CN108243626B

CN108243626B - Needle tube advancing and retreating assembly and winding machine

Info

Publication number: CN108243626B
Application number: CN201680026158.3A
Authority: CN
Inventors: 细野圣二; 小岛昌男
Original assignee: E-Tec KK
Current assignee: E-Tec KK
Priority date: 2016-10-27
Filing date: 2016-10-27
Publication date: 2020-03-27
Anticipated expiration: 2036-10-27
Also published as: JPWO2018078759A1; CN108243626A; WO2018078759A1; JP6095193B1

Abstract

Provided are a needle tube advancing and retreating assembly which can maintain high arrangement accuracy of a wound coil wire even when a needle tube is circulated at a high speed around magnetic pole teeth, and a straight winding type winding machine having the needle tube advancing and retreating assembly. A needle tube advancing and retreating assembly constituting a direct winding type winding machine is provided as a servo motor for advancing and retreating a needle tube without being affected by a mechanism for a circulating motion. The rotary motion of the servo motor is transmitted through the shaft body and converted into a motion for swinging the outer cylinder, and an intermediate cylinder is arranged between the outer cylinder and the inner cylinder, so that a phase difference is generated between the inner cylinder and the outer cylinder by the swinging motion transmitted only to the outer cylinder.

Description

Needle tube advancing and retreating assembly and winding machine

Technical Field

The present invention relates to a needle tube advancing and retreating assembly and a direct winding type winding machine in which a coil wire is simultaneously wound around a plurality of magnetic pole teeth from an inner diameter side of a stator core having a plurality of magnetic pole teeth on an inner side and having an annular cross section, and a thin tube body (hereinafter referred to as a needle tube) from which the coil wire is fed out advances and retreats. And more particularly, to a needle tube advancing and retreating unit capable of maintaining high alignment accuracy of a wound coil wire even when a needle tube is circulated at high speed around magnetic pole teeth, and a direct winding type winding machine having the needle tube advancing and retreating unit.

Background

The direct winding type winding machine winds a coil wire around magnetic pole teeth by causing a needle tube to perform a circular motion which is a combination of a linear motion of advancing and retracting in an axial direction and an oscillating motion of advancing and retracting in a circumferential direction. In addition, each time the coil wire circulates around the magnetic pole teeth, the needle tube advances and retreats by the width of one coil wire in the diameter direction, so that the coil wire is wound on the magnetic pole teeth in order.

As a technique for advancing and retracting the needle tubes, there is known a technique in which a disk, which is a cam plate formed by cutting a spiral cam groove, is overlapped with a disk, which is a needle tube provided with a cam follower and is slidable in a radial direction, and a plurality of needle tubes are advanced and retracted radially. The two disks are rotatably supported by the outer cylinder and the inner cylinder for guiding the coil wire, respectively, and the needle tube is advanced and retreated in a state where there is no phase difference in the rotation of the outer cylinder and the inner cylinder, and in a state where a phase difference is generated.

As a technique for generating a phase difference between the advancing and retreating movements of the inner cylinder and the outer cylinder, patent document 1 discloses a technique for rotating the inner cylinder and the outer cylinder by two timing belts. One of the two timing belts is circulated through a movable sheave. By changing the position of the movable pulley, the path through which the timing belt hung on the movable pulley passes can be changed, and a phase difference is generated between the inner cylinder and the outer cylinder.

However, although the inner side surface of the timing belt has the engaging groove, the timing belt is easily loosened due to a long length of the timing belt, and the engaging groove of the timing belt is easily displaced due to a forward and backward movement required to generate the swing movement, and thus there is a problem that a timing point at which the phase difference is generated is easily disturbed. According to this technique, in order to prevent the displacement of the engagement groove, the timing belt cannot be circulated at a high speed, and there is a problem that the accuracy of the arrangement of the wound coil wire is difficult to improve.

Patent document 2 discloses a technique of a winding machine in which a motor for generating a phase difference with a cam plate is housed in a head portion of one of disks. According to this technique, a motor for generating a phase difference, which is incorporated in the head, is rotated to generate a phase difference between the two disks, and the needle tube can be advanced and retracted with a relatively simple structure.

However, since the head for advancing and retracting the needle tube has a motor for generating a phase difference, the head becomes large, and there is a problem that it is difficult to apply the motor to a stator core used for a small motor having a small winding space. Further, since the motor itself also moves forward and backward, the durability of the apparatus is easily deteriorated by a precision component such as an encoder or a failure of a motor circuit, and it is difficult to rotate the head at a high speed. Further, the head portion having the motor mounted thereon is heavy, and thus vibration is likely to be transmitted to the needle tube. Even with this technique, there is a problem that it is difficult to improve the accuracy of the arrangement of the wound coil wires.

Patent document 3 discloses a technique in which an inner cylinder and an outer cylinder are rotated forward and backward by respective motors, and a needle tube is moved forward and backward while being circulated. In this technique, by stopping one of the motors, the rotations of the two disks are displaced, and a phase difference is generated, thereby advancing and retreating the needle tube. With this technique, in order to quickly wind the magnetic pole teeth, the motor for the circulation motion must be quickly rotated forward and backward.

However, when the motor is stopped at a high speed for a short time, a slight shock is generated, and an overshoot phenomenon occurs in which the stop position exceeds a target value. When a motor for circulating motion is rotated at a high speed, overshoot occurs at the time of reverse rotation of the rotation, and the position of the tip of the needle tube is likely to be deviated from the set trajectory, which causes a problem that the winding in the diameter direction is likely to be uneven. Even with this technique, in the case where high-speed winding is required, there is a problem in that it is difficult to improve the accuracy of the arrangement of the wound coil wires.

Prior art documents

Patent document

Patent document 1: japanese laid-open patent publication No. 2000-245131

Patent document 2: japanese laid-open patent publication No. 2000-175415

Patent document 3: japanese patent laid-open publication No. 2002-208530.

Disclosure of Invention

Problems to be solved by the invention

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a needle tube advancing and retreating unit capable of maintaining high arrangement accuracy of a wound coil wire even when a needle tube is circulated at a high speed around magnetic pole teeth, and a direct winding type winding machine including the needle tube advancing and retreating unit.

A first aspect of the present invention provides a needle tube advancing and retreating unit comprising: a plurality of needle tubes for feeding a coil wire, an inner tube for guiding the coil wire, an outer tube, an intermediate tube for connecting the inner tube and the outer tube, and two overlapped disks, wherein one of the disks has a spiral cam groove, the other disk has a linear needle tube sliding groove extending in a diameter direction, each disk is rotatably supported by one of the intermediate tube and the inner tube, the inner tube is connected to the intermediate tube by a first connecting member for allowing only a circumferential oscillating motion, the outer tube is connected to the intermediate tube by a second connecting member for allowing only an axial linear motion, a cam follower provided to the needle tube slides along the cam groove by a phase difference generated by rotation of the intermediate tube and the inner tube rotating together with the outer tube, and the needle tube advancing and retreating means includes a rotational motion generating means and an oscillating motion generating means, a servo motor constituting the rotational motion generating unit is fixed to the base in a state of being separated from the outer cylinder, the swing motion generating unit includes a motion transmitting unit constituting a shaft body and transmitting the rotational motion generated by the servo motor to a side surface of the outer cylinder in a direction intersecting with an axial direction of the outer cylinder, and a motion direction converting unit converting the rotational motion transmitted to the side surface into a swing motion for swinging the outer cylinder to generate the phase difference.

Even if vibration occurs in the forward and reverse rotational movements of the servomotor constituting the rotational movement generating means, the vibration is not easily transmitted to the disk provided with the cam groove or the disk provided with the needle tube because the servomotor is fixed to the base in a state of being separated from the outer cylinder. In addition, the servo motor rotating at a high speed to form the cyclic motion is also in a separated state, and even if the servo motor for the cyclic motion generates overshoot and generates micro vibration, the servo motor forming the needle tube advancing and retreating assembly is not affected.

The rotational motion generated by a servo motor constituting the needle tube advancing and retreating unit is transmitted to the side surface of the outer tube by a motion transmission unit constituting the swing motion generating unit. Further, the rotational motion transmitted to the direction intersecting the axial direction of the outer cylinder is converted into the rotational motion that swings the outer cylinder in the axial direction by the motion direction conversion means. For example, the direction of movement of the rotational motion may be changed by a helical gear, a bevel gear, a crown gear, or the like, which intersects the input shaft and the output shaft. The motion transmission means is constituted by a shaft body, and transmits the rotational motion after converting the rotational motion in the cross direction, so that the outer cylinder can be swung with high operational responsiveness and accuracy without generating slack like a timing belt.

In addition, the intermediate cylinder is connected to the inner cylinder with a first connecting assembly that allows only a swinging motion in a circumferential direction, and is connected to the outer cylinder with a second connecting assembly that allows only a linear motion in an axial direction. The rotational motion transmitted to the outer cylinder causes the intermediate cylinder to perform rotational motion, but since only the oscillating motion is allowed between the inner cylinder and the intermediate cylinder, the rotational motion transmitted by the outer cylinder is not transmitted to the inner cylinder, and a phase difference is generated between the intermediate cylinder and the inner cylinder that rotate together with the outer cylinder.

According to the first aspect of the present invention, since the rotational motion of the servomotor constituting the rotational motion generating means has high operational responsiveness and accuracy, the oscillating motion of oscillating the outer cylinder is transmitted, and a phase difference is generated between the inner cylinder and the outer cylinder. Therefore, in order to obtain high production efficiency and to increase the speed of the circulation motion of the tip end of the needle tube, the needle tube can be easily moved forward and backward at a speed corresponding to the speed of the circulation motion, and the wound coil wire can be maintained at high alignment accuracy.

A second aspect of the present invention is the needle tube advancing/retreating unit according to the first aspect of the present invention, wherein the shaft body is telescopic, and the servo motor is connected to the movement direction changing unit via a universal joint.

The motion transmission assembly is a shaft body which is telescopic through a universal joint and is connected with the servo motor and the motion direction conversion assembly. Since the shaft body is extendable in the axial direction and the servomotor and the movement direction conversion unit are connected by the universal joint, the rotary motion can be transmitted accurately even if the distance between the rotary motion generating unit of the servomotor and the side surface of the outer cylinder transmitting the rotary motion is changed in a state where the servomotor is fixed to the base.

Further, when the inner cylinder, the intermediate cylinder, and the outer cylinder are rotated in synchronization with each other, the shaft body is stretchable, so that only the rotational motion generated by the servo motor can be accurately transmitted to the outer cylinder without applying a force to the outer cylinder from the shaft body to inhibit the rotational motion. Since the rotational motion of the servomotor is transmitted to the outer cylinder with high operation responsiveness and correctly, the wound coil wire can be made to have high alignment accuracy.

A third aspect of the present invention is the needle tube advancing and retracting unit according to the first or second aspect, wherein the movement direction changing unit includes a helical gear including a worm and a worm wheel, the worm is fixed to an end portion of the shaft body on the outer tube side, the worm wheel is fixed to a periphery of the outer tube, and the worm rotates the worm wheel to swing the outer tube.

In the helical gear, it is preferable that the meshing position between the worm and the worm wheel is not displaced unless the worm rotates, and the phase difference can be generated only by the rotation of the worm. Specifically, when the inner cylinder and the outer cylinder move forward and backward in synchronization, the meshing position of the worm and the worm wheel is not displaced, and the synchronization state is not changed. Since the rotational motion of the servomotor is transmitted to the outer cylinder with high operation responsiveness and accurately, the wound coil wire can be provided with high alignment accuracy.

The fourth invention of the present invention is a direct winding type winding machine for winding a coil wire around a magnetic pole tooth, characterized by comprising the needle tube advancing and retreating member described in the first to third inventions. Therefore, it is possible to provide a direct winding type winding machine which has high operation responsiveness and can manufacture an armature having high arrangement accuracy in the diameter direction.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the first aspect of the present invention, even if the circulation speed of the tip end of the needle tube is increased to achieve high production efficiency, the needle tube can easily advance and retreat at a speed corresponding to the movement speed, and the advantage of being able to maintain high alignment accuracy of the wound coil wire is achieved. According to the second to third inventions of the present invention, since the rotational motion of the servomotor is transmitted to the outer cylinder with high operation responsiveness and correctly, the wound coil wire can be made to have high alignment accuracy. According to the fourth aspect of the present invention, it is possible to provide a direct winding type winding machine which has high operation responsiveness and can manufacture an armature having high arrangement accuracy in the diameter direction.

Drawings

Fig. 1 is a diagram illustrating a winding machine (embodiment 1).

FIG. 2 is a view for explaining a winding state and forward and backward movements of a needle tube (example 1).

Fig. 3 is a diagram illustrating a structure of the needle tube advancing and retreating unit (embodiment 1).

Fig. 4 is a diagram illustrating the configuration of the motion transmission unit and the motion direction changing unit (embodiment 1).

FIG. 5 is a sectional view showing the operation of the needle tube advancing-retreating unit (example 1).

Fig. 6 is a cross-sectional view illustrating a winding machine (example 1).

Fig. 7 is a diagram illustrating a swing motion generating assembly (embodiment 1).

Fig. 8 is a diagram illustrating a swing motion generating assembly (embodiment 1).

Description of the symbols

1: needle tube advancing and retreating assembly

100: winding machine

10: inner cylinder

11: needle tube head

12: needle tube

13: upper disc

14: lower disc

15: needle tube sliding groove

16: cam follower

17: tip of needle tube

20: intermediate cylinder

21: cam plate

22: cam groove

23: main body part

24: expanding part

25: peripheral edge part

26: convex part

30: outer cylinder

31: concave part

32: top part

40: shaft body

41: main shaft part

42: rod body

43: barrel part

44: concave-convex groove

45. 46: universal joint

50: helical gear

51: worm screw

52: worm wheel

60: servo motor

61: basket part

62: connecting shaft

63: receiving shaft part

64: linear groove

65: bearing assembly

70: forward and backward swinging movement assembly

71: servo motor

72: pulley wheel

73: synchronous belt

74: cam mechanism

75: output shaft

76: connecting mechanism

77: swing driving part

78: swing driven part

79: connecting rod

80: linear motion assembly

81: servo motor

82: pulley wheel

83: synchronous belt

84: crank mechanism

85: disc with a circular groove

86: center shaft

87: rod part

88: plate body

89: long hole

90: maintaining part

91: circumferential groove

92: bearing assembly

110: stator core

111: magnetic pole tooth

112: inserting groove

120: base station

121: stand

130. 131: a coil wire.

Detailed Description

A needle tube advancing and retreating assembly constituting a direct winding type winding machine is provided as a servo motor for advancing and retreating a needle tube without being affected by a mechanism for a circulating motion. The rotary motion of the servomotor is transmitted through a shaft body that does not loosen and is converted into a motion that causes the outer cylinder to swing, and an intermediate cylinder is disposed between the outer cylinder and the inner cylinder, and a phase difference is generated between the inner cylinder and the outer cylinder by the motion transmitted only to the outer cylinder.

Example 1

In embodiment 1, a needle tube advancing-retreating unit 1 having a helical gear as a movement direction changing unit will be described with reference to fig. 1 to 8. In fig. 1, the main components of the present invention are shown by solid lines, and the other components are shown by broken lines. In fig. 1, imaginary lines of the inner cylinder 10 are indicated by chain lines. The direction in which the coil wire is fed radially in fig. 1 is indicated by a thick arrow.

Fig. 1 is an oblique view illustrating a direct winding type winding machine 100. FIG. 2 is a view illustrating a winding state and forward and backward movement of the needle tube. In fig. 2, part (a) of fig. 2 shows a part of the stator core and the needle head 11, and part (B) of fig. 2 shows a state in which the needle tube 12 and the top of the intermediate cylinder constituting the cam plate 21, and the tip 17 of the needle tube are inserted into the outer end of the slot. Fig. 3 is a diagram illustrating the structure of the needle tube advancing-retreating unit 1. Fig. 4 is a diagram illustrating the configuration of the motion transmission unit and the motion direction conversion unit. FIG. 5 is a sectional view illustrating the operation of the needle tube advancing-retreating unit. Fig. 6 is a diagram illustrating the direct winding type winding machine 100 in cross section. Fig. 7 and 8 are diagrams illustrating the swing motion generation unit.

First, the structure of the direct winding type winding machine 100 and the needle tube advancing and retreating unit 1 will be described with reference to fig. 1 to 5. The direct winding type winding machine 100 includes a needle tube advancing and retreating unit 1 for advancing and retreating the tip end of a needle tube 12 in the radial direction of a stator core, an inner tube 10 in which the needle tube is provided, an outer tube 30 disposed around the inner tube, and an intermediate tube 20 disposed between the inner tube and the outer tube (see fig. 3). In addition, a linear motion unit 80 (see fig. 6, indicated by a broken line) that linearly moves the tip end of the needle pipe forward and backward in the axial direction of the stator core, and a forward and backward swinging unit 70 (see fig. 1, indicated by a broken line) that swings the tip end of the needle pipe forward and backward in the circumferential direction of the stator core are included.

The two motions of the forward and backward linear motion of the tip 17 of the needle tube toward the axial direction of the stator core 110 and the forward and backward oscillating motion toward the circumferential direction of the stator core are combined to the circular motion around the magnetic pole teeth 111, and after one circular motion, the forward and backward motion is performed by the width of one coil wire toward the diameter direction of the stator core, so that the coil wires 130 can be formed into one layer of windings aligned in the diameter direction (see part (a) of fig. 2).

Next, referring to fig. 3, the structure of the inner tube 10, the intermediate tube 20, and the outer tube 30 for transmitting various motions to the tip end of the needle tube will be described. The stator core 110 is shown in dotted lines in part (a) of fig. 3. Fig. 3 (a) is a cross-sectional view showing a state where the tip 17 of the needle pipe protrudes upward from the end face of the stator core and the inner tube 10 and the intermediate cylinder 20 move upward, and fig. 3 (B) is a cross-sectional view at a position a-a of fig. 3 (a).

The inner cylinder 10 has a hollow space for guiding the coil wire 130 at the center, and a disc constituting the head of the needle tube at the tip. The disk is divided into two parts, an upper disk 13 and a lower disk 14, and needle tube sliding grooves 15 for sliding the needle tubes 12 in the radial direction are carved in the upper disk 13. The lower disc 14 is a disc having a smaller diameter than the upper disc 13.

The intermediate cylinder 20 includes a disc constituting the cam plate 21 and a body 23 (see fig. 3 a and 3B) penetrating a gap formed by the inner cylinder 10 and the outer cylinder 30. The cam plate 21 has the same outer diameter as the upper disk 13, and is engraved with 3 spiral-shaped cam grooves 22 (refer to part (B) of fig. 2). Above the body 23 is an enlarged diameter portion 24 having an enlarged diameter, and a peripheral edge portion 25 is provided vertically around the enlarged diameter portion 24, and the lower disk 14 is accommodated in the enlarged diameter portion 24. Further, at the lower outer surface of the intermediate cylinder 20, there is a bar-shaped protrusion 26 (refer to part (B) of fig. 3) along the axial direction and constituting the second connecting member.

The diameter-enlarged portion 24 is covered with the cam plate 21 in a state where the lower disk 14 of the inner cylinder is accommodated, and the lower disk 14 is enclosed in the intermediate cylinder 20. The upper disc 13 of the inner cylinder contacts and covers the end face of the inner cylinder 10, and the inner cylinder is integrated. The intermediate portion 20 and the inner cylinder 10 may be coupled to each other by bolts or the like.

As described above, the lower disk 14 provided in the inner cylinder of the first coupling unit is surrounded by the cam plate 21, the enlarged diameter portion 24, and the peripheral edge portion 25 of the intermediate cylinder. Since the lower disk 14 is surrounded by the cam plate 21, the enlarged diameter portion 24, and the peripheral edge portion 25 of the intermediate cylinder, the inner cylinder 10 and the intermediate cylinder 20 linearly move together in the axial direction and freely rotate in the circumferential direction.

The needle tube 21 for sending the coil wire is slidably attached to the upper disc 13 of the inner cylinder in which the linear needle tube sliding grooves 15 are engraved (see part (B) of fig. 2), and the cam follower 16 formed of a protrusion formed at the lower portion of the needle tube 12 slides along the cam groove 22 of the cam plate 21 engraved in the intermediate cylinder, so that the needle tubes 12 can simultaneously advance and retreat in the radial direction (see part (B) of fig. 2).

The outer cylinder 30 is a hollow cylinder having a hollow center, and has the intermediate cylinder 20 and the inner cylinder 10 penetrating therein. The inner side surface of the outer cylinder 30 has a strip-like recess portion constituting a second coupling member formed in the axial direction (refer to part (B) of fig. 3). The bar-shaped protrusion 26 and the bar-shaped recess 31 formed on the lower outer surface of the intermediate cylinder serve as a second connecting member to connect the outer cylinder 30 and the intermediate cylinder 20. In this way, when the needle holder 11 linearly moves forward and backward along the axial direction of the stator core, the inner cylinder 10 and the intermediate cylinder 20 linearly move together in the axial direction without rotating in the circumferential direction. In addition, the height of the top 32 of the outer tub is fixed.

On the other hand, since the outer cylinder 30 and the intermediate cylinder 20 are integrated by fitting the convex portion 26 and the concave portion 31 to each other and rotating in the circumferential direction, the outer cylinder 30 rotates in conjunction with the intermediate cylinder 20 when the needle holder portion performs the reciprocating oscillating movement in the circumferential direction of the stator core. The rotational motion generated by the servo motor 60 constituting the needle tube advancing and retreating unit 1 is transmitted through a shaft body 40 and a helical gear 50 accommodated in a housing 61, which will be described later, to thereby cause the outer cylinder 30 to perform a swinging motion. The swing motion transmitted to the outer cylinder 30 is transmitted to the intermediate cylinder through the second coupling assembly, so that it generates a phase difference to the inner cylinder 10.

Next, the structure of the needle tube advancing-retracting unit 1 will be described in detail with reference to fig. 1 and 4 to 8. The needle tube advancing and retracting assembly includes a servo motor 60 constituting a rotational motion generating assembly, and a motion transmitting assembly and a motion direction changing assembly constituting an oscillating motion generating assembly. The motion transmission assembly is composed of a shaft body 40 having universal joints at both ends thereof and being capable of extending and retracting. The movement direction changing means is constituted by a helical gear 50, and converts the horizontal rotational movement transmitted to the side surface of the outer cylinder 30 into the vertical rotational movement. The helical gear 50 is housed in a housing 61 (see fig. 4 a) provided continuously to the outer peripheral edge of the inner cylinder 10.

Referring first to fig. 1, a servomotor 60 constituting a rotational motion generating assembly is explained. The servomotor 60 is fixed to the base 120 in a state separated from the outer cylinder 30, and the tip of the needle tube is not easily affected by vibration generated by driving of the servomotor (see fig. 1). In the present embodiment, the servo motor 60 is fixed to the base 120 by a mount 121 for adjusting the height thereof in order to adjust the position thereof in the height direction. The servo motor 60 is independent of a servo motor 71 for oscillating the needle pipe forward and backward and a servo motor 81 for linearly moving the needle pipe forward and backward (see fig. 1 and 6). Therefore, the

servo motors

71 and 81 that circulate the needle pipe 12 around the magnetic pole teeth are not affected.

Next, how the rotational motion of the servomotor 60 is transmitted to the helical gear through the shaft body 40 is described with reference to fig. 1, 4, and 5. In fig. 4 (a), the shaft body 40 is shown in a partially missing state. Fig. 4 (a) is a cross-sectional view taken at position AA of fig. 5 to illustrate the shaft body 40 and the helical gear 50, and fig. 4 (B) is a cross-sectional view taken at position a-a of fig. 4 (a) and taken along the shaft body 40. In fig. 5, arrow B shows the rotation direction of the worm, arrow C shows the rotation direction of the inner cylinder, arrow D shows the retraction direction of the needle tube, arrow E shows the rotation direction of the timing belt, and arrow F shows the rotation direction of the output shaft of the cam mechanism.

The shaft body 40 includes a main shaft portion 41 formed by combining a rod 42 and a cylindrical body 43, and a concave-convex groove 44 as an engaging groove extending in the axial direction of the main shaft portion 41 at the facing surface of the rod 42 and the cylindrical body 43. Therefore, the main shaft 41 allows the axial expansion and contraction, and the rod 42 and the cylinder 43 rotate together by the engagement of the concave and convex grooves 44, and only the circumferential rotational motion is transmitted (see fig. 4B).

Further, the shaft body 40 has

universal joints

45 and 46 at both ends thereof, and the rotational motion of the shaft body 40 can be transmitted even when the angle of the connection target is changed. The main shaft 41 of the shaft body 40 extends in a direction intersecting the axial direction of the outer cylinder, the universal joint 45 at the base end is connected to the rotating shaft of the servomotor 60, and the universal joint 46 at the tip end is attached to the helical gear 50 (see fig. 1 and 4). Therefore, the rotational movement of the servomotor 60 can be transmitted to the side surface of the outer cylinder (see fig. 4 a) with the direction intersecting the axial direction of the outer cylinder 30 as the center axis.

When the tip 17 of the needle tube is reciprocated in the circumferential direction in a state where the shaft body 40 is not rotated, the inner tube and the outer tube are reciprocated in synchronization. In this way, the distance and relative angle between the servomotor 60 fixed to the base and the worm rotating along the axis at the center of the inner pipe also change with the state of the forward and backward swinging motion (see fig. 7). At this time, the shaft body 40 expands and contracts the main shaft portion 41 following the change in the distance and the relative angle, and changes the connection angle of the

universal joints

45 and 46 at both ends. Thus, the rotational motion of the servomotor 60 can be transmitted to the helical gear 50 through the shaft body without causing any slack, and high operational responsiveness can be obtained.

Next, the structure of the helical gear 50 will be described with reference to fig. 4. The helical gear 50 constituting the movement direction conversion member includes a worm 51 coupled to a tip end portion of the shaft body 40 and a worm wheel 52 (refer to fig. 4 (a)). The worm 51 is accommodated in a housing 61 connected to a receiving shaft 63 attached to the inner cylinder 10, and performs a forward and backward swinging motion around the central axis of the inner cylinder together with the housing.

The worm wheel 52 is accommodated in the housing 61 and integrally fixed to the periphery of the outer cylinder 30, and the rotary motion of the servomotor 60 transmitted from the shaft body 40 to the side surface of the outer cylinder is converted into a swing motion of swinging the outer cylinder 30 by rotating the worm 51 (see fig. 8). By the swing motion, a phase difference is generated between the outer cylinder 30 and the inner cylinder 10.

Here, the configuration of the circulating motion assembly for circulating the needle tube 12 around the magnetic pole teeth in one embodiment will be briefly described with reference to fig. 1, 5, and 6. The cyclic motion assembly includes a forward and backward oscillating motion assembly 70 and a linear motion assembly 80. At this time, the reciprocating oscillating unit 70 and the linear unit 80 are shown by broken lines in the drawings. The servo motor 71 for the forward and backward swinging motion and the servo motor 81 for the linear motion are independently provided on the base 120 (see fig. 1 and 6). The reciprocating swing motion generated by the servo motor 71 for reciprocating swing motion and the linear motion generated by the servo motor 81 for linear motion are combined into a circular motion.

The rotary motion of the linear motion servomotor 81 causes the inner cylinder 10 to perform a vertical linear motion by the crank mechanism 84. The inner cylinder 10 transmitting the linear motion linearly moves in the vertical direction together with the intermediate cylinder 20. The reciprocating swing motion generated by the servo motor 71 for reciprocating swing motion causes the housing 61 to rotate along the axis by the cam mechanism 74 and the link mechanism 76 to perform reciprocating swing motion. Then, the forward and backward swinging motion is transmitted from the housing to the outer cylinder 30 and the inner cylinder 10.

Specifically, the forward and backward swinging motion transmitted to the housing 61 is transmitted to the inner cylinder through the receiving shaft 63 that linearly moves only the housing 61 and the inner cylinder 10. Further, the position where the shaft receiving portion 63 faces the inner cylinder 10 includes a plurality of linear grooves 64 extending in the axial direction, and a plurality of bearings 65 are fitted along the linear grooves (see fig. 5). Therefore, the housing 61 engages the bearing 65 when the inner tube 10 performs the forward and backward swinging motion, and performs the forward and backward swinging motion in conjunction with the forward and backward swinging motion. When the inner cylinder moves linearly, the bearing 65 slides, and the housing portion moves linearly only forward and backward with respect to the inner cylinder.

On the other hand, the outer cylinder 30 transmits a reciprocating oscillating motion from the housing 61 through the helical gear 50. Therefore, although the outer cylinder 30 transmits the forward and backward swinging motion from the housing 61 as in the inner cylinder 10, the forward and backward swinging motion of the inner cylinder is not affected by the forward and backward swinging motion of the outer cylinder. Therefore, when the shaft body 40 rotates the helical gear 50, only the outer cylinder 30 can perform the oscillating motion, and a phase difference can be generated between the outer cylinder 30 and the inner cylinder 30 (see fig. 5 and 8). At this time, the outer cylinder and the inner cylinder perform forward and backward swinging motions in synchronization with each other in a state where the shaft body does not rotate (see fig. 7).

Referring to fig. 5, a simple description will be given of an advancing and retreating oscillating movement assembly for moving the needle tube in the circumferential direction of the stator core in one embodiment. The forward/backward swinging module 70 includes a servo motor 71 for forward/backward swinging, a pulley 72 and a timing belt 73 for transmitting the rotational movement of the servo motor to the cam mechanism, a cam mechanism 74 for converting the rotational movement of the servo motor into forward/backward swinging movement, and a link mechanism 76 for transmitting the forward/backward swinging movement output from the cam mechanism. The cam mechanism 74 converts the rotational motion in only one direction, which is input from the servo motor 71 for forward and backward swinging motion, into forward and backward swinging motion which repeats in the order of forward swinging motion, stopped state, backward swinging motion, and stopped state.

The connecting mechanism 76 includes a swing driving portion 77 attached to the output shaft 75 of the cam mechanism, a pair of connecting rods 79 extending from the swing driving portion, and a swing driven portion 78 (see fig. 5) connected to the connecting rods. The link mechanism 76 is formed of a rigid rod or the like, and therefore is less likely to be loosened or gapped, and has high operational responsiveness (see fig. 5). Further, the forward and backward swinging motion is transmitted to the housing 61 through the connecting shaft 62 hanging from the swing driven portion 78.

Referring now to fig. 6, a simplified illustration of an embodiment of a linear motion assembly 80 for moving the needle cannula 12 in the axial direction of the stator core is shown. The linear motion unit 80 includes a servomotor 81 for linear motion, a disk 85 rotated by the servomotor, a rod 87 provided at a position eccentric from a central axis 86 of the disk, and a plate body 88 linearly moved back and forth in the axial direction of the stator core.

In the linear motion unit, the rotational motion of the linear motion servomotor 81 in only one direction is converted into forward and backward oscillating motions repeated in the order of forward oscillating motion, stopped state, backward oscillating motion, and stopped state. A pulley 82 is attached to an output shaft of the servomotor 81, and the pulley attached to a central shaft 86 of the disk is rotated in one direction by a timing belt 83. When the center shaft 86 is rotated, the rod 87 included in the disk 85 moves in a circular orbit and revolves around the center shaft 86.

A long hole 89 extending in the horizontal direction is bored in the central portion of the plate body 88, and the tip portion of the rod portion 8 is penetrated through the long hole (refer to fig. 6). The vertical direction component of the swiveling motion is transmitted to the plate body 88 by the pushing of the lever portion 87 against the long hole 89. Further, since the lever 87 moves horizontally along the elongated hole 89, the horizontal component of the rotational motion is not transmitted to the plate 88, and the forward and backward linear motion is extracted from only the rotational motion in one direction of the servomotor 81.

The plate body 88 includes a holding portion 90 for holding the inner cylinder 10, and transmits the linear forward and backward movement to the inner cylinder 10. Circumferential grooves 91 are formed along the circumference of the holding portion 90 on the surfaces facing the inner cylinder 10, and a plurality of bearings 95 are fitted in the circumferential grooves 91 (see fig. 6). Therefore, when the inner cylinder performs the forward and backward swinging movement, the bearing slides to allow the inner cylinder to rotate. When the plate body 88 linearly moves forward and backward in the axial direction, the bearing 92 engages with the inner cylinder 10 to linearly move forward and backward together with the plate body 88.

Here, the operation states of the needle tube advancing-retreating unit 1 and the advancing-retreating swinging unit 70 in the state where the needle tube 12 is not advanced and retreated will be described in detail with reference to fig. 7. Fig. 7 (a) shows a state where the forward and backward swinging movement is not performed, fig. 7 (B) shows a state where the inner cylinder 10 and the outer cylinder 30 rotate counterclockwise about the central axis and the housing 61 is inclined counterclockwise, and fig. 7 (C) shows a state where the inner cylinder 10 and the outer cylinder 30 rotate clockwise about the central axis and the housing 61 is inclined clockwise.

When the forward and backward swinging motion is transmitted to the housing 61, the shaft receiving portion 63 rotates together with the housing 61, and then transmits the forward and backward swinging motion to the inner cylinder 10 (see fig. 5 and 7). Since the shaft body 40 does not rotate, even if the housing portion 61 rotates, the engagement position between the worm 51 and the worm wheel 52 does not change.

Next, the inner cylinder 30 and the intermediate cylinder 2 are rotated together by the second coupling assembly, and the intermediate cylinder 20 is reciprocated in synchronization with the housing 61 (see fig. 3). In this way, since the outer cylinder 30, the intermediate cylinder 20, and the inner cylinder 10 are synchronously reciprocated, no phase difference is generated between the intermediate cylinder 20 and the inner cylinder 10, and the needle tube 12 is not reciprocated (see fig. 3).

In the state where the housing 61 is inclined in the counterclockwise direction in the drawing (see arrow B in part (B) of fig. 7), the spindle 41 of the shaft body changes the connection angle of the universal joints at both ends in a state where the spindle is inclined in the clockwise direction with respect to the base end so as to correspond to the change in the connection angle between the servomotor 60 and the worm 51. Further, by accommodating the rod body 42 in the cylindrical portion, the distance between the servomotor 60 and the worm 51 is changed (refer to an arrow a in a portion (B) of fig. 7). In the figure, in a state where the housing 61 is inclined in the clockwise direction (see an arrow D in a portion (B) of fig. 7), the rod 42 is pulled out from the cylinder 43 in a state where the main shaft 41 of the shaft body is inclined in the counterclockwise direction with reference to the base end portion so as to correspond to the change in the connection angle and the distance.

Next, the operation of the needle tube advancing and retreating means in which the distal end of the needle tube advances and retreats in the radial direction when the helical gear 50 rotates will be described with reference to fig. 8. Fig. 8 (a) shows a state in which the distal end of the needle tube is positioned at the outer end of the slot 112 and the winding operation is ready to start. Fig. 8 (B) shows a state where the distal end 17 of the needle tube is retracted to the vicinity of the inner end of the slot. Fig. 8 (C) shows a state where the tip 17 of the needle tube is reversed from the inner end and the upper coil wire 131 is wound around the lower coil wire 130.

When a phase difference is generated between the outer cylinder 30 and the inner cylinder 10, the phase difference is transmitted to the intermediate cylinder 20 through the second connection assembly (refer to fig. 5). Accordingly, a phase difference is also generated between the intermediate cylinder 20 and the inner cylinder 10, and the cam follower slides along the cam groove 22 in response to the generated phase difference, so that the tip 17 of the needle tube moves forward and backward in the diameter direction (see fig. 8).

As described above, the forward and backward swinging motion is transmitted to the inner cylinder 10 through the shaft receiving portion 63 directly connected to the housing portion 61. On the other hand, the outer cylinder 30 is transmitted through the helical gear 50. Therefore, when the shaft body 40 rotates, the outer cylinder 30 can be swung with respect to the inner cylinder only by the portion where the worm 51 rotates, with little influence on the forward and backward rotation operation of the inner cylinder 10.

In the rotation amount of the helical gear 50, the phase difference required for the forward and backward movement of one coil line width is generated only during one revolution of the needle tube around the magnetic pole teeth. Therefore, the speed of the rotational movement required of the servo motor for advancing and retracting the needle tube is lower than that required when the needle tube is circularly moved, and the advancing and retracting movement can easily follow the circular movement. Therefore, even when the tip end of the needle tube is circulated at a high speed, vibration generated by the rotation of the servomotor can be suppressed, and the wound wire can be arranged with high accuracy in the diameter direction.

The rotation direction of the servomotor 60 rotates in a single direction while the tip of the needle tube moves from the outer end to the inner end of the slot 112 of the stator core (see arrow a in fig. 8 a and 8B). Therefore, the shaft body 40, the worm 51, and the worm wheel 52 rotate in the same direction (see arrows B to D in fig. 8 a and 8B) without being limited to the rotation direction of the housing portion 61 (see arrow E in fig. 8 a and arrow F in fig. 8B).

Then, when the sliding direction of the cam follower is reversed, the rotation direction of the servomotor 60 is reversed (refer to arrow G of part (C) of fig. 8). At the same time, the rotation directions of the shaft body 40, the worm 51, and the worm wheel 52 are also reversed (see arrows H to J in fig. 8C). In this way, the moving direction of the tip 17 of the needle pipe is changed, and the lower layer coil wire 130 is overlapped with the already wound upper layer coil wire 131, and the winding of the upper layer coil wire 131 is started (see fig. 8C).

(others)

In embodiment 1, the servo motor for the oscillating motion and the servo motor for the linear motion that synthesize the cyclic motion are described as independent embodiments, but the present invention is not limited thereto, and other types of cyclic assemblies can be applied to the needle tube advancing and retracting assembly of the present invention. In example 1, the cam groove was provided in the intermediate cylinder and the needle tube sliding groove was provided in the inner cylinder, but it is needless to say that the needle tube was vertically reversed and the needle tube sliding groove was provided in the intermediate cylinder and the cam groove was provided in the inner cylinder. In the case of using a bevel gear other than the helical gear as the movement direction changing means, if the torque of the servomotor is made larger than the force applied to the movement direction changing means, the meshing position of the gears will not be displaced, and the same effect as that of the helical gear can be obtained. It is to be understood that the disclosed embodiments are illustrative and not restrictive. The technical scope of the present invention is defined by the scope of claims, not limited to the above description, and is intended to include all modifications equivalent to or within the scope of claims.

Claims

1. A needle tube advancing/retreating unit comprising a plurality of needle tubes for feeding a coil wire, an inner tube for guiding the coil wire, an outer tube, an intermediate tube for connecting the inner tube and the outer tube, and two disks stacked one on another, wherein the tips of the plurality of needle tubes are advanced/retreated in a radial direction, one of the disks has a spiral cam groove, the other disk has a linear needle tube sliding groove extending in the radial direction, each disk is rotatably supported by one of the intermediate tube and the inner tube, the inner tube is connected to the intermediate tube by a first connecting unit for allowing only a circumferential oscillating motion, the outer tube is connected to the intermediate tube by a second connecting unit for allowing only an axial linear motion, and a cam follower provided on the needle tubes slides along the cam groove by a phase difference generated by rotation of the intermediate tube and the inner tube rotating together with the outer tube, the needle tube advancing/retracting unit includes a rotational motion generating unit and a swing motion generating unit, a servomotor constituting the rotational motion generating unit is fixed to the base in a state separated from the outer tube, the swing motion generating unit includes a motion transmitting unit and a motion direction converting unit, the motion transmitting unit constitutes a shaft body and transmits a rotational motion generated by the servomotor to a side surface of the outer tube in a direction intersecting with an axial direction of the outer tube, and the motion direction converting unit converts the rotational motion transmitted to the side surface into a swing motion for swinging the outer tube to generate the phase difference.

2. The needle cannula advancing-retracting assembly according to claim 1, wherein the shaft body is retractable, and the servo motor is connected to the movement direction changing assembly through a universal joint.

3. The needle tube advancing-retracting assembly according to claim 1 or 2, wherein the movement direction changing assembly has a helical gear composed of a worm fixed to an end portion of the shaft body on the outer cylinder side and a worm wheel fixed around the outer cylinder, the worm rotating the worm wheel to swing the outer cylinder.

4. A direct winding type winding machine which winds a coil wire around magnetic pole teeth, comprising the needle tube advancing-retreating assembly according to any one of claims 1 to 3.