KR102235674B1 - Apparatus for manufacturing hairpin - Google Patents

Abstract

A hairpin manufacturing apparatus for an electric motor according to an embodiment of the present disclosure includes a first press part configured to press a first two-dimensional hairpin structure to form a first three-dimensional hairpin structure, a second press part configured to press the second two-dimensional hairpin structure to form a second three-dimensional hairpin structure, and a control part configured to control the operation of the first press part to press the first two-dimensional hairpin structure to form the first three-dimensional hairpin structure including an R bending part, and control the operation of the second press part to press the second two-dimensional hairpin structure to form a second three-dimensional hairpin structure including the R bending part. It is possible to shorten the time required to create hairpins.

Description

Hairpin manufacturing equipment {APPARATUS FOR MANUFACTURING HAIRPIN}

The present disclosure relates to an apparatus for manufacturing a hairpin, and more particularly, to an apparatus for manufacturing a hairpin using a metal wire.

The efficiency of a motor driving an electric vehicle (EV) is a concept corresponding to the fuel economy of an internal combustion engine vehicle. Therefore, the efficiency of the drive motor is one of the important indicators directly related to the performance of the EV. Recently, as a method for increasing the efficiency of a driving motor, a technology for reducing copper loss, which accounts for the largest energy loss in the motor, is attracting attention.

One of the effective techniques for reducing copper loss is the technique of improving the dot ratio of the stator winding. The dot ratio represents the proportion of the windings in the area of the stator slot. Increasing the dot ratio has the effect of reducing copper loss by reducing the current density of the stator winding under the same load condition. However, due to the increase in the dot ratio, the adverse effect of increasing the proportion of winding defects occurs, and in order to solve this problem, a hairpin winding method is rapidly spreading in the EV industry.

The hairpin winding method is a winding method in which a copper wire is molded into a hairpin shape, inserted into a slot, and then welded. By using the hairpin winding method, it is possible to reduce the waste of space between the coils, thereby maximizing the dot ratio. The hairpin winding method is advantageous in terms of the efficiency and power density of the driven motor, but there is a problem in that the manufacturing process is complicated and quality control is difficult.
The technology behind the present invention is Korean Patent Application Publication No. 10-2007-0120564 (2007.12.24), Korean Patent Application Publication No. 10-2016-0131056 (2016.11.15), Korean Patent Application Publication No. 10- It is disclosed in 2017-0066859 (2017.06.15) and Japanese Patent Publication No. 5955142 (2016.06.24).

Embodiments disclosed herein provide an apparatus capable of shortening the time required to produce a hairpin by manufacturing a hairpin for an electric motor through a molding part.

A hairpin manufacturing apparatus for an electric motor according to an embodiment of the present disclosure includes a first press unit configured to form a first three-dimensional hairpin structure by pressing a first two-dimensional hairpin structure, and a second three-dimensional by pressing a second two-dimensional hairpin structure. Controls the operation of the first press unit to form a first three-dimensional hairpin structure including the R-bending unit by pressing the second press unit configured to form the hairpin structure and the first two-dimensional hairpin structure, and presses the second two-dimensional hairpin structure to R And a control unit configured to control an operation of the second press unit to form a second three-dimensional hairpin structure including a bending unit.

According to an embodiment, the first press unit includes a first upper frame including a first protrusion, a first lower frame including a first concave part and facing the first upper frame, and one of the first upper frame or the first lower frame. A first driving unit configured to move at least one, and the second press unit includes a second upper frame including a second protrusion, a second lower frame including a second recess and facing the second upper frame, and a second Including a second driving unit configured to move at least one of the upper frame or the second lower frame, the control unit, the first three-dimensional hairpin including the R bending unit by pressing the first two-dimensional hairpin structure with the first protrusion and the first concave portion The first driving unit is controlled to form a structure, and the second driving unit is controlled to form a second three-dimensional hairpin structure including the R-bending unit by pressing the second two-dimensional hairpin structure into the second protrusion and the second concave portion.

According to an embodiment, the first press unit includes a third upper frame including a third protrusion, a third lower frame and a first press unit that includes a third concave portion and faces the third upper frame. Further comprising a third driving unit configured to rotate, the second press unit, the fourth upper frame including the fourth protrusion, the fourth lower frame and the second press including the fourth concave portion and facing the fourth upper frame Further comprising a fourth driving unit configured to rotate the unit about a second rotation center axis, the first rotation center axis and the second rotation center axis are parallel to the z-axis, and the control unit comprises: a first upper frame and a first lower frame, Alternatively, by selecting one of the third upper frame and the third lower frame to control the third driving unit to press the first two-dimensional hairpin structure, the second upper frame and the second lower frame, or the fourth upper frame and the fourth lower frame One of the frames is selected and the fourth driving unit is controlled to press the second two-dimensional hairpin structure.

According to an embodiment, the first press unit further includes a first pressing unit configured to press at least one of a first upper frame, a first lower frame, a third upper frame, or a third lower frame, and the second press unit, It further includes a second pressing unit configured to press at least one of the second upper frame, the second lower frame, the fourth upper frame, and the fourth lower frame.

According to an embodiment, the pair of the first upper frame and the first lower frame, and the pair of the third upper frame and the third lower frame are configured to form R bent portions having different shapes from each other, and the second upper frame and the second lower frame The pair of frames and the pair of the fourth upper frame and the fourth lower frame are configured to form R bent portions having different shapes from each other.

According to an embodiment, the first upper frame and the first lower frame face the third upper frame and the third lower frame with a first rotation center axis therebetween, and the second upper frame and the second lower frame are rotated for a second time. It faces the fourth upper frame and the fourth lower frame with the central axis therebetween.

According to an embodiment, the first upper frame and the first lower frame are configured to be detachable from the first press unit, the second upper frame and the second lower frame are configured to be detachable from the second press unit, and the third The upper frame and the third lower frame are configured to be detachable from the first press unit, and the fourth upper frame and the fourth lower frame are configured to be detachable from the second press unit.

According to an embodiment, the hairpin manufacturing apparatus moves the first two-dimensional hairpin structure into the first concave portion of the first lower frame or the third concave portion of the third lower frame, and moves the second two-dimensional hairpin structure into the second lower frame. A first robot arm configured to move into the second concave portion or the fourth concave portion of the fourth lower frame, wherein the first robot arm is disposed between the first press portion and the second press portion.

According to an embodiment, the hairpin manufacturing apparatus moves the first three-dimensional hairpin structure located in the first concave portion of the first lower frame or the third concave portion of the third lower frame to the alignment device, and It further includes a second robot arm configured to move the second three-dimensional hairpin structure located in the concave portion or the fourth concave portion of the fourth lower frame to the alignment device.

According to an embodiment, the first press unit further includes six pairs of upper and lower frames, and the eight pairs of upper and lower frames are axially symmetrically arranged with respect to the first rotational central axis, and the second press The portion further includes six pairs of upper and lower frames, and the eight pairs of upper and lower frames are axially symmetrically arranged with respect to the second central axis of rotation.

