CN111971244B - Tension adjusting device, winding device, and method for manufacturing rotating electric machine - Google Patents
Tension adjusting device, winding device, and method for manufacturing rotating electric machine Download PDFInfo
- Publication number
- CN111971244B CN111971244B CN201880091255.XA CN201880091255A CN111971244B CN 111971244 B CN111971244 B CN 111971244B CN 201880091255 A CN201880091255 A CN 201880091255A CN 111971244 B CN111971244 B CN 111971244B
- Authority
- CN
- China
- Prior art keywords
- tension
- wire
- winding
- pulley
- dancer roller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/10—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by devices acting on running material and not associated with supply or take-up devices
- B65H59/18—Driven rotary elements
Landscapes
- Tension Adjustment In Filamentary Materials (AREA)
- Coil Winding Methods And Apparatuses (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
The tension adjusting device (3) guides the wire (11) fed out from the bobbin (12) to the winding section (2) and adjusts the tension of the wire (11). The tension adjusting device (3) has a tension pulley portion (13), a dancer roller (14), a tension arm portion (15), and an urging portion (16). The tension pulley section (13) applies tension to the wire (11) fed out from the bobbin (12). The tension arm (15) rotatably supports the dancer roller (14), and regulates the swing of the dancer roller (14) about a fulcrum (17). The urging section (16) urges the tension arm section (15) in a direction in which the dancer roller (14) is separated from the winding section (2) in the circumferential direction around the fulcrum (17). The wire (11) that has left the dancer roller (14) is directed linearly from the dancer roller (14) toward the winding section (2).
Description
Technical Field
The present invention relates to a tension adjusting device for adjusting tension of a wire rod when the wire rod is wound around a workpiece, and a winding device provided with the tension adjusting device.
Background
As a conventional technique of an apparatus for winding a wire around a workpiece such as a rotor or a stator, there is disclosed a winding apparatus including a bobbin arranged on an upstream side, a tension pulley for sending out a winding of the bobbin, a flywheel arranged on a downstream side and for drawing in the winding, and a tension adjusting mechanism arranged between the tension pulley and the flywheel (see, for example, patent document 1). The tension adjusting mechanism of the winding device includes a first pulley disposed on the upstream side, a second pulley disposed on the downstream side, and a third pulley disposed between the first pulley and the second pulley. The first pulley and the second pulley are rotatably fixed and function as a fixed pulley, and the third pulley functions as a swinging pulley that swings around the strut.
Prior art documents
Patent document
Patent document 1: japanese laid-open patent application No. 2010-118452
Disclosure of Invention
Problems to be solved by the invention
In the conventional technique disclosed in patent document 1, since the first pulley is disposed between the tension pulley and the swing pulley and the second pulley is disposed between the swing pulley and the flywheel, there are many pulleys, and the tension adjusting mechanism and the winding device are large in size. Further, since many pulleys for bending the wire rod are arranged on the path through which the wire rod passes, the wire rod is stretched by the many pulleys, and there is a problem in that the winding quality of the coil is deteriorated.
The present application discloses a technique for solving the above-described problem, and an object thereof is to provide a tension adjusting device and a winding device that can be reduced in size and improved in winding quality as compared with the conventional technique.
Means for solving the problems
The tension adjusting device disclosed in the present application is a tension adjusting device that guides a wire rod fed out from a bobbin to a winding portion for winding the wire rod around a workpiece and adjusts the tension of the wire rod,
the tension adjusting device comprises:
a tension pulley unit that applies tension to the wire fed out from the bobbin;
a dancer roller around which the wire rod fed out from the tension pulley portion is wound, the dancer roller guiding the wire rod to the winding portion and being provided swingably;
a tension arm portion that rotatably supports the dancer roller and regulates a swing of the dancer roller around a fulcrum provided at a position different from a rotation shaft of the dancer roller; and
a biasing portion that biases the tension arm portion toward a direction in which the dancer roller is away from the winding portion in a circumferential direction around the fulcrum;
the wire rod separated from the dancer roller is directed linearly from the dancer roller toward the winding portion.
In addition, the winding device disclosed by the application is provided with the tension adjusting device and the winding part.
Effects of the invention
According to the tension adjusting device and the winding device disclosed by the application, the size can be reduced, and the winding quality can be improved.
Drawings
Fig. 1 is a diagram showing a structure of a winding device according to embodiment 1.
Fig. 2 is a perspective view of a tension adjusting device according to embodiment 1.
Fig. 3 is a perspective view of the tension pulley and the servo motor in embodiment 1.
Fig. 4 is a plan view of the post tensioner in embodiment 1.
Fig. 5 is a side view of the rear tensioner in embodiment 1 as viewed from the upstream side.
Fig. 6 is a front view of the dancer roller according to embodiment 1.
Fig. 7 is a front view of the flywheel device according to embodiment 1.
Fig. 8 is a sectional view of the flywheel device according to embodiment 1.
Fig. 9 is a cross-sectional view showing the position of the flywheel nozzle when the wire rod is wound around the workpiece in embodiment 1.
Fig. 10 is a diagram showing a relationship between an angle of the flywheel arm portion with respect to the workpiece and a linear acceleration of the wire rod fed from the flywheel nozzle in embodiment 1.
Fig. 11 is a diagram showing a state in which tension is applied to the wire by the tension pulley in embodiment 1.
Fig. 12 is a diagram showing the states of the tension pulley and the dancer roller when the line speed is not sharply increased in embodiment 1.
Fig. 13 is a diagram showing the states of the tension pulley and the dancer roller when the tension of the wire rod increases due to a rapid increase in the linear velocity in embodiment 1.
Fig. 14 is a diagram showing a positional relationship among the tension pulley, the dancer roller, the tension arm, and the urging portion when the linear acceleration is not increased in the modification of embodiment 1.
Fig. 15 is a diagram showing a positional relationship among the tension pulley, the dancer roller, the tension arm, and the urging portion when the linear acceleration increases in the modification of embodiment 1.
Fig. 16 is a diagram showing a structure of a winding device according to embodiment 2.
Fig. 17 is a diagram showing a structure of a winding device according to embodiment 3.
Fig. 18 is a diagram showing a driving path of a workpiece and a nozzle driven along a side surface of the workpiece in the winding device of embodiment 3.
Fig. 19 is a diagram showing a structure of a winding device according to embodiment 4.
Detailed Description
Hereinafter, a plurality of embodiments will be described with reference to the drawings. In the following description, the same reference numerals are given to portions corresponding to the items already described in the embodiments prior to the respective embodiments, and overlapping descriptions may be omitted. In the case where only a part of the structure is described, the other parts of the structure are the same as in the previously described manner.
Embodiment 1.
Fig. 1 is a diagram showing a structure of a winding device 1 according to embodiment 1. The winding device 1 includes a tension adjusting device 3 and a flywheel device 2 as a winding portion. The flywheel device 2 includes a flywheel arm portion 4 and a flywheel rotating portion 5. The flywheel arm portion 4 feeds the wire rod 11 with respect to the workpiece 6. The flywheel rotation portion 5 rotates the flywheel arm portion 4.
The tension adjusting device 3 guides the wire rod 11 fed out from the bobbin 12 to the winding portion and adjusts the tension of the wire rod 11. The winding portion winds the wire material 11 around the workpiece 6. The tension adjusting device 3 includes a tension pulley portion 13, a dancer roller 14, a tension arm portion 15, and a tension coil spring 16 as an urging portion. The tension pulley portion 13 applies tension to the wire rod 11 fed out from the bobbin 12. The dancer roller 14 is wound around the wire rod 11 fed from the tension pulley portion 13, guides the wire rod 11 to the winding portion, and is provided swingably.
The tension arm 15 rotatably supports the dancer roller 14. The tension arm 15 regulates the swing of the dancer roller 14 around the fulcrum 17. The fulcrum 17 is provided at a position different from the rotation axis of the dancer roller 14. The swinging direction Dr in which the dancer roller 14 swings about the fulcrum 17 is substantially parallel to the direction Dr2 in which the wire material 11 is directed from the dancer roller 14 toward the winding portion, and thus the wire material 11 that has left the dancer roller 14 is directed linearly from the dancer roller 14 toward the flywheel device 2. The urging portion urges the tension arm portion 15 in a direction in which the dancer roller 14 is away from the winding portion.
The direction of the wire rod 11 from the tension pulley portion 13 toward the dancer roller 14 is perpendicular to the direction of the wire rod 11 from the dancer roller 14 toward the winding portion. In the present embodiment, "vertical" does not necessarily mean only 90 degrees, and the direction of the wire rod 11 from the tension pulley portion 13 toward the dancer roller 14 and the direction of the wire rod 11 from the dancer roller 14 toward the winding portion may be changed around substantially 90 degrees by the swinging of the dancer roller 14. The wire 11 is wound around the dancer roller 14 around the rotation axis of the dancer roller 14 at the dancer roller 14.
In the present embodiment, the workpiece 6 is a stator or a rotor of a rotating electrical machine. The outer peripheral surface of the workpiece 6 around which the wire rod 11 is wound is not circular but rectangular. The wire material 11 to be wound around the workpiece 6 by the winding portion is supplied to the winding device 1 while being wound around the bobbin 12. In the path through which the wire rod 11 passes, the side close to the bobbin 12 is referred to as an upstream side, and the side close to the workpiece 6 is referred to as a downstream side.
As shown in fig. 1, the wire rod 11 wound around the bobbin 12 is supplied to the tension pulley portion 13 of the tension adjusting device 3 via the 1 st pulley 21. The tension pulley portion 13 has a tension pulley 22, a post tensioner (japanese: バックテンショナ)23, and a control portion 7. The wire 11 supplied from the bobbin 12 to the winding device 1 via the 1 st pulley 21 is wound around the tension pulley 22 by the post tensioner 23 and then directed toward the dancer roller 14. The thread material 11 is wound around the outer peripheral surface of the dancer roller 14 having a central angle in a range of approximately 270 degrees around the rotation axis of the dancer roller 14 at the dancer roller 14. The wire 11 is wound around the outer peripheral surface of the pulley in this manner, and the range of contact with the pulley is represented by a central angle around the rotation axis of the pulley, which is hereinafter referred to as "winding angle".
The wire rod 11 is wound around the dancer roller 14 at a winding angle of approximately 270 degrees and then directed toward the flywheel device 2 provided downstream of the dancer roller 14. The flywheel device 2 includes a flywheel arm portion 4 and a flywheel rotating portion 5. The flywheel arm portion 4 is a portion for feeding the wire rod 11 to the workpiece 6. The details of the flywheel device 2 will be described later.
Next, the path of the wire rod 11 and the tension pulley portion 13 determined in the tension adjusting device 3 will be described with reference to fig. 2 and 3. Fig. 2 is a perspective view of a tension adjusting device 3 according to embodiment 1. Fig. 3 is a perspective view of the tension pulley 22 and the servo motor 25 in embodiment 1. As shown in fig. 2, the wire rod 11 wound around the bobbin 12 is wound around the tension pulley 22 from the upstream side via the 1 st eyelet 26, the 1 st pulley 21, the 2 nd eyelet 31, the felt portion 32, and the post tensioner 23.
The 1 st eyelet 26 protects the coating covering the wire rod 11. The 1 st pulley 21 bends the wire 11 from the 1 st eyelet 26 towards the post tensioner 23. The 2 nd eyelet 31 adjusts the position of the wire 11 from the 2 nd pulley to the felt portion 32. The felt portion 32 adjusts the amount of wax on the surface of the wire 11 by sandwiching the wire 11 with felt. In the post-tensioner 23, the wire rod 11 is sandwiched by a plurality of sapphire plates (japanese patent No. サファイヤ plates) 33 and pressed from both sides by applying a dynamic frictional force to the passing wire rod 11. The rear tensioner 23 will be described in detail later.
The wire material 11 is wound around a predetermined number of turns on the tension pulley 22 located on the downstream side of the rear tensioner 23. As shown in fig. 3, the rotation shaft of the tension pulley 22 is connected to a servo motor 25, and is rotationally driven by the servo motor 25 in a state where the rotational torque of the servo motor 25 is feedback-controlled to be constant. The rotation shaft of the tension pulley 22 is rotatably supported by the tension pulley table 34. The servo motor 25 is fixed to the tension pulley table 34. The feedback control of the servo motor 25 is performed by the control unit 7 of the tension adjusting device 3.
A pulley guide 35, which the wire rod 11 contacts, is formed on the outer peripheral surface of the tension pulley 22 located outside about the rotation axis. The pulley guide 35 is formed of a material such as nitrile rubber or urethane resin that is less likely to cause the wire 11 to slip. Thereby, a static friction force acts between the wire rod 11 and the outer peripheral surface of the tension pulley 22 in contact with the wire rod 11, and the wire rod 11 is fed from the upstream side to the downstream side by the rotation of the tension pulley 22. The dynamic friction force applied to the wire 11 by the post-tensioner 23 is set to a magnitude at which the wire 11 does not slip at the tension pulley 22. The tension acting on the wire 11 during the movement of the wire 11 is mainly determined by the magnitude of the rotational torque and the static friction force of the tension pulley 22.
The wire rod 11 that has left the tension pulley 22 is wound around the dancer roller 14 located on the downstream side of the tension pulley 22, and advances in contact with the outer peripheral surface of the dancer roller 14. The dancer roller 14 suppresses a change in the moving speed of the wire 11 caused by winding around the workpiece 6. The wire 11 leaving the dancer roller 14 passes through the 3 rd eyelet 36 and is directed toward the flywheel device 2.
Even if the wire rod 11 positioned on the upstream side of the dancer roller 14 and the wire rod 11 positioned on the downstream side of the dancer roller 14 may contact each other, the winding quality is not adversely affected. In addition, in the case where the wire rods 11 are prevented from contacting each other on the upstream side and the downstream side of the dancer roller 14, the 3 rd eyelet 36 may be displaced in a direction parallel to the rotation axis of the dancer roller 14.
Next, the structure of the rear tensioner 23 will be described with reference to fig. 4 and 5. Fig. 4 is a plan view of the rear tensioner 23 in embodiment 1. Fig. 5 is a side view of the rear tensioner 23 in embodiment 1 as viewed from the upstream side. The post tensioner 23 includes a plurality of sapphire plates 33, a plurality of cylinders 41 for adjusting the pressing force of the sapphire plates 33 on the wire rod 11, a rod 42 for transmitting the power from each cylinder 41 to each sapphire plate 33, a plurality of linear pressing guides 43 for defining the moving direction of each sapphire plate 33, and a post tensioner stage 44 for fixing and supporting the housing portion of the plurality of cylinders 41 and the plurality of linear pressing guides 43.
The pair of sapphire plates 33 press the wire rod 11 from both sides in the horizontal direction, and 3 pairs are arranged in line from the upstream side to the downstream side. On the upstream side of the 3 pairs of sapphire plates 33, a 4 th eyelet 45 for positioning the wire 11 is fixedly provided on the post tensioner stage 44.
The pressing linear guide 43 has a plurality of rails fixed to the post-tensioner stage 44, and the pair of sapphire plates 33 and the rod 42 of the cylinder 41 are connected to the rails corresponding to the pair of sapphire plates 33. The housing portion of the cylinder 41 is fixed to the post tensioner station 44. The wire 11 is pressed in a state where the rod 42 of each cylinder 41 is extended from each cylinder 41, and the wire 11 is released in a state where the rod 42 is introduced into each cylinder 41. The wire 11 is positioned by the 4 th aperture 45, and therefore, does not deviate from the path between the 3 pairs of sapphire plates 33. In the present embodiment, the rod 42 of each cylinder 41 is extended from each cylinder 41 during winding, and presses the wire material 11 with a pressing force of a certain magnitude.
Next, the dancer roller 14 will be described with reference to fig. 6. Fig. 6 is a front view of the dancer roller 14 according to embodiment 1. The dancer roller 14 is rotatably supported by one end 53 of the tension arm portion 15 via the 1 st ball bearing 46. The tension arm portion 15 is rotatably attached to the dancer roller table 52 via a2 nd ball bearing 51 at a certain portion except for the intermediate portion at both longitudinal direction end portions of the tension arm portion 15. The point at which the tension arm portion 15 is attached to the dancer roller table 52 becomes a fulcrum 17 related to the swing of the dancer roller 14 and the tension arm portion 15.
One end of the tension coil spring 16 is attached to the other end 54 of the tension arm 15 opposite to the one end 53 to which the dancer roller 14 is attached. The other end portion of the tension coil spring 16 is fixed to the dancer roller stand 52 via the self-aligning spherical surface 55. The tension coil spring 16 expands and contracts by swinging about a fulcrum 17 of the dancer roller 14 and the tension arm portion 15. The swing direction Dr of the dancer roller 14, i.e., the tangential direction at the position of the dancer roller 14 on the circumference around the fulcrum 17, is set as follows: substantially parallel to the direction of the wire rod 11 from the dancer roller 14 toward the flywheel unit 2. Thereby, the wire rod 11 that has left the dancer roller 14 is directed linearly from the dancer roller 14 toward the flywheel device 2. When the dancer roller 14 approaches the flywheel unit 2 on the downstream side, the tension coil spring 16 is extended, and when the tension coil spring 16 returns to the natural state, the dancer roller 14 moves away from the flywheel unit 2.
Since the other end portion of the tension coil spring 16 is attached to the dancer roller table 52 via the self-aligning spherical surface 55, even if the tension coil spring 16 is deflected in a direction other than the expansion and contraction direction by the swinging of the dancer roller 14 and the tension arm portion 15, the self-aligning spherical surface 55 is inclined in accordance with the deflection of the tension coil spring 16. This prevents forces in directions other than expansion and contraction from acting on the tension coil spring 16.
As shown in fig. 6, the angle of the arm portion 15 around the fulcrum 17 is measured by a laser displacement meter 57. The measurement result is transmitted to the control unit 7 and used for torque control of the servo motor 25 for rotating the tension pulley 22. The measurement result may be used for adjusting the pressing force of the plurality of cylinders 41 of the post tensioner 23 on the sapphire plate 33.
Next, the flywheel device 2 will be described with reference to fig. 7 and 8. Fig. 7 is a front view of the flywheel apparatus 2 according to embodiment 1. Fig. 8 is a sectional view of the flywheel apparatus 2 according to embodiment 1. A workpiece holding portion 56 for holding the workpiece 6 is provided on the downstream side of the flywheel device 2. The workpiece 6 is held in the workpiece holding portion 56 in a stationary state, and the wire rod 11 fed out from the flywheel nozzle 24 is wound around the outer peripheral surface of the workpiece 6 by the rotation of the flywheel arm portion 4. The flywheel nozzle 24 is disposed on the most downstream side in the flywheel device 2.
The flywheel device 2 includes a fixed portion 61 and a movable portion 62. The fixing portion 61 has a base plate 63, a moving linear guide 64, and a linear stator 67. The movable portion 62 is mounted above the substrate 63. The movable portion 62 is provided movably in a direction parallel to the rotation axis of the flywheel arm portion 4, and includes the flywheel arm portion 4, a rotary member 65, a shaft portion 66, a bearing 71, a movable stage 72, a mover 73, and the like. Hereinafter, a direction parallel to the rotation axis of the flywheel arm portion 4 is referred to as "1 st direction X", a direction toward the downstream side of the 1 st direction X, that is, toward the workpiece 6 is referred to as "one direction X1 in the 1 st direction, and a direction toward the upstream side, that is, away from the workpiece 6 is referred to as" the other direction X2 in the 1 st direction ".
The moving table 72 is connected to the bearing 71 and is placed on the moving linear guide 64. A pair of linear guides 64 is provided on the upper surface of the base plate 63 in parallel with the 1 st direction X. The moving table 72 is driven by a linear motor 74 with respect to the base plate 63 and the moving linear guide 64 in one direction X1 in the 1 st direction and the other direction X2 in the 1 st direction. The linear motor 74 is provided between the moving stage 72 and the base plate 63, and includes a linear stator 67 and a mover 73. The linear stator 67 is attached to the base plate 63, and the mover 73 is attached to the movable stage 72. The linear stator 67 and the mover 73 are disposed to face each other.
In order to detect the position of the movable portion 62 in the 1 st direction X with respect to the fixed portion 61, a linear position detector 75 is provided between the movable stage 72 and the substrate 63. The linear position detector 75 includes a slider 76 and a scale 81, the slider 76 is attached to the moving stage 72, the scale 81 is attached to the substrate 63, and the position of the movable portion 62 relative to the fixed portion 61 is detected by detecting a change in the relative position of the slider 76 to the scale 81. The moving mechanism of the movable portion 62 with respect to the fixed portion 61 is constituted by these substrates 63, the moving linear guide 64, the moving table 72, the linear motor 74, and the linear position detector 75.
The bearing 71 is fixed to the upper surface of the movable stage 72. The bearing 71 supports the shaft portion 66, moves in the 1 st direction X together with the shaft portion 66, and allows the shaft portion 66 to rotate about the center axis of the bearing 71. The central axis of the bearing 71 coincides with the axis of rotation of the flywheel arm 4. In addition, the axis of rotation of the flywheel arm portion 4 coincides with the central axis of the workpiece 6. The shaft portion 66 is formed with an inner hole penetrating in the 1 st direction X along the center axis of the bearing 71, and the wire rod 11 passes through the inside of the inner hole.
The flywheel device 2 further has a spherical spline shaft 82, a spline holder 83, and a spline outer cylinder 84, of which the spline outer cylinder 84 is included in the fixing portion 61. The spline holder 83 and the spline outer cylinder 84 do not move in the 1 st direction X. The spline outer cylinder 84 supports the spline holder 83, allowing the ball spline shaft 82 and the spline holder 83 to rotate about the rotational axis of the spline outer cylinder 84. The center axis of the spline outer cylinder 84 coincides with the rotation axis of the flywheel arm portion 4 and the center axis of the bearing 71.
The ball spline shaft 82 is formed with an internal hole penetrating in the 1 st direction X along the center axis of the spline outer cylinder 84, and the wire rod 11 passes through the inside of the internal hole. The end of the ball spline shaft 82 on the most downstream side and the end of the shaft 66 on the most upstream side are connected by a coupling member 86. The shaft portion 66 and the ball spline shaft 82 are movable in the 1 st direction X and are movable about the respective center axes. In contrast, the spline outer cylinder 84 is fixed in the 1 st direction X and also fixed around the center axis. Therefore, the shaft portion 66 and the ball spline shaft 82 can move in the 1 st direction X relative to the spline outer cylinder 84 and can rotate about the center axis.
At the upstream end of the spline-holding body 83, a spherical spline-side pulley 85 is mounted in the same manner as the rotation axis. The spline-holding body 83 and the spherical spline-side pulley 85 are fixedly connected to each other. Thus, when the spherical spline-side pulley 85 rotates around the center axis of the spherical spline, the spline holder 83, the spherical spline shaft 82, the coupling member 86, and the shaft portion 66 rotate around the center axis of the shaft portion 66. The spherical spline side pulley 85 is a toothed pulley. In the present embodiment, the shaft portion 66 and the ball spline shaft 82 are coupled to each other by the coupling member 86, but the shaft portion 66 and the ball spline shaft 82 may be integrally formed.
A rotating member 65 is connected to the downstream side of the shaft 66. The rotating member 65 is formed in a cylindrical shape having an axis perpendicular to the central axis of the shaft portion 66. The hollow 91 inside the rotating member 65 is open to both sides in the axial direction of the cylindrical shape forming the rotating member 65. A communication hole 92 is formed along the center axis of the shaft 66 at the connection portion of the rotating member 65 to the shaft 66. Thus, the cavity 91 in the rotating member 65 communicates with the internal hole of the shaft 66 along the center axis of the shaft 66.
The portion of the rotating member 65 opposite to the connection portion with the shaft portion 66 in the 1 st direction X is connected to the flywheel arm portion 4. Thus, when the rotating member 65 rotates together with the shaft portion 66 about the central axis of the shaft portion 66, the flywheel arm portion 4 rotates about the central axis of the workpiece 6. The first guide roller 93 is provided inside the cavity 91 of the rotating member 65. The rotation axis of the 1 st guide roller 93 is set to be perpendicular to both the central axis of the shaft 66 and the axis of the rotating member 65.
The 1 st guide roller 93 is disposed near one of both open ends of the cavity 91 of the rotating member 65. Thus, the 1 st guide roller 93 is positioned closer to one end of the rotating member 65 than an extension line of the central axis of the shaft portion 66. Hereinafter, a direction perpendicular to the central axis of the shaft 66 and parallel to the axis forming the cylindrical shape of the rotating member 65 will be referred to as "2 nd direction Y". The direction from the center axis of the shaft 66 toward the 1 st guide roller 93 in the 2 nd direction is referred to as "one 2 nd direction Y1", and the direction opposite to the one 2 nd direction Y1 is referred to as "the other 2 nd direction Y2".
The wire rod 11 having passed through the inner hole of the shaft portion 66 is guided by the 1 st guide roller 93 in the cavity 91 of the rotating member 65 and extends out of the rotating member 65 from the opening 94 at the end of the rotating member 65 in the 2 nd direction Y1. Since the 1 st guide roller 93 is provided on the rotating member 65, when the rotating member 65 rotates about the central axis of the shaft, it moves together with the rotating member 65 about the central axis of the shaft. Therefore, when the rotating member 65 rotates about the center axis of the shaft, the 2 nd direction Y rotates with respect to the fixed portion 61 of the flywheel device 2.
The length direction of the flywheel arm portion 4 coincides with the 2 nd direction Y. A swivel plate 96 is provided at an end of the flywheel arm portion 4 in the 2 nd direction Y1. The thickness direction of the convolution plate 96 coincides with the 2 nd direction Y. The 2 nd guide roller 95 is attached to a whirl plate 96. The 2 nd guide roller 95 is rotatable about a rotation axis perpendicular to both the 1 st direction X and the 2 nd direction Y. The wire rod 11 guided by the 1 st guide roller 93 from the hollow 91 of the rotating member 65 and extending from the opening 94 of the 2 nd direction one Y1 of the rotating member 65 is wound around the outer peripheral surface of the 2 nd guide roller 95, and then, is advanced to the 2 nd direction other Y2 by the flywheel nozzle 24 and wound around the workpiece 6.
The freewheel nozzle 24, the whirl plate 96, the 2 nd guide roller 95, the freewheel arm portion 4, the rotating member 65, the 1 st guide roller 93, the shaft portion 66, the ball spline shaft 82, the spline holder 83, the coupling member 86, and the ball spline-side pulley 85 are rotated by the motor 101. The motor 101 is provided on the motor holder 102, and the motor holder 102 is fixed to the base plate 63 of the fixing portion 61. A motor-side pulley 103 is attached to the output shaft 97 that outputs the rotational force of the motor 101 in the same manner as the rotational axis. The motor-side pulley 103 is a toothed pulley.
A toothed belt 104 is wound around the motor-side pulley 103 and the above-described spherical-spline-side pulley 85, and the rotational force of the output shaft 97 of the motor 101 is transmitted to the motor-side pulley 103, the toothed belt 104, and the spherical-spline-side pulley 85. The motor 101, the motor-side pulley 103, the toothed belt 104, and the spherical spline-side pulley 85 constitute the flywheel rotating portion 5. The rotational driving force of the motor 101 is transmitted to the flywheel arm portion 4 with the motor-side pulley 103 as a driving wheel. The moving mechanism of the movable portion 62 with respect to the fixed portion 61 can be driven in the 1 st direction X independently of the driving rotation by transmitting the rotational driving force from the motor 101.
Next, a change in the linear acceleration of the wire rod 11 fed out from the fly wheel nozzle 24 when the wire rod 11 is wound around the workpiece 6 will be described with reference to fig. 9 and 10. Fig. 9 is a cross-sectional view showing the position of the flywheel nozzle 24 when the wire rod 11 is wound around the workpiece 6 in embodiment 1. Fig. 10 is a diagram showing a relationship between an angle of the flywheel arm portion 4 with respect to the workpiece 6 and a linear acceleration of the wire rod 11 fed from the flywheel nozzle 24 in embodiment 1. Hereinafter, the angle of the flywheel arm portion 4 is referred to as a "flywheel angle". In fig. 10, the angle of the flywheel arm portion 4 is the vertical direction, and the flywheel angle when the flywheel nozzle 24 is positioned directly above the workpiece 6 is represented as zero degrees and 360 degrees.
First, the linear acceleration of the wire rod 11 before and after the flywheel nozzle 24 passes through the position of the point P1 shown in fig. 9 will be described. In fig. 9, the direction of rotation of the flywheel nozzle 24 is indicated by an arrow U. When the freewheel nozzle 24 is located at point P0, i.e., before reaching point P1, the wire 11 contacts the corner C and corner D of the workpiece 6 but does not contact the corner a. Therefore, the wire 11 does not contact the winding surface AD of the workpiece 6. At this time, the distance between the point where the wire rod 11 contacts the workpiece 6 (in this case, the corner D) and the fly wheel nozzle 24 is referred to as "length of lead-out" of the wire rod 11 (japanese: lead き loop し long さ). In fig. 9, the drawn length of the wire rod 11 immediately before the fly wheel nozzle 24 passes through the point P1 is denoted by L44.
After the fly wheel nozzle 24 passes the point P1, the wire rod 11 comes into contact with the corner a of the workpiece 6, and therefore, comes into contact with the winding surface AD of the workpiece 6. At this time, the lead length of the wire rod 11 is the distance between the corner a and the flywheel nozzle 24. As indicated by the point P1, the position at which the winding surface of the workpiece 6 that is in contact with the wire rod 11 is switched is referred to as a "switching position". In fig. 9, the drawn length of the wire rod 11 immediately after the flywheel nozzle 24 passes through the switching position P1 is indicated by L1.
When the flywheel nozzle 24 passes through the switching position P1, the drawn length of the wire rod 11 is rapidly shortened from L44 to L1, and therefore the linear acceleration of the fed wire rod 11 is rapidly increased. Hereinafter, the velocity relating to the movement of the wire rod 11 when the wire rod 11 is fed out from the flywheel arm portion 4 is referred to as "linear velocity", and the acceleration relating to the movement of the wire rod 11 is referred to as "linear acceleration". When the freewheel nozzle 24 is located at point P6 in FIG. 9, the freewheel angle is zero degrees and 360 degrees in FIG. 10.
When the freewheel nozzle 24 moves between the switching position P1 and the switching position P2, the drawn length of the wire rod 11 gradually extends from L1 to L11 as shown in fig. 9, so the linear acceleration of the wire rod 11 gradually decreases. When the fly nozzle 24 passes through the switching position P2, the wire rod 11 comes into contact with the corner B of the workpiece 6, and therefore, the lead length of the wire rod 11 changes from L11 to L2 as shown in fig. 9. Therefore, when the freewheel nozzle 24 passes through the switching position P2, the linear acceleration of the wire rod 11 increases rapidly, because it is shortened rapidly as compared to when moving between the switching position P1 to the switching position P2. When the freewheel nozzle 24 passes between the switching position P2 and the switching position P3, the drawn length of the wire rod 11 gradually extends from L2 to L22 shown in fig. 9, so the linear acceleration of the wire rod 11 turns negative and the moving speed of the wire rod 11 gradually decreases.
When the fly wheel nozzle 24 passes through the switching position P3, the drawn length of the wire rod 11 is rapidly shortened from L22 to L3, and therefore the linear acceleration of the fed wire rod 11 is rapidly increased. When the freewheel nozzle 24 moves between the switching position P3 to the switching position P4, the drawn length of the wire rod 11 gradually extends from L3 to L33, so the linear acceleration of the wire rod 11 gradually decreases. When the fly wheel nozzle 24 passes through the switching position P4, the lead length of the wire rod 11 changes from L33 to L4. Therefore, when the freewheel nozzle 24 passes through the switching position P4, the linear acceleration of the wire rod 11 increases rapidly, because it is shortened rapidly as compared to when moving between the switching position P3 to the switching position P4.
When the fly nozzle 24 passes from P4 to P1, the drawn length of the wire rod 11 gradually extends from L4 to L44, so that the linear acceleration of the wire rod 11 turns negative and the moving speed of the wire rod 11 gradually decreases. As shown in fig. 10, the change from the switching position P3 to the switching position P1 is the same as the change from the switching position P1 to the switching position P3 described above.
Next, the principle of applying tension to the wire rod 11 by the tension pulley portion 13 will be described with reference to fig. 11. Fig. 11 is a diagram showing a state in which the tension pulley portion 13 applies tension to the wire rod 11 in embodiment 1. When the wire rod 11 is pressed by the sapphire plate 33 with the pressing force P in the post-tensioner 23, the tension T1 applied to the wire rod 11 on the downstream side of the post-tensioner 23 by the post-tensioner 23 is expressed by the following expression (1) when the coefficient of dynamic friction between the wire rod 11 and the sapphire plate 33 is μ 1.
T1＝P×μ1···(1)
When the wire rod 11 is wound around the tension pulley 22 at the winding angle θ 1, if the coefficient of dynamic friction between the wire rod 11 and the outer peripheral surface of the tension pulley 22 is μ 2, the slip tension Ts is expressed by the following equation (2) according to euler's belt theory (ベルト of オイラー, ).
Ts＝T1×e＾(μ2×θ1)···(2)
When the torque Q is applied to the tension pulley 22 by the servo motor 25, the inertia moment of the tension pulley 22 is represented by I and the winding radius of the tension pulley 22 is represented by R2, so that the tension T2 generated in the wire rod 11 for winding is represented by the following formula (3).
[ mathematical formula 1 ]
In the above formula (3) { (d/dt)2θ is the rotational angular acceleration of the tension pulley 22. Here, if T2 > Ts, the wire rod 11 does not slip on the outer peripheral surface of the tension pulley 22. In the feedback control in which the torque of the servo motor 25 is constant, the control is performed so as to satisfy T2 > Ts based on the conditional expressions shown in the above expression (2) and the above expression (3).
Next, an operation of suppressing the variation in the tension applied to the wire rod 11 will be described with reference to fig. 12 and 13. Referring to fig. 10, as described above, when the wire rod 11 is wound around the workpiece 6, the linear acceleration of the wire rod 11 reaches 2 peaks in the positive direction during 1 revolution of the flywheel nozzle 24 around the workpiece 6. In the winding device 1 configured to apply tension to the wire rod 11 by the post tensioner 23 and the tension pulley 22 between the bobbin 12 for supplying the wire rod 11 and the flywheel device 2 for winding the wire rod 11 around the workpiece 6, a rapid change in the linear acceleration causes a winding failure.
Fig. 12 is a diagram showing the states of the tension pulley 22 and the dancer roller 14 when the line speed is not rapidly increased in embodiment 1. Fig. 13 is a diagram showing the states of the tension pulley 22 and the dancer roller 14 when the tension of the wire rod 11 increases due to a rapid increase in the linear velocity in embodiment 1. When the linear acceleration increases when the wire rod 11 is wound around the workpiece 6, the tension of the wire rod 11 on the downstream side of the dancer roller 14 increases, and the dancer roller 14 swings toward the flywheel device 2 side. As a result, the tension coil spring 16 is elongated.
As shown in fig. 12, when the linear velocity of the wire 11 is not rapidly increased, La1 is the distance between the most downstream side contact point of the tension pulley 22 and the wire 11 and the most upstream side contact point of the dancer roller 14 and the wire 11. In addition, Lb1 represents the distance between the 3 rd eyelet 36 and the most downstream contact point of the dancer roller 14 and the wire 11. As shown in fig. 13, when the linear velocity of the wire 11 sharply increases and the tension of the wire 11 on the downstream side of the dancer roller 14 increases, La2 represents the distance between the most downstream side contact point of the tension pulley 22 and the wire 11 and the most upstream side contact point of the dancer roller 14 and the wire 11. In addition, Lb2 represents the distance between the 3 rd eyelet 36 and the most downstream contact point of the dancer roller 14 and the wire 11.
A difference dL between the path length of the wire rod 11 from the bobbin 12 to the fly wheel nozzle 24 when the tension of the wire rod 11 on the downstream side of the dancer roller 14 is not increased and the path length of the wire rod 11 from the bobbin 12 to the fly wheel nozzle 24 when the tension of the wire rod 11 on the downstream side of the dancer roller 14 is increased is expressed by the following equation (4).
dL＝(La1+Lb1)－(La2+Lb2)···(4)
The radius of the dancer roller 14 is R1, the radius of the tension pulley 22 is R2, the distance from the fulcrum 17 to the rotation axis of the tension pulley 22 is Lc, and the distance from the fulcrum 17 to the rotation axis of the dancer roller 14 is Ld. The radius of the tension pulley 22 is larger than the radius of the dancer roller 14 (R2 > R1). In order to secure the frictional force between the tension pulley 22 and the wire rod, the radius of the tension pulley 22 is set sufficiently large, and therefore, the oscillation of the dancer roller 14 has almost no influence on the frictional force between the tension pulley 22 and the wire rod 11.
The rotation axis of the fulcrum 17 is located vertically below the rotation axis of the tension pulley 22. The dancer roller 14 oscillates in position between the tension pulley 22 and the fulcrum 17. The connection point between the tension coil spring 16 and the tension arm portion 15 is located on the opposite side of the dancer roller 14 with respect to the fulcrum 17, and swings further downward in the vertical direction of the fulcrum 17. The attachment point swings in an opposite direction to the direction in which the dancer roll 14 swings. The distance from the fulcrum 17 to the rotation axis of the tension pulley 22 is set to be greater than the sum of the radius of the tension pulley 22, the radius of the dancer roller 14, and the distance from the fulcrum 17 to the rotation axis of the dancer roller 14 (Lc > Ld + R1+ R2). Therefore, even if the dancer roller 14 swings below the tension pulley 22, the dancer roller 14 does not contact the tension pulley 22.
As shown in fig. 12, when the linear velocity of the wire 11 does not increase rapidly, the swing direction Dr of the dancer roller 14 around the fulcrum 17 does not completely coincide with the direction Dr2 in which the wire 11 separated from the dancer roller 14 advances. However, since the swing direction Dr of the dancer roller 14 is substantially parallel to the direction Dr2 in which the wire rod 11 separated from the dancer roller 14 advances, the dancer roller 14 can swing in response to a rapid increase in the linear velocity of the wire rod 11. Therefore, the dancer roller 14 is swung to release the wire material 11, thereby suppressing the influence of the increase in the linear acceleration of the wire material 11 on the tension pulley 22.
Referring to fig. 9 and 10, as described above, when the linear acceleration is rapidly increased due to the variation in the drawn length of the wire rod 11 when the wire rod 11 is wound around the workpiece 6, the specific tension is adjustedThe tension of the wire 11 on the downstream side of the roller 14 causes the dancer roller 14 to swing and displace toward the flywheel device 2. As a result, the wire rod 11 is rapidly fed to the flywheel apparatus 2 within the range of the difference dL in the path length of the wire rod 11 shown in the above equation (4). The rotation angular acceleration of the tension pulley 22 represented by the above formula (3) { (d/dt) can be obtained without changing the length of the path of the wire 11 from the bobbin 12 to the tension pulley 222θ is zero or a value close to zero. Therefore, the tension of the wire rod 11 at the tension pulley portion 13 can be made constant or nearly constant.
The natural frequency related to the oscillation of the dancer roller 14 and the tensioner arm 15 is set to be 2 times or more the rotational speed of the flywheel nozzle 24. The reason for this is as follows. When the natural frequency of the swing of the dancer roller 14 is made smaller than 2 times the rotation speed of the flywheel nozzle 24, the swing of the dancer roller 14 is delayed in accordance with the variation in the drawn length when the wire rod 11 is wound around the workpiece 6 as described in fig. 9, and the change in the linear acceleration cannot be absorbed by the swing of the dancer roller 14.
According to embodiment 1, since the dancer roller 14 winds the wire rod 11 fed out from the tension pulley portion 13 and guides the wire rod 11 to the winding portion, no pulley is required between the tension pulley portion 13 and the dancer roller 14, and no pulley is required between the dancer roller 14 and the winding portion. Therefore, the tension adjusting device 3 can be downsized. Further, since the wire rod 11 is bent at many positions without using many pulleys, the wire rod 11 is not stretched, and the winding quality can be improved. Further, since the direction in which the dancer roller 14 swings about the fulcrum 17 is parallel to the direction of the wire 11 from the dancer roller 14 toward the winding portion, when the linear acceleration of the wire 11 increases rapidly, the wire 11 can be fed out in accordance with the linear acceleration by the swinging of the dancer roller 14.
Further, according to embodiment 1, since the direction of the wire rod 11 from the tension pulley portion 13 toward the dancer roller 14 is perpendicular to the direction of the wire rod 11 from the dancer roller 14 toward the winding portion, even if the dancer roller 14 swings to approach the winding portion and feed out the wire rod 11, the influence of the swing of the dancer roller 14 on the tension pulley portion 13 can be suppressed.
Further, according to embodiment 1, since the wire rod 11 is wound around the dancer roller 14 over a half-circumference or more around the rotation axis of the dancer roller 14 in the dancer roller 14, the frictional force between the dancer roller 14 and the wire rod 11 can be ensured to be larger than in the case where the winding angle of the dancer roller 14 is small. Therefore, the influence of the tension of the wire rod 11 on the tension pulley portion 13 can be reduced.
Further, according to embodiment 1, the number of pulleys on the path for the tension adjusting device 3 can be reduced, and therefore, the winding device 1 can be downsized. In addition, the number of times the wire rod 11 is bent by the pulley can be reduced, and therefore, the winding quality can be improved.
Further, according to embodiment 1, since the natural frequency relating to the oscillation of the dancer roller 14 is 2 times or more the rotation speed of the flywheel arm portion 4, the dancer roller 14 can be oscillated in accordance with the change in the linear acceleration generated when the wire rod 11 is wound around the workpiece 6, and a sudden increase in the linear acceleration can be absorbed by the oscillation of the dancer roller 14.
Further, according to embodiment 1, since the path length of the wire rod 11 from the dancer roller 14 to the winding portion is shortened when the dancer roller 14 swings, the change in linear acceleration of the wire rod 11 occurring in the winding portion can be absorbed by the swinging of the dancer roller 14.
The form of the post tensioner 23 in embodiment 1 is not limited. The tension may be applied to the wire rod 11 by a spring type, an electromagnetic brake type, or the like to such an extent that the wire rod 11 does not slip on the outer peripheral surface of the tension pulley 22.
In embodiment 1, the linear motor 74, the ball spline shaft 82, the toothed belt 104, and the like are used as the moving mechanism, but the present invention is not limited to such a configuration.
In embodiment 1, the positional relationship between the arrangement of the tension pulley 22, the dancer roller 14, the tension arm portion 15, and the biasing portion as shown in fig. 12 and 13 has been described, but the present invention is not limited thereto. For example, the arrangement shown in fig. 14 and 15 may be used. Fig. 14 is a diagram showing a positional relationship among the tension pulley 22, the dancer roller 14, the tension arm portion 15, and the urging portion when the linear acceleration is not increased in the modification of embodiment 1. Fig. 15 is a diagram showing a positional relationship among the tension pulley 22, the dancer roller 14, the tension arm portion 15, and the urging portion when the linear acceleration increases in the modification of embodiment 1.
In the modification shown in fig. 14 and 15, the fulcrum 17 is located vertically below the rotational axis of the tension pulley 22. The dancer roller 14 swings further vertically below the fulcrum 17. A connection point between the compression coil spring 105 as the urging portion and the tension arm portion 15 is located on the opposite side of the pivot 17 from the dancer roller 14, and swings between the pivot 17 and the tension pulley 22. The attachment point swings in an opposite direction to the direction in which the dancer roll 14 swings.
Although the biasing portion that biases the tension arm portion 15 in one circumferential direction around the fulcrum 17 is the tension coil spring 16 in embodiment 1, the tension arm portion 15 is not limited to the tension coil spring 16 as long as it can be biased by elasticity. For example, as shown in fig. 14 and 15, the urging portion may be realized by a compression coil spring 105.
In this way, the swinging direction Dr of the dancer roller 14 around the fulcrum 17 may be substantially parallel to the direction Dr2 from the dancer roller 14 toward the wire material 11 of the flywheel device 2. The position of the tension pulley 22 may be set so that the direction of the wire material 11 from the tension pulley 22 toward the dancer roller 14 is perpendicular to the swinging direction Dr of the dancer roller 14. The positional relationship between the tension pulley 22 and the flywheel device 2 with respect to the dancer roller 14 may be such that the dancer roller 14 is wound at a winding angle of 180 degrees or more, preferably 270 degrees.
Next, a winding device 1B according to embodiment 2 will be described below with reference to the drawings. Embodiment 2 is similar to embodiment 1 described above, and the following description focuses on differences of embodiment 2 from embodiment 1. Fig. 16 is a diagram showing a structure of a winding device 1B according to embodiment 2. As shown in fig. 16, the workpiece 6 in embodiment 2 is rotated by the spindle device 106. The wire winding section has a spindle nozzle (japanese: スピンドルノズル)107, and the wire 11 is fed out from the spindle nozzle 107 toward the workpiece 6. The spindle device 106 aligns the spindle axis with the central axis of the workpiece 6, and rotates the workpiece 6 about the spindle axis.
The wire rod 11 fed out from the spindle nozzle 107 is wound around the rotating workpiece 6. In this case as well, since the outer peripheral surface of the workpiece 6 around which the wire rod 11 is wound is not circular around the central axis of the workpiece 6, linear acceleration of the wire rod 11 is generated, and the tension of the wire rod 11 fed out from the mandrel nozzle 107 changes. The dancer roller 14 and the tension arm 15 swing in accordance with an increase in the tension of the wire rod 11 as in embodiment 1. The influence of the increase in the tension of the wire rod 11 on the tension pulley portion 13 is suppressed by the frictional force between the dancer roller 14 and the wire rod 11 and the deformation energy of the urging portion.
Not only in the case where the wire winding portion is the flywheel device 2, but also in the case where the spindle nozzle 107 is provided as in embodiment 2, a pulley at a halfway position from the tension pulley 22 to the dancer roller 14 and a pulley at a halfway position from the dancer roller 14 to the wire winding portion can be omitted, and the tension pulley portion 13 can be prevented from being affected by the linear acceleration of the wire material 11 due to the wire material 11 being wound around the workpiece 6.
Therefore, the number of pulleys provided in the tension adjusting device 3 can be reduced as compared with the conventional art, and the size of the tension adjusting device 3 can be reduced. For the same reason, the winding device 1B having the tension adjusting device 3 can be downsized. In addition, by reducing the number of pulleys, the number of times the wire rod 11 is bent from the bobbin 12 to the workpiece 6 can be reduced. Therefore, the winding quality can be prevented from being degraded. Even if linear acceleration occurs in the wire rod 11 when the wire rod 11 is wound around the workpiece 6, the fluctuation of the tension is suppressed by the oscillation of the dancer roller 14, and therefore, the occurrence of poor winding due to the fluctuation of the tension of the wire rod 11 can be prevented.
Next, a winding device 1C according to embodiment 3 will be described below with reference to the drawings. Embodiment 3 is similar to embodiment 1 described above, and the following description focuses on differences of embodiment 3 from embodiment 1. Fig. 17 is a diagram showing a structure of a winding device according to embodiment 3. Fig. 18 is a diagram showing a driving path of the workpiece 6 and the nozzle unit 108 driven along the side surface of the workpiece 6 in the winding device according to embodiment 3. The winding device 1C shown in fig. 17 and 18 is a type called a nozzle winding machine to which the workpiece 6 is fixed.
As shown in fig. 18, the workpiece 6 is formed in a rectangular shape as viewed from the tension adjusting device 3 side. The nozzle portion 108 moves along the side surface of the workpiece 6 about the central axis from the workpiece 6 toward the tensioning device 3. The nozzle unit 108 is driven by a nozzle driving unit 109 and moves around the workpiece 6. With this movement, the wire rod 11 is fed out from the nozzle unit 108, and the fed-out wire rod 11 is wound around the rectangular workpiece 6.
Since the shape of the workpiece 6 is not circular but rectangular when viewed from the tension adjusting device 3 side, when the nozzle portion 108 moves at a constant speed while winding the wire rod 11 around the workpiece 6, linear acceleration occurs in the wire rod 11 fed out from the nozzle portion 108. However, in embodiment 3, since the nozzle portion 108 moves along the side surface of the workpiece 6, the linear acceleration generated in embodiment 3 is smaller than in embodiment 1 in which the flywheel nozzle 24 rotates and embodiment 2 in which the workpiece 6 is rotated by the spindle device 106.
In the winding device 1C of embodiment 3, although smaller than those of embodiments 1 and 2, linear acceleration is generated. In embodiment 3, the linear acceleration generated during winding is absorbed by the oscillation of the dancer roller 14 and the tension arm 15. In embodiment 3, as in embodiment 1, the dancer roller 14 and the tensioning arm portion 15 oscillate in accordance with an increase in the linear acceleration of the wire rod 11, and the wire rod 11 is paid out by the oscillation. This can suppress the variation in tension generated in the wire rod 11. Further, the influence of the increase in the tension of the wire rod 11 on the tension pulley portion 13 is suppressed by the friction between the dancer roller 14 and the wire rod 11 and the deformation of the tension coil spring 16.
Not only when the winding unit is the flywheel device 2, but also when the nozzle unit 108 is provided in a winding device of a type called a nozzle winding machine as in embodiment 3, a pulley from the tension pulley 22 to a midway position of the dancer roller 14 and a pulley from the dancer roller 14 to a midway position of the winding unit can be omitted, and the tension pulley unit 13 can be prevented from being affected by the linear acceleration of the wire material 11 due to the winding of the wire material 11 onto the workpiece 6. Since the number of pulleys provided in the tension adjusting device 3 can be reduced as compared with the conventional art, the tension adjusting device 3 can be made smaller than the conventional one. Therefore, the winding device 1C having the tension adjusting device 3 can also be downsized.
In addition, by reducing the number of pulleys from the tension pulley portion 13 to the flywheel device 2, the number of times the wire rod 11 is bent from the bobbin 12 to the workpiece 6 can be reduced. Therefore, the deterioration of the winding quality can be prevented. Even if linear acceleration occurs in the wire rod 11 when the wire rod 11 is wound around the workpiece 6, the fluctuation of the tension is suppressed by the oscillation of the dancer roller 14, and therefore, the occurrence of poor winding due to the fluctuation of the tension of the wire rod 11 can be prevented.
Next, a winding device 1D according to embodiment 4 will be described below with reference to the drawings. Embodiment 4 is similar to embodiment 1 described above, and the following description focuses on differences of embodiment 4 from embodiment 1. Fig. 19 is a diagram showing the structure of a winding device 1D according to embodiment 4.
In the tension adjusting device 3 according to embodiment 1, the servo motor 25 is feedback-controlled, and a constant torque is generated in the tension pulley 22 by the feedback control. When the torque Q is constant in the above equation (3), the angular acceleration of the tension pulley 22 { (d/dt)2θ is zero, the tension T2 generated by the wire 11 for winding is made constant. However, the angular acceleration of rotation of the tension pulley 22 { (d/dt)2θ is prone to variation, sometimes not zero.
In embodiment 4, in order to control the tension T2 for winding generated in the wire rod 11 to be constant, the rotational angular acceleration { (d/dt) of the tension pulley 22 is measured using the measurement unit 110 provided in the servo motor 252Theta. The measuring part 110 can be composed of an encoder and an acceleration pickupAt least any one of the above. Current torque Q2 as angular acceleration of rotation { (d/dt)2The value obtained by multiplying the measurement result of θ by the moment of inertia I is expressed by the following formula (5).
Q2＝I{(d/dt)2}θ···(5)
When the target value of the torque generated by the tension pulley 22 is Q, the torque Q3 actually applied to the servo motor 25 is expressed by the following equation (6).
Q3＝Q＊－Q2＝Q＊－I{(d/dt)2}θ···(6)
The control of the servo motor 25 based on the equation (6) is performed by the control unit 7.
