CN109075676B

CN109075676B - Needle tube circulation assembly and winding machine

Info

Publication number: CN109075676B
Application number: CN201680026157.9A
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: CN109075676A; WO2018078758A1; JPWO2018078758A1; JP6095192B1

Abstract

The invention provides a needle tube circulating assembly which can wind at high speed, has high arrangement precision of wound coil wires, does not need to replace the combination of a winding machine when insulators with different shapes are used, and can change a needle tube track, and a straight winding type winding machine comprising the needle tube circulating assembly. The servo motor for linear motion and the servo motor for swing motion are set to rotate only in one direction, and each servo motor is fixed to the base in an independent state. In addition, the speed of the rotational movement of each servomotor is controlled by the circulating orbit control unit to change the circulating orbit of the tip end of the needle tube.

Description

Needle tube circulation assembly and winding machine

Technical Field

The present invention relates to a winding machine for winding a coil wire around magnetic pole teeth by a direct winding method 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. More particularly, the present invention relates to a needle tube circulation unit for driving an elliptical orbit motion of a tip of a thin cylinder (hereinafter referred to as "needle tube") that feeds out a coil wire around the magnetic pole teeth, and a winding machine including the needle tube circulation unit. More particularly, the present invention relates to a needle tubing circulation assembly that can perform high-speed winding and high-precision arrangement of wound coil wires, and can change the needle tubing track without replacing the combination of a winding machine when insulators having different shapes are used, and a direct winding type winding machine including the needle tubing circulation assembly.

Background

There has been a winding machine in the past which causes the tip of a needle tube from which a coil wire is fed to circulate in a substantially elliptical orbit between a plurality of gaps of magnetic pole teeth to wind the coil wire around the magnetic pole teeth. In a first technique proposed in patent document 1, in which the tip end of a needle tube is caused to perform a circular motion, a technique of a winding machine is disclosed in which a plurality of independent servo motors are rotated in the forward and reverse directions to cause the tip end of the needle tube to perform a circular motion around magnetic pole teeth to form a winding.

With the technique described in patent document 1, three motion mechanisms including a ball screw mechanism and a servo motor are coupled to each other, and linear motion along the gap between the magnetic pole teeth and oscillating motion along the end faces of the magnetic pole teeth are combined to cyclically move the tip end of the needle tube, and the tip end of the needle tube is advanced and retreated in the radial direction of the magnetic pole teeth to wind a wire around the magnetic pole teeth. When a plurality of independent servo motors rotate forwards and reversely respectively, the ball screw mechanism enables the needle tube to move forward and backward and the winding machine winds the wire, and the winding machine has the advantage that a cam mechanism occupying a large space is not needed. Since the individual servomotors are independent of each other, the rotational speeds can be set arbitrarily, and the magnetic pole pitch can be easily changed.

In order to reverse the linear motion and the swing motion constituting the cyclic motion, each servo motor needs to be decelerated and stopped to be reversed. However, in the case where the servo motor in high-speed rotation is to be stopped in a short time, a slight shock occurs, and an overshoot phenomenon occurs in which the stop position exceeds the target value (refer to fig. 2A and 2B). When the tip of the needle pipe enters the slot, if an overshoot occurs, the tip of the needle pipe may come out of the track of the gap formed between the magnetic pole teeth and come into contact with the flange portion of the magnetic pole teeth.

When the tip of the needle cannula contacts the flange portion of the magnetic pole teeth, the tip may be damaged or deformed, and adjacent coil wires may overlap or leave a space to cause winding irregularities. In addition, when the lower moving mechanism moves at a high speed, the servo control unit or the motor wiring of the upper moving mechanism also moves, so that the upper moving mechanism is easy to damage, and the durability of the winding machine is reduced. Therefore, the technique of combining these three moving mechanisms has a problem that high winding accuracy and high winding speed cannot be maintained.

In

patent documents

2 and 3 of the second technique for causing the tip end of the needle tube to perform a circular motion, there are disclosed winding machines in which two types of motions, i.e., a forward and backward linear motion and a forward and backward oscillating motion, are generated by a rotational motion of a single driving unit, and the two types of motions are combined to cause the tip end of the needle tube to perform a circular motion.

In patent document 2, the rotational motion of a single motor is rotated only in one direction, converted into linear motion along the axial direction of a stator core by a crank mechanism, and converted into oscillating motion by a timing belt. The linear motion is then combined with the oscillating motion to cause the tip of the needle cannula to circulate around the magnetic pole teeth. This technique has the advantage that overshoot is not easily generated even when the motor is rotated at a high speed, and winding unevenness is not easily generated as long as winding is repeated on a predetermined track.

However, when the coil wire is wound in a straight winding manner, a resin insulator needs to be attached to an end surface of the stator core in order to form a base portion of the lap winding. In order to prevent the coil wire from coming out of the internal space of the stator core, an upright wall is formed inside the insulator to support the coil end. The standing wall can be formed in various shapes. If the insulator is changed to a higher standing wall, the standing wall may be in contact with the tip of the needle tube, and may be damaged or deformed.

However, when the insulator is changed to a standing wall having a low height, the needle tube passes through a gap at the top of the standing wall, and the coil wire is unnecessarily pulled out. When the length of the coil wire drawn out from the needle tube exceeds a proper length, the drawn-out coil wire vibrates like a whip, and there is a possibility that the wire may be wound unevenly. In the technique of patent document 2, in order to change the trajectory of the needle tube, the cam constituting the cam mechanism must be replaced with a cam of another shape, and there is a problem that the winding machine must be reassembled with the change in the shape of the insulator.

Patent document 3 discloses a method for changing the winding shape of a coil wire by changing a stator core, without using a dedicated winding machine for fitting the stator core and without replacing a jig of the winding machine. In the technique of patent document 3, in order to change the trajectory of the needle tube, it is necessary to change the fulcrum position of the arm that contacts the cam. Therefore, the circulating orbit of the needle tube can be changed in either the linear motion direction or the oscillating motion direction, and the stator core can be adapted to the machine type change.

However, in this technique, the rotational motion generated by a single motor is converted into a linear motion into an oscillating motion by a cam mechanism constituted by two cam plates coupled to the motor. Therefore, a large cam mechanism is required, and it is difficult to move at high speed and high-speed winding cannot be performed, which results in a long manufacturing time of the armature and a low production efficiency. Further, in this technique, the range in which the trajectory of the needle tube can be changed is limited, and when the insulator is changed, there is a problem that the needle tube cannot be circulated with the trajectory that is most suitable for the changed insulator.

[ Prior Art document ]

[ patent document ]

Patent document 1: japanese laid-open patent publication No. 2000-316261

Patent document 2: japanese laid-open patent publication No. 2002-330573

Patent document 3: japanese unexamined patent publication No. 11-178290

Disclosure of Invention

The invention aims to solve the problems that high-speed winding is achieved, simultaneously, the wound coil wire has high arrangement precision, the winding machine does not need to be replaced when insulators with different shapes are used, a needle tube circulating assembly of a needle tube track can be changed, and a direct winding type winding machine with the needle tube circulating assembly.

A needle pipe circulation unit according to a first aspect of the present invention is a needle pipe circulation unit for circulating a tip end of a needle pipe around a plurality of annular magnetic pole teeth, the needle pipe circulation unit including a swing motion unit for swinging the tip end along a circumferential direction along an end surface of a stator core, a linear motion unit for linear motion along a gap between the magnetic pole teeth, and a circulation orbit control unit for synthesizing the swing motion and the linear motion into the circulation motion, the swing motion unit including a servo motor for swing motion and a swing motion direction conversion unit for converting a rotational motion generated by the servo motor for swing motion into the swing motion, the linear motion unit including a servo motor for linear motion and a linear motion direction conversion unit for converting a rotational motion generated by the servo motor for linear motion into the linear motion, the servo motor for swing motion and the servo motor for linear motion are fixed to the base in a state independent of each other and generate only one-way rotational motion, and the cyclic orbit control means can change the rotational speed of each servo motor to change the cyclic orbit of the cyclic motion.

Each servo motor rotates only in one direction, only the rotation speed of the servo motor needs to be changed, and the rotation direction does not need to be reversed. Thus. In order to move the syringe at a high speed, overshoot is less likely to occur even if the servomotor rotates at a high speed. Since overshoot is not likely to occur, the position in the slot into which the needle tube enters is not likely to come out from the setting orbit, thereby preventing the coil wire in that position from being wound disorderly.

The term "to face only one direction" as used herein means that the rotation direction of the servomotor is not reversed when the winding is performed on one of the magnetic pole teeth of the stator core. It is of course also possible to rotate the servomotor in different directions for different pole teeth to produce the armature.

Since each servo motor is fixed on the machine table in a state of being independent of each other, a mechanism having one servo motor does not need to support a mechanism having another servo motor. In addition, the vibration generated by the rotation of each servomotor is not transmitted to other servomotors, and the tip of the needle tube is not easily vibrated.

In addition, the circulation orbit control means can change the rotational speed of each servo motor to change the circulation orbit of the circulation motion. Not only the rotational speed of any one of the servomotors but also both of the servomotors may be accelerated or decelerated. Since the circulation orbit can be changed only by accelerating or decelerating the rotation speed of the servo motor, when insulators with different shapes are used, the needle tube can be circulated in the circulation orbit suitable for the insulator without replacing components of a winding machine.

According to the first aspect of the present invention, even if the wire is wound at a high speed, vibration due to overshoot is not easily generated, and the track of the tip end of the needle tube does not come off the set track, so that the wound coil wire has high alignment accuracy. In addition, when insulators with different shapes are used, the needle tube can circularly move in a circulating track suitable for the insulators without replacing components of the winding machine, and the wound coil wire can have high arrangement precision. Meanwhile, the durability of the winding machine can be improved.

A second aspect of the present invention is the needle cannula circulation unit according to the first aspect, comprising a cam mechanism for converting a rotational motion into a rocking motion at a predetermined amplitude, wherein the cam mechanism converts the rotational motion generated by the servomotor for the rocking motion into a forward-reverse rocking motion repeated in the order of a forward-reverse rocking motion, a stopped state, a backward-reverse rocking motion, and a stopped state.

The rotational motion generated by the servo motor is input to the cam mechanism, converted into forward and backward oscillating motion repeated in the order of forward oscillating motion, stopped state, backward oscillating motion, and stopped state through the cam mechanism, and output as forward and backward oscillating motion. The stop state described above means that the swing of the output shaft is kept stopped even if the rotational motion of the servomotor is continuously input. A cam mechanism that can change the oscillation amplitude may also be used. The needle tube circulating unit may be adapted so that the interval between adjacent gaps is changed when the swing width is changed, that is, the number of slots is changed.

According to the second aspect of the present invention, the rotational motion generated by the servo motor that rotates only in one direction is converted into the reciprocating oscillating motion about the axial center of the stator core by the cam mechanism, that is, the motion direction conversion means that does not easily generate a gap. Even if the needle tube is rotated only in one direction by the rotational motion of the servo motor, the needle tube can advance and retreat in the circumferential direction of the stator core without deviating from the wobble of the set track. Thus, the operational response of the swing motion of the tip of the needle tube is improved, and the arrangement accuracy of the wound coil wire can be improved while the wire can be wound at high speed.

In order to transmit the forward and backward swinging motion to the needle tube, the forward and backward swinging motion from the output shaft of the cam mechanism is preferably transmitted through a connection mechanism in which an undeformed shaft body is combined. Since the swinging motion is transmitted to the needle tube by the cam mechanism and the connecting mechanism which are less likely to be loosened or gapped, the operational responsiveness of the tip end of the needle tube can be improved. Thereby, the arrangement accuracy of the wound coil wire can be improved.

A third aspect of the present invention is the needle tube circulating unit according to the first or second aspect, including a crank mechanism that connects a rod body to a disk protruding from a disk surface and a shaft portion for supplying a coil wire, and includes a plate body having a long hole extending in an end surface direction of the stator core, wherein the disk is rotated by a rotational motion generated by the servo motor for linear motion so that the rod body slides in the long hole, and the rod body is converted into a forward and backward linear motion that repeats a sequence of the forward linear motion and the backward linear motion.

A crank mechanism converts a rotational motion in one direction, which is generated by a linear motion servo motor, into a linear motion in forward and backward directions. In the unidirectional rotation motion of the servo motor, the proportion of the amplitude of the rod body in the vertical direction multiplied by the vertical component of the sine wave is extracted at each motion time point to obtain the linear motion of the displacement amplitude. The linear movement of the advancing and retreating can be transmitted by a mechanical mechanism without generating a gap without reversing the rotation direction of the servo motor. Thus, the responsiveness of the forward and backward linear movement of the tip of the needle tube is improved, and the accuracy of the arrangement of the wound coil wire can be improved while the wire can be wound at high speed.

A fourth invention of the present invention is the needle tube circulating unit according to the third invention, wherein a position where the rod body protrudes is variable in a diameter direction of the disk. The distance of the linear motion generated by the crank mechanism is determined by a circle formed by a radius from the center of the disc to the center of the rod body. Therefore, by changing the position where the rod body protrudes, if the distance from the center of the disk to the center of the rod body is changed, the linear distance of the linear motion of the tip of the needle tube can be changed.

Therefore, even if the lamination thickness of the stator core is changed, the winding machine can perform winding by a single winding machine, and the universality of the winding machine is improved. In addition, even when insulators having vertical walls of different heights are mounted in stator cores of the same model, the circulating track can be matched with the height of the vertical wall of the insulator.

A fifth aspect of the present invention is the first to fourth aspects, wherein the cyclic orbit control means changes the cyclic orbit of the leading end by accelerating or decelerating the rotational motion of one of the servomotors in any one region of the cyclic orbit relative to the rotational motion of the other servomotor after unifying the time of one cycle corresponding to the linear motion and the oscillating motion.

The change in the rotational speed of the servo motor is not limited to a region, and the curved portion constituting the circulating orbit may be changed in addition to the linear portion constituting the circulating orbit. Or the speed of both the linear and curved portions may be varied. It is easy and preferable to control the acceleration and deceleration of the linear motion of the linear portion constituting the circulation orbit or the acceleration and deceleration of the oscillating motion of the curved portion constituting the circulation orbit, but the present invention is not limited thereto.

Since the linear motion and the oscillating motion correspond to a period of time which is uniform, even if the rotational motion speed of the servo motor varies in any region of the circular orbit, the tip of the needle pipe returns to the initial position after circulating around the magnetic pole teeth along the orbit which is varied from the starting point by one turn.

The term "uniform time of one corresponding cycle" means that the cycle is uniform in all the cyclic motions, except that the cycle of the linear motion and the oscillating motion is uniform in one cyclic motion. For example, when the coil wires are wound in overlapping fashion, the time required for one cycle for winding the lower coil wire is not limited to the same time as the time required for one cycle for winding the upper coil wire. For example, the time required to wind the upper coil wire may be longer than the time required to wind the lower coil wire.

Therefore, even if the components of the winding machine are not replaced, the circulating track of the front end of the needle tube can be changed into the track of the insulators corresponding to different shapes only by changing the rotating speed of the servo motor. In addition, the coil wires can be wound by the tension generated when the coil wires are overlapped, so that the arrangement accuracy of the wound coil wires can be improved.

A sixth aspect of the present invention provides the fifth aspect, wherein the circulating orbit control means relatively accelerates or decelerates a speed of the rotational motion of the linear motion servomotor with respect to a speed of the rotational motion of the swing motion servomotor in a linear portion constituting the circulating orbit to change a length of the linear portion.

For example, in the linear portion of the circular orbit constituted by the linear portion and the curved portion, since the rotational speeds of the linear portion and the linear portion are uniform, and the time for which the swing motion is stopped is uniform, the linear portion can be extended by accelerating the rotational speed of the linear portion and the linear portion. In this way, the straight portion of the circular path is lengthened, and the height of the circular arc is slightly lowered for the curved portion because the curve start end of the coil end portion is moved outward. In addition, the height of the entire circulating track does not change.

Conversely, in the linear portion, since the rotational speeds of the servo motors for the swing motion are uniform and the time during which the swing motion is stopped is uniform, the linear portion can be shortened by reducing the rotational speed of the servo motors for the linear motion. In the case of the curved portion, since the starting end of the curve of the coil end portion moves in the inward direction, the height of the circular arc shape thereof becomes slightly higher. In addition, the height of the entire endless track does not change as before.

Therefore, the proportion of the height of the straight line part and the height of the curve part is changed without replacing the components of the winding machine, so that the front end of the needle tube can easily realize the circular motion, and the coil wire can be wound with high arrangement precision corresponding to the shape of the insulator.

A seventh aspect of the present invention is the circular orbit control means of the fifth aspect, wherein the circular orbit control means relatively accelerates or decelerates a speed of the rotational motion of the swing motion servomotor with respect to a speed of the rotational motion of the linear motion servomotor in a curved portion constituting the circular orbit so that a position of the apex of the curved portion is shifted from an apex position before the circular orbit is changed, in either a front side or a rear side of the apex of the curved portion.

For example, in the curved portion, since the speed of the rotational motion of the linear motion servomotor is uniform and the time at which the linear motion is stopped is uniform, the distance from the start end to the apex of the curved portion can be shortened by reducing the rotational speed of the swing motion servomotor, and the apex of the curved portion can be displaced toward the start end side of the curved portion, thereby forming a curved track inclined toward the start end side. After the needle pipe exceeds the position of the apex of the curved portion, the rotational speed of the servomotor for the swinging motion can be increased, and the period of one cycle can be maintained.

Conversely, since the speed of the rotational motion of the linear motion servomotor is uniform and the time during which the linear motion is stopped is uniform in the curved portion, the distance from the start end to the apex of the curved portion can be made longer by accelerating the rotational speed of the swing motion servomotor, and the apex of the curved portion can be displaced toward the end side of the curved portion, thereby forming a curved track inclined toward the end side. After the needle pipe exceeds the position of the apex of the curved portion, the rotational speed of the servomotor for the oscillating motion can be reduced to maintain the time of one cycle constant.

Thus, if the insulator and the coil wire are not easily contacted, the coil wire is easily loosened, and the arrangement accuracy of the winding is easily lowered, and in order to make the coil wire in the curved portion easily contact the insulator, the winding is performed by shifting the position of the apex of the curved portion toward the circular orbit of the start end of the curved portion, so that the arrangement accuracy can be improved. Even if the shape of the standing wall of the insulator is not symmetrical, it is needless to say that the insulator can be wound in a circulating orbit corresponding thereto.

An eighth aspect of the present invention is the first to fourth aspects, wherein the cyclic track control unit reduces the speed of the rotational motion of each servomotor at the same rate in a curved portion constituting the cyclic track by unifying the time of one cycle corresponding to the linear motion and the oscillating motion, thereby extending the winding time in the curved portion.

Since the rotation speeds of the respective servo motors in the curved portion are decelerated at the same deceleration rate, the time for forming the overlap portion at the coil end portion can be lengthened. On the other hand, if the rotational speeds of the respective servo motors in the linear portion are accelerated at the same acceleration rate, the time for forming the linear portion can be shortened. Therefore, the time of the needle tube circulating for one circle is not changed, the straight line part is accelerated, the curve part is decelerated, and the whole winding time is not changed, so that the winding precision of the end part of the coil wire can be improved.

The winding machine of the ninth invention of the present invention includes the needle tube circulation unit. Thus, a winding machine capable of winding a wire at a high speed, having a high arrangement accuracy of the wound coil wire, and changing the needle track without replacing the combination of the winding machine when insulators of different shapes are used can be provided.

According to the first aspect of the present invention, even when the wire is wound at a high speed, vibration due to overshoot is not easily generated, the track of the tip end of the needle tube does not come off the set track, and the wound coil wire can be arranged with high accuracy. In addition, when insulators in different shapes are used, the needle tube can circularly move in a circulating track suitable for the insulators without replacing components of a winding machine, and the wound coil wire has the advantage of high arrangement precision. Meanwhile, the durability of the winding machine can be improved. According to the second invention, the operational responsiveness of the swing motion of the tip end of the needle tube is improved, and the accuracy of the arrangement of the wound coil wire can be improved while enabling high-speed winding. According to the third aspect of the present invention, the operational responsiveness of the forward and backward linear motion of the distal end of the needle tube is improved, and the accuracy of the arrangement of the wound coil wire can be improved while high-speed winding is possible.

According to the fourth aspect of the present invention, even if the lamination thickness of the stator core is changed, the winding can be performed by a single winding machine, and the advantage of improving the versatility of the winding machine is achieved. According to the fifth invention, even if the components of the winding machine are not replaced, the circulation orbit of the tip end of the needle tube can be changed into the orbit corresponding to the insulators of different shapes only by changing the rotation speed of the servo motor. In addition, the tension generated when the coil wires are overlapped can be used for winding, so that the advantage of improving the arrangement precision of the wound coil wires is achieved. According to the sixth aspect of the invention, the tip of the needle tube can be easily circulated by changing the ratio of the height of the linear portion to the height of the curved portion without replacing the components of the winding machine, and the coil wire can be wound with high arrangement accuracy in accordance with the shape of the insulator.

According to the seventh aspect of the invention, if the insulator and the coil wire are not easily in contact with each other, the coil wire is easily loosened, and the arrangement accuracy of the winding is easily lowered, and in order to make the coil wire in the curved portion easily contact the insulator, the winding is performed by the circulating orbit which is shifted toward the starting end of the curved portion by the position of the apex of the curved portion, so that the arrangement accuracy can be improved. According to the eighth aspect of the invention, the time for one cycle of the needle pipe does not change, the linear portion is accelerated, the curved portion is decelerated, and the entire winding time does not change, whereby the winding accuracy of the end portion of the coil wire can be improved. According to the ninth invention, it is possible to provide a winding machine which can perform high-speed winding, can wind a coil wire with high arrangement accuracy, and can change the needle track without replacing the combination of the winding machine when insulators of different shapes are used.

Drawings

Fig. 1 is a perspective view illustrating the structure of a winding machine having a needle tube circulation unit (embodiment 1).

Fig. 2 and fig. 2A to 2C are diagrams for explaining a winding state and an overshoot (embodiment 1).

Fig. 3 is a cross-sectional view illustrating the structure of the winding machine (example 1).

Fig. 4A and 4B are diagrams illustrating the structure of the crank mechanism (embodiment 1).

Fig. 5A to 5C are diagrams illustrating the circulation motion and the insulator (embodiment 1).

Fig. 6A to 6C are views for explaining the cyclic motion after the linear portion is extended (example 2).

Fig. 7A to 7C are diagrams illustrating a cyclic motion in which a curved portion is inclined toward a start end (example 3).

Fig. 8A to 8C are diagrams for explaining the cyclic motion after the curve portion is decelerated (embodiment 4).

[ notation ] to show

1. 2, 3, 4: needle tubing circulation assembly

10: oscillating motion assembly

11: servo motor

12: pulley wheel

13: synchronous belt

14: cam part body

15: input shaft

16: output shaft

20: connecting mechanism

21: swing driving part

22: swing driven part

23: connecting rod

30: linear motion assembly

31: servo motor

32: pulley wheel

33: synchronous belt

34: crank mechanism

35: disc with a circular groove

36: center shaft

37: rod body

38: plate body

39: long hole

40: maintaining part

41: circumferential groove

42: bearing assembly

43: sliding assembly

44: fitting projection

45: fitting recess

46: screw body

50: needle tube advancing and retreating assembly

51: basket part

52: connecting shaft

53: receiving shaft part

54: linear groove

55: bearing assembly

56: worm screw

57: worm wheel

60: inner cylinder

61: outer cylinder

62: intermediate cylinder

63: needle tube head

64: needle tube

65: cam follower

66: needle tube sliding groove

67: cam groove

68: tip of needle tube

70: stator core

71: magnetic pole tooth

72: flange part

80: insulator

81. 82: vertical wall

83: corner part

90: coil wire

91: base station

Detailed Description

The servo motor for linear motion and the servo motor for swing motion are set to rotate only in one direction, and each servo motor is fixed to the base in an independent state. In addition, the speed of the rotational movement of each servomotor is controlled by the circulating orbit control unit to change the circulating orbit of the tip end of the needle tube.

[ example 1 ]

First, referring to fig. 2 and 2A to 2C, a state in which a coil wire is wound around the magnetic pole teeth 71 of the stator core 70 by a direct winding type winding machine and overshoot that easily occurs when a conventional winding machine winds a coil at a high speed will be described. To make fig. 2 easier to understand, a part of the stator core and the tip of the inner tube 60 for guiding the coil wire are illustrated in oblique views. Further, an imaginary line of the inner cylinder 60 is indicated by a dotted line. Stator core 70 is formed of a plurality of laminated thin plates, and

insulators

80 and 80 are attached to upper and lower end surfaces thereof.

Slots 73, which sandwich magnetic pole teeth 71 formed to protrude inward in the stator core and wind the coil wire, penetrate through the stator core 70. The magnetic pole teeth 71 are formed inside with flange portions 72 protruding in the circumferential direction, and the needle tube 64 that feeds out the coil wire passes through a gap between the

adjacent flange portions

72 and 72. The needle tubes are attached to 3 positions on the tip part 63 of the inner cylinder 60 and are freely advanced and retreated in the radial direction of the stator core.

3 coil wires 90 are supplied from the lower portion of the inner cylinder 60, and the tip end of the needle tube 64 circulates around the flange 72 to which the magnetic pole teeth of the insulator 80 are attached while sending out the coil wires. The tip of the needle cannula advances/retracts by the width of one coil wire in the diametrical direction once per cycle. The above action is repeated to wind the coil wire 90 on the magnetic pole teeth 71.

Fig. 2A and 2B and fig. 2C are diagrams showing the amplitude of the oscillating motion with the passage of time in the upper diagram and the amplitude of the linear motion with the passage of time in the lower diagram, and fig. 2C shows the circular orbit of the tip of the needle tube, the displacement of the oscillating motion and the displacement of the linear motion are combined to form the circular orbit, and in the circular orbit, an upper top mark α, an upper end mark β of the oscillating motion, a lower end mark γ of the oscillating motion, a lower bottom mark δ, and a lower end mark ∈ of the oscillating motion, and an upper end mark ζ of the oscillating motion are indicated, as shown in fig. 2A, B and 2C, and the respective marks also indicate the same positions in the lower diagram.

In the conventional winding machine, when the direction of the needle tube is changed to wind the coil wire at a high speed, the rotational motion of the servomotor must be stopped rapidly, and the upper swing end β and the lower swing end e overshoot each other in the swing motion, and the upper top α and the lower bottom δ overshoot each other in the linear motion, so that the tip of the needle tube vibrates at each point α, β, δ, and e as shown in fig. 2C, which is one of the causes of winding irregularity.

Next, in embodiment 1, a needle tube circulation unit 1 including a crank mechanism as a linear motion direction conversion unit and a cam mechanism as an oscillating motion direction conversion unit, and a winding machine including the needle tube circulation unit are described with reference to fig. 1, 3, 4A, 4B, and 5A to 5C. Fig. 1 is an oblique view schematically illustrating a winding machine. Fig. 3 is a cross-sectional view illustrating the structure of the winding machine. Fig. 4 is a diagram illustrating a part of the crank mechanism 34. Fig. 5A to 5C are views illustrating the circulation motion and the insulator.

The winding machine is a direct winding type winding machine that winds a coil wire by circulating the tip of the needle tube on the magnetic pole teeth. The needle pipe circulation unit 1 includes a linear motion unit 30 that linearly moves the tip end of the needle pipe 64 forward and backward in the axial direction of the stator core, a swing motion unit 10 that swings the tip end of the needle pipe forward and backward in the circumferential direction of the stator core, and a circulation orbit control unit that changes the circulation orbit. Further, the device includes a needle tube advancing and retreating unit 50 (see fig. 1, indicated by a broken line) for advancing and retreating the tip end of the needle tube in the radial direction of the stator core, an inner tube 60 for supplying a coil wire, and an outer tube 61 provided around the inner tube. In fig. 1, imaginary lines of the inner cylinder 60 are indicated by chain lines.

First, referring to fig. 1, 3, 4A, and 4B, a linear motion assembly 30 for moving a needle tube in the axial direction of a stator core will be described. The linear motion block 30 includes a servo motor 31 for linear motion that rotates in a single direction, a disk 35 that rotates by the servo motor, a rod 37 that protrudes from a position eccentric to a central axis 36 of the disk, and a plate body 38 that linearly moves forward and backward along the axial direction of the stator core. The rod 37 is fixed to the disc 35 by a slide assembly 43 that can change the distance from the central axis of the disc.

The servomotor 31 transmits a rotational motion to a central shaft 36 of the disk via a pulley 32 and a timing belt 33. When the center shaft 36 rotates, the rod 37 provided in the disc 35 rotates around the center shaft 36 in a circular orbit. A horizontally extending elongated hole 39 is formed in the central portion of the plate body 38, and the rod body 37 penetrates the elongated hole 39 (see fig. 1). In response to the rotation of the disk 35, the linear motion of the displacement width is obtained by extracting the ratio of the amplitude of the rod 37 in the vertical direction multiplied by the vertical component of the sine wave, and the rod 37 moves the plate 38 having the long hole in the vertical direction in the drawing.

The plate body 38 includes a holding portion 40 for holding the inner cylinder 60, and transmits the linear forward and backward movement to the inner cylinder 60. The opposing surfaces of the holding portion 40 and the inner cylinder 60 are each engraved with a circumferential groove 41 having a circumferential shape in the horizontal direction, and a bearing 42 is fitted in the circumferential groove (see fig. 3). Therefore, when the inner cylinder is moved forward and backward in a swinging manner, the bearing 42 slides to freely rotate the inner cylinder 60, and when the plate body 38 is moved forward and backward in a linear manner in the axial direction, the bearing 42 is interlocked with the inner cylinder 60 and the plate body 38.

The servo motor 31 for generating the forward and backward linear motion, the servo motor 11 for generating the swing motion, and the servo motor for advancing and retracting the needle tube are fixed to the base 91 in independent states (see fig. 3). In fig. 1, the base is not shown in order to facilitate understanding of the needle tube circulating unit. The independent state described here means a state in which each servomotor does not bear the weight of the other servomotors.

Referring next to fig. 4, a rod sliding assembly 43 comprising a disc surface is illustrated. Fig. 4A is a plan view illustrating the crank mechanism 34, and fig. 4B is a side view illustrating a state in which the lever 37 slides. In fig. 4A, a part of the screw shaft 46 for fixing the position of the screw shaft is shown by a broken line, and in fig. 4B, a state where the screw shaft slides toward the center shaft side is shown by a broken line.

The slide unit 43 is composed of a fitting convex portion 44 constituting a rail, a fitting concave portion 45 fitted to the fitting convex portion, and a screw shaft body 46 fixing the position of the rod body 37. The fitting convex portion 44 is formed along the disk surface and along the diameter direction. The fitting recess 45 is fixed to the base end portion of the rod 37. The shape of the fitting portion between the fitting convex portion 44 and the fitting concave portion 45 is a groove shape whose cross section is reduced outward, and is fixed in the horizontal direction with a gap (see fig. 5A). The screw body 46 penetrates the fitting recess 44 from the side surface of the fitting recess 45 so as not to deviate from the positions of the fitting recess and the fitting projection.

In the crank mechanism 34, the linear movement distance of the plate body 38 (refer to fig. 3) is determined by the diameter of a circle when the rod body 37 circulates. Therefore, when the rod 37 slides along the fitting recess 44 and the distance from the center axis 36 of the disk to the rod 37 is changed (see fig. 4B), the diameter of the circle around which the rod 37 is wound changes. Therefore, the distance of the forward and backward linear movement of the plate body 38 also changes. When the laminated thickness of the stator core is changed to be different, the fixing position of the rod 37 is slid along the fitting recess, and the distance of the forward and backward linear movement is changed.

Next, the structure of the swing motion unit 10 will be described with reference to fig. 1 and 3. The oscillating motion unit 10 includes a servomotor 11 for oscillating motion and a cam mechanism constituting an oscillating motion direction changing unit. The cam mechanism converts the rotational motion in only one direction generated by the servo motor 11 into forward and backward oscillating motions repeated in the order of forward oscillating motion, stopped state, backward oscillating motion, and stopped state.

The servomotor 11 transmits a rotational motion to an input shaft 15 of the cam mechanism via a pulley 12 and a timing belt 13. When the input shaft 15 rotates, only one-directional rotational motion input from the servomotor 11 is converted into forward and backward oscillating motion by the cam mechanism. The cam mechanism is composed of an input shaft 15, a cam portion body 14, and an output shaft 16. When a rotational motion is input to the input shaft 15, a cam follower, not shown, of the cam portion body 14 slides along the cam groove and outputs an advancing and retreating oscillating motion to the output shaft 16.

The output shaft 16 of the cam mechanism transmits the reciprocating oscillating motion to the outer cylinder 61 through the link mechanism 20. The connection mechanism 20 includes a swing driving portion 21 attached to the output shaft 16, a pair of connecting rods 23 extending from the swing driving portion, and a swing driven portion 22 (see fig. 1) connected to the connecting rods. The connecting mechanisms 20 are all formed of rigid rods, and are not easy to loose or have gaps, and have high operation responsiveness (see fig. 3). In embodiment 1, in order to advance and retract a plurality of needle tubes simultaneously, the movement of the swing driven part 22 is transmitted to the inner tube 60 and the outer tube 61 by the needle tube advancing and retracting means 50 which generates a phase difference between the inner tube 60 and the outer tube 61.

Specifically, the operation of the swing driven portion 22 is transmitted to the housing 51 through the coupling shaft 52 (see fig. 3). Then, the forward and backward swinging motion is transmitted to the inner cylinder 60 through the shaft receiving portion 53 connected to the housing portion. Further, the surface of the shaft receiving portion 53 facing the inner cylinder 60 includes a linear groove 54, and the bearing 55 is fitted in the linear groove 54 to allow the linear movement of the inner cylinder 60. Further, a worm 56 incorporated in the housing 51 engages with a worm wheel 57 integrally fixed to the outer cylinder, and the forward and backward swinging motion is transmitted to the outer cylinder by the worm 56.

In a state where the worm 56 does not rotate, since the meshing position between the worm 56 and the worm wheel 57 is not changed and no phase difference is generated between the inner cylinder and the outer cylinder, the housing portion 51, the inner cylinder 60, and the outer cylinder 61 are moved forward and backward in a swinging manner. On the other hand, when the worm 56 is rotated, the meshing position with the worm wheel is changed. Therefore, the outer cylinder 61 performs the forward and backward swinging motion transmitted from the housing 51, and also performs the rotation transmitted from the worm 56, so that a phase difference is generated between the outer cylinder 61 and the inner cylinder 60, and the needle tube advances and retreats in the radial direction. In addition, the needle cannula advancing and retracting assembly 50 is by way of example only and is not limited thereto.

Here, referring to fig. 3, the structure of the inner cylinder 60 transmitting the linear motion and the swing motion to the tip end of the needle tube 64 will be described. The stator core 70 is shown in phantom in fig. 3. The inner cylinder 60 includes a space in which the coil wire 90 can be fed out at the center, and includes a needle head 63 having a needle tube attached to the tip end thereof. The needle tube head 63 is provided with three needle tubes 64 extending in a direction intersecting the inner tube 60 in a radial direction, and can simultaneously wind the magnetic pole teeth 71 at three positions (see fig. 2A and 2B).

The lower face of each needle 64 is fitted with a cam follower 65. The needle hub has a needle tube sliding mechanism 66 for advancing and retracting the needle tube. Next, a spiral cam groove 67 is formed on the upper surface of the intermediate cylinder 62, and the cam follower 65 is slidably fitted in the cam groove. When the cam follower 65 slides along the cam groove 67, the needle 64 moves forward and backward along the needle sliding groove 66 in the circumferential direction of the stator core.

The inner tube 60 is connected to the intermediate tube 62, and when the needle head 63 linearly moves forward and backward in the axial direction of the stator core, the inner tube 60 and the intermediate tube 62 linearly move in conjunction therewith. On the other hand, when the needle holder 63 is reciprocated in the circumferential direction of the stator core, the inner tube 60 and the intermediate tube 62 can be freely rotated. The outer cylinder 61 is a hollow cylinder having a hollow center, and an intermediate cylinder 62 and an inner cylinder 60 are inserted therein. Further, the outer cylinder 61 is coupled to the intermediate cylinder 62, allows linear movement of the intermediate cylinder 62, and the outer cylinder 61 is interlocked with the intermediate cylinder 62 at the time of rotational movement in the circumferential direction.

Here, referring to fig. 5, the cyclic orbit control means of the present invention will be described, fig. 5A shows the deviation of the oscillating motion direction, and fig. 5B shows the deviation of the linear motion direction, both the oscillating servo motor 11 and the linear servo motor 31 of the present invention rotate only in a single direction, and only the rotational speed is changed, so that overshoot does not occur at points α, β, δ, and ∈ (refer to fig. 5A and 5B), whereby the cyclic motion of the combined oscillating motion and linear motion passes through a predetermined orbit without generating vibration (refer to fig. 5C), and the time T of one cycle corresponding to the oscillating motion and the linear motion is also unified (refer to fig. 5A and 5B), which is the same also in the case of embodiment 2 and the following.

Assuming that unexpected vibration occurs in the rotational motion at any point, the displacement deviation of the forward and backward swinging motion is also limited by the cam mechanism. Thus, the end position of the oscillating movement will never easily come out of the set position to pass the gap formed between the pole teeth. Similarly, since the moving distance of the linear motion is determined by the distance between the rod body and the central axis of the disk as described above, the height of the entire circulating orbit does not change.

[ example 2 ]

Next, referring to fig. 6, the syringe circulation assembly 2 for controlling the circulation orbit by the circulation orbit control assembly when corresponding to insulators of different shapes will be described. Fig. 6A shows an example of a cyclic movement suitable for an insulator with an upper side parallel to a lower side, the upper and lower sides being connected to a vertical line by a hypotenuse, and an upstanding wall 82 having a narrow hexagonal shape above.

Specifically, the example of the circulation path is changed so as to correspond to the insulator having the substantially trapezoidal standing wall 82 in which only the length a of the vertical line (see fig. 6A) is extended. FIG. 6B illustrates the offset of the oscillating motion of the tip of the syringe synthesized to the track of FIG. 6A. Figure 6C shows the offset of the linear motion of the tip of the needle cannula resulting into the track of figure 6A.

Then, if the circulation orbit applied to the semicircular standing wall is directly applied to the slightly trapezoidal standing wall 82, the corner 83 formed by the vertical edge and the oblique edge of the standing wall 82 comes into contact with the tip end 68 of the needle tube (see chain line circle in fig. 6A). In addition, the syringe circulation assembly 2 in embodiment 2 extends only the vertical line by the length a through the circulation orbit control assembly.

Specifically, for the original linear distance (H), the ratio ((H +2 × a)/H) of the length (H +2 × a) of the vertical line added to the upper and lower sides of the linear distance is multiplied by the rotational speed of the servo motor used for swinging the linear motion, and after the change in the length of the linear portion, the swing time (between ζ and β in fig. 2A and 2B) of the swing motion is not changed, the rotational speed of the servo motor for the linear motion may be reduced.

After the linear portion is extended in length, the start point position of the curved portion (zeta point in fig. 6A) is closer to the top α of the curved portion than the magnetic pole teeth 71, and thus, a track in which the corner 83 formed by the vertical edge and the oblique edge of the substantially trapezoidal upright wall comes into contact with the needle portion can be achieved (refer to fig. 6A).

[ example 3 ]

In example 3, the syringe circulation unit 3 in which the position of the top of the circulation orbit controlled by the circulation orbit control unit is changed toward the start end side of the oscillating motion will be described with reference to fig. 7A to 7C, the required line shown in fig. 7A is a state in which the position of the apex before change is positioned also at the center portion of the magnetic pole teeth, the position α of the apex after change is a state in which it is closer to the start end side of the oscillating motion from the center portion of the magnetic pole teeth, and the apex position before change of the circulation orbit is indicated by a chain line circle.

The broken line shown in fig. 7B indicates the change in the position of the swing motion before the change in the apex position, and the solid line indicates the change in the position of the swing motion when the apex position α moves from the center of the magnetic pole tooth toward the start end side of the swing motion, and the solid line shown in fig. 7C indicates the change in the position of the linear motion, and the change in the position of the linear motion is the same before or after the change in the apex position.

In embodiment 3, when the rotational speed of the linear motion servomotor is maintained the same, the rotational speed of the oscillating motion servomotor is controlled by the rotation control means to be accelerated or decelerated. During the period of the straight portion (between 0 and ζ in fig. 7A to 7C), the rotation speed of each servomotor does not change. However, only the servo motor for the swing motion is decelerated during the period from the start end of the curved portion to the apex.

Thus, the distance from the start point ζ of the swing motion to the apex α is shorter than the distance from the apex α to the end point β of the swing motion, and the shape of the curved portion becomes a shape inclined toward the start point of the swing motion.

[ example 4 ]

In embodiment 4, a syringe circulation unit that changes only the speed of the circulation motion without changing the circulation orbit by the circulation orbit control unit will be described with reference to fig. 8A, showing the circulation orbits before and after the change of the circulation motion, the rotation speeds of the servo motors are accelerated at the same rate in their straight portions (between 0 to ζ and β to γ in fig. 8B and 8C), and the rotation speeds of the servo motors are decelerated at the same rate in their curved portions (between ζ to β and γ to ε in fig. 8B and 8C) to synthesize the circulation orbit.

The cyclic motion at the linear portion will accelerate and the cyclic motion at the curved portion will decelerate to form the same cyclic trajectory. When the needle tube is circulated at a high speed, precise winding can be performed with time in a curved portion where the coil wire is likely to be loosened, and the needle tube can be moved in a short time by accident in a straight portion where the coil wire is not likely to be loosened, and an armature wound with the same circulation orbit can be manufactured with high winding accuracy in the same time.

(others)

In embodiment 1, the input shaft of the cam mechanism is described as being provided with a pulley, and the rotational motion of the servomotor is transmitted through the timing belt, but it is needless to say that the timing belt may be omitted, and the drive shaft of the servomotor may be directly linked to the index cam. Also in the linear motion assembly, the drive shaft of the servo motor may be directly linked to the rotational shaft of the disc. The servo motor drive shaft is directly linked to the servo motor, so that the operation responsiveness can be further improved. In the needle tube circulating unit, the armature to which the insulator is attached may be applied to both axial end surfaces of the stator core, and it is needless to say that the armature to which the winding guide jig is detachably attached may be applied to both axial end surfaces of the stator core. It should be understood that the embodiments disclosed herein are illustrative and not restrictive in character. 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 cannula circulation unit for circulating a tip end of a needle cannula wound with a coil wire around a plurality of annular magnetic pole teeth, comprising:

a swinging motion unit for swinging the tip end in the circumferential direction along the end surface of the stator core, a linear motion unit for linear motion along the gap between the magnetic pole teeth, and a circulating orbit control unit for synthesizing the swinging motion and the linear motion into the circulating motion,

the swing motion assembly includes a servo motor for swing motion and a swing motion direction conversion assembly for converting a rotational motion generated by the servo motor for swing motion into the swing motion,

the linear motion unit includes a servo motor for linear motion and a linear motion direction conversion unit for converting a rotational motion generated by the servo motor for linear motion into the linear motion,

the servo motor for swing motion and the servo motor for linear motion are fixed on the base in independent states and only generate unidirectional rotation motion,

the circulation orbit control component can change the rotation speed of each servo motor to change the circulation orbit of the circulation motion.

2. The needle cannula circulation module according to claim 1, comprising a cam mechanism for converting a rotational motion into an oscillating motion at a predetermined amplitude, the cam mechanism converting the rotational motion generated by the servo motor for the oscillating motion into an advancing and retreating oscillating motion which repeats in the order of an advancing oscillating motion, a stopped state, a retreating oscillating motion, and a stopped state.

3. The needle cannula circulation unit according to claim 2, wherein the needle cannula circulation unit includes an inner cylinder to which the coil wire is supplied, the linear motion unit includes a disc rotated by the servo motor for linear motion, and a rod body protruding from the disc, the linear motion direction conversion unit includes a crank mechanism which connects the rod body to the disc protruding from a disc surface and the inner cylinder, and includes a plate body having a long hole extending in an end surface direction of the stator core, and the disc is rotated by rotational motion generated by the servo motor for linear motion so that the rod body slides in the long hole, and is converted into forward and backward linear motion which repeats in order of the forward linear motion and the backward linear motion.

4. The syringe circulation assembly of claim 3, wherein a position at which the rod protrudes is variable in a diameter direction of the disk.

5. The needle cannula circulation assembly according to any one of claims 1 to 4, wherein the circulation trajectory control assembly changes the circulation trajectory of the tip by accelerating or decelerating the rotational motion of any one of the servomotors in any one region of the circulation trajectory relative to the rotational motion of the other servomotor, after unifying the time of one cycle corresponding to the linear motion and the oscillating motion.

6. The syringe circulation module according to claim 5, wherein the circulation trajectory control module changes the length of the linear portion by relatively accelerating or decelerating the speed of the rotational motion of the linear-motion servomotor with respect to the speed of the rotational motion of the oscillating-motion servomotor in the linear portion constituting the circulation trajectory.

7. The syringe circulation module according to claim 5, wherein the circulation trajectory control module relatively accelerates or decelerates a speed of the rotational motion of the swing servomotor with respect to a speed of the rotational motion of the linear motion servomotor in a curved portion constituting the circulation trajectory so that the position of the apex of the curved portion is shifted from the apex position before the circulation trajectory is changed, in either a front side or a rear side of the apex of the curved portion.

8. The needle cannula circulation assembly according to any one of claims 1 to 4, wherein the circulation trajectory control assembly decelerates the speed of the rotational motion of each servomotor at the same deceleration rate in a curved portion constituting the circulation trajectory by unifying the time of one period corresponding to the linear motion and the oscillating motion to extend the winding time in the curved portion.

9. A direct winding type winding machine which winds a coil wire around magnetic pole teeth, characterized by comprising the needle cannula circulation assembly according to any one of claims 1 to 4.