JP2001267169A - Winding machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a winding machine which can detect uneven winding quickly and surely and perform automatically a remedy operation such as rewinding of a wire to the occurence position and re-winding therefrom. SOLUTION: A picture relating a coil 25 which is continuously wound is picked up at every timing, and the wire winding position WP at every timing is specified according to the picked-up picture, so that uneven winding is detected according to the interrelationship of the specified winding positions. This machine is provided with a wire sensor 24 for detecting a supply angle of a wire and a traverse mechanism following automatically the movement of the wire with a slight delay, and it copy-winds first and second layers at the start of winding while storing the traverse position, and winds a wire by a forced traverse method on the basis of the stored data thereafter.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a winding machine, and more particularly, to a winding machine for detecting a winding disturbance of a coil using an image.

[0002]

2. Description of the Related Art One of the important themes in a winding machine is a problem of winding disturbance. Regarding this problem, a countermeasure to prevent the winding disturbance itself or a countermeasure to detect the winding disturbance early to take corrective measures such as rewinding can be considered. Among them, as a countermeasure for preventing the winding disturbance itself, various guides are used to forcibly guide the wire (wire material) to a correct position, or the wire 1 is adjusted according to the progress of the winding (winding). It is conceivable to move the bobbin while keeping the gap between the reels.

[0003] However, wires have subtle variations in thickness. For this reason, even though the wire is forcibly guided to the correct position, the target position itself, for example, the correct winding position after winding 30 times, or the wire is shifted by half a wire between the first layer and the second layer. It is difficult to determine exactly where to wind, and it requires a lot of experience and intuition. Also, the technique of expanding the winding frame as the winding advances is directly effective only for the first layer, and the effect becomes weaker as the layers are stacked after the second layer.

[0004] Therefore, another countermeasure, that is, a countermeasure to detect winding disturbance at an early stage and take corrective measures such as rewinding is considered. If you use this method,
For example, as shown in FIGS. 14 and 15, the detection needle 15 is engaged with the wire 23 wound around the bobbin 12, and the angle (movement) is detected by the angle sensor 13 or the like (in addition, 14 and 15, the same reference numerals are used in the embodiment of the present invention. If necessary, refer to the reference numerals.)

[0005]

However, this technique also has
Since the amount of movement at the tip of the detection needle 26 is detected by the rotation angle of the angle sensor 13 or the like on the base side,
High resolution is required for the angle sensor 13. this is,
This was a technical and cost issue. This tendency becomes stronger as the wire becomes thinner. Also,
During winding, the wire vibrates considerably. For this reason, if the sensitivity of the angle sensor 13 is increased, the influence of the blurring of the wire 23 comes out this time, and how to eliminate the influence is a new problem. Further, as the wire 23 becomes thinner, it loses its stiffness, making it difficult to detect its movement, and is also easily cut. These are also technical issues.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned drawbacks of the prior art, and to detect winding disturbance quickly and accurately, thereby rewinding to the position where the winding has occurred, and rewinding therefrom. It is an object of the present invention to realize a winding machine for enabling a corrective action to be automatically performed.

[0007]

In order to achieve the above object, according to the first aspect of the present invention, there is provided an image pickup means for picking up an image of a coil to be wound at each point in time, and an image pickup means for picking up an image of the coil. And a winding position specifying means for specifying a wire winding position at each time, and a winding disorder detecting means for detecting a winding disorder based on a correlation between the specified wire winding positions.

According to the invention of claim 2, there is provided a traverse control means and a storage means, wherein the traverse control means follows at least the movement of the wire winding position at the time of winding the first layer. Traverses the wire guide, the storage means stores data on the movement of the wire guide when the traverse is performed following the traverse, and the traverse control means stores the data after the wound layer which is the object of the storage. In a winding machine for traversing a wire guide in accordance with the stored data in the winding of (1), imaging means for capturing an image of the wound coil at each time, and the captured coil Winding position specifying means for specifying the wire winding position at each time based on the image according to, the winding disturbance from the correlation of the specified each wire winding position And a winding turbulence detection means for output.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail based on illustrated embodiments. In this embodiment,
It is based on the first embodiment of Japanese Patent Application No. 11-224474 filed earlier by the present applicant. Although the contents are duplicated, the explanation includes the part related to this application.

FIG. 1 shows a main part of a winding machine 10 according to an embodiment.
As shown in FIG. In the figure, a spindle motor 11 rotates a bobbin 12. As a kind of the spindle motor, an inverter motor or the like that can change the speed seems to be good. A rotary encoder 16 is connected to the spindle motor 11 and detects the rotation angle. A traverse motor 17 rotates a ball screw 18 to move a traverse guide 19 laterally. A potentiometer 21 detects the position of the traverse guide 19.

A wire guide 22 is arranged on the traverse guide 19, from which a wire 23 is fed toward the bobbin 12. Traverse guide 1
A wire sensor 24 is further disposed on the top 9, and the tip 27 of the detection needle is divided into two branches (V shape). This is engaged with the wire 23 on the way from the wire guide 22 to the winding position WP, and detects the feeding angle (swing angle) θ. It should be noted that a frame and the like for supporting these components are not shown.

Numeral 71 designates a camera constituted by a CCD image pickup device or the like (denoted as CMR in the figure).
And the image of. The camera 71 corresponds to an image pickup unit described in the claims. In addition, the "image relating to the coil" referred to in the claims
Means "an image including an image of a coil whose turbulence is to be monitored", and may include an image of a surrounding area. In this case, an image of the coil 25 and the image of the bobbin 12 are included. Have been.

The camera 71 is, as shown in FIG.
, The wire supply side (wire guide 22 side)
It is preferred to be located on the side opposite to. The position of the camera 71 is, of course, not limited to this, but with this arrangement, the supplied wire 23 is less likely to appear on the camera 71. That is, the wire 23 normally supplied during the winding of the coil 25 moves at a considerable speed. For this reason, it is vibrating violently. This state is photographed by the camera 71, and the video signal is converted to a DSP (Digital Signal Process
r) and the like, the vibrating wire 23
However, there is a fear that it becomes a noise component and hinders signal processing. Therefore, the position shown in FIG. 1 where the supplied wire 23 is hardly captured is considered to be the best position for disposing the camera 71.

FIG. 4 shows the configuration of a control circuit according to the tenth embodiment. Components already shown in FIG. 1 or FIG. 2 are denoted by the same reference numerals, and description thereof is omitted. In the figure, CPU
Is a central processing unit composed of a semiconductor integrated circuit, and executes each processing described later using a random access memory RAM according to a program stored in a read only memory ROM. This central processing unit CPU functions as each unit described in the claims. The abbreviations of these CPUs and the like are well known. Therefore, hereinafter, only this abbreviation will be appropriately described. The same applies to those described below.

Reference numeral 71 denotes the above-described camera, which captures an image related to the coil (denoted as CMR in the figure). K / B is a keyboard, DISP is a display, and is used as a user interface. I / O is an input / output port for transmitting a control signal from the CPU to each of the drivers DRV1, DRV2, transmitting a detection signal from the rotary encoder 16 to the CPU, and the like. DRV1 is a driver of the spindle motor 11, and DRV2 is a driver of the brake 28. The brake 28 is connected to the spindle motor 11
The brake is applied to the spindle shaft 38 in accordance with a command from the CPU.

A / D is an analog-to-digital converter which digitizes the analog output of the potentiometer 21 and
Supply U. D / A is a digital-to-analog converter, C
The digital output from the PU is converted into an analog signal and supplied to the input terminal A of the second analog switch 31. The input terminal B of the analog switch 31 is supplied with a ground potential. The output terminal X is connected to these input terminals A,
B.

Reference numeral 32 denotes a sensor amplifier, which is a light receiving element 34.
Is amplified and supplied to the input terminal B of the first analog switch 29. Input terminal A of first analog switch 29
Is supplied with the output of the potentiometer 21, and the output terminal X is connected to one of the input terminals of A and B. Reference numeral 36 denotes a motor amplifier. The output of the terminal X of the first analog switch 29 is supplied to the in-phase input (+), and the output of the terminal X of the second analog switch 31 is supplied to the inverting input (-). The traverse motor 17 is driven according to the difference.

The wire sensor 24 used for detecting the angle of the wire 23 includes various sensors such as an area sensor, a sensor using a laser beam, a high-resolution rotary encoder, a potentiometer, and the method described in Japanese Utility Model Publication No. 45-24657. Use is conceivable. Here, a photo interrupter including a light emitting element 33 and a light receiving element 34, which is considered to be the lowest cost method among them, is used.

As shown in FIG. 1 and FIG.
The detection needle 26 straddling the wire 23 serves as a shutter of the wire sensor 24 whose opposite end 37 is realized by a photo interrupter. Wire 2
3, for example, the wire 23 is
When the shutter 37 (the opposite end of the detection needle 26) moves to the right as shown in FIG.
4. Reduce the amount of light entering. The wire 23 is shown in FIG.
When the shutter 37 moves to the left, the shutter 37 moves in the opening direction to increase the amount of light entering the light receiving element 34. Note that FIG.
2 indicate that the wire sensor 24 is broken along the line AA in FIG. 2.

This output is amplified by the sensor amplifier 32 shown in FIG. The output is supplied to the motor amplifier 36 via the first analog switch 29. Here, in the case of the windings of the first and second layers, the first analog switch 29
And the second analog switch 31 are connected as shown in FIG. 4 (each output terminal X is connected to the input terminal B side). At this time, the ground potential (0 volt) is input to the input terminal B of the second analog switch 31. Therefore, the motor amplifier 36 drives the traverse motor 17 until the output of the sensor amplifier 32 becomes zero.

More specifically, if the amount of light to the light receiving element 34 decreases, the traverse motor 17 is rotated to move the traverse guide 19 to the right, and if the amount of light increases, the traverse guide 19 moves to the left. The traverse motor 17 is rotated to move the traverse motor 17. The position in FIG. 3B is a position where the output of the sensor amplifier 32 becomes zero, and when the first layer and the second layer are wound, this state, that is, the swing angle θ is almost zero. The winding is advanced while being kept in the state.

This is a kind of thing in which the regular winding is performed electrically. In the case of the normal conforming winding, the winding by the regular winding is performed even for the coil specification that cannot be wound because the conditions are not satisfied. You can make a line. In this case, as shown in FIG. 5, the traverse guide 19 (wire guide 22) is separated from the bobbin 12 by a sufficient distance when the coil is wound up to the intermediate CP of the first layer, as shown in FIG. 5. Therefore, it refers to a winding method in which the movement of the traverse is stopped and the subsequent winding is left to the natural movement of the wire 23.

Several conditions are required for the profile winding, but the point is that the wire guide 22 is directly opposed to the bobbin 12 as shown in FIG. Straight line CL when extending toward
On the other hand, as long as the swing angle “θ” created by the wire 23 is kept within a certain range, the wire 23 is aligned with the wire 23 wound closely before the bobbin 12 rotates one turn. It is a thing using.

However, as described above, the method of detecting the movement of the wire and controlling the traverse is disclosed in Japanese Patent Publication No. 37-5 / 1975.
66, Japanese Utility Model Publication No. 45-24657, Japanese Utility Model Publication No. 45-
It is publicly known in 32173 publications and the like. However, the gist of the invention according to the earlier application is not here. Originally, the follow-up winding method is a means that is effective for a coil having only one row of windings or a coil having a small number of turns having two or three layers. In the middle of the wire, the movement of the wire is disturbed, and there is a very high probability that the wire will wind up.
On the other hand, if a simple electric braided winding system is adopted, the traverse guide is moved following the movement of the wire,
Once the wire is disturbed, it can be exacerbated and moved in a more disturbed direction, which can lead to loss of control.

In the invention according to the earlier application, the absolute position of the traverse guide 19 is read by the potentiometer 21 shown in FIG. 1, for example, until the winding makes one reciprocation (until the end of winding of the second layer). Wire sensor 2
4, the movement of the traverse guide 19 during that time, for example, a change in the absolute position is read by the potentiometer 21 and the A / D converter in FIG. 4 and stored in the RAM.

After the third layer, the traverse guide 19 is moved according to the data stored in the RAM, for example, indicating the movement of the traverse guide 19 up to the second layer. Switch. In this way, it is possible to prevent further deterioration of the turbulence, which tends to occur in the conventional contour winding. That is, the invention according to the earlier application is intended to take advantage of the respective advantages of such a follow-up winding method and a normal forced feeding method using the traverse guide 19.

The position directly read by the potentiometer 21 is the position of the traverse guide 19.
What is originally sought is the position of the wire guide 22 disposed thereon. Therefore, hereinafter, the position of the wire guide 22 will be described according to the situation.

A detailed description will be given in the order of the windings. First, the bobbin 12 is fixed to the spindle shaft 38, the wire 23 is hooked on the wire guide 22 and the tip 27 of the detection needle, and brought to the winding start position of the bobbin 12. At this time, the inputs of the analog switches 29 and 31 are connected to the terminal B as shown in FIG. 4, and the traverse guide 19 is connected to the wire sensor 24 and the amