# US 2026/0066752 A1 · Aligning apparatus for hairpin type stator coil > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2026/0066752 A1 - Document ID: US20260066752A1 - Status: Published application - Kind: A1 - Application number: 19/312,852 - Filed: 2025-08-28 - Published: 2026-03-05 - Earliest claimed: 2024-09-03 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Yeongsu YU; Heedong SON; Jeong Hyeon KIM; Jae Ho HWANG; Jiwon YU; Heewoong KIM; Namhyun KIM; Hee Chang CHOI; Sunghyun JU; Sungdae HYUN; Gwangwon SUNG - Web page: https://patentgrep.com/patent/US20260066752A1 ## CPC - H02K 15/0643: Hairpin windings - B25J 11/005: {Manipulators for mechanical processing tasks} - B25J 13/086: {Proximity sensors} - B25J 15/0033: {with gripping surfaces having special shapes} - H02K 15/026: Wound cores - H02K 15/064: Windings consisting of separate segments - H02K 2215/00: Specific aspects not provided for in other groups of this subclass relating to methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract An aligning apparatus for a hairpin type stator coil includes a frame, at least one storage including storage guides, which are arranged in a storage stacking portion installed in the frame and are inclined downward, and on which I-shaped stator coils are loaded, at least one cartridge including cartridge guides arranged in a downward direction and loading the I-shaped stator coils which are taken out from the at least one storage, and the at least one cartridge arranged in front of at least one storage to extract the I-shaped stator coils, and a robot gripper configured to move along a predetermined path by a handling robot to grip and un-grip the I-shaped stator coils, which are output one by one from the at least one cartridge, and insert the I-shaped stator coils into a predetermined position in the alignment jig. ## Claims ### Claim 1 An aligning apparatus configured to align I-shaped stator coils to an alignment jig in which U-shaped stator coils are aligned, the aligning apparatus comprising: a frame; a storage stacking portion disposed at the frame; at least one storage configured to load the I-shaped stator coils, the at least one storage comprising storage guides that are disposed at the storage stacking portion and inclined downward from a rear side of the least one storage to a front side of the least one storage; at least one cartridge disposed forward relative to the at least one storage and configured to receive the I-shaped stator coils from the at least one storage, the least one cartridge comprising cartridge guides that are arranged in a downward direction from the rear side to the front side and configured to output the I-shaped stator coils one by one; and a gripper configured to (i) move along a predetermined path, (ii) grip and un-grip the I-shaped stator coils that are output from the at least one cartridge one by one, and (iii) insert each of the I-shaped stator coils into a predetermined position in the alignment jig. ### Claim 2 (depends on 1) The aligning apparatus of claim 1, wherein the storage stacking portion comprises: a stack base fixed to the frame; and a storage docking cylinder disposed at the stack base and connected to the at least one storage. ### Claim 3 (depends on 2) The aligning apparatus of claim 2, wherein the at least one storage further comprises: a storage base connected to the storage docking cylinder and configured to move in a front-rear direction relative to the stack base; a storage body that is fixed to the storage base and supports the storage guides; a storage door deposited at a front of the storage body and configured to support the I-shaped stator coils loaded in the storage guides; and a storage door driver disposed at the stack base and configured to open and close the storage door. ### Claim 4 (depends on 3) The aligning apparatus of claim 3, wherein the at least one storage further comprises a door mount block fixed to the storage base, and wherein the storage door comprises: a door plate disposed at the door mount black and configured to move in a left-right direction on the door mount block; and a plurality of storage stoppers comprising an upper storage stopper, a medium storage stopper, and a lower storage stopper that are arranged at the door plate along a vertical direction. ### Claim 5 (depends on 4) The aligning apparatus of claim 4, wherein the storage door driver comprises: a door operating bracket disposed at the stack base and configured to move in the left-right direction relative to the stack base, the door bracket being configured to move the door plate in the left-right direction; and a storage door operating cylinder disposed at the stack base and connected to the door operating bracket. ### Claim 6 (depends on 1) The aligning apparatus of claim 1, wherein the at least one cartridge comprises: a cartridge body disposed at the frame, the cartridge body including the cartridge guides configured to connect to the storage guides; a main stopper disposed at a front portion of the cartridge body and configured to support the I-shaped stator coils loaded on the cartridge guides; an upper stopper block assembly and a lower stopper block assembly that are disposed at the front portion of the cartridge body and configured to move in the left-right direction; a stopper driving block configured to move forward and backward along the front-rear direction; a sub-stopper driving cylinder disposed at the cartridge body and connected to the upper stopper block assembly and the lower stopper block assembly through the stopper driving block; a coil clamper disposed at the upper stopper block assembly and configured to clamp the I-shaped stator coils positioned behind a frontmost I-shaped stator coil among the I-shaped stator coils loaded on the cartridge guides; and a sub-stopper disposed at each of the upper stopper block assembly and the lower stopper block assembly and configured to support and extract the frontmost I-shaped stator coil. ### Claim 7 (depends on 6) The aligning apparatus of claim 6, wherein the at least one cartridge comprises further comprises an upper main driving cylinder and a lower main driving cylinder that are disposed at the cartridge body, and wherein the main stopper comprises: a head stopper connected to the upper main driving cylinder and configured to support head parts of the I-shaped stator coils loaded on the cartridge guides; and a leg stopper connected to the lower main driving cylinder and configured to support leg parts of the I-shaped stator coils loaded on the cartridge guides. ### Claim 8 (depends on 6) The aligning apparatus of claim 6, further comprising: an upper cam protrusion disposed at an upper side of the stopper driving block; a lower cam protrusion disposed at a lower side of the stopper driving block; an upper cam follower portion connected to the upper cam protrusion portion and disposed diagonally along the front-rear direction of the upper stopper block assembly; and a lower cam follower connected to the lower cam protrusion and disposed diagonally along the front-rear direction of the lower stopper block assembly. ### Claim 9 (depends on 6) The aligning apparatus of claim 6, wherein the sub-stopper comprises: at least one upper cartridge stopper disposed at the upper stopper block assembly and configured to support a head part of the frontmost I-shaped stator coil; and at least one lower cartridge stopper disposed at the lower stopper block assembly and configured to support a leg part of the frontmost I-shaped stator coil. ### Claim 10 (depends on 1) The aligning apparatus of claim 1, wherein the gripper comprises: a mounting bracket; a gripper sub-driving cylinder disposed at the mounting bracket; a moving block configured to enable forward and backward movements of the gripper based on operation of the gripper sub-driving cylinder; a gripper main driving cylinder disposed at the moving block; a pair of gripper bodies configured to move toward each other or away from each other based on operation of the gripper main driving cylinder; and a pair of coil guide pins disposed at the moving block. ### Claim 11 (depends on 10) The aligning apparatus of claim 10, wherein the gripper further comprises: a fixing bracket fixed to the mounting bracket; a sensor dog block disposed at the fixing bracket and configured to move in a vertical direction; and a proximity sensor disposed at an upper side of the fixing bracket opposite to the sensor dog block. ### Claim 12 (depends on 10) The aligning apparatus of claim 10, wherein each of the pair gripper bodies defines a gripping groove that extends in a vertical direction and is configured to accommodate a leg part of one of the I-shaped stator coils, and wherein one of the pair of gripper bodies comprises at least one gradient protrusion connected to one of the gripping grooves, and wherein the other of the pair of gripper bodies defines at least one gradient groove portion connected to the other of the gripping grooves and configured to overlap with the at least one gradient protrusion. ### Claim 13 (depends on 1) The aligning apparatus of claim 1, further comprising a jig docking part disposed at the frame, and wherein the alignment jig comprises: a jig base; a rotation shaft connected to the jig docking part and rotatably mounted at the jig base; at least one fixing ring connected to the rotation shaft; a plurality of jig pins radially arranged at the at least one fixing ring; and at least one jig spring radially arranged in a predetermined exterior circumference section of the at least one fixing ring. ### Claim 14 (depends on 13) The aligning apparatus of claim 13, wherein the alignment jig further comprises: a support ring fixed to the jig base, wherein the at least one fixing ring is disposed inside the support ring; and a plurality of coil pocket units radially and movably disposed the support ring and configured to guide a leg part of each of the I-shaped stator coils to be inserted into a predetermined position of the plurality of jig pins by the gripper. ### Claim 15 (depends on 14) The aligning apparatus of claim 14, wherein each of the plurality of coil pocket units comprises: a pocket block radially and movably connected to the support ring; at least one guide rod that connects the pocket block to the support ring; and at least one guide block that is connected to the pocket block and defines a pocket guide hole along a vertical direction. ### Claim 16 (depends on 15) The aligning apparatus of claim 15, further comprising a pocket moving unit connected to the jig docking part and configured to move the plurality of coil pocket units along an circumference of the support ring, wherein each of the plurality of coil pocket units comprises a cam roller rotatably disposed at the pocket block, and wherein the pocket moving unit comprises: a base part connected to the jig docking part; a first operation cylinder and a second operation cylinder that are disposed at the base part; a fixing plate configured to move in a left-right direction and a vertical direction by operation of the first operation cylinder and the second operation cylinder; and a plurality of cam blocks that are disposed at the fixing plate at positions corresponding to the pocket block, the plurality of cam blocks being in contact with the cam roller. ### Claim 17 (depends on 1) The aligning apparatus of claim 1, further comprising: a coil extension part disposed at the frame at a position corresponding to the alignment jig, the coil extension part being configured to pull the U-shaped stator coils in the alignment jig; a jig supporter disposed at the frame and configured to support the alignment jig based on the alignment jig being moved by the coil extension part; and a coil detector disposed at the frame and configured to sense the I-shaped stator coils inserted into the alignment jig. ### Claim 18 (depends on 17) The aligning apparatus of claim 17, further comprising a plurality of operation cylinders disposed at the frame, wherein the coil extension part comprises a pull block configured to move along a front-rear direction and in a vertical direction based on operation of the plurality of operation cylinders. ### Claim 19 (depends on 17) The aligning apparatus of claim 17, further comprising an operation cylinders disposed at the frame, wherein the jig supporter comprises a jig support block configured to move in a front-rear direction based on operation of the operation cylinder. ### Claim 20 (depends on 17) The aligning apparatus of claim 17, further comprising a plurality of operation cylinders disposed at the frame, wherein the coil detector comprises: a sensor block configured to move in a front-rear direction and a left-right direction based on operation of the plurality of operation cylinders; and a pair of head detecting sensors disposed on the sensor block along the vertical direction.