It is assumed that the angular acceleration of rotation is obtained { (d/dt)2When θ is configured to differentiate angle data measured by an encoder or the like 2 times, if the calculation speed of the control unit 7 is slow, it may be difficult to obtain the rotation angular acceleration in real time during the operation of the winding device 1D. In the case where the control frequency is slow and the feedback control is difficult to follow, the rotational angular acceleration { (d/dt) is preliminarily set before the operation of the winding device 1C2Theta is determined as a function of the rotational position psi of the flywheel nozzle 24, and feed forward control is used to give I { (d/dt) in the torque Q3 expressed by the above equation (6)2The term of θ.
The torque control of the servo motor 25, which obtains a function of the rotational angular acceleration in advance and performs the feedforward control based on the function, can be applied to both the nozzle winding machine of embodiment 3 and the winding device 1D of embodiment 4. In the case of using the nozzle winding machine as in embodiment 3, the rotational angular acceleration { (d/dt)2θ finds the function as the rotational position ψ of the nozzle portion 108. The rotational position ψ is a value indicating that the freewheel nozzle 24 or the nozzle unit 108 is located at a certain position in 360 degrees with respect to the rotation of the freewheel nozzle 24 or the nozzle unit 108.
Specifically, when a function of the rotational angular acceleration is to be obtained in advance, the rotational angular acceleration { (d/dt) of the servomotor of the tensioner is obtained in a state where only the torque to be generated in the tension pulley is given2The continuous data of θ is used as the rotational position ψ of the flywheel nozzle 24 or the rotational position of the nozzle unit 108A function of psi. At this time, the time differential of the rotational position ψ is fixed in advance. In operation, the rotational position ψ of the flywheel nozzle 24 or the rotational position ψ of the nozzle unit 108 is detected, and the slewing angular acceleration { (d/dt) is obtained from the detected value of the rotational position ψ based on a function of the slewing angular acceleration acquired in advance2θ, the applied torque Q3 is obtained based on equation (6). In the case where the angular acceleration can be detected in real time by using an acceleration pickup or the like, and the angular acceleration can be measured in real time while the winding apparatus 1D is in operation because the calculation speed of the control unit 7 is sufficiently high, the angular acceleration { (D/dt) detected or measured in real time is used rather than the angular acceleration based on a function of the angular acceleration determined in advance2It is preferable that the feedback control is performed based on the equation (6) because the control can be performed with higher accuracy.
According to embodiment 4, since the rotational angular acceleration of the tension pulley 22 is measured by the measuring unit 110 and the torque applied from the servo motor 25 to the tension pulley 22 is controlled based on the measurement result of the measuring unit 110, the variation in the tension generated in the wire rod 11 can be suppressed and the occurrence of poor winding can be prevented.
The shape of the workpiece 6 is rectangular when viewed along the center axis, but the shape of the workpiece 6 is not limited to rectangular. If the workpiece 6 is polygonal when viewed along the center axis, the linear acceleration of the wire rod 11 varies, and the fluctuation is suppressed by the oscillation of the dancer roller 14, thereby preventing the occurrence of poor winding.
Various exemplary embodiments and examples are described in the present application, but the various features, modes and functions described in 1 or more embodiments are not limited to the application to specific embodiments, and can be applied to the embodiments alone or in various combinations. Therefore, countless modifications not illustrated can be conceived within the scope of the technology disclosed in the present application. For example, the case where at least 1 component is modified, added, or omitted, and the case where at least 1 component is extracted and combined with the components of other embodiments are included.
Description of reference numerals
1, 1B, 1C, 1D winding device, 2 flywheel device, 3 tension adjusting device, 4 flywheel arm, 5 flywheel rotation part, 6 workpiece, 7 control part, 11 wire, 12 bobbin, 13 tension pulley part, 14 tension adjusting roller, 15 tension arm, 16 tension coil spring, 17 fulcrum, 21 st 1 pulley, 22 tension pulley, 23 post tensioner, 24 flywheel nozzle, 25 servo motor, 26 st 1 eyelet, 31 nd 2 eyelet, 32 felt part, 33 sapphire plate, 34 tension pulley table, 35 pulley guide part, 36 rd eyelet, 41 cylinder, 42 rod, 43 pressing linear guide, 44 post tensioner table, 45 th 4 eyelet, 46 th ball bearing, 51 nd 2 ball bearing, 52 tension adjusting roller table, 53 tension arm end part, 54 tension arm part, 55 self-aligning sphere, 56 workpiece holding part, 57 laser displacement meter, 5 flywheel rotation part, 6 workpiece, 7 th control part, 11 wire, 12 th coil bobbin, 13 tension adjusting roller part, 14 tension adjusting roller, 15 tension arm part, 16 tension coil spring, 17 fulcrum, 21 st pulley, 22 th eyelet, 23 post tensioner, 24 flywheel nozzle, 25 servo motor, 25 th eyelet, 45 th eyelet, 46 th 2 th ball bearing, 52 tension adjusting roller table, 54 tension arm part, 54 tension adjusting roller table, and 54 tension arm part, 61 fixed part, 62 movable part, 63 base plate, 64 movable linear guide, 65 rotating part, 66 shaft part, 67 linear stator, 71 bearing, 72 moving table, 73 mover, 74 linear motor, 75 linear position detector, 76 slider, 81 scale, 82 ball spline shaft, 83 spline holder, 84 spline outer cylinder, 85 ball spline side pulley, 86 shaft part, 91 hollow, 92 communicating hole, 93 1 st guide roller, 94 opening part, 95 nd 2 nd guide roller, 96 revolution plate, 97 output shaft, 101 motor, 102 motor support, 103 motor side pulley, 104 toothed belt, 105 compression coil spring, 106 spindle device, 107 spindle nozzle, 108 nozzle part, 109 nozzle driving part, 110 measuring part.
Claims (17)
1. A tension adjusting device for guiding a wire fed from a bobbin to a winding portion for winding the wire around a workpiece and adjusting tension of the wire,
the tension adjusting device comprises:
a tension pulley portion having a tension pulley that applies tension to the wire fed out from the bobbin;
a dancer roller to which the wire rod fed out from the tension pulley of the tension pulley portion is subsequently wound after the tension pulley and which is wound to such an extent that the wire rod fed out from the tension pulley portion intersects with the wire rod fed out to a wire winding portion, the dancer roller being provided to be swingable;
a tension arm portion that rotatably supports the dancer roller and regulates a swing of the dancer roller around a fulcrum provided at a position different from a rotation shaft of the dancer roller; and
a biasing portion that biases the tension arm portion toward a direction in which the dancer roller is away from the winding portion in a circumferential direction around the fulcrum;
the wire rod separated from the tension adjusting roller is linearly directed from the tension adjusting roller to the winding part,
the urging portion urges a portion of the tension arm portion located on the opposite side of the fulcrum from the dancer roller.
2. The tensioning device of claim 1,
the distance from the fulcrum to the axis of rotation of the tension pulley is greater than the sum of the radius of the tension pulley, the radius of the dancer roller, and the distance from the fulcrum to the axis of rotation of the dancer roller.
3. The tensioning device according to claim 1 or 2, wherein,
the radius of the tensioning belt wheel is larger than that of the tightness adjusting roller.
4. The tensioning device according to claim 1 or 2, wherein,
the dancer roll swings at a position between the tensioning pulley and the fulcrum.
5. The tensioning device of claim 3,
the dancer roll swings at a position between the tensioning pulley and the fulcrum.
6. The tensioning device according to claim 1 or 2, wherein,
the direction from the tensioning pulley portion towards the wire of the dancer roll is perpendicular to the direction from the dancer roll towards the wire of the winding portion.
7. The tensioning device of claim 3,
the direction from the tensioning pulley portion towards the wire of the dancer roll is perpendicular to the direction from the dancer roll towards the wire of the winding portion.
8. The tensioning device of claim 4,
the direction from the tensioning pulley portion towards the wire of the dancer roll is perpendicular to the direction from the dancer roll towards the wire of the winding portion.
9. The tensioning device of claim 5,
the direction from the tensioning pulley portion towards the wire of the dancer roll is perpendicular to the direction from the dancer roll towards the wire of the winding portion.
10. The tensioning device according to claim 1 or 2, wherein,
the wire is wound around and hung on the tightness adjusting roller by taking a rotating shaft of the tightness adjusting roller as a center.
11. The tensioning device according to claim 1 or 2, wherein,
the tension adjusting device comprises:
a rotation driving unit that applies a rotational torque to the tension pulley of the tension pulley unit;
a measuring unit that measures rotational angular acceleration of the tension pulley; and
a control unit that controls a rotational torque applied to the tension pulley by the rotational driving unit based on a measurement result of the measurement unit.
12. A winding device having the tension adjusting device according to any one of claims 1 to 11 and the winding portion.
13. The winding device according to claim 12,
the wire winding portion has a flywheel arm portion that feeds a wire material to the workpiece, and a flywheel rotation portion that rotates the flywheel arm portion with respect to the workpiece;
the natural frequency associated with the oscillation of the dancer roller is more than 2 times the rotational speed of the flywheel arm.
