EP0108343A1 - Method of automatically winding miniature toroidal coils, and device for carrying out the method - Google Patents

Abstract

According to this method, before each insertion of the wire into the hole of the coil, this hole is automatically positioned relative to the end of the wire as a function of video information relating to this hole and to this wire. The coiling machine comprises a coil-holder clip (2), a wire-grasping clip (11) as well as a video camera (26) and an electronic apparatus (27). The relative position of the coil-holder (2) and the wire-grasping (11) clips when intending to insert the wire (F) into the hole of the coil (N) are controlled automatically by the electronic apparatus (27) on the basis of the information received from the video camera (26) relating to the position of the end of the wire (F) and of the position and of the surface of the hole of the coil (N). <IMAGE>

Description

The subject of the present invention is a method and a device for the automatic winding of miniature vertical coils, that is to say around a body or support circular or closed on itself. Such coils are commonly used in video heads, small transformers, etc.

Currently existing winding machines which allow automatic winding of toroidal coils are no longer usable when it comes to making coils whose internal diameter is less than 1 mm. Generally in the production of such coils, for video heads in particular, manual winding is essential.

The present process tends to remedy this situation and allows the automatic winding of miniature toroidal coils. This process is distinguished by the fact that before passing the wire through the hole in a spool, we observe the hole in the spool using a video camera and then, using the information thus collected, we memorize the surface. and the position of this hole; we then observe the end of the wire using this video camera and memorize the position of this end; that, as a function of the memorized information, is displaced relative to one another the spool and the end of the wire to make the position of the end of the wire coincide with the approximate position of the center of the hole in the spool; and finally pushing the end of the wire towards the hole in the spool to pass this wire through said hole.

• a) une pince porte-bobine déplaçable suivant deux directions orthogonales X, Y et pouvant tourner sur elle-même,
• b) une pince dynamométrique serre-fil déplaçable suivant deux directions orthogonales Y, Z,
• c) une seconde pince serre-fil déplaçable suivant deux directions orthogonales X, Z,
• d) une caméra vidéo disposée de manière à pouvoir observer le trou d'une bobine située dans la pince porte-bobine ainsi que l'extrémité d'un fil maintenu dans la pince dynamométrique serre-fil,
• e) un dispositif électronique recevant les informations de la caméra vidéo., calculant et mémorisant la position de l'extrémité du fil ainsi que la position, la dimension et le centre approximatif du trou de la bobine et délivrant des signaux de commande aux dispositifs d'actionnement des pinces pour, entre autre. positionner le trou de la bobine en regard de'l'extrémité du fil et provoquer son passage à travers ce trou.

The winding machine for implementing the process described is distinguished by the fact that it comprises a frame on which are mounted:

• a) a reel-holder pliers movable in two orthogonal directions X, Y and able to turn on itself,
• b) a wire clamp dynamometrically movable in two orthogonal directions Y, Z,
• c) a second wire clamp movable in two orthogonal directions X, Z,
• d) a video camera arranged so as to be able to observe the hole of a spool located in the spool pin and the end of a wire held in the wire clamp
• e) an electronic device receiving the information from the video camera., calculating and memorizing the position of the end of the wire as well as the position, the dimension and the approximate center of the hole of the spool and supplying control signals to the devices d of the grippers for, among other things. position the hole in the spool opposite the end of the wire and cause it to pass through this hole.

The appended drawing illustrates schematically and by way of example an embodiment of the automatic winding device according to the invention as well as a certain number of operating phases thereof.

• Figure 1 is a schematic perspective view of the winding device.
• Figure 2 illustrates in perspective the wire clamp.
• Figures 3 to 11 schematically illustrate the relative positions of the spool pin and the wire clamps in different positions corresponding to different phases of the winding process.
• Figure 12 illustrates a wire clamp.
• Figure 13 is a block diagram of the electronic device of the winding device.
• FIG. 14 illustrates a detailed diagram of part of the electronic device illustrated in FIG. 13.

To facilitate the description of the process according to the invention, the device for its implementation will be described firstly with reference to the drawings.

• 1. Une pince porte-bobine 2 permettant de serrer le corps ou noyau N d'une bobine miniature de telle sorte que son trou 4 soit libre et que ce noyau soit situé approximativement dans un plan horizontal X, Y. Cette pince porte-bobine 2 est portée par l'axe d'un moteur pas à pas 5 fixé rigidement à une première coulisse 6 déplaçable suivant l'axe X par l'intermédiaire d'un moteur pas à pas 7 et d'une liaison cinématique non illustrée. Cette première coulisse est portée par une seconde coulisse 8 déplaçable suivant l'axe Y à l'aide d'un moteur pas à pas 9 et d'une liaison cinématique non illustrée. Cette seconde coulisse 8 est portée par une base de guidage 10 fixée rigidement au bâti 1.
• 2. Une pince serre-fil 11 (illustrée en détail à la figure 2) portée par un support 12 déplaçable suivant l'axe _Z à l'aide d'un vérin 13. Ce support 12 est lui-même monté coulissant sur un coulisseau 14 déplaçable par rapport au bâti 1 suivant l'axe Y à l'aide d'un vérin 15.
• 3. Une seconde pince serre-fil dynamométrique 16 portée' par un support 17 déplaçable suivant l'axe Z sous l'action d'une vis 18 entraînée par un moteur pas à pas 19. Ce support 17 coulisse sur un coulisseau 20 déplaçable à l'aide d'un vérin 22 suivant l'axe X sur une glissière 23 fixée au bâti 1.
• 4. Des lampes 24, 25 éclairant la zone dans laquelle sont disposés le noyau N de la bobine et l'extrémité du fil F à bobiner.
• 5. Une caméra vidéo 26 dirigée sur la zone où sont disposés le noyau de la bobine et le fil à bobiner; son axe optique étant dirigé selon l'axe Z.
• 6. Un appareillage électronique 27 (voir schéma figures 12, 13) constitué de composants normalisés fabriqués par la titulaire, sauf en ce qui concerne la carte spécifique "vidéo interface/mémoire" dont le schéma de principe est donné à la figure 13.

The winding device illustrated in FIGS. 1 and 2 comprises a frame or plate 1 on which are mounted:

• 1. A spool holder 2 for clamping the body or core N of a miniature coil so that its hole 4 is free and that this core is located approximately in a horizontal plane X, Y. This spool holder 2 is carried by the axis of a stepping motor 5 rigidly fixed to a first slide 6 movable along the axis X by means of a stepping motor 7 and a kinematic connection not shown. This first slide is carried by a second slide 8 movable along the Y axis using a stepping motor 9 and a kinematic connection not shown. This second slide 8 is carried by a guide base 10 rigidly fixed to the frame 1.
• 2. A wire clamp 11 (illustrated in detail in Figure 2) carried by a support 12 movable along the axis _Z using a cylinder 13. This support 12 is itself slidably mounted on a slide 14 movable relative to the frame 1 along the Y axis using a jack 15.
• 3. A second dynamometric wire clamp 16 carried 'by a support 17 movable along the Z axis under the action of a screw 18 driven by a stepping motor 19. This support 17 slides on a slide 20 movable at using a jack 22 along the X axis on a slide 23 fixed to the frame 1.
• 4. Lamps 24, 25 illuminating the zone in which the core N of the coil and the end of the wire F to be wound are arranged.
• 5. A video camera 26 directed on the zone where the core of the coil and the wire to be wound are arranged; its axis optic being directed along the Z axis.
• 6. An electronic device 27 (see diagram in figures 12, 13) made up of standardized components manufactured by the licensee, except for the specific "video interface / memory" card, the schematic diagram of which is given in FIG. 13.

• a. déterminer et mémoriser la position, la dimension et le centre approximatif du trou d'un noyau de bobine lorsque celui-ci est fixé dans le porte-bobine 2.
• b. déterminer et mémoriser la position de l'extrémité d'un fil à bobiner maintenu dans la pince dynamométrique serre-fil 11 lorsque celui-ci est en position basse.
• c. Calculer les déplacements relatifs nécessaires entre le porte-bobine 2 et la pince dynamométrique serre-fil 11 pour placer l'ouverture de la bobine en regard de l'extrémité du fil.
• d. commander les déplacements relatifs du porte-bobine 2 et des pinces 11 et 16 pour assurer le cycle de bobinage par des signaux adéquats délivrés aux différents moteurs de déplacement, vérins d'ouverture et de fermeture des pinces 2, 11 et 16 notamment, et d'une façon générale tous les déplacements ou actionnements d'organes mobiles de la machine.
• e. comme on le verra plus loin ce dispositif de bobinage comporte encore un tendeur de fil 24 relié mécaniquement à la pince porte-bobine ainsi qu'un guide-fil 25 dont les déplacements sont également commandés par l'appareillage électronique.

This electronic equipment makes it possible, from the signals delivered by the video camera 26, to carry out the following operations:

• at. determine and memorize the position, size and approximate center of the hole in a spool core when it is fixed in the spool holder 2.
• b. determine and memorize the position of the end of a winding wire held in the wire clamp 11 when the latter is in the low position.
• vs. Calculate the relative displacements necessary between the coil holder 2 and the wire clamp dynamometric clamp 11 to place the opening of the coil opposite the end of the wire.
• d. control the relative movements of the reel holder 2 and the clamps 11 and 16 to ensure the winding cycle by adequate signals delivered to the different displacement motors, cylinders for opening and closing of the clamps 2, 11 and 16 in particular, and d 'generally speaking, all movements or actuations of moving parts of the machine.
• e. as will be seen later, this winding device further comprises a wire tensioner 24 mechanically connected to the spool holder clamp as well as a wire guide 25 whose movements are also controlled by the electronic equipment.

The dynamometric wire clamp 16 illustrated in FIG. 2 comprises a jaw 28 rotatably mounted on the support 17 and a jaw 29 movable in rotation and in translation mounted on the end of a axis 30 passing through the support 17 and the other end of which is actuated by an actuator 31 for opening the clamp. A spring 32 determines the closing pressure of the jaws of the clamp 16.

The movable jaw 29 is integral in rotation with a part 33 pivoted on the support 17 and subjected to the return action of a spring 34 holding the movable jaw against a stop 35 with a predetermined force. This movable part 33 carries a pallet 36 cooperating with an opto-electronic rotation detector 37 acting on the control of the motors 19, 22 moving the torque clamp 16, stopping the clamp as soon as the tension in the wire is sufficient to angularly move the jaw mobile 29. It is thus possible to avoid any breakage of the wire.

The wire clamp 11 is shown diagrammatically in FIG. 12, it comprises a body 38 having a conical guide orifice 39 and a fixed clamping jaw 40. A movable jaw 40a cooperates with the fixed jaw to clamp a wire and is actuated by a cylinder not shown. The body 38 has a guide member g for the wire.

The machine also includes a tensioner 41 disposed on the reel clamp 2 and mechanically controlled by means of a ring 42 sliding on the support of the clamp 2 and a lever 43 subjected to the action of a cam or a jack (not shown).

This machine finally comprises a wire guide 44 comprising two parallel pins 45, 46, one of which carries
two guide bristles 47. This wire guide 44 is movable along the Y axis and in rotation. Its movements are controlled by electronic equipment via jacks or motors not shown.

