収容部21および22に、絶縁部材41が装着される。その後、コイルアッセンブリ140のティース穴25(図4参照)に、複数のガイド治具50(第1ガイド治具51b、第2ガイド治具52)が順次挿入される。さらに、全ての同芯巻コイル20が互いに隣接するように配置された後(コイルアッセンブリ140の完成後)、ステータコア10がコイルアッセンブリ140に取り付けられる。最後に、複数のガイド治具50(第1ガイド治具51a)がティース穴25に順次挿入される。
第2実施形態では、以下のような効果を得ることができる。
なお、今回開示された実施形態は、すべての点で例示であって制限的なものではないと考えられるべきである。本発明の範囲は、上記した実施形態の説明ではなく特許請求の範囲によって示され、さらに特許請求の範囲と均等の意味および範囲内でのすべての変更(変形例)が含まれる。
11 バックヨーク
12 ティース
12a (ティースの)エッジ部
12b (ティースの内径側の)端部
13 スロット
20 同芯巻コイル(コイル)
21、22 スロット収容部
23、24 コイルエンド部
30 内径側空間
40 コイルアッセンブリ
51、51a、51b 第1ガイド治具(ガイド治具)
52 第2ガイド治具(スロット収容部ガイド治具)
52a (第2ガイド治具の外径側の)端部
100、110 ステータ
151 (ガイド治具の内径側空間まで延びる)部分
153 (ガイド治具の周方向の)端部
154 切欠部
200、201、202、203 (ステータの)組立装置
Claims (13)
- それぞれ導体により形成されるスロット収容部およびコイルエンド部を有するコイルを、バックヨークから半径方向内側に向かって延びる隣接するティース間に形成されるスロットを含む円環状のステータコアに装着するステータの組立方法であって、
複数の前記コイルが円環状に配置されたコイルアッセンブリを形成する工程と、
前記ステータコアの内径側空間に配置された前記コイルアッセンブリを形成する複数の前記コイルを前記ステータコアの前記スロットに挿入する際に、ガイド治具により、前記スロット収容部が前記スロット内を移動する過程で前記コイルと前記ティースの半径方向に伸びるエッジ部との離間間隔を保持するように前記コイルをガイドしながら、前記コイルアッセンブリを形成する複数の前記コイルを内径側から外径側に押し出すことにより、前記コイルの前記スロット収容部を前記ステータコアの前記スロットに挿入する工程とを備える、ステータの組立方法。 - 前記ガイド治具は、回転軸方向から見て、外径側から内径側に向かって徐々に周方向の幅が小さくなるとともに、前記ティースと重なるように配置されるように構成されており、
前記スロット収容部を前記スロットに挿入する工程は、前記ガイド治具を、回転軸方向から見て、前記ティースと重なるように配置した状態で、前記ガイド治具によって前記コイルをガイドしながら前記スロット収容部を前記スロットに挿入する工程を含む、請求項1に記載のステータの組立方法。 - 回転軸方向から見て、前記ガイド治具の各半径方向位置のそれぞれにおける周方向の幅は、前記ティースの同じ半径方向位置の周方向の幅以上である、請求項2に記載のステータの組立方法。
- 回転軸方向から見て、前記ガイド治具は、前記ティースの内径側の端部から、前記ティースの内径側の端部よりも内径側の前記ステータコアの内径側空間まで延びるように形成されており、
前記スロット収容部を前記スロットに挿入する工程は、前記ガイド治具により、前記ステータコアの内径側空間から前記コイルをガイドしながら、前記コイルを内径側から外径側に押し出すことにより、前記スロット収容部を前記スロットに挿入する工程を含む、請求項2または3に記載のステータの組立方法。 - 前記ガイド治具のうちの、前記コイルと接触する部分は、丸形形状に面取りされている、請求項2~4のいずれか1項に記載のステータの組立方法。
- 前記ガイド治具の周方向の端部側には、前記ガイド治具が前記ティースと重なるように配置された状態で、回転軸方向から見て、前記スロットの形状に対応する形状に切り欠かれた段差形状の切欠部が設けられている、請求項2~5のいずれか1項に記載のステータの組立方法。
- 回転軸方向から見て、外径側から内径側に向かって徐々に周方向の幅が小さくなるとともに、前記ティースの内径側の前記ステータコアの内径側空間に配置されるスロット収容部ガイド治具をさらに備え、
前記スロット収容部を前記スロットに挿入する工程は、前記スロット収容部ガイド治具を、前記ティースの内径側の前記ステータコアの内径側空間に配置した状態で、前記スロット収容部ガイド治具によって前記コイルをガイドしながら、前記コイルを内径側から外径側に押し出すことにより、前記スロット収容部を前記スロットに挿入する工程を含む、請求項1~6のいずれか1項に記載のステータの組立方法。 - 回転軸方向から見て、前記スロット収容部ガイド治具の外径側の端部の周方向の幅は、前記ティースの内径側の端部の周方向の幅以上である、請求項7に記載のステータの組立方法。
- 前記スロット収容部を前記スロットに挿入する工程は、回転軸方向から見て、前記ガイド治具の前記ステータコアの内径側空間まで延びるように形成された部分と、前記スロット収容部ガイド治具とがオーバラップした状態で、前記ガイド治具および前記スロット収容部ガイド治具によって前記コイルをガイドしながら、前記コイルを内径側から外径側に押し出すことにより、前記スロット収容部を前記スロットに挿入する工程を含む、請求項7または8に記載のステータの組立方法。
- 前記コイルアッセンブリを形成する工程の後に、前記コイルアッセンブリを形成する前記コイルに前記ガイド治具を挿入する工程をさらに備える、請求項1~9のいずれか1項に記載のステータの組立方法。
- 前記コイルアッセンブリを形成する工程は、複数の前記コイルを円環状に配置してコイルアッセンブリを形成する途中に、前記コイルに前記ガイド治具を挿入する工程を含む、請求項1~9のいずれか1項に記載のステータの組立方法。
- 前記コイルに前記ガイド治具を挿入する工程は、前記コイルアッセンブリの外径側から内径側に向かって、前記コイルに前記ガイド治具を挿入する工程である、請求項10または11に記載のステータの組立方法。
- それぞれ導体により形成されるスロット収容部およびコイルエンド部を有するコイルを、バックヨークから半径方向内側に向かって延びる隣接するティース間に形成されるスロットを含む円環状のステータコアに装着するステータの組立装置であって、
ガイド治具を備え、
前記ガイド治具は、前記コイルアッセンブリを形成する複数の前記コイルを内径側から外径側に押し出すことにより、前記ステータコアの内径側空間に配置された前記コイルアッセンブリを形成する複数の前記コイルを前記ステータコアの前記スロットに挿入する際に、前記スロット収容部が前記スロット内を移動する過程で前記コイルと前記ティースの半径方向に伸びるエッジ部との離間間隔を保持するように前記コイルをガイドしながら、前記コイルの前記スロット収容部を前記ステータコアの前記スロットに挿入するように構成されている、ステータの組立装置。
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CN201580025910.8A CN106416021B (zh) | 2014-06-05 | 2015-06-05 | 定子组装方法以及定子组装装置 |
US15/300,002 US10284060B2 (en) | 2014-06-05 | 2015-06-05 | Stator assembly method and stator assembly apparatus |
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Cited By (8)
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---|---|---|---|---|
CN108604851A (zh) * | 2015-12-15 | 2018-09-28 | 格鲁博-工厂有限及两合公司 | 用于将导线包安装在电机中的方法和装置 |
CN108604851B (zh) * | 2015-12-15 | 2020-11-27 | 格鲁博-工厂有限及两合公司 | 用于将导线包引入构件中的导线包载体 |
EP3182569B1 (de) * | 2015-12-18 | 2020-12-02 | Aumann Espelkamp GmbH | Vorrichtung und verfahren zum einbringen einer wellenwicklung aus einer vorgefertigten wellenwicklungsmatte in statorblechpaketnuten |
CN111669011A (zh) * | 2019-03-07 | 2020-09-15 | 本田技研工业株式会社 | 导电体的***装置 |
CN111669011B (zh) * | 2019-03-07 | 2022-07-01 | 本田技研工业株式会社 | 导电体的***装置 |
WO2020246559A1 (ja) * | 2019-06-07 | 2020-12-10 | アイシン・エィ・ダブリュ株式会社 | ステータの組立方法およびステータの組立装置 |
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JP6206588B2 (ja) | 2017-10-04 |
JP6390772B2 (ja) | 2018-09-19 |
US20180367014A1 (en) | 2018-12-20 |
CN110086305A (zh) | 2019-08-02 |
EP3109982A4 (en) | 2017-06-21 |
KR20160138576A (ko) | 2016-12-05 |
CN106416022A (zh) | 2017-02-15 |
WO2015186838A1 (ja) | 2015-12-10 |
JP6288266B2 (ja) | 2018-03-07 |
JPWO2015186835A1 (ja) | 2017-04-20 |
US10084363B2 (en) | 2018-09-25 |
KR101951086B1 (ko) | 2019-02-21 |
JP2018007555A (ja) | 2018-01-11 |
US10910928B2 (en) | 2021-02-02 |
CN110086305B (zh) | 2021-04-27 |
EP3109981A1 (en) | 2016-12-28 |
EP3109982A1 (en) | 2016-12-28 |
US20170141660A1 (en) | 2017-05-18 |
CN106416021A (zh) | 2017-02-15 |
KR20160138575A (ko) | 2016-12-05 |
KR101959115B1 (ko) | 2019-03-15 |
US10284060B2 (en) | 2019-05-07 |
CN106416021B (zh) | 2018-12-14 |
EP3109982B1 (en) | 2020-05-20 |
CN106416022B (zh) | 2019-04-09 |
US20170141659A1 (en) | 2017-05-18 |
EP3109981B1 (en) | 2019-10-30 |
JPWO2015186838A1 (ja) | 2017-04-20 |
EP3109981A4 (en) | 2017-06-21 |
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