According to various embodiments of the present disclosure, by forming a two-dimensional hairpin structure in a molding portion and a three-dimensional hairpin structure in a press portion, it is possible to shorten the time required to generate the hairpin. For this reason, it is possible to lower the manufacturing cost of the hairpin. In addition, by manufacturing the hairpin through the molding portion and two or more press portions, it is possible to further simplify the structure and driving algorithm of the hairpin manufacturing apparatus. For this reason, it is possible to lower the cost of the hairpin manufacturing equipment and reduce maintenance and repair costs.

According to various embodiments of the present disclosure, by using two or more press units, the time for the molding unit to generate the two-dimensional hairpin structure, the time for the first robot arm to move the two-dimensional hairpin structure from the molding unit to the press unit, and the second By minimizing the waiting time between the time the robot arm moves the 3D hairpin structure from the press unit to the alignment device, it is possible to minimize the time required to generate the 3D hairpin structure.

According to various embodiments of the present disclosure, by manufacturing a hairpin using a press unit including a pair of a plurality of upper frame/lower frame, it is possible to quickly form a hairpin structure of various shapes.

According to various embodiments of the present disclosure, by bending a metal wire using a forming part including two bending members, a first driving part, a second driving part, and a third driving part, a desired shape/ It can be bent at an angle.

The effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

Embodiments of the present disclosure will be described with reference to the accompanying drawings described below, in which like reference numerals denote like elements, but are not limited thereto.
1 is a block diagram of an entire equipment for shaping and aligning hairpins including a shaping device according to an embodiment of the present disclosure.
2 is a block diagram schematically showing a hairpin manufacturing apparatus according to an embodiment of the present disclosure.
3 is a perspective view of a hairpin manufacturing apparatus according to an embodiment of the present disclosure.
4 is a view showing an example of bending a metal wire by a bending device according to an embodiment of the present disclosure.
5 is a view showing an example of bending a metal wire by a bending device according to another embodiment of the present disclosure.
6 is a diagram illustrating a process in which a two-dimensional hairpin structure formed according to an embodiment of the present disclosure is cut.
7 is a perspective view of a two-dimensional hairpin structure formed according to an embodiment of the present disclosure.
8 is a top view of a first press unit and a second press unit according to an exemplary embodiment of the present disclosure.
9 is a perspective view of a pair of upper and lower frames according to an embodiment of the present disclosure.
10 is a perspective view showing a two-dimensional hairpin structure and a three-dimensional hairpin structure formed according to an embodiment of the present disclosure.
11 is a perspective view of a hairpin manufacturing apparatus according to an embodiment of the present disclosure.
12 is a top view of a first press unit and a second press unit according to another exemplary embodiment of the present disclosure.

Hereinafter, with reference to the accompanying drawings, specific details for the implementation of the present disclosure will be described in detail. The present application may be implemented in various different forms and is not limited to the embodiments described herein. In the following description, when there is a concern that the subject matter of the present disclosure may be unnecessarily obscure, detailed descriptions of widely known functions or configurations will be omitted.

In the accompanying drawings, the same reference numerals may be assigned to the same or corresponding components. In addition, in the description of the following embodiments, overlapping descriptions of the same or corresponding components may be omitted. However, even if description of a component is omitted, it is not intended that such component is not included in any embodiment.

Terms used in the present specification have selected general terms that are currently widely used as possible while considering functions in the present disclosure, but this may vary according to the intention or precedent of a technician engaged in a related field, the emergence of new technologies, and the like. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning of the terms will be described in detail in the description of the corresponding invention. Therefore, the terms used in the present disclosure should be defined based on the meaning of the term and the overall contents of the present disclosure, not a simple name of the term.

In the present specification, expressions in the singular include plural expressions unless the context clearly specifies that they are in the singular. In addition, plural expressions include expressions in the singular, unless the context clearly specifies that they are plural.

When a part of the specification is said to "include" a certain component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary.

Advantages and features of the disclosed embodiments, and a method of achieving them will become apparent with reference to the embodiments described below together with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, and only these embodiments make the present disclosure complete, and those skilled in the art to which the present disclosure pertains. It is provided only to fully inform the person of the scope of the invention.

Prior to describing the embodiments of the present disclosure, the upper part of the drawing may be referred to as “upper” or “upper” of the configuration shown in the drawing, and the lower part may be referred to as “lower” or “lower”. In addition, in the drawings, the portion between the upper and lower portions of the configuration shown in the drawings, or the remaining portions excluding the upper and lower portions, may be referred to as "sides" or "sides".

In embodiments of the present disclosure, the left side of the drawing may be referred to as “left” or “left” of the configuration shown in the drawing, and the right side may be referred to as “right” or “right”. Relative terms such as “upper” and “upper” may be used to describe the relationship between components shown in the drawings, and the present disclosure is not limited by such terms.

In the present specification, the description of "A and/or B" means A, or B, or A and B.

In the present disclosure, the "first axial direction" may refer to a direction in which the metal wire moves or an opposite direction. Further, the "second axis direction" may refer to a direction orthogonal to the first axis and parallel to the ground. Additionally, the “third axis direction” may refer to a direction orthogonal to the first axis and the second axis, that is, a direction orthogonal to the ground. The first axis, the second axis, and the third axis may be referred to as an x axis, a y axis, and a z axis, respectively.

1 is a block diagram of equipment for shaping and aligning hairpins including a shaping device 140 according to an embodiment of the present disclosure. As shown, the equipment for shaping and aligning hairpins may include a decal device 110, a peeling device 120, a feeding device 130, a shaping device 140, and an alignment device 150. The decal device 110 may be a device for removing bending, bending, etc. that may exist in the metal wire released from the supply reel. In one embodiment, the metal wire may be a rectangular copper wire having a rectangular cross section.

The stripping device 120 is a device for removing the insulating coating surrounding the metal wire. In one embodiment, the stripping device 120 may remove a portion of the insulating coating (eg, enamel) coated on the metal wire. For example, the stripping device 120 may remove the insulating coating on the metal wire by using a stripping portion such as a knife blade.

The feeding device 130 may be a device for supplying the metal wire that has passed through the decal device 110 and the stripping device 120 to the forming device 140. In one embodiment, the feeding device 130 may provide a speed suitable for a process for forming a metal wire in the forming device 140. In addition, the feeding device 130 may control the supply and interruption of the metal wire according to the state of the molding device 140, and variably control the supply speed of the metal wire.

The molding device 140 may bend the metal wire supplied from the feeding device 130 to form a two-dimensional hairpin structure. After the two-dimensional hairpin structure is formed, the molding device 140 may cut the metal wire. After that, the molding apparatus 140 may be formed into a three-dimensional hairpin structure by pressing the two-dimensional hairpin structure using a press unit. For example, the molding device 140 may be a hairpin manufacturing device of the present disclosure.

The formed three-dimensional hairpin structure may be moved to the alignment device 150 using a robot arm or the like. The alignment device 150 may be a device that aligns the formed hairpins (ie, a three-dimensional hairpin structure) to be inserted into the stator core. Aligned hairpins can be inserted into the stator core.

2 is a block diagram schematically showing a hairpin manufacturing apparatus 200 according to an embodiment of the present disclosure. The hairpin manufacturing apparatus 200 includes a metal wire supply unit 210, a molding unit 220, a cutting unit 230, a first robot arm 240, a first press unit 250, a second press unit 260, and a second press unit. 2 It may include a robot arm 270. The metal wire supply unit 210 may be a device for supplying the metal wire supplied from the feeding device 130 to the molding unit 220.

The molding unit 220 may be a device for forming a two-dimensional hairpin structure by bending a metal wire supplied from the metal wire supply unit 210. For example, the shaping unit 220 may bend a metal wire to form a two-dimensional hairpin structure in which a first U-bend portion, a V-bend portion, and a second U-bend portion are sequentially formed. The two-dimensional hairpin structure formed by the molding unit 220 may have different shapes depending on the type of electric motor to be produced.

The cutting part 230 may be a device for cutting a bent metal wire. In one embodiment, when the metal wire is bent by the molding unit 220 to form a two-dimensional hairpin structure, the metal wire supply unit 210 is opposite to the direction in which the metal wire is supplied so that collision with the cutting unit 230 does not occur. You can move in any direction. After the metal wire supply unit 210 is moved, the cutting unit 230 may cut the metal wire having a two-dimensional hairpin structure. In this case, the first robot arm 240 may be holding a part of the 2D hairpin structure before the cutting part 230 cuts the metal wire.

The first press unit 250 and the second press unit 260 may be devices for forming a three-dimensional hairpin structure using a two-dimensional hairpin structure formed by the molding unit 220. The first robot arm 240 may selectively move the metal wire cut by the cutting unit 230, that is, a two-dimensional hairpin structure to the first press unit 250 or the second press unit 260. For example, the first robot arm 240 may sequentially move the two-dimensional hairpin structure formed by the molding unit 220 to the first press unit 250 and the second press unit 260. The first press unit 250 or the second press unit 260 provided with the two-dimensional hairpin structure from the first robot arm 240 may press the two-dimensional hairpin structure to form a three-dimensional hairpin structure in which the R-bend portion is formed. have.

The two-dimensional hairpin structure may be pressed by the first press unit 250 or the second press unit 260 to have a different R-bending shape according to the type of the electric motor. To this end, the first press unit 250 and the second press unit 260 may each include a plurality of upper frame/lower frame pairs corresponding to a plurality of R bending shapes. In this case, the first press unit 250 and the second press unit 260 may form a three-dimensional hairpin structure by pressing the two-dimensional hairpin structure using one of a plurality of upper frame/lower frame pairs.

The second robot arm 270 arranges a three-dimensional hairpin structure formed by the first press unit 250 and the second press unit 260 from the first press unit 250 or the second press unit 260 ( 150). The second robot arm 270 moves the 2D hairpin structure to one of the first press unit 250 or the second press unit 260 for efficiency of the hairpin manufacturing process. It is preferable to hold the 3D hairpin structure formed by pressing from the other one of the 1 press unit 250 or the second press unit 260 and move it to the alignment device 150.

3 is a perspective view of a hairpin manufacturing apparatus 200 according to an embodiment of the present disclosure. The metal wire supply unit 210 may be configured to supply the metal wire to the molding unit 220 along a first axis (ie, an x axis parallel to the ground). According to an embodiment, the hairpin manufacturing apparatus 200 may include a driving unit configured to move the metal wire supply unit 210 in the x-axis direction. For example, the metal wire supply unit 210 supplies the metal wire along the x-axis direction, moves along the x-axis direction to adjust the length of the bent metal wire, or cuts the metal wire before cutting the cutting unit 230 It can move in the direction opposite to the direction in which the metal wire is supplied so as not to cause a collision.

The molding unit (220 of FIG. 2) may be configured to form a two-dimensional hairpin structure by bending the metal wire supplied from the metal wire supply unit 210. According to an embodiment, the molding unit is configured to move the bending device 310 and the bending device 310 in a second axis perpendicular to the x axis (ie, a y axis parallel to the ground). , A second driving unit 340 configured to rotate the bending device 310 about a first rotational central axis (parallel to the z axis) and a third bending device 310 orthogonal to the first axis and the second axis. It may include a third driving unit 320 configured to move in the axial (ie, z-axis orthogonal to the ground) direction. The control unit may control operations of the first driving unit 330, the second driving unit 340, and the third driving unit 320 so that the bending device 310 bends the metal wire to form a two-dimensional hairpin structure.

As shown, the bending device 310 may include a first bending member 312 and a second bending member 314 configured to bend a metal wire. According to an embodiment, the first bending member 312 and the second bending member 314 may have a shape extending along the z axis. The first bending member 312 may be disposed on the first rotation center axis. In addition, the second bending member 314 may be disposed outside the first rotation center axis. In this case, the controller may rotate the second bending member 314 by driving the second driving unit 340.

In an embodiment, the bending device 310 may form a two-dimensional hairpin structure by moving in the y-axis direction by the first driving unit 330 and bending the metal wire. Here, the first driving unit 330 may move the bending device 310 in the y-axis direction based on a control signal from the controller. Alternatively or additionally, the bending device 310 moves in the third axial direction by the third driving unit 320 to transfer the metal wire supplied from the metal wire supply unit 210 to the first bending member 312 and the second bending. The two-dimensional hairpin structure may be formed by interposing between the members 314 and rotating about the first rotational center axis by the second driving unit 340 to bend the metal wire. When the bending device 310 is located under the metal wire, the control unit controls the operation of the third driving unit 320 to move the bending device 310 in the z-axis direction, so that the first bending member 312 and the second A metal wire may be interposed between the bending members 314.

When the metal wire is bent by the bending device 310 to form a two-dimensional hairpin structure, the cutting unit 230 may cut the metal wire. At this time, the first robot arm 240 may be holding a part of the 2D hairpin structure before cutting the metal wire. The metal wire cut by the cutting unit 230, that is, the two-dimensional hairpin structure may be moved to the first press unit 250 or the second press unit 260 by the first robot arm 240. For example, the first robot arm 240 may hold a metal wire including a clamp part.

The first press unit 250 or the second press unit 260 may press the 2D hairpin structure moved by the first robot arm 240 to form a 3D hairpin structure including the R-bending unit. As shown, the first press unit 250 and the second press unit 260 may each include a plurality of upper frame/lower frame pairs corresponding to a plurality of R bending shapes. In this case, the control unit may rotate the first press unit 250 or the second press unit 260 so as to use one of a plurality of upper frame/lower frame pairs. Thereafter, a 3D hairpin structure may be formed by pressing the 2D hairpin structure using the first press unit 250 or the second press unit 260.

In one embodiment, the second robot arm (not shown) has a three-dimensional hairpin structure formed by the first press unit 250 and the second press unit 260 as the first press unit 250 or the second press unit ( It may be configured to move from 260 to an alignment device (not shown). For example, a second robot arm (not shown) may also include a clamp for gripping a 3D hairpin structure. In FIG. 3, it is shown that there are two press units, but the present invention is not limited thereto, and any number of press units may be used. In addition, the number of robot arms may be changed as necessary.

By forming a two-dimensional hairpin structure in the bending device 310 and forming a three-dimensional hairpin structure in the press units 250 and 260, it is possible to shorten the time required to generate the hairpin. In addition, by using two or more press units (250, 260), the time when the bending device 310 generates a two-dimensional hairpin structure, the first robot arm 240 from the bending device 310 By minimizing the waiting time between the time to move to the press units 250 and 260 and the time for the second robot arm (not shown) to move the 3D hairpin structure from the press units 250 and 260 to the alignment device, 3 It is possible to minimize the time required to create a dimensional hairpin structure. In addition, since the first press unit 250 and the second press unit 260 include a plurality of upper frame/lower frame pairs, it is possible to quickly form a hairpin structure of various shapes.

4 is a diagram illustrating an example of bending a metal wire W by a bending device according to an embodiment of the present disclosure. In one embodiment, the bending device is moved in the y-axis direction by the first driving unit to form a two-dimensional hairpin structure in which the first U bent part, the V bent part, and the second U bent part are sequentially formed, and the metal wire supply part ( The metal wire W supplied from 210 may be bent. An example of the process of bending the metal wire W will be described on the basis of the main configuration of the bending device.

The first operation step 410 represents a state before the bending device bends the metal wire W. Before bending the metal wire W, the controller may control at least one of the first driving part, the second driving part, and the third driving part to position the bending device on the side of the metal wire W. For example, a bending device is rotated about a first rotation center axis (parallel to the z axis) by a second driving unit so that the metal wire W is bent by a desired angle, and the first driving unit and/or the third driving unit It can be moved by and disposed on the side of the metal wire (W). Here, the bending device includes a first bending member 312 and a second bending member 314, and the control unit includes the first bending member 312 and the second bending member 314 to bend the metal wire W. It is possible to control the second driving unit to achieve the same angle as the angle.

In one embodiment, in order to adjust the length L of the metal wire W to be bent, the control unit moves/moves the metal wire supply unit 210 in the x-axis direction, and the metal wire W in the x-axis direction. It is possible to control the metal wire supply unit 210 to further supply. After the bending device is disposed on the side of the metal wire W, the controller controls the first bending member 312 and/or the second bending member 314 to apply a force to the metal wire W in the y-axis direction. 1 You can control the drive unit. For example, as shown, the second bending member 314 applies a force to the metal wire W until the first bending member 312 contacts the metal wire W to apply the metal wire W. Can bend. The second operation step 420 represents a state in which the bending device bends the metal wire W to form the first U-bending portion.

In the above, the second bending member 314 is rotated about the first rotation center axis so that the metal wire W is bent by a desired angle, so that the first bending member 312 and the second bending member 314 are formed of a metal wire rod. It has been described as being located on the side of (W), but is not limited thereto. For example, the bending device is positioned on the side of the metal wire W by the operation of the first driving unit and the third driving unit without rotating by the second driving unit, and the first bending member 312 and/or the second bending The member 314 may bend the metal wire W by applying a force to the metal wire W in the y-axis direction, thereby forming a U-bending portion or a V-bending portion. Additionally, the control unit moves the first bending member 312 and/or the second bending member 314 of the bending device to a height capable of contacting the metal wire W before performing bending of the metal wire W. It is possible to control the third driving unit.

5 is a diagram illustrating an example of bending a metal wire W by a bending device according to another exemplary embodiment of the present disclosure. The first operation step 510 represents a state in which the metal wire W is interposed between the first bending member 312 and the second bending member 314. Before bending the metal wire W, the controller may control at least one of the first driving part, the second driving part, and the third driving part to position the bending device under the metal wire W.

After the bending device is located under the metal wire W, the control unit controls the third driving unit to operate the bending device so that the metal wire W is disposed between the first bending member 312 and the second bending member 314. It can be moved in the z-axis direction. Thereafter, the controller may control the second driving unit to rotate the second bending member 314 about the first rotation center axis (parallel to the z axis). Here, the angle at which the second bending member 314 rotates about the first rotation center axis may correspond to an angle at which the metal wire W is to be bent. Additionally, before the bending device rotates about the first rotational central axis, the metal wire supply unit 210 further adds the metal wire W in the x-axis direction to adjust the length L of the bent metal wire W. Feed/feed, and can move in the x-axis direction.

The second operation step 520 represents a state in which the bending device bends the metal wire W to form the first U-bending portion. When the second bending member 314 is rotated about the first rotational central axis by the second driving unit, as shown, the second bending member 312 is disposed on the first rotational central axis. The bending member 314 may be rotated. Accordingly, the second bending member 314 applies a force to the metal wire W interposed between the first bending member 312 and the second bending member 314 to bend the metal wire W by a desired angle. can do.

4 and 5 illustrate an example of forming the first U-bending portion, but the present invention is not limited thereto. For example, the control unit may form a first U-bend portion, a V-bend portion, and a second U-bend portion of a two-dimensional hairpin structure using the method illustrated in FIG. 4 and/or FIG. 5. . By selectively using the method shown in Fig. 4 and the method shown in Fig. 5, it is possible to bend a metal wire W of various sizes and thicknesses to a desired shape/angle.

6 is a diagram illustrating a process in which a two-dimensional hairpin structure formed according to an embodiment of the present disclosure is cut. The first operation step 610 represents a state in which the metal wire supply unit 210 moves before cutting the metal wire W. In one embodiment, before the cutting unit 230 cuts the metal wire W, the metal wire supply unit 210 prevents a collision with the cutting unit 230 and controls the length to be cut. Can move in the direction opposite to the direction in which the is supplied.

The second operation step 620 represents a state in which the cutting unit 230 moves after the metal wire supply unit 210 moves. After the metal wire supply unit 210 moves in a direction opposite to the supply direction of the metal wire W, and before the cutting unit 230 cuts the metal wire W, the first robot arm 240 is two-dimensional Part of the hairpin structure can be grasped. Then, the cutting part 230 may move toward the metal wire W in the y-axis direction to cut the metal wire W. According to an embodiment, the control unit may control the driving unit so that the cutting unit 230 moves in the y-axis direction.

The third operation step 630 represents a state in which the cutting part 230 cuts the metal wire W. The cutting part 230 cuts the metal wire W while the first robot arm 240 grips a part of the 2D hairpin structure, so that the resulting 2D hairpin structure may be prevented from falling. The first robot arm 240 may move the cut 2D hairpin structure to the first press unit or the second press unit. In FIG. 6, it is illustrated that the first robot arm 240 is holding the V-bend portion, but is not limited thereto.

7 is a perspective view of a two-dimensional hairpin structure 710 formed according to an embodiment of the present disclosure. The 2D hairpin structure 710 may include a first U bent part 720, a V bent part 730, and a second U bent part 740 formed by sequentially bending a metal wire by a bending device. Here, the first U-bending part 720, the V-bending part 730, and the second U-bending part 740 may have different shapes according to the type of electric motor to be produced. For example, the first U bent part 720, the V bent part 730, and the second U bent part 740 may be bent so that the inner angle is formed at an obtuse angle. In addition, the interior angle of the V-bend portion 730 may be formed larger than that of the first U-bend portion 720 and the second U-bend portion 740. As shown, the two-dimensional hairpin structure 710 is a flat structure in the z-axis.

As described above, the distance from each of the first U-bending portion 720 and the second U-bending portion 740 to the end of the metal wire cut by the cutting portion, that is, the length of the leg of the two-dimensional hairpin structure 710 is It can be adjusted by the metal wire supply. The length of the leg may also have different lengths depending on the type of electric motor to be produced. Each leg can be parallel on the xy plane. Accordingly, the metal wire formed by the molding unit may have a two-dimensional hairpin structure 710.

8 is a top view of the first press unit 250 and the second press unit 260 according to an embodiment of the present disclosure. The first press unit 250 and the second press unit 260 may be configured to form a three-dimensional hairpin structure by pressing the two-dimensional hairpin structure formed by the molding unit in the z-axis direction. In one embodiment, the first press unit 250 and the second press unit 260 may have a symmetrical structure around the first robot arm 240.

As shown, the first press unit 250 includes a fourth driving unit (not shown) and a first press unit (not shown) configured to move at least one of a plurality of upper frame/lower frame pairs 810 in the z-axis direction. 250) may include a fifth driving unit (not shown) configured to rotate about a second rotation center axis parallel to the z-axis. For example, the second rotational central axis may be located at the center of the first press unit 250. The controller includes a fourth driving unit (not shown) and a fifth driving unit (not shown) so that one of the pairs of the plurality of upper frame/lower frame of the first press unit 250 presses the 2D hairpin structure in the z-axis direction to form a 3D hairpin structure. It is possible to control the operation of the driving unit (not shown).

The pair of upper frame/lower frame may be arranged to face each other in the z-axis direction. In this case, the pair of upper frame/lower frame may be configured to form a three-dimensional hairpin structure including an R-bending portion by pressing the two-dimensional hairpin structure. Here, the R bending unit may have a different shape according to the type of electric motor to be produced. Each of the plurality of upper frame/lower frame pairs may be configured to form R bends of different shapes. According to an embodiment, a plurality of upper frame/lower frame pairs may be rotated about a second rotational central axis by a fifth driving unit (not shown). As shown, the eight upper frame/lower frame pairs may be axially symmetrically arranged with respect to the second central axis of rotation.

The control unit controls a fifth drive unit (not shown) to form a three-dimensional hairpin structure suitable for the type of electric motor to be produced, and rotates a plurality of upper frame/lower frame pairs around a second rotational central axis to form one upper frame. You can choose a frame/bottom frame pair. Thereafter, the control unit may control the first robot arm 240 to place the two-dimensional hairpin structure formed by the molding unit in the selected upper frame/lower frame pair.

The first press unit 250 may further include a pressing unit (not shown) configured to press at least one of the selected upper frame or the lower frame in the z-axis direction. According to an embodiment, the control unit may control the fourth driving unit (not shown) so that the upper frame moves in the z-axis direction. Due to this, the upper frame is pressed by the pressing unit and moves in the z-axis direction, thereby pressing the two-dimensional hairpin. Here, the upper frame is an upper frame that forms a pair with the lower frame on which the two-dimensional hairpin structure is arranged, and the selected pair of upper frame/lower frame is rotated and pressed by the fifth driving unit so as to be pressed in the z-axis direction by the pressing unit. It can be located in the lower part of the wealth.

Alternatively or additionally, the fourth driving unit (not shown) may move the lower frame on which the 2D hairpin structure is disposed in the z-axis direction based on a control signal from the controller. The upper frame and/or the lower frame may be moved in the z-axis direction by the fourth driving unit to press the two-dimensional hairpin structure disposed on the lower frame. The two-dimensional hairpin structure may be pressed in the z-axis direction by at least one of the upper frame or the lower frame to form a three-dimensional hairpin structure including an R bend.

The configuration of the first press unit 250 described above may be applied to the second press unit 260 in the same manner. In FIG. 8, although it is shown that there are two press units, the press unit is not limited thereto and any number of press units may be used. Any number of press units to be used may also have the same configuration of the first press unit 250. When the two-dimensional hairpin structure is pressed by the first press unit 250 or the second press unit 260 to form a three-dimensional hairpin structure, the second robot arm (not shown) is 3 based on a control signal from the control unit. A part of the dimensional hairpin structure may be gripped and moved from the first press unit 250 or the second press unit 260 to an alignment device (not shown).

9 is a perspective view of a pair of upper and lower frames 810 according to an embodiment of the present disclosure. The pair of upper frame and lower frame 810 may be configured such that at least one of the upper frame 940 or the lower frame 950 is movable in the z-axis direction by a fourth driving unit (not shown). In one embodiment, each of the pair of upper and lower frames 810 may be configured to be detachable from the first press unit or the second press unit.

The upper frame 940 may include a protrusion 942 for pressing the two-dimensional hairpin structure formed by the molding part. The lower frame 950 may include a concave portion 952 for pressing the two-dimensional hairpin structure at a position corresponding to the protrusion 942 of the upper frame 940. Here, the lower frame 950 is disposed to face the upper frame 940, and the protruding portion 942 and the concave portion 952 may have a complementary shape.

When the two-dimensional hairpin structure molded by the molding unit is disposed in the concave portion 952 of the lower frame 950 by the first robot arm (not shown), at least one of the upper frame 940 or the lower frame 950 May be moved in the z-axis direction by a fourth driving unit (not shown) operated based on a control signal from the controller. For example, the upper frame 940 and the lower frame 950 may be moved in a direction closer to each other by the fourth driving unit (not shown). Accordingly, the protrusion 942 of the upper frame 940 and the concave portion 952 of the lower frame 950 press the two-dimensional hairpin structure in the z-axis direction to form a three-dimensional hairpin structure including the R bend. have.

10 is a perspective view showing a two-dimensional hairpin structure 710 and a three-dimensional hairpin structure 1030 formed according to an embodiment of the present disclosure. As described above, the two-dimensional hairpin structure 710 may be pressed in the z-axis direction by the first press unit or the second press unit. Accordingly, the R bent portion 1040 may be formed in the flat two-dimensional hairpin structure 710 to be formed into a three-dimensional hairpin structure 1030. As shown, the two-dimensional hairpin structure 710 has only two-dimensional curvature (the first U-bending portion, the V-bend portion, and the second U-bending portion) on a plane, while the three-dimensional hairpin structure 1030 is R-bending. Including the portion 1040 may also have a curvature in three dimensions.

The hairpin manufacturing apparatus may include a control unit for controlling the operation of each component. The controller may control the metal wire supply unit so that the metal wire supply unit supplies the metal wire along the first axis. When the metal wire supply unit supplies the metal wire rod to the forming unit along the first axis, the control unit bends the metal wire supplied from the metal wire supply unit by the bending device to sequentially form the first U bending unit, the V bending unit, and the second U bending unit. At least one of the first driving unit, the second driving unit, and the third driving unit may be controlled to form a two-dimensional hairpin structure.

When the bending device bends the metal wire to form a two-dimensional hairpin structure, the control unit prevents collision with the cutting part and moves the metal wire supply part in a direction opposite to the direction in which the metal wire is supplied to adjust the length to be cut. It is possible to control the metal wire supply. After the metal wire supply unit moves in a direction opposite to the supply direction of the metal wire, the controller may control the first robot arm to grip a part of the 2D hairpin structure in which the first robot arm is formed. Then, the control unit may control the cutting unit so that the cutting unit cuts the metal wire while the first robot arm grips a part of the 2D hairpin structure.

When the cutting unit cuts the metal wire to form a two-dimensional hairpin structure, the control unit moves the two-dimensional hairpin structure formed by the molding unit to the first press unit or the second press unit to place it in the recess of the lower frame. Cancer can be controlled. Before the first robot arm moves the two-dimensional hairpin structure formed by the molding unit to the first press unit or the second press unit, the control unit has a two-dimensional hairpin structure to form a three-dimensional hairpin structure suitable for the electric motor to be produced. The fifth driving unit may be controlled to select one of a plurality of upper frame/lower frame pairs by rotating the first press unit or the second press unit to be moved around the second rotation center axis. After the 2D hairpin structure is arranged in the lower frame of the pair of upper frame/lower frame selected by the first robot arm, the control unit presses the 2D hairpin structure with the protrusion of the upper frame and the concave part of the lower frame to include the R bending part. It is possible to control the fourth drive to form a three-dimensional hairpin structure. When the 3D hairpin structure is formed by the first press unit or the second press unit, the control unit controls the second robot arm to move the formed 3D hairpin structure from the first press unit or the second press unit to the alignment device. I can.

11 is a perspective view of a hairpin manufacturing apparatus according to an embodiment of the present disclosure. The hairpin manufacturing apparatus includes a bending device 310, a first stage 1110, a second stage 1120, a third stage 1130, a table 1170, a y-axis driving unit, a z-axis driving unit, a rotation driving unit, and a control unit. can do. As shown, the bending device 310 may be disposed on the upper surface of the first stage 1110. The second stage 1120 may be configured to support the first stage 1110 and guide movement in the y-axis direction. According to an embodiment, the second stage 1120 includes a pair of upper guide rails 1124 and a pair of lower guide rails 1126 configured to guide the movement of the first stage 1110 in the y-axis direction. Can include.

The first stage 1110 may be configured to move only along the y-axis direction by the y-axis driving unit. According to an embodiment, the first stage 1110 includes a pair of upper moving members 1114 and a second moving member 1114 configured to move in the y-axis direction along the pair of upper guide rails 1124 of the second stage 1120. A pair of lower moving members 1112 configured to move in the y-axis direction along the lower guide rail 1126 of the stage 1120 may be included. As shown, a pair of upper moving members of the first stage 1110 ( 1114 is coupled with a pair of upper guide rails 1124 of the second stage 1120, and a pair of lower moving members 1112 of the first stage 1110 is a pair of the second stage 1120. It may be combined with the lower guide rail 1126. Here, the y-axis driver may be configured to move the first stage 1110 in the y-axis direction to move the bending device 310 in the y-axis direction.

The control unit controls the y soccer eastern part to move the first stage 1110 in the y-axis direction to move the pair of upper moving members 1114 of the first stage 1110 to the upper part of the pair of the second stage 1120. Move along the guide rail 1124 in the y-axis direction, and move the pair of lower moving members 1112 of the first stage 1110 along the pair of lower guide rails 1126 of the second stage 1120 It can be moved in the axial direction. The y-axis drive unit moves the first stage 1110 in the y-axis direction by moving the pair of upper moving members 1114 and the pair of lower moving members 1112 in the y-axis direction based on a control signal from the control unit. I can make it. Accordingly, the bending device 310 disposed on the upper surface of the first stage 1110 to bend the metal wire supplied from the metal wire supply unit may move in the y-axis direction.

The first stage 1110 may further include an upper protrusion 1116 and a lower protrusion (not shown) to prevent the first stage 1110 from being separated from the second stage 1120. Here, the upper protrusion 1116 may be disposed between the pair of upper moving members 1114, and the lower protrusion (not shown) may be disposed between the pair of lower moving members 1112. For example, the upper protrusion 1116 protrudes downward from the upper plate 1118 of the first stage 1110, and the lower protrusion (not shown) is upward from the lower plate 1180 of the first stage 1110. It may be formed to protrude.

The second stage 1120 may further include a pair of upper stoppers 1150 and a pair of lower stoppers 1160 to prevent the first stage 1110 from being separated from the second stage 1120. I can. A pair of upper stoppers 1150 is disposed between a pair of upper guide rails 1124 of the second stage 1120, and a pair of lower stoppers 1160 is a pair of lower portions of the second stage 1120. It may be disposed between the guide rails 1126. As shown, a pair of upper stoppers 1150 may be disposed on the left and right sides between the pair of upper guide rails 1124, respectively. A pair of lower stoppers 1160 may also be disposed on the left and right sides between the pair of lower guide rails 1126, respectively.

The pair of upper stoppers 1150 has a height such that movement of the upper protrusion 1116 in the y-axis direction can be sufficiently limited, and the pair of lower stoppers 1160 is in the y-axis direction of the lower protrusion (not shown). It is desirable to have a height such that the movement to it can be sufficiently limited. By limiting the moving range of the upper protrusion 1116 in the y-axis direction using a pair of upper stoppers 1150, the pair of upper moving members 1114 are separated from the pair of upper guide rails 1124. Can be prevented. In addition, by limiting the moving range of the lower protrusion in the y-axis direction using a pair of lower stoppers 1160, the pair of lower moving members 1112 can be prevented from being separated from the pair of lower guide rails 1126. Can be prevented. Accordingly, it is possible to prevent the first stage 1110 from being separated from the second stage 1120.

The third stage 1130 may be configured to support the second stage 1120 and guide movement in the z-axis direction. According to an embodiment, the third stage 1130 includes a pair of left guide rails 1134 and a pair of right guide rails 1132 configured to guide the movement of the second stage 1120 in the z-axis direction. It may include.

The second stage 1120 may be configured to move only along the z-axis direction by the z-axis driving unit. According to an embodiment, the second stage 1120 includes a pair of left-side moving members (not shown) configured to move in the z-axis direction along the pair of left-side guide rails 1134 of the third stage 1130. And a pair of right-side moving members 1122 configured to move in the z-axis direction along the pair of right-side guide rails 1132 of the third stage 1130. In a state in which the second stage 1120 is supported by the third stage 1130, the left side of the pair of the second stage 1120 is moved to move in the z-axis direction by the z-axis driving unit. A member (not shown) is coupled to the pair of left guide rails 1134 of the third stage 1130, and the pair of right-side moving members 1122 of the second stage 1120 is the third stage 1130. It may be combined with a pair of guide rails 1132 on the right side. Here, the z-axis driving unit may be configured to move the second stage 1120 in the z-axis direction to move the bending device 310 disposed on the upper surface of the first stage 1110 in the z-axis direction.

The control unit controls the z-axis driving unit to move the second stage 1120 in the z-axis direction, so that a pair of right-side moving members 1122 of the second stage 1120 is a pair of right-side surfaces of the third stage 1130. A pair of left-side moving members (not shown) of the second stage 1120 are moved along the guide rail 1132 in the z-axis direction, and a pair of left-side guide rails 1134 of the third stage 1130 It can be moved along the z-axis direction. The z-axis driving unit may move a pair of right-side moving members 1122 and a pair of left-side moving members (not shown) in the z-axis direction to move the second stage 1120 in the z-axis direction. Accordingly, the first stage 1110 coupled with the second stage 1120 may also be moved in the z-axis direction so that the bending device 310 disposed on the upper surface of the first stage 1110 may move in the z-axis direction. .

The second stage 1120 may further include a left side protrusion (not shown) and a right side protrusion (not shown) to prevent the second stage 1120 from being separated from the third stage 1130. Here, the left-side protrusion (not shown) may be disposed between a pair of left-side moving members (not shown), and the right-side protrusion (not shown) may be disposed between the pair of right-side moving members 1122. For example, the left side protrusion (not shown) protrudes from the left side plate (not shown) of the second stage 1120 in the right direction, and the right side protrusion (not shown) is the right side plate 1190 of the second stage 1120 ) May be formed to protrude in the left direction.

The third stage 1130 also includes a pair of left-side stoppers (not shown) and a pair of right-side stoppers 1140 to prevent the second stage 1120 from being separated from the third stage 1130. It may contain more. A pair of left-side stoppers (not shown) are disposed between the pair of left-side guide rails 1134 of the third stage 1130, and the pair of right-side stoppers 1140 is one of the third stage 1130. It may be disposed between the pair of right side guide rails 1132. A pair of left side stoppers (not shown) may be disposed on the upper side and the lower side between the pair of left side guide rails 1134, respectively. The pair of right side stoppers 1140 may also be disposed on the upper side and the lower side between the pair of right side guide rails 1132, respectively.

A pair of left-side stoppers (not shown) has a height at which the movement of the left-side protrusion (not shown) in the z-axis direction is sufficiently limited, and the pair of right-side stoppers 1140 is a right-side protrusion (not shown). It is desirable to have a height at which the movement in the z-axis direction can be sufficiently limited. By using a pair of left-side stoppers (not shown) to limit the movement range of the left-side protrusion (not shown) in the z-axis direction, a pair of left-side moving members (not shown) can guide a pair of left-side guides. It is possible to prevent separation from the rail 1134. In addition, by using a pair of right-side stoppers 1140 to limit the movement range of the right-side protrusion (not shown) in the z-axis direction, a pair of right-side moving members 1122 is a pair of right-side guide rails 1132 You can prevent it from deviating from. Accordingly, it is possible to prevent the second stage 1120 from being separated from the third stage 1130.

Using a pair of upper guide rails 1124 and a pair of lower guide rails 1126 and a pair of upper moving members 1114 and a pair of lower moving members 1112 to y By moving in the axial direction, the bending device 310 can be moved in the y-axis direction. In addition, a second stage using a pair of left side guide rails 1134 and a pair of right side guide rails 1132, a pair of left side moving members (not shown) and a pair of right side moving members 1122 By moving the first stage 1110 supported by the 1120 and the second stage 1120 in the z-axis direction, the bending device 310 may be moved in the z-axis direction. Through this configuration, the structure and driving algorithm of the hairpin manufacturing apparatus can be further simplified, and the time required for manufacturing the hairpin can be minimized by bending the metal wire.

The rotation driving unit may be configured to rotate the bending device 310 about a rotation center axis (parallel to the z axis). In this case, the bending device 310 may include a first bending member disposed on the rotation center axis and a second bending member disposed outside the rotation center axis. The rotation driving unit may be configured to rotate the second bending member about a rotation center axis.

12 is a top view of a first press unit 1230 and a second press unit 1240 according to another exemplary embodiment of the present disclosure. In one embodiment, the first press unit 1230 is a first pressing unit configured to press at least one of a pair of an upper frame and a lower frame of the first set, a first upper frame, or a first lower frame (not shown) And a third driving unit (not shown). Here, the pair of the upper frame and the lower frame of the first set may be arranged in a line. For example, the pair of the upper frame and the lower frame of the first set may be formed as a pair of eight upper and lower frames 1250 disposed opposite to each other in the z-axis direction, and as shown, the x-axis It can be arranged in a line along the direction. In one embodiment, each of the upper frame and the lower frame of the first set may be configured to be detachable from the first press unit 1230.

The first operation step 1210 represents a state before the pair of the upper frame and the lower frame of the first set is moved by the third driving unit. According to an embodiment, the third driving unit applies a pair of the upper frame and the lower frame of the first set to press one of the pair of the upper frame and the lower frame of the first set arranged in a row using the first pressing unit. It can be configured to move in the x-axis direction. The control unit controls the third driving unit to form a three-dimensional hairpin structure suitable for the electric motor to be produced, and moves the pair of upper and lower frames of the first set in the x-axis direction to form a pair of upper and lower frames You can choose.

The second operation step 1220 represents a state in which the pair of the upper frame and the lower frame of the first set has been moved by the third driving unit. The pair of the upper frame and the lower frame of the first set is moved in the x-axis direction by the third driving unit, so that the selected pair of the upper frame and the lower frame may be located under the pressing unit. The controller may control the first robot arm 240 to place the 2D hairpin structure in the selected upper frame/lower frame pair.

Alternatively or additionally, the third driving unit may be configured to move the first pressing unit in order to press the first two-dimensional hairpin structure using one of a pair of upper and lower frames of the first set arranged in a line. have. The control unit may select one upper frame/lower frame pair by controlling the third driving unit and moving the first pressing unit along the x-axis direction in order to form a three-dimensional hairpin structure suitable for the type of electric motor to be produced. Thereafter, the controller may control the first robot arm 240 to place the 2D hairpin structure in the selected upper frame/lower frame pair.

The first press unit 1230 may further include a first driving unit (not shown) configured to move at least one of the first upper frame and the first lower frame. According to an embodiment, the control unit may control the first driving unit so that the upper frame moves in the z-axis direction. Due to this, the upper frame is pressed by the pressing unit and moves in the z-axis direction, thereby pressing the two-dimensional hairpin. Here, the upper frame is an upper frame paired with the lower frame on which the two-dimensional hairpin structure is arranged, and the selected pair of upper frame/lower frame is pressed in the z-axis direction by the pressing part in the x-axis direction. It can be moved to the lower part of the pressing part.

Alternatively or additionally, the first driving unit may move the lower frame on which the 2D hairpin structure is disposed in the z-axis direction based on a control signal from the controller. The upper frame and/or the lower frame may be moved in the z-axis direction by the first driving unit to press the two-dimensional hairpin structure disposed on the lower frame. When the 2D hairpin structure is pressed in the z-axis direction by at least one of the upper frame or the lower frame to form a 3D hairpin structure including an R bend, the second robot arm (not shown) is based on a control signal from the controller. Thus, a part of the 3D hairpin structure can be gripped and moved to the alignment device.

The configuration of the first press unit 1230 described above may be applied to the second press unit 1240 in the same manner. In one embodiment, the second pressing unit 1240 is a second pressing unit configured to press at least one of a pair of the upper frame and the lower frame of the second set, the second upper frame or the second lower frame, and the second upper frame Alternatively, in order to press one of the pair of the upper frame and the lower frame of the second set arranged in a line by using a second driving unit and a second pressing unit configured to move at least one of the second lower frame, the upper part of the second set It may include a fourth driving unit configured to move the pair of the frame and the lower frame. Alternatively or additionally, the fourth driving unit may be configured to move the second pressing unit in order to press the second two-dimensional hairpin structure using one of a pair of upper and lower frames of the second set arranged in a row. . As shown, the pair of the upper frame and the lower frame of the second set may be arranged in a line along the x-axis direction. In addition, each of the upper frame and the lower frame of the second set may be configured to be detachable from the second press unit.

In FIG. 12, although it is shown that there are two press units, the press unit is not limited thereto and any number of press units may be used. Any number of press units to be used may also have the same configuration of the first press unit 1230. In addition, in FIG. 12, the pair of the upper frame and the lower frame of the first set and the pair of the upper frame and the lower frame of the second set are illustrated as being composed of eight pairs of upper and lower frames, respectively, but are not limited thereto. It may consist of a pair of upper frame and lower frame of the number.

Preferred embodiments of the present invention described above are disclosed for the purpose of illustration, and those skilled in the art who have ordinary knowledge of the present invention will be able to make various modifications, changes and additions within the spirit and scope of the present invention, and such modifications, changes and additions It should be seen as falling within the scope of the above claims.

If a person of ordinary skill in the art to which the present invention pertains, various substitutions, modifications and changes are possible within the scope of the technical spirit of the present invention, so that the present invention is described in the above-described embodiments and the accompanying drawings. Is not limited by.

110: decal device
120: stripping device
130: feeding device
140: molding device
150: alignment device
200: hairpin manufacturing apparatus
210: metal wire supply unit
220: molding device
230: cut
240: first robot arm
250: first press unit
260: second press unit
270: second robot arm

Claims (10)

As a hairpin manufacturing apparatus for an electric motor,
A molding unit configured to sequentially form a first two-dimensional hairpin structure and a second two-dimensional hairpin structure by bending the metal wire supplied from the metal wire supply unit;
A first robot arm configured to move the first two-dimensional hairpin structure and the second two-dimensional hairpin structure to a first press unit and a second press unit, respectively;
A first press unit configured to press the first two-dimensional hairpin structure to form a first three-dimensional hairpin structure;
A second press unit configured to press the second two-dimensional hairpin structure to form a second three-dimensional hairpin structure; And
Control unit
Including,
The first press part,
A first upper frame including a first protrusion;
A first lower frame including a first concave portion and facing the first upper frame;
A third upper frame including a third protrusion;
A third lower frame including a third concave portion and facing the third upper frame;
A first driving unit configured to move one of the first upper frame, the first lower frame, the third upper frame, and the third lower frame; And
And a third driving part configured to rotate the first press part about a first rotation center axis,
The second press part,
A second upper frame including a second protrusion;
A second lower frame including a second concave portion and facing the second upper frame;
A fourth upper frame including a fourth protrusion;
A fourth lower frame including a fourth concave portion and facing the fourth upper frame;
A second driving unit configured to move one of the second upper frame, the second lower frame, the fourth upper frame, and the fourth lower frame; And
And a fourth driving part configured to rotate the second press part about a second rotation center axis,
The first rotation center axis and the second rotation center axis are parallel to the z axis,
The control unit,
Selecting one of a pair of the first upper frame and the first lower frame, or a pair of the third upper frame and the third lower frame, and controlling the third driving unit to press the first two-dimensional hairpin structure ,
The first two-dimensional hairpin structure is pressed with one of a pair of the first protrusion and the first concave portion, or a pair of the third protrusion and the third concave portion to form the first three-dimensional hairpin structure including the R bent portion. Controlling the first driving unit,
Selecting one of a pair of the second upper frame and the second lower frame, or a pair of the fourth upper frame and the fourth lower frame, and controlling the fourth driving unit to press the second two-dimensional hairpin structure ,
The second two-dimensional hairpin structure is pressed with one of a pair of the second protrusion and the second concave portion, or a pair of the fourth protrusion and the fourth concave portion to form the second three-dimensional hairpin structure including the R bend Controlling the second driving unit,
The first press portion and the second press portion have a symmetrical structure about the first robot arm, hairpin manufacturing apparatus.
delete delete The method of claim 1,
The first press part,
Further comprising a first pressing portion configured to press at least one of the first upper frame, the first lower frame, the third upper frame or the third lower frame,
The second press part,
Further comprising a second pressing portion configured to press at least one of the second upper frame, the second lower frame, the fourth upper frame, and the fourth lower frame.
The method of claim 4,
The pair of the first upper frame and the first lower frame and the pair of the third upper frame and the third lower frame are configured to form R bent portions having different shapes from each other,
The pair of the second upper frame and the second lower frame, and the pair of the fourth upper frame and the fourth lower frame are configured to form R bent portions having different shapes from each other.
The method of claim 5,
The first upper frame and the first lower frame face the third upper frame and the third lower frame with the first rotation center axis therebetween,
The second upper frame and the second lower frame face the fourth upper frame and the fourth lower frame with the second rotation center axis therebetween.
The method of claim 6,
The first upper frame and the first lower frame are configured to be detachable from the first press part,
The second upper frame and the second lower frame are configured to be detachable from the second press part,
The third upper frame and the third lower frame are configured to be detachable from the first press part,
The fourth upper frame and the fourth lower frame are configured to be detachable from the second press unit, hairpin manufacturing apparatus.
The method of claim 7,
The first robot arm,
The first two-dimensional hairpin structure is moved into a first concave portion of the first lower frame or a third concave portion of the third lower frame, and the second two-dimensional hairpin structure is moved into a second concave portion of the second lower frame or Move into the fourth concave portion of the fourth lower frame,
The first robot arm is disposed between the first press portion and the second press portion, hairpin manufacturing apparatus.
The method of claim 8,
The first three-dimensional hairpin structure located in the first concave portion of the first lower frame or the third concave portion of the third lower frame is moved to an alignment device, and the second concave portion or the fourth of the second lower frame A second robot arm configured to move the second three-dimensional hairpin structure located in the fourth concave portion of the lower frame to the alignment device
Further comprising, hairpin manufacturing apparatus.
The method of claim 9,
The first press unit further includes six pairs of upper and lower frames, and the eight pairs of upper and lower frames are axially symmetrically arranged with respect to the first rotational central axis,
The second press unit further includes six pairs of upper and lower frames, and the eight pairs of upper and lower frames are axially symmetrically arranged with respect to the second rotational central axis.

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