• 1. Un noyau de bobine N est placé dans la pince serre-bobine 2 et un fil F est passé au travers du trou de ce noyau, soit manuellement soit automatiquement comme on le verra plus loin, puis pincé dans la pince dynamométrique serre-fil 11.
• 2. La pince dynamométrique 16 est alors déplacée verticalement vers le haut d'une valeur correspondant approximativement à la longueur de fil nécessaire pour la réalisation de la bobine envisagée. Le fil F est coupé puis son extrémité libre est fixée sur le noyau N. (Figure 3).
• 3. Le tendeur 41 est positionné à proximité immédiate du noyau N et la pince 11 est avancée pour guider le fil F par son organe de guidage g (Figure 4).
• 4. La pince serre-bobine 2, avec le tendeur 41, sont en- trainés en rotation pour un tour ce qui provoque le passage du fil F autour de l'extrémité du tendeur 41 qui comporte une gorge recevant le fil (figure 5).
• 5. Le tendeur 41 est libéré par un déplacement du levier 43 et de la bague 42 et la pince serre-bobine 2 est déplacée latéralement suivant l'axe Y pour permettre le déplacement suivant l'axe Z vers le bas de la pince dynamométrique 16 (figure 6).
• 6. La pince dynamométrique 16 est déplacée vers le bas jusqu'au dessous de la pince serre-bobine 2 tout en restant dans l'axe optique de la machine. Le tendeur 41 maintient le fil F en lui appliquant une tension de l'ordre de 3 grammes (figure 7).
• 7. La lampe 24 est allumée et l'extrémité libre brillante du fil F maintenue par la pince 16 est observée par la caméra vidéo 26 et la position de cette extrémité du fil est mémorisée après une opération de traitement de l'image délivrée par la caméra 26. La lampe 24 est ensuite éteinte.
• 8. La pince dynamométrique 16 est retirée suivant l'axe X tandis que la pince serre-bobine est amenée dans une position pour laquelle le trou du noyau N soit approximativement dans l'axe optique de la machine.
• 9. La lampe 25 est allumée et le trou du noyau N est illuminé. La caméra vidéo 26 observe ce trou; sa position ainsi que sa forme sont mémorisées après une opération de traitement de l'image délivrée par la caméra vidéo 26. La lampe 25 est éteinte. La position approximative du centre du trou du noyau est calculée.
• 10..La pince serre-bobine est positionnée, en fonction des informations mémorisées précédemment, de telle sorte que le centre du trou du noyau N soit placé sur la position occupée précédemment par l'extrémité du fil F, lors de sa visée.
• 11. La pince dynamométrique 16 revient dans la position qu'elle occupait lorsque la position du fil F avait été mémorisée (opération 7).
• 12. La pince dynamométrique 16 est déplacée vers le haut provoquant le passage de l'extrémité libre du fil F dans le trou du noyau N.
• 13. La pince serre-bobine 2 est déplacée de façon à recentrer le trou du noyau sur l'axe optique Z de la machine. Simultanément la pince serre-fil 11 est placée en-dessus de la pince serre-bobine 2, le cône de guidage 39 étant centré sur l'axe optique de la machine.
• 14. La pince dynamométrique est déplacée verticalement vers le haut pour faire pénétrer l'extrémité du fil F dans le cône de guidage 38 de la pince 11 puis entre ses mors 40, 41 ouverts.
• 15. La pince serre-fil 11 est fermée maintenant sur l'extrémité du fil ayant passé dans le trou du noyau entre ses mors 40 et 41.
• 16. La pince dynamométrique 16 est ouverte puis retirée latéralement.
• 17. La pince 11 est déplacée verticalement vers le haut sur une courte distance et le guide fil 44 est mis en place par un déplacement suivant l'axe Y (figure 8).
• 18. La pince dynamométrique 16 est déplacée vers le haut puis recentrée sur l'axe optique en étant ouverte. Cette pince 16 est alors fermée et elle pince à nouveau le fil F entre les pinces serre-fil 11 et serre-bobine 2. La pince serre-fil 11 est alors ouverte et le guide fi1 44 est tourné de 120° environ plaçant ainsi l'un des poils 47 entre les deux brins du fil F s'étendant entre la pince serre-bobine 2 et le tendeur 41 (figure 9).
• 19. La pince dynamométrique 16 descend de quelques millimètres pour dégager l'extrémité du fil F de la pince 11, puis cette pince 11 est rétractée latéralement.
• 20. La pince dynamométrique est alors déplacée vers le haut entraînant le fil F au travers du trou du noyau N de la bobine. Au cours de ce mouvement le tendeur monte - vers la pince serre-bobine 2 jusqu'au moment où le fil échappe au tendeur 41 qui retombe alors en position basse. La boucle de fil se resserre tout en étant guidée par le poil 47 du guide fil 44 pour finalement échapper à celui-ci. Dès que la tension prédéterminée désirée est atteinte dans le fil F le mouvement de la pince dynamométrique 16 est arrêté par le détecteur opto-électronique 37. (figure 10).
• 21. Le guide-fil 44 est rétracté et l'on se retrouve dans la position illustrée à la figure 3 sauf qu'une spire de la bobine a été bobinée.
  Le bobinage automatique de la bobine peut être continué en répétant les opérations 3 à 21 ci-dessus jusqu'à ce que le nombre de spires désiré soit atteint. Lorsque cela est le cas le fil F est coupé et le noyau N bobiné est enlevé de la pince serre-bobine 2, et on se retrouve dans les conditions de départ pour le bobinage d'un nouveau noyau N.

The operation of this machine will now be described, certain phases of this operation being illustrated in Figures 3 to 11 to facilitate understanding.

• 1. A coil core N is placed in the coil clamp 2 and a wire F is passed through the hole in this core, either manually or automatically as will be seen below, then pinched in the wire clamp 11.
• 2. The dynamometric clamp 16 is then moved vertically upwards by a value corresponding approximately to the length of wire necessary for the production of the envisaged coil. Wire F is cut and its free end is fixed to core N. (Figure 3).
• 3. The tensioner 41 is positioned in the immediate vicinity of the core N and the clamp 11 is advanced to guide the wire F by its guide member g (Figure 4).
• 4. The reel clamp 2, with the tensioner 41, are rotated for one turn which causes the passage of the wire F around the end of the tensioner 41 which has a groove receiving the wire (Figure 5) .
• 5. The tensioner 41 is released by a movement of the lever 43 and of the ring 42 and the reel clamp 2 is moved laterally along the Y axis to allow the movement along the Z axis down of the torque clip 16 (figure 6).
• 6. The dynamometric clamp 16 is moved down to the bottom of the coil clamp 2 while remaining in the optical axis of the machine. The tensioner 41 holds the wire F by applying a tension of the order of 3 grams to it (FIG. 7).
• 7. The lamp 24 is lit and the shiny free end of the wire F held by the clamp 16 is observed by the video camera 26 and the position of this end of the wire is memorized after an image processing operation delivered by the camera 26. The lamp 24 is then switched off.
• 8. The dynamometric clamp 16 is removed along the axis X while the clamp clamp is brought into a position for which the hole of the core N is approximately in the optical axis of the machine.
• 9. The lamp 25 is lit and the hole in the core N is illuminated. The video camera 26 observes this hole; its position and its shape are memorized after an image processing operation delivered by the video camera 26. The lamp 25 is off. The approximate position of the center of the core hole is calculated.
• 10..The reel clamp is positioned, according to the information previously stored, so that the center of the hole in the core N is placed in the position previously occupied by the end of the wire F, when it is aimed.
• 11. The torque clamp 16 returns to the position it occupied when the position of the wire F had been memorized (operation 7).
• 12. The dynamometric clamp 16 is moved upwards causing the free end of the wire F to pass through the hole in the core N.
• 13. The coil clamp 2 is moved so as to center the hole in the core on the optical axis Z of the machine. Simultaneously the wire clamp 11 is placed above the coil clamp 2, the guide cone 39 being centered on the optical axis of the machine.
• 14. The dynamometric clamp is moved vertically upward to make the end of the wire F penetrate into the guide cone 38 of the clamp 11 and then between its open jaws 40, 41.
• 15. The wire clamp 11 is now closed on the end of the wire having passed through the hole in the core between its jaws 40 and 41.
• 16. The dynamometric clamp 16 is opened then removed laterally.
• 17. The clamp 11 is moved vertically upwards over a short distance and the wire guide 44 is put in place by a movement along the Y axis (FIG. 8).
• 18. The dynamometric clamp 16 is moved upwards then centered on the optical axis while being open. This clamp 16 is then closed and it again clamps the wire F between the wire clamps 11 and coil holder 2. The wire clamp 11 is then opened and the guide fi1 44 is rotated by approximately 120 ° thus placing the 'one of the bristles 47 between the two strands of the wire F extending between the reel clamp 2 and the tensioner 41 (Figure 9).
• 19. The dynamometric clamp 16 descends a few millimeters to disengage the end of the wire F from the clamp 11, then this clamp 11 is retracted laterally.
• 20. The dynamometric clamp is then moved upwards carrying the wire F through the hole in the core N of the coil. During this movement the tensioner rises - towards the spool clamp 2 until the wire escapes from the tensioner 41 which then falls back into the low position. The wire loop tightens while being guided by the hair 47 of the wire guide 44 to finally escape therefrom. As soon as the desired predetermined tension is reached in the wire F, the movement of the dynamometric clamp 16 is stopped by the opto-electronic detector 37. (FIG. 10).
• 21. The wire guide 44 is retracted and we find ourselves in the position illustrated in FIG. 3 except that a turn of the coil has been wound.
  The automatic winding of the coil can be continued by repeating steps 3 to 21 above until the desired number of turns is reached. When this is the case the wire F is cut and the wound core N is removed from the reel clamp 2, and we find ourselves in the starting conditions for the winding of a new core N.

With the help of this machine it is therefore possible to carry out fully automatic winding of miniature coils, particularly those intended to equip video heads. The shape of these coils can be toroidal but also square, elongated, etc.

The processing of the video image by the electronic equipment illustrated diagrammatically in FIGS. 13 and 14 includes the conversion of the video image into binary signals "O" or "1" according to a predetermined threshold and then storage in a memory. Two television monitors TV1, TV2 can be provided, one directly displaying the output of the camera while the other displaying the stored image. A microprocessor processes the binary information thus obtained and controls the mechanical section of the machine, ie the various motors and jacks.

The electronic equipment uses conventional technology and includes a specific "video interface / memory" VIM card, the detailed diagram of which is illustrated in FIG. 14, as well as standard NC2 "numerical control 2", HMI "hercule memory cards. interface"; CPU "central processor unit" SBC 80/24; HBC "hercule connecting board"; as well as PCN8 and PCN16 output control modules and SMD 5/2 stepper motor controls.

The specific VIM card is connected to the data bus _B D at the video input and output Vin, Vout; to address buses BA1 and BA2.

This card comprises a synchro generator G supplied by a battery Q supplying a frame counter CT and a line counter CL both connected to an address multiplexer MA. It still has an access memory random RAM connected to the multiplexer MA and to an interface Dl, as well as to a shift register SR and a digital / analog converter CDA. The shift register is supplied through an adapter A and an amplitude control amplifier AA and is connected to the video output Vout.

The address bus BA1 is connected to a function control card CFC connected to an address decoder DA connected to the address bus BA2.

Image processing is carried out by determining two orthogonal lines dividing the surface of the hole in the coil core into four approximately equal parts and the intersection of these lines is retained as the point where the thread is to be threaded. Then we proceed in a similar way with the end of the wire and the intersection of the two axes is considered as the center of the end of the wire. Then the difference in position between the two intersections is calculated and the reel clamp is moved until these two intersections coincide.

With each additional turn it is obvious that the hole of the nucleus N becomes smaller and changes shape. However, for each turn, the operations for reading the hole and the wire are repeated and the optimum position for inserting the wire in the hole is recalculated, and therefore great reliability of the machine is obtained.

As we have seen when describing the operation of the winding machine, the automatic winding process consists in automatically positioning the end of a wire relative to the hole of a spool before the winding of each turn. using information obtained from a video sensor.

Only this process which allows the relative repositioning of the partially wound hole and the end of the wire before each passage of the wire allows automation of the winding of miniature coils, the shape and size of the hole varying between each insertion. Thanks to this process it is possible to produce coils whose hole has dimensions of the order of 0.3 x 0.35 mm or less and the wire a diameter of the order of 0.055 mm or less.

The main advantage of this invention lies in the possibility of automatically winding very small coils which was not the case until now. This results in the elimination of delicate manual operations, allowing mass production at lower costs.

Many variants of this process are possible. For example when the wire F is rigid enough so that its part emerging above the wire clamp 16 is not deformed or deflected by its passage through the hole of the core N, and that on the other hand the initial position of this wire clamp 16 is determined with sufficient precision, it is possible to implement the method without observing the end of the wire. In this case, observation of the hole makes it possible to determine the approximate center thereof and the reel clamp 2 is moved so that this approximate center is aligned with the position of the known thread clamp 16 and determined purely mechanically.

