SE516117C2 - Equipment and method for providing and producing a winding of electric cable in an electric machine - Google Patents

Abstract

Equipment for achieving a winding of electric cable (22) in an electric machine with at least one laminated core (54) comprises at least one manipulator adapted to operate an associated cable feeder (24, 28) to feed cable at an intended radial position into a winding slot at one side of the laminated core, and at least one other manipulator adapted to apply its associated cable feeder (26, 30) to the corresponding radial position on the opposite side of the core in order to pull the fed-in cable axially through the winding slot. In a method for achieving a winding of electric cable in an electric machine comprising a laminated core, the electric cable is pulled axially through the winding slot in the laminated core at the intended radial positions in the slots.

Description

This object is achieved with an equipment and a method according to claims 1 and 22, respectively.

With the present invention an equipment is thus provided and a method is provided for producing the windings of the machines by pulling the cable axially through the sheet metal core of the machine at the intended radial position of the cable in the current winding groove in the core. In this case, at least one first cable feeder is equipped with a guide tube for guiding the cable towards the intended insertion position in the current winding groove in the core of the electrical machine. When winding a stator, for example, the guide tube of the feeder is placed by means of the manipulator directly over the current position in the stator groove in question and perpendicular to the stator plate. By means of a manipulator placed on the opposite side of the stator plate package, its feeder is fitted with any guide tube in the middle of the current insertion position in the stator groove to pull cable axially through the stator plate package perpendicular thereto, thereby minimizing cable wear. The invention enables the use of very long, continuous cable lengths, typically of the order of hundreds of meters, which form a (normally large) number of winding turns. This minimizes the number of cable splices. Furthermore, significant time savings are achieved in the winding process, while eliminating human wear and tear.

According to an advantageous embodiment of the equipment according to the invention, the guide tube comprises two tube halves, pivotally joined together along a shaft extending parallel to the tube. As a result, the tube can be opened by pivoting the tube halves for cable feeding into the guide tube perpendicular to the longitudinal direction of the feed belt.

According to other advantageous embodiments of the equipment according to the invention, the cable feeder comprises a motor-driven, endless conveyor belt, suitably comprising one or more of the toothed or V-belts or a roller chain with rubber-coated carriers, against which the cable is intended to abut. This ensures sufficient friction against the cable so that it can be carried safely in the conveyor belt during its operation. In order to further increase the reliability in this respect, according to other advantageous embodiments of the equipment according to the invention, support rollers are arranged opposite the conveyor belt, for pressing the cable against the conveyor belt for secure abutment, alternatively the cable feeder comprises two opposite conveyor belts, between which the cable is intended to be applied. According to another advantageous embodiment of the equipment according to the invention, the distance between support rollers and conveyor belts, or between two opposite conveyor belts, is variable for adaptation to different cable diameters. Often a so-called line in the form of a cable, rope or similar with a smaller diameter, typically 20-30 mm. The cable is attached to the end of the cable's conductive core by means of a special clamping sleeve after part of the insulation has been removed and the cable end is often made conical to facilitate passage in tight spaces. Because the distance between support rollers and conveyor belts, or between two opposite conveyor belts, is variable, it can also be adapted to the dimensions of this line.

According to a further advantageous embodiment of the equipment according to the invention, the cable feeder comprises guide rollers arranged at the ends of the conveyor belt for guiding the cable on the conveyor belt. The distance between two adjacent guide rollers is also adjustable for adaptation to different cable diameters.

According to another advantageous embodiment of the equipment according to the invention, a motor-driven link arm arrangement is arranged to fold in the guide tube under the feed belt if necessary. With recessed guide tubes, cable handling is facilitated, especially when designing cable trays in the turning area.

According to another advantageous embodiment of the equipment according to the invention, the manipulator comprises an automaton or robot, which is modulated for easy adaptation to the assembly of cable of various dimensional electrical machines. The robot can also be adapted for different purposes at the installation site. The same robot can thus be used for e.g. both sheet metal laying and winding of an electric machine.

According to another advantageous embodiment of the equipment according to the invention, a manipulator with cable feeders, guide pipes and associated control and other peripheral equipment is mounted on a transport trolley. In this way, the equipment can be conveniently moved.

Attaching wire, cable and the like is known per se. In such a twist, twists, i.e. torsional twist, the coiled material, e.g. cable, whereby one turn winding gives a turn twist. When winding cable in, for example, the stator of rotating electrical machines, such winding is not suitable, especially when working with long cables. According to an advantageous embodiment of the equipment: nano 10 15 20 25 30 516 1 17 gi:. 211; . -j: = ': == a - ø »ø« ». u ~ 4 according to the invention is therefore a winding device designed for winding cable in the form of a horizontal eight. In this way, twisting of the cable is avoided.

The relatively rigid and heavy cable must be directed in connection with peeling from the supply drum and for that purpose, according to an advantageous embodiment of the equipment according to the invention, a guide is arranged between the supply drum and the cable feeder for directing the cable.

According to an advantageous embodiment of the method according to the invention, the manipulators are controlled with their cable feeders to form warp arches with a sponge-like geometric shape in order to increase the radius of curvature of the cable. The cable used is flexible, which preferably means that a radius of curvature of 8-12 times the cable diameter should be sought. In normal cases, cable is bent in an arc between two stator grooves.

If this means that the preferred radius of curvature is exceeded, this may mean that the insulation properties of the cable are compromised. With the method according to the invention, this problem is thus solved by increasing the radius of curvature of the arc. Another advantage of this design of the winding arc is achieved when bracing the winding end, as this geometry enables more fl visible and easier fl movement of cable in the radial direction.

According to a further advantageous embodiment of the method according to the invention, the manipulators are controlled to perform long winding stages in order to lay the cable with the cable feeders in large, temporary winding arcs, which serve as intermediate layers for cable during winding. Thus, as much cable as possible is added in one sweep by laying it in arcs outside the stator. This has created a cable magazine that enables the cable to be continuously passed on in new grooves, forward in the stator. The cable is then also more protected against damage, which may otherwise occur when handling the cable on the floor. Such enlarged arc ends also make it possible to work in parallel at fl your places on the stator with fl your feeders at the same time, which of course entails time savings.

Figure description In order to explain the invention in more detail, embodiments of the invention will now be described in more detail as examples, with reference to the accompanying drawings, in which Figure 1 shows the basic arrangement of an embodiment of the equipment according to the invention intended for winding heavy cable. 15 20 25 30 516 1 17; :: =. 211; . -j: = ': 1 = - | -. - -. . o. Figure 2 shows an example of a manipulator suitable for use in the equipment according to fi figure 1, in the form of an industrial robot, Figure 3 shows in side view an embodiment of the cable feeder at the equipment according to fi figure 1, Figures 4-6 show different views of the cable feeder according to corresponding arrow markings in Figure 3, Figure 7 shows an example of a geometric design of the end face of a stator winding of cable, Figure 8 schematically illustrates an embodiment of a machine or robot suitable for use as a manipulator in the equipment according to the invention, and Figure 9 shows an example of a part of a spooling device suitable for use in the manufacture of stator winding of cable.

Description of exemplary embodiment Figure 1 shows the basic arrangement of the equipment according to the invention according to an embodiment for winding heavy cable 22. The equipment comprises four manipulators each provided with specially built cable feeders 24, 26, 28, 30 with attached guide tubes.

The manipulators can advantageously consist of industrial robots e.g. robots marketed under the name ABB IRB 6400 with six motion axes, Axis 1, Axis 2, Axis 3, Axis 4, Axis 5, Axis 6, as illustrated in Figure 2, the cable feeders being mounted in the robots' tool mounts, see also the description below of Figure 8.

The cable feeder 24 in fi gur 1 pulls the cable 22 from a storage drum 21. The cable 22 must be directed in connection with peeling from the storage drum 21 and for this purpose a guide (not shown in the fi gures) should be placed between the storage drum and the length measuring equipment normally used for measurement. of the cable lengths.

At a large distance between the supply drum 21 and the cable feeder 24, additional floor-mounted feeders may be necessary, which are also shown in the clock.

By means of the manipulator, the feeder 24 is placed with its guide tube, which is explained in more detail below, directly over the current position in the stator groove and perpendicular to the stator plate package 54 of the machine. Torn: 10 15 20 25 30 516 1 17. . ': 1 = -cgv o 6 With its manipulator, the cable feeder 26 is placed with its guide tube in the middle of the current position in the groove in the stator core on the opposite side of the stator plate package 54. With this cable feeder 26, the cable is pulled axially through the stator package 54, perpendicular thereto.

The manipulators are controlled to use their cable feeders 26, 28, individually or together, to form a suitable cable arch before being fed into the next groove by movements in the room while simultaneously feeding the cable. During this operation, it may be appropriate for guide tubes to be placed in the retracted position below the feeder, as described in more detail below.

In the manufacture of this cable arch, the cable is thus bent. In this case, a radius of curvature of 8-12 times the cable diameter should preferably be sought. In cases where the cable arch may fall below the preferred radius of curvature, the insulation properties of the cable may be compromised. To eliminate this problem, the geometric design of the skew arc can be changed to a sponge-like geometry 56, as illustrated in Figure 7. In this way, a considerable increase in the radius of curvature is obtained, from 276 mm to 427.4 mm in the example shown. compare arcs 58 and 56 in fi guren. In this way, the requirements for the radius of curvature are normally met. Additional advantages of this geometry are achieved when bracing the head end as this geometry enables more fl visible and easier fl cable routing in the radial direction.

With its manipulator, the cable feeder 28 is then placed with its guide tube center under the current position in the next groove in the stator core and the cable feeder 28 steps the cable perpendicular to the stator plate package 54.

With its manipulator, the cable feeder 30 with guide tubes is further mounted across the current position in said next stator groove on the opposite side of the stator plate package 54 opposite the cable feeders 28 to again pull the cable axially through the stator plate package 54 in the opposite direction and perpendicular to the stator package 54 to minimize cable wear.

The manipulators with their feeders 24, 26, 28, 30 remain in set positions during feed of cable 32. Feed rates and torques are adjusted via a common control system, so that the cable feeders cooperate correctly.

Figure 3 shows a side view of a version of a cable feeder. An endless conveyor belt 01 is driven via two parallel shafts 02 with common drive from a drive motor 03, see Figure 4, possibly via gearbox. The conveyor belt 01 can consist of one or fl era ~ »nu | lO 15 20 25 30 516 1 17 _ 211:. '; == ~. a a n - n .o 7 timing belts or V-belts, alternatively roller chain equipped with rubber-coated carriers shaped for good abutment against the cable.

On top of the conveyor belt 01, two support rollers 04 are arranged to press the cable against the underlying conveyor belt 01 for secure abutment of the cable against the conveyor belt, so that the cable is safely carried by the conveyor belt during its movement.

The distance between support rollers 04 and conveyor belt 01 is automatically adjustable in at least two positions for adaptation to the diameters of the pre-line and the cable. This setting is effected by means of a two-stage linear motor 05, e.g. consisting of two assembled pneumatic or hydraulic cylinders, interconnected via angle joints 06. To ensure parallel for fl movement of the support rollers 04, these are interconnected with gear segments 07.

An alternative embodiment consists in replacing the support rollers with an additional conveyor belt, opposite the conveyor belt 01, which is adjustable in a similar way as the support rollers. This second conveyor belt may be equipped with its own drive equipment, or alternatively lack such equipment.

Perpendicular to the conveyor belt 01 support rollers 04 there are outside each end of the conveyor belt 01 two guide rollers 08, intended to guide cable correctly on the conveyor belt 01, see also Figure 4. The cable must be fed into the feeder perpendicular to the longitudinal direction of the conveyor belt 01. For this purpose, the two guide rollers 08 on the "opening side" are manually foldable for opening for cable entry. The distance between two adjacent guide rollers 08 is adjustable for adaptation to different cable diameters in the same way as the distance between the support rollers 04 and the feed belt 01.

The cable feeder is associated with a guide tube 09, which is divided in the axial direction into two half-tubes, connected by hinges 10 on the opposite side of the tube in relation to the feed side for cable, cf. also figure 6. In the extension of the center line 10 of the hinges 10 there is a flat bar 11 , which is torsionally rotated 90 ° and connected to the openable part of the guide tube 09, so that when the flat bar 01 is rotated in one direction, the openable part of the guide tube 09 is also rotated. with a linear motor 12, which may be a pneumatic or hydraulic cylinder. The movable part of the linear motor 12 is provided with a fork-shaped carrier 13 designed to slide on the outside of the torsionally rotated flat bar 11, see Figure 4. When axially moving this carrier, the torsionally rotated one is affected before 10 15 20 25 30 5 16 1 17. '; == ø | n o ø o o | n o c 8 the flat bar 11, so that the openable part of the guide tube is opened so that a cable can be laid.

When the fork-shaped driver 13 is driven in the opposite direction, the openable part of the guide tube 09 is closed and the benefits are locked together with a number of spring-actuated locking devices 14, which automatically lock the openable part of the guide tube 09 when it is in the closed position, see Figure 4.

To enable the guide tube 09 to be retracted under the feed belt 01, the fork-shaped driver 13 with the linear motor 12 is mechanically disengaged from the guide tube 09 in its closed position. With recessed guide tube 09, cable handling is facilitated, especially when designing cable arches in the turning area. the guide tube 09 is therefore suspended on a shaft 15 so that it can be rotated 90 ° and placed under the feed belt 01. The lowering of the guide tube 09 takes place by means of a linear motor 16, which may consist of a pneumatic or hydraulic cylinder, connected to the guide tube 09 via a link arm 17.

Feed belts 01, support rollers 04, guide rollers 08, motors 03, 05, 16 and shaft 15 for suspending the guide tube 09 are mounted on a common frame 18, see also figure 5. There are also holes on this stand for attaching the manipulator's tool holder.

Each manipulator must be individually removable when wiring in an electric machine. For this purpose, each manipulator with control cabinet and mounted feeder, including hydraulic unit or air compressor and any other additional equipment, is suitably mounted on a transport trolley adapted for the purpose.

In electrical machines of the type in question, the stator plates have such dimensions and shapes that manual laying would give, in addition to time losses, also load damage to the plate layers. By using robots or vending machines of the type described below, the handling becomes significantly more efficient. Furthermore, when winding the stator with the cable in question, a robot of the type described pulls the cable at one end of the stator and another robot pulls the cable axially at the other end. Figure 8 schematically illustrates a simple robot for on-site production of an electric machine. Figure 8 illustrates the robot used for sheet metal laying of the stator.

With a picking arm 32 which is movable on a beam 34, as illustrated by arrows in the fi-clock, stator plates are picked from a supply 36 and placed in place in the stator, at 38. In the fi-clock a beam 40 is further shown, which supports the beam 34 , and a stay 42 for stays- »» uo 10 15 20 25 30 516 1 17. gïfïïl. 9 of the beams 34, 40. The machine shown is movable around the center axis of the stator as the sheet metal laying continues.

The vending machine or robot shown is modulated, so that it can be used for machines of different sizes, e.g. by mounting and removing arm segments, respectively, and it is also easily transportable. Furthermore, the same robot or machine can be used for both winding of the stator and sheet metal laying, whereby e.g. the gripper arm must be modified between the two operations. The robot or machine can be used for the manufacture of both turbo machines and hydropower machines.

Control data for the robots is obtained directly from the same computer program platform in which the calculations on the electrical machine are made. Figure 9 shows a part of a reel device suitable for use in the manufacture of stator winding of an electric cable. The reel device is designed so that the cable is wound on in the form of a horizontal eight, whereby no twisting of the cable occurs.

The device consists of a raised frame 44 for a carriage, which is movable in X-, Y- and Z-joints on the frame. As can be seen from the fi clock, the transverse movement is denoted by X, the longitudinal movement by Y and the upward and downward movement by Z.

On the underside of the carriage there is a cable driver, consisting of an openable funnel and guides for the cable.

Below the stand, at floor level, are two, non-rotatable, round drums 46, 48, arranged with vertical center axes. The drums 46, 48 are suspended in a device which makes it possible to rotate the drums about an axis of rotation Y1-Y1 which is parallel to the Y-axis.

At the start of winding, the free end of the cable is passed through the cable driver and the funnel on the lowered carriage to the lower edge of one drum and fastened there. The other end of the cable is assumed to be axed in grooves in the stator body. The carriage is driven up to the upper position, in Z-direction. Hoisting can now be started, whereby the carriage with cable is caused, via a control program, to move along the X and Y axes in a movement pattern in the form of a horizontal eight.

After winding is completed, the cable is lifted off from the now submerged carriage. The carriage is driven up to the upper position along the Z-axis and fl is moved in the X- and Y-directions to a parking position. Then the drums 46, 48, 180 ° are rotated about the Y1-Y1 axis, where at the free end of the cable it becomes accessible for further work. When the cable is now pulled off the drums, it lacks twisting.

Claims (24)

10 15 20 25 30 516 11.7 II PATENT REQUIREMENTS Equipment for providing a winding of electric cable in an electric machine comprising at least one sheet metal core, which equipment comprises at least a first manipulator, arranged to operate an associated cable feeder (24, 28) for inserting cable (22) at the intended radial position in a winding groove on one side of the sheet metal core (54), and at least one second manipulator arranged to arrange its associated cable feeder (26, 30) at the corresponding radial position on the opposite side of the core to pull the inserted cable axially through the winding groove, characterized by that the cable feeder (24, 28) of at least said first manipulator is equipped with a guide tube (09) for guiding the cable (22) towards the intended insertion position in the current winding groove in the core (54) of the electric machine. Equipment according to claim 1, characterized in that the guide tube (09) comprises two tube halves, pivotally joined together along an axis extending parallel to the tube. Equipment according to claim 2, characterized in that motor-driven means (11, 12, 13) are arranged to pivot the pipe halves apart to open the pipe (09) for insertion of the cable (22) perpendicular to the longitudinal direction of the pipe. Equipment according to claim 2 or 3, characterized in that locking means (14) are arranged to lock the tube halves of the guide tube (09) to each other in the closed position. Equipment according to one of the preceding claims, characterized in that the cable feeder (24, 26, 28, 30) comprises a motor-driven, endless conveyor belt (01), against which the cable is intended to abut for feeding or routing. Equipment according to claim 5, characterized in that the conveyor belt (01) comprises one or more toothed or V-belts. Equipment according to claim 5, characterized in that the conveyor belt (01) comprises a roller chain with rubber-coated carriers, against which the cable is intended to abut. 10 15 20 25 30 516 117 12 Equipment according to one of Claims 5 to 7, characterized in that support rollers (04) are arranged opposite the conveyor belt (01) for pressing the cable against the conveyor belt for secure abutment. Equipment according to one of Claims 5 to 7, characterized in that the cable feeder comprises two opposite conveyor belts, between which the cable is intended to be connected. Equipment according to Claim 8 or 9, characterized in that the distance between support rollers (04) and the conveyor belt (01), or between two opposite conveyor belts, can be varied for adaptation to different cable diameters. Equipment according to one of Claims 5 to 10, characterized in that the cable feeder comprises guide rollers (08) arranged at the ends of the conveyor belt (01) for guiding the cable on the conveyor belt. Equipment according to one of Claims 5 to 11, characterized in that a motor-driven link arm arrangement (15, 16, 17) is arranged to fold the guide tube (09) under the feed belt (01) if necessary. Equipment according to any one of the preceding claims, characterized in that the manipulator comprises a machine or robot, which is modulated for adaptation for mounting cables of different dimensions in electrical machines. Equipment according to one of the preceding claims, characterized in that the manipulator with cable feeder (24, 26, 28, 30), guide tube (09) and associated control and other peripheral equipment (03, 04, 05, 08, 15, 16) is mounted on a transport trolley. Equipment according to one of the preceding claims, characterized in that a winding device (44, 46, 48) is designed for winding on cable in the form of a horizontal eight. 10 15 20 25 30 516 11.7 _. 13 Equipment according to claim 15, characterized in that the reeling device comprises a raised frame (44), on which a carriage is movable in three perpendicular directions to be caused to move in a path in the form of a horizontal eight during the rewinding process. and after completion of the winding, it is raised and moved to a parking position, and that on the underside of the carriage a cable guide is arranged to guide the free cable end to one of two non-rotatable drums (46, 48) with vertical axes when starting the winding. suspended under the stand, which drums are pivotable about an axis perpendicular to the drum shafts to make the free cable end accessible again after completion of punching. Equipment according to one of the preceding claims, characterized in that a guide device is arranged between the supply drum (21) and the cable feeder (24) for directing the cable (22). Equipment according to one of the preceding claims, characterized in that a length measuring device is arranged to measure the length of cable (22) pulled from the storage drum (21). Equipment according to one of the preceding claims, characterized in that the supply drum (21) and the reeling device are provided with height-adjustable support rollers for catching the cable (22) pulled off from the storage drum (21). Equipment according to claim 19, characterized in that the support rollers are arranged to be in their upper position at the level of the center axis of the drum. A method of manufacturing a winding of electric cable in an electric machine comprising a plate core, in which method the electric cable (22) is pulled axially through the winding groove of the plate core (54) at intended radial positions in the grooves, wherein a first cable feeder ( 54) is fitted with its associated manipulator at the entrance to a first cable position in a groove in the stator core to feed there the cable (22) in the groove in the stator core, a second cable feeder (26) is placed by its manipulator at the output of this first cable position for pulling the cable axially through the groove in the stator core, characterized in that the manipulator / rf / of the second cable feeder (26) and a manipulator / rf / of a third cable feeder (28) individually or in cooperation, then form with desired cable harness (56, 58) before the third cable feeder (28) is applied by its manipulator at the entrance to the next current cable position in a winding groove in the stator core (54) to insert the cable into the stator there. the core, and a fourth cable puller (30) is placed by its manipulator at the output of said next cable position to pull the cable (22) axially through the stator core, whereupon the desired twist arc is again formed and the winding process continues at the next subsequent cable position in a winding groove in the stator core .sv Method according to claim 21, characterized in that the manipulators are controlled to use their cable feeders (26, 28) to form twist arches (56) with a sponge-like geometric shape in order to increase the radius of curvature of the cable (22) in the arches. Method according to claim 21 or 22, characterized in that the manipulators are controlled to perform long winding stages in order to lay cables with the cable feeders (26, 28) in large, temporary winding hooks (56), which serve as intermediate layers for the cable (22) at the winding. Method according to one of Claims 21 to 23, characterized in that at least two unbroken winding turns are wound by continuous cable lengths.