WO2023223690A1 - 把持装置、把持方法および回転電機の製造方法 - Google Patents

把持装置、把持方法および回転電機の製造方法 Download PDF

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Publication number
WO2023223690A1
WO2023223690A1 PCT/JP2023/013605 JP2023013605W WO2023223690A1 WO 2023223690 A1 WO2023223690 A1 WO 2023223690A1 JP 2023013605 W JP2023013605 W JP 2023013605W WO 2023223690 A1 WO2023223690 A1 WO 2023223690A1
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WO
WIPO (PCT)
Prior art keywords
gripping device
gripping
pusher
finger member
wire
Prior art date
Application number
PCT/JP2023/013605
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English (en)
French (fr)
Japanese (ja)
Inventor
拓也 山本
辰郎 日野
諭 山代
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2024521593A priority Critical patent/JPWO2023223690A1/ja
Publication of WO2023223690A1 publication Critical patent/WO2023223690A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K15/00—Processes or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
    • H02K15/04—Processes or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of windings prior to their mounting into the machines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/32—Windings characterised by the shape, form or construction of the insulation
    • H02K3/38—Windings characterised by the shape, form or construction of the insulation around winding heads, equalising connectors, or connections thereto

Definitions

  • the present disclosure relates to a gripping device, a gripping method, and a method for manufacturing a rotating electric machine.
  • the position and posture of the wire are unstable due to variations in the shape of the wire. Therefore, it is difficult to automate wiring work, and wiring work is performed manually.
  • Patent Document 1 proposes a gripping device that is mounted on a robot device and used for moving objects, assembling members, etc.
  • the tips of the claw portions formed of parallel links protrude inward.
  • the tip of the claw part is inclined at 45 degrees. Since the tip of the claw part sneaks between the target object and the installation surface, the claw part can easily grip the target object.
  • the gripping device described in the above publication restrains the object only from the left and right sides. For this reason, the gripping device described in the above publication cannot stably grip the object.
  • the present disclosure has been made in view of the above problems, and its purpose is to provide a gripping device, a gripping method, and a method for manufacturing a rotating electric machine that can stably grip an object.
  • the gripping device of the present disclosure is a gripping device for gripping an object.
  • the gripping device includes a finger, a pusher, and a base.
  • the finger portion includes a first finger member and a second finger member that can be opened and closed in directions facing each other.
  • the pusher is arranged at a position that does not prevent the first finger member and the second finger member of the finger portion from opening and closing.
  • the first finger member includes a first tip, a first rear end, and a first claw provided at the first tip.
  • the second finger member includes a second tip, a second rear end, and a second claw provided at the second tip.
  • the first claw part protrudes toward the second claw part, and has a first inclined part whose protruding dimension decreases from the first tip toward the first rear end.
  • the second claw portion protrudes toward the first claw portion, and has a second inclined portion whose protruding dimension decreases from the second tip toward the second rear end.
  • the pusher is configured to press the object from a second direction intersecting the first direction in which the first finger member and the second finger member open and close.
  • the gripping device of the present disclosure it is possible to stably grip an object using the fingers and the pusher.
  • FIG. 1 is a perspective view schematically showing the configuration of equipment according to Embodiment 1.
  • FIG. 1 is a cross-sectional view schematically showing the configuration of a rotating electrical machine according to a first embodiment.
  • 1 is a perspective view schematically showing the configuration of a core of a rotating electric machine according to Embodiment 1.
  • FIG. FIG. 4A is a perspective view schematically showing the structure of an insulator of the rotating electrical machine according to Embodiment 1, and FIG. 4A shows the insulator on the wire connection side, and FIG. 4B shows the insulator on the non-wire connection side.
  • 1 is a perspective view schematically showing the configuration of a winding assembly of a rotating electric machine according to a first embodiment.
  • FIG. 2 is a perspective view schematically showing a state in which wires are wired to the stator of the rotating electric machine according to the first embodiment.
  • FIG. 7 is a perspective view schematically showing the structure of the wire shown in FIG. 6;
  • FIG. 7A is a front view schematically showing the operation of the gripping device according to Embodiment 1, and FIG. 7A shows a state in which the wire is not gripped,
  • FIG. 7B shows a state in which the wire is pressed by a pusher, and
  • FIG. FIG. 7c shows a gripped state.
  • 7Aa is a front view schematically showing the operation of a modified example of the gripping device according to Embodiment 1, and
  • FIG. 7Aa shows a state in which the pusher and the wire are in contact;
  • FIG. 7Aa is a front view schematically showing the operation of a modified example of the gripping device according to Embodiment 1
  • FIG. 7Aa shows a state in which the pusher and the wire
  • FIG. 7Ab shows a state in which the wire is pressed by the pusher
  • FIG. , FIG. 7Ac shows a state in which the wire rod is gripped
  • 7B is a side view schematically showing the operation of a modified example of the gripping device according to Embodiment 1, showing a state in which the pusher and the wire are in contact
  • FIG. 7Bb showing a state in which the wire is pressed by the pusher
  • FIG. , FIG. 7Bc shows a state in which the wire is gripped.
  • 8A is a side view schematically showing the operation of the gripping device according to Embodiment 1, and FIG. 8A shows a state in which the wire is not gripped
  • FIG. 8B shows a state in which the wire is pressed by a pusher
  • FIG. FIG. 8c shows a gripped state
  • FIG. 9A is a front view schematically showing the operation of the gripping device according to Embodiment 2
  • FIG. 9A shows a state in which the wire is not gripped
  • FIG. 9B shows a state in which the wire is pressed by a pusher
  • FIG. FIG. 9c shows a gripped state
  • 10a is a side view schematically showing the operation of the gripping device according to Embodiment 2
  • FIG. 10a shows a state in which the wire is not gripped
  • FIG. 10b shows a state in which the wire is pressed by a pusher
  • FIG. FIG. 10c shows a gripped state.
  • FIG. 10a is a side view schematically showing the operation of the gripping device according to Embodiment 2
  • FIG. 10a shows a state in which the wire is not gripped
  • FIG. 10b shows a state in
  • FIG. 7 is a schematic diagram schematically showing a gripping method according to a second embodiment.
  • 12a is a front view schematically showing the operation of the gripping device according to Embodiment 3, and FIG. 12a shows a state in which the wire is not gripped, FIG. 12b shows a state in which the wire is pressed by a pusher, and FIG. FIG. 12c shows a gripped state.
  • 13a is a side view schematically showing the operation of the gripping device according to Embodiment 3, and FIG. 13a shows a state in which the wire is not gripped; FIG. 13b shows a state in which the wire is pressed by a pusher; and FIG. FIG. 13c shows a gripped state.
  • FIG. 12a is a front view schematically showing the operation of the gripping device according to Embodiment 3, and FIG. 12a shows a state in which the wire is not gripped, FIG. 12b shows a state in which the wire is pressed by a pusher, and FIG. FIG. 13
  • FIG. 14A is a front view schematically showing the operation of the gripping device according to Embodiment 4, and FIG. 14A shows a state in which the wire is not gripped, FIG. 14B shows a state in which the wire is pressed by a pusher, and FIG. FIG. 14c shows a gripped state.
  • FIG. 15A is a side view schematically showing the operation of the gripping device according to Embodiment 4, and FIG. 15A shows a state in which the wire is not gripped, FIG. 15B shows a state in which the wire is pressed by a pusher, and FIG. FIG. 15c shows a gripped state.
  • FIG. 1 is a perspective view showing the overall configuration of a facility 100 that uses a gripping device 10 according to the first embodiment.
  • the equipment 100 shown in FIG. 1 is equipment (robot) that grips a wire 14a with a gripping device 10 installed at the tip of a manipulator 20 and transports it to a rotating electric machine 30 as shown in FIG. 2, for example. That is, the equipment 100 includes the gripping device 10 and the manipulator 20.
  • the gripping device 10 includes a first gripping device 10a and a second gripping device 10b.
  • FIG. 2 is a sectional view showing the rotating electric machine 30 of the first embodiment.
  • the rotating electrical machine 30 includes a laminated core 31, a conductor 32, an insulator 33, a winding assembly 34, a frame 35, a stator 36, a rotor 37, a bracket 38a on the connection side, a bracket 38b on the opposite side of the connection, and a power connector 39.
  • a winding assembly 34 is constructed by winding a conducting wire 32 around a laminated core 31 via an insulator 33.
  • a stator 36 is configured by a winding assembly 34 arranged in an annular shape and press-fitted or shrink-fitted into a frame 35.
  • the rotor 37 is arranged on the inner peripheral side of the stator 36 and has a permanent magnet.
  • the bracket 38a on the wire connection side and the bracket 38b on the non-wire connection side hold the stator 36 and the rotor 37.
  • Power connector 39 is configured to be connected to a power source.
  • the coil end of the conducting wire 32 wound around the insulator 33 is connected to the end 14b of the wire 14a through a terminal in order to connect the U, V, W phases and neutral wire of the three-phase alternating current to the power connector 39.
  • the wire 14a has end portions 14b at both ends, and is configured through a plurality of straight portions 14c and bent portions 14d, the number of which is equivalent to the number of slots in the stator.
  • the number of straight portions 14c is the same as the number of teeth portions 31b, and the straight portions 14c are arranged in the teeth portions 31b corresponding to the straight portions 14c.
  • the direction of the rotation axis (horizontal direction in Figure 2) is defined as the axial direction
  • the radial direction of the rotation axis (vertical direction in Figure 2) is defined as the radial direction
  • the direction along the rotation direction around the rotation axis is defined as the circumferential direction.
  • FIG. 3 is a perspective view of the laminated core 31.
  • the laminated core 31 is composed of a plurality of magnetic steel plates laminated in the axial direction.
  • a yoke portion 31a having a circumferentially long shape is arranged on the outer peripheral side of the laminated core 31.
  • Teeth portions 31b that protrude inward from a circumferential center position of the yoke portion 31a are arranged on the inner circumferential side of the yoke portion 31a.
  • a protrusion 31c having a shape that extends to both sides in the circumferential direction is arranged.
  • FIG. 4 is a perspective view of the insulator 33 attached to both axial ends of the laminated core 31.
  • FIG. 4(a) shows the connection side insulator 33a installed on the + side of the laminated core 31 in the axial direction, and FIG. The side insulator 33b is shown.
  • FIG. 5 is a perspective view of a winding assembly 34 in which an insulator 33 is attached to a laminated core 31 and a conducting wire 32 is wound.
  • the conducting wire 32 is configured by being wound around the teeth portion 31b via an insulator 33.
  • an insulating member (not shown) is arranged between the circumferential side surface of the laminated core 31 and the wound conducting wire 32.
  • the winding assembly 34 is constituted by a set of two continuous windings in which the conductive wire 32 is wound around another laminated core 31 with the insulator 33 attached via the insulator 33b on the opposite side of the connection. has been done.
  • the outer flange portions 33a1 and 33b1 of the insulator 33a on the connection side and the insulator 33b on the non-connection side have different shapes on the axial direction + side and the axial direction ⁇ side.
  • the insulator 33a on the connection side and the insulator 33b on the non-connection side are composed of outer flange portions 33a1, 33b1, inner flange portions 33a2, 33b2, and body portions 33a3, 33b3.
  • the outer flange portions 33a1 and 33b1 are configured to cover the yoke portion 31a from both sides in the axial direction.
  • the inner flange portions 33a2 and 33b2 are configured to cover the protrusion portion 31c from both sides in the axial direction.
  • the body portions 33a3 and 33b3 are configured to cover the teeth portion 31b from both sides in the axial direction.
  • a conducting wire groove 33c and a wire groove 33d are provided in the outer flange portion 33a1 of the insulator 33a on the connection side arranged on the + side in the axial direction.
  • An end portion of the conductive wire 32 forming the winding assembly 34 is inserted into the conductive wire groove 33c so as to protrude outward from the inside in the radial direction of the outer flange portion 33a1.
  • the end portion 14b of the wire rod 14a is inserted into the wire groove 33d so as to protrude outward from the inside in the radial direction of the outer collar portion 33a1.
  • the plurality of winding assemblies 34 are arranged in an annular shape and are fitted into the frame 35 by press fitting or shrink fitting.
  • a plurality of winding assemblies 34 arranged in an annular shape on the frame 35 and press-fitted or shrink-fitted therein is called a stator 36 .
  • the wire rod 14a gripped by the gripping device 10 is transported using, for example, the manipulator 20, and wired to the stator 36.
  • the gripping device 10 is for gripping an object.
  • the gripping device 10 includes a pusher 11a, a finger portion 12, and a base portion 13.
  • the pusher 11a is configured to move in a direction perpendicular to the plane on which the wire rod 14a is arranged.
  • the finger portion 12 is configured such that two fingers face each other and open and close in parallel (in the left-right direction in FIG. 7).
  • the finger portion 12 includes a first finger member 12a and a second finger member 12b.
  • the first finger member 12a and the second finger member 12b are configured to be openable and closable in directions facing each other.
  • the pusher 11a is arranged at a position that does not prevent the first finger member 12a and the second finger member 12b of the finger portion 12 from opening and closing.
  • the pusher 11a is configured to press down the object from a second direction intersecting the first direction in which the first finger member 12a and the second finger member 12b open and close.
  • the first direction is the left-right direction (horizontal direction)
  • the second direction is the vertical direction (up-down direction).
  • the first finger member 12a includes a first tip E1, a first rear end R1, and a first claw portion 12a1.
  • the first claw portion 12a1 is provided at the first tip E1.
  • the second finger member 12b includes a second tip E2, a second rear end R2, and a second claw portion 12b1.
  • the second claw portion 12b1 is provided at the second tip E2.
  • the first claw portion 12a1 protrudes toward the second claw portion 12b1.
  • the first claw portion 12a1 has a first inclined portion T1 that protrudes from the first tip E1 toward the first rear end R1 and has a smaller dimension.
  • the second claw portion 12b1 projects toward the first claw portion 12a1.
  • the second claw portion 12b1 has a second inclined portion T2 that protrudes from the second tip E2 toward the second rear end R2 and has a smaller dimension.
  • the pusher 11a and the finger portion 12 are attached to the base portion 13 and connected.
  • the base portion 13 is configured to drive the pusher 11a in the second direction.
  • the base portion 13 is configured to drive the first finger member 12a and the second finger member 12b of the finger portion 12 in the first direction.
  • the gripping device 10 is configured so that the object is held between the first claw portion 12a1, the second claw portion 12b1, and the pusher 11a from the second direction.
  • the pusher 11a presses the unpositioned wire 14a from above, thereby fixing the position of the wire 14a in the direction perpendicular to the plane on which the wire 14a is arranged.
  • the wire rod 14a is stably gripped by the opposing first finger member 12a and second finger member 12b sandwiching the wire rod 14a from the left and right sides.
  • the pusher 11a does not need to be movable, and as shown in FIGS. 7A and 7B, while the pusher 11a is fixed to the gripping device 10, the gripping device 10 is moved toward the wire 14a from a direction perpendicular to the surface on which the wire 14a is arranged. It is only necessary to sandwich the wire 14a from the left and right at a position where the pusher 11a and the wire 14a come into contact with each other when the pusher 11a and the wire 14a are moved toward each other, and where the first finger member 12a and the second finger member 12b do not contact the pusher 11a when opening and closing. That is, the base portion 13 is configured to fix the pusher 11a in the second direction, which is a direction perpendicular to the surface on which the wire rod 14a is arranged, before gripping the wire rod 14a that is the object.
  • the pusher 11a, the first finger member 12a, and the second finger member 12b are shifted in the longitudinal direction of the wire rod 14a, the first finger member 12a and the second finger member 12b are in the closed state. If the width of the pusher 11a is smaller than the distance in the opening/closing direction between the first finger member 12a and the second finger member 12b when gripping the wire 14a, the pusher 11a will not interfere with the first finger member 12a and the second finger member 12b. . Therefore, the pusher 11a, the first finger member 12a, and the second finger member 12b do not need to be shifted in the longitudinal direction of the wire rod 14a.
  • the target object is a lead wire connected to the stator 36 of the rotating electric machine 30.
  • the method for manufacturing the rotating electric machine 30 includes the following steps. A gripping device 10 grips the lead wire. The lead wire is placed on the stator 36 of the rotating electric machine 30 while the gripping device 10 grips the lead wire.
  • the gripping device 10 According to the gripping device 10 according to the first embodiment, the first finger member 12a and the second finger member 12b of the finger portion 12 can grip the wire 14a from the first direction. Further, the pusher 11a can grip the wire rod 14a from the second direction. Therefore, the gripping device 10 can restrain the wire rod 14a from the top, bottom, right and left. In this way, the gripping device 10 can stably grip the object. Therefore, the accuracy of positioning the object can be improved.
  • the pusher 11a presses the wire 14a from the direction perpendicular to the surface on which the wire 14a is arranged, and the fingers 12 sandwich the wire 14a from the left and right directions. , it is possible to absorb the error in the shape of the wire 14a and grip the wire 14a, which is a flexible object.
  • the first inclined part T1 of the first claw part 12a1 and the second inclined part T2 of the second claw part 12b1 get under the object, so that the object is A force is applied from the pusher 11a in the opposite direction to the pressing direction. This makes it easier for the fingers 12 to grip. Therefore, the object can be held in a stable position.
  • the base portion 13 is configured to drive the pusher 11a in the second direction. Therefore, the object can be surrounded with the pusher 11a released in the second direction. This makes it easier to grasp the object.
  • the finger portion 12 can grip the object in a stable position while the object is being pressed. Therefore, the accuracy of positioning the object can be improved.
  • the lead wire can be easily held, so that workability can be improved. Therefore, an inexpensive rotating electric machine 30 can be provided.
  • Embodiment 2 has the same configuration, operation, and effects as the first embodiment described above, unless otherwise specified. Therefore, the same components as those in the first embodiment described above are denoted by the same reference numerals, and the description thereof will not be repeated.
  • a gripping device 10 and a gripping method according to a second embodiment will be explained based on FIGS. 9 and 10.
  • the structure of the pusher 11a of the gripping device 10 is different from that in the first embodiment.
  • the pusher 11a is configured to rotate around a central axis along the first direction.
  • the pusher 11a includes a roller 11a1.
  • the roller 11a1 is configured to rotate about an axis parallel to the opening/closing direction of the first finger member 12a and the second finger member 12b.
  • the roller 11a1 is configured to be able to operate while tracing the shape of the wire 14a by a pressing mechanism P that can press the wire 14a from above in a direction perpendicular to the surface on which the wire 14a is arranged.
  • the pressure mechanism P is, for example, a spring.
  • roller 11a1 may be arranged at a certain distance from the first finger member 12a and the second finger member 12b so that the wire rod 14a follows the position without shifting.
  • the gripping method is the same as in Embodiment 1, so the description will not be repeated.
  • FIG. 11 is a schematic diagram showing the flow of the gripping method.
  • the gripping method shown in FIG. 11 is a gripping method using a plurality of gripping devices 10.
  • the plurality of gripping devices 10 include a first gripping device 10a and a second gripping device 10b.
  • the gripping method includes the following steps.
  • the first gripping device 10a grips one end of the object.
  • the wire rod 14a is gripped by the second gripping device 10b in the vicinity where it is gripped by the first gripping device 10a, where the variation in position is small.
  • the second gripping device 10b is arranged adjacent to one end of the object and closer to the other end of the object than the one end. Grasp the area.
  • the manipulator 20 moves the second gripping device 10b to the other end so that the roller 11a1 follows the shape of the wire 14a.
  • the gripping position of the second gripping device 10b can be changed while the position in the direction perpendicular to the paper surface of FIG. 11 is determined.
  • the second gripping device 10b moves from the area of the object to the other end so as to follow the shape of the object, and then grips the other end. After moving the second gripping device 10b to the gripping position, the wire 14a is gripped as in the first embodiment shown in FIG.
  • the pusher 11a is configured to rotate around the central axis along the first direction. Therefore, when the gripping device 10 is operated up to the end of the object so as to follow the shape of the object, friction and stress between the object and the pusher 11a can be suppressed. Therefore, since the gripping device 10 can be easily operated, work efficiency can be improved.
  • both ends of the object can be easily gripped in stable positions by the first gripping device 10a and the second gripping device 10b. Therefore, it is possible to improve work efficiency and improve positioning accuracy of the target object.
  • One end of the wire 14a shaped into an arc or polygon used in motor wiring is gripped by the above gripping method, and the other end of the wire 14a is held in a stable position by, for example, operating the manipulator 20 to follow the shape. can be placed and grasped.
  • Embodiment 3 has the same configuration, operation, and effects as Embodiment 1 described above, unless otherwise specified. Therefore, the same components as those in the first embodiment described above are denoted by the same reference numerals, and the description thereof will not be repeated.
  • a gripping device 10 and a gripping method according to a third embodiment will be explained based on FIGS. 12 and 13.
  • the present embodiment is different from the roller 11a1 of the second embodiment in shape, and is otherwise the same as the second embodiment.
  • the pusher 11a includes a tapered portion 11a2 whose diameter decreases from both sides toward the center in the first direction.
  • a tapered portion 11a2 is provided on the roller 11a1.
  • the pusher 11a includes a tapered portion 11a2 whose diameter decreases from both sides toward the center in the first direction. This moves the wire 14a to the center of the pusher 11a and the roller 11a1. Therefore, since the range in which the wire rod 14a fluctuates can be narrowed down, the wire rod 14a can be held stably.
  • Embodiment 4 has the same configuration, operation, and effects as Embodiment 1 described above, unless otherwise specified. Therefore, the same components as those in the first embodiment described above are denoted by the same reference numerals, and the description thereof will not be repeated.
  • a gripping device 10 and a gripping method according to a fourth embodiment will be explained based on FIGS. 14 and 15.
  • Pusher 11a includes a first ball 11b1 and a second ball 11b2.
  • the first ball 11b1 and the second ball 11b2 are arranged to sandwich the object, and are configured to rotate while pressing the object.
  • the pusher 11a is configured to apply weight from a direction inclined with respect to a direction perpendicular to the plane on which the wire rod 14a is arranged.
  • the pusher 11a is configured to slide the wire 14a in the longitudinal direction while pressing it with, for example, the first ball 11b1 and the second ball 11b2 from an angle tilted by ⁇ 45 degrees in the direction of rotation about the longitudinal direction of the wire 14a. Operate.
  • the first ball 11b1 and the second ball 11b2 are arranged to sandwich the object, and are configured to rotate while pressing the object. . Therefore, the wire rod 14a can be held stably.
  • Reference Signs List 10 gripping device 10a first gripping device, 10b second gripping device, 11a pusher, 11a1 roller, 11a2 tapered portion, 11b1 first ball, 11b2 second ball, 12 finger portion, 12a first finger member, 12a1 first claw part, 12b1 second claw part, 12b second finger member, 13 base part, 14a wire rod, 14b end part, 14c straight part, 14d bent part, 20 manipulator, 30 rotating electric machine, 36 stator, 100 equipment, E1 first tip , E2 second tip, T1 first slope, T2 second slope, R1 first rear end, R2 second rear end.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Manufacturing & Machinery (AREA)
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PCT/JP2023/013605 2022-05-18 2023-03-31 把持装置、把持方法および回転電機の製造方法 WO2023223690A1 (ja)

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JP2007097300A (ja) * 2005-09-28 2007-04-12 Toyota Motor Corp 絶縁スリーブ組付け装置および絶縁スリーブ組付け方法
JP2009118636A (ja) * 2007-11-06 2009-05-28 Toyota Motor Corp 回転電機および回転電機の製造方法
JP2009273352A (ja) * 2008-04-07 2009-11-19 Denso Corp 波巻きステータコイルの製造方法
JP2014007938A (ja) * 2012-05-31 2014-01-16 Aisin Aw Co Ltd 回転電機及び回転電機の製造方法
JP2017113853A (ja) * 2015-12-25 2017-06-29 富士通株式会社 ロボットハンドおよびケーブル手繰り方法

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JP2012091923A (ja) * 2010-10-28 2012-05-17 Bridgestone Corp ワーク搬送方法および装置
JP5834491B2 (ja) * 2011-05-24 2015-12-24 セイコーエプソン株式会社 ロボットハンド、およびロボット

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JPS5781082A (en) * 1980-11-10 1982-05-20 Japan Steel Works Ltd Gripper for structure
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