In other embodiments, the observation of the hole in the core N can be done by other means than those of a video camera, for example by scanning a laser beam, or any other means making it possible to give information. on the shape and position of this hole.

In cases where the hole is large enough and well defined, it is possible with a single observation of it before the start of the winding to place it relative to the wire clamp 16 and therefore to the wire F with sufficient precision to let this position be maintained the same during all or part of the subsequent winding.

Finally, in the case where the information obtained by observing the hole refers to an origin or reference face of the core or of its support which is integral with it, it is possible to carry out this observation of the hole of the core on a separate machine of the winder. For each core placed on the winder, the relative movement of the reel clamp is controlled as a function of the information previously obtained by observing the hole.

Claims (12)

1. Method of automatic winding of a miniature coil, characterized in that the hole in the coil is observed to determine the approximate center thereof; then before the first insertion of the wire into this hole, this hole is automatically positioned so that its approximate center is substantially aligned with the wire. 2. Method according to claim 1, characterized in that before each passage of the wire in the hole of a reel the hole of the reel is observed using an image detector then using the information thus collected, the surface and the position of this hole are memorized; the end of the wire is then observed using this image detector and memorizes the position of this end; then moving, according to the stored information, relatively to each other the spool and the end of the wire to make the end of the wire coincide with the approximate position of the center of the hole in the spool; and finally pushing the end of the wire towards the hole in the spool to pass this wire through said hole. 3. Winding machine for implementing the method according to claim 1, characterized in that it comprises a reel holder clamp and at least one wire holder clamp; an image detector and electronic equipment and by the fact that the relative position of the reel clamps and wire clamps for the insertion of the wire into the hole of the reel are controlled automatically by the electronic equipment on the base of the information received from the image detector relating to the position of the end of the wire and the position and the surface from the spool hole. 4. Machine according to claim 3, characterized in that it comprises a frame on which are mounted: a) a reel-holder pliers movable in two orthogonal directions X, Y and able to turn on itself, b) a wire clamp dynamometrically movable in two orthogonal directions Y, Z, c) a second wire clamp movable in two orthogonal directions X, Z, d) an image detector arranged so as to be able to observe the hole of a spool located in the spool pin and the end of a wire held in the wire clamp e) an electronic device receiving the information from the image detector, calculating and memorizing the position of the end of the wire as well as the position, the dimension and the approximate center of the hole of the coil and delivering control signals to the devices d actuation of the pliers to, inter alia, position the end of a wire opposite the hole of the coil and cause it to pass through this hole. 5. Machine according to claim 4, characterized in that the torque clamp comprises an opto-electronic detector causing the movement of the clamp to stop when the tension in the wire reaches a value preset. 6. Machine according to claim 4, characterized in that it also comprises a wire tensioner mounted oscillating near the reel clamp. 7. Machine according to one of claims 4, 5 or 6, characterized in that the second wire clamp has a wire guide member. 8. Machine according to one of claims 4, 5, 6 or 7, characterized in that the second wire clamp has a wire guide cone, the narrow end of which opens in the immediate vicinity of a fixed jaw, and a movable jaw adapted to pinch the wire against the fixed jaw. 9. Machine according to one of claims 4 or 8, characterized in that it also comprises a wire guide movable in the direction Y as well as in rotation on itself, provided with two parallel pins, one of which has at least one pile extending approximately perpendicular to this pin. lO. Machine according to one of claims 4 to 9, characterized in that the dynamometric clamp has a fixed jaw and a movable jaw, movable linearly from and towards the fixed jaw to open or close the clamp and also rotatable around an axis parallel to its direction of linear movement. 11. Machine according to claims 5 and 10, characterized in that the movable jaw is integral in rotation of the moving part of the opto-electronic detector. 12. Machine according to claim 11, characterized in that an elastic action determines the torque necessary for the rotation of the movable jaw and that an adjustment device makes it possible to modify the force of this elastic action.

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