14. The winding device according to claim 12,
rotating the workpiece with a spindle arrangement;
the wire winding unit has a spindle nozzle that defines a path of the wire rod sent toward the workpiece.
15. The winding device according to claim 12,
the workpiece is fixed;
the wire winding unit includes a nozzle unit for feeding a wire material to the workpiece, and a nozzle driving unit for driving the nozzle unit along a side surface of the workpiece.
16. The winding device according to any one of claims 12 to 15,
when the linear acceleration of the wire increases with respect to the feeding speed of the wire at the winding portion when the wire is wound around the workpiece by the winding portion, the path length of the wire from the dancer roller to the winding portion is shortened by the swinging of the dancer roller.
17. A method of manufacturing a rotating electrical machine, using the winding device according to any one of claims 12 to 16, by winding the wire rod with the stator or rotor of the rotating electrical machine as the workpiece.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018084703 | 2018-04-26 | ||
| JP2018-084703 | 2018-04-26 | ||
| PCT/JP2018/040298 WO2019207827A1 (en) | 2018-04-26 | 2018-10-30 | Tension adjusting device and wire winding device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111971244A CN111971244A (en) | 2020-11-20 |
| CN111971244B true CN111971244B (en) | 2022-04-05 |
Family
ID=68295248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880091255.XA Active CN111971244B (en) | 2018-04-26 | 2018-10-30 | Tension adjusting device, winding device, and method for manufacturing rotating electric machine |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6906695B2 (en) |
| CN (1) | CN111971244B (en) |
| TW (1) | TWI678714B (en) |
| WO (1) | WO2019207827A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI743822B (en) * | 2020-06-08 | 2021-10-21 | 萬潤科技股份有限公司 | Winding method and equipment |
| CN112216506A (en) * | 2020-10-28 | 2021-01-12 | 常德市德韵电子设备有限公司 | Inductor production winding device |
| CN114852786B (en) * | 2022-05-16 | 2023-09-19 | 南京信息工程大学 | Intelligent tension take-up device |
| CN117645206B (en) * | 2024-01-30 | 2024-04-05 | 萤聚线缆科技(云南)有限公司 | Tension adjusting device for 5G cable production and processing |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2140728A (en) * | 1936-01-11 | 1938-12-20 | Elevator Supplies Co Inc | Wire spooling apparatus and tension varying element |
| US5310124A (en) * | 1992-04-29 | 1994-05-10 | Axis Usa, Inc. | Wire tensioner with program controlled bidirectional pulley wheel |
| JPH09202531A (en) * | 1995-11-22 | 1997-08-05 | Sony Corp | Tension controller for wire material |
| JP2009018906A (en) * | 2007-07-12 | 2009-01-29 | Toyo Tire & Rubber Co Ltd | Yarn-winding apparatus |
| JP2010118452A (en) * | 2008-11-12 | 2010-05-27 | Mitsuba Corp | Winding machine |
| CN101811631A (en) * | 2009-02-25 | 2010-08-25 | 株式会社神户制钢所 | Method for housing solder wire and device thereof |
| TW201036907A (en) * | 2009-02-16 | 2010-10-16 | Komatsu Ntc Ltd | Transverse movement control method and device thereof |
| JP2013021137A (en) * | 2011-07-12 | 2013-01-31 | Mitsubishi Electric Corp | Tensioning device for winding machine |
| JP2013028438A (en) * | 2011-07-29 | 2013-02-07 | Taga Manufacturing Co Ltd | Tension apparatus, automatic winding machine, method for controlling tension, and method for manufacturing winding wire |
| CN103213873A (en) * | 2012-01-20 | 2013-07-24 | 日特机械工程株式会社 | Tension device and tension applying method |
| CN103347636A (en) * | 2011-02-07 | 2013-10-09 | 三菱电机株式会社 | Automatic wire bonder |
| WO2016117038A1 (en) * | 2015-01-20 | 2016-07-28 | 三菱電機株式会社 | Tension roller, tension adjustment device, and electric-motor production method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06342730A (en) * | 1993-05-31 | 1994-12-13 | Taiyo Yuden Co Ltd | Toroidal wiring device |
| CN101454850B (en) * | 2006-05-26 | 2011-08-31 | 日特机械工程株式会社 | Wire winding system, tension device, and wire winding method |
| US8316865B2 (en) * | 2008-07-31 | 2012-11-27 | Mcneil-Ppc, Inc. | Process for winding dental tape |
| JP6316215B2 (en) * | 2015-01-15 | 2018-04-25 | 三菱電機株式会社 | Coil winding device |
| JP6269593B2 (en) * | 2015-06-23 | 2018-01-31 | 株式会社村田製作所 | Wire winding method and wire winding apparatus |
-
2018
- 2018-10-30 WO PCT/JP2018/040298 patent/WO2019207827A1/en active Application Filing
- 2018-10-30 JP JP2020516009A patent/JP6906695B2/en active Active
- 2018-10-30 CN CN201880091255.XA patent/CN111971244B/en active Active
-
2019
- 2019-02-21 TW TW108105840A patent/TWI678714B/en active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2140728A (en) * | 1936-01-11 | 1938-12-20 | Elevator Supplies Co Inc | Wire spooling apparatus and tension varying element |
| US5310124A (en) * | 1992-04-29 | 1994-05-10 | Axis Usa, Inc. | Wire tensioner with program controlled bidirectional pulley wheel |
| JPH09202531A (en) * | 1995-11-22 | 1997-08-05 | Sony Corp | Tension controller for wire material |
| JP2009018906A (en) * | 2007-07-12 | 2009-01-29 | Toyo Tire & Rubber Co Ltd | Yarn-winding apparatus |
| JP2010118452A (en) * | 2008-11-12 | 2010-05-27 | Mitsuba Corp | Winding machine |
| TW201036907A (en) * | 2009-02-16 | 2010-10-16 | Komatsu Ntc Ltd | Transverse movement control method and device thereof |
| CN101811631A (en) * | 2009-02-25 | 2010-08-25 | 株式会社神户制钢所 | Method for housing solder wire and device thereof |
| CN103347636A (en) * | 2011-02-07 | 2013-10-09 | 三菱电机株式会社 | Automatic wire bonder |
| JP2013021137A (en) * | 2011-07-12 | 2013-01-31 | Mitsubishi Electric Corp | Tensioning device for winding machine |
| JP2013028438A (en) * | 2011-07-29 | 2013-02-07 | Taga Manufacturing Co Ltd | Tension apparatus, automatic winding machine, method for controlling tension, and method for manufacturing winding wire |
| CN103213873A (en) * | 2012-01-20 | 2013-07-24 | 日特机械工程株式会社 | Tension device and tension applying method |
| WO2016117038A1 (en) * | 2015-01-20 | 2016-07-28 | 三菱電機株式会社 | Tension roller, tension adjustment device, and electric-motor production method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2019207827A1 (en) | 2020-12-10 |
| CN111971244A (en) | 2020-11-20 |
| TWI678714B (en) | 2019-12-01 |
| WO2019207827A1 (en) | 2019-10-31 |
| TW201946079A (en) | 2019-12-01 |
| JP6906695B2 (en) | 2021-07-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111971244B (en) | Tension adjusting device, winding device, and method for manufacturing rotating electric machine | |
| CN102016709B (en) | Optical unit with shake correcting function and photographic optical device | |
| US7651046B2 (en) | Bobbin winding device | |
| TW201823132A (en) | Winding device and method for producing flat windings | |
| JP2007331867A (en) | Steering method for steel belt and steering device | |
| JP3638927B2 (en) | Tensioning device and tensioning method in winding machine | |
| JPH10310299A (en) | Device and method for controlling tension of strip | |
| JP2006306508A (en) | Taping device | |
| KR100505136B1 (en) | The traverse device of a bobbin-less coil winding machine | |
| JP2002145527A (en) | Winder for especially delicate winding material | |
| JP2016142689A (en) | Feed amount measuring device of wire rod | |
| KR101211925B1 (en) | High precision Tension load control system for wire winding | |
| JPH10310297A (en) | Strip winding device and method | |
| WO2016117038A1 (en) | Tension roller, tension adjustment device, and electric-motor production method | |
| CN111115390A (en) | Winding equipment | |
| KR20180089948A (en) | Parallel Winding Device and Method | |
| JP2003341893A (en) | Belt-like material winder | |
| CN211971414U (en) | Winding equipment | |
| CN107472991B (en) | Traversing device of yarn winder | |
| JP3381413B2 (en) | Coil manufacturing equipment | |
| JP7336825B2 (en) | Winding device and winding method | |
| US6012673A (en) | Winding device and method | |
| KR200272401Y1 (en) | Tension Adjuster for Coil Chip Inductor Machine | |
| CN113205959A (en) | Winding device and winding method | |
| JPS6114062B2 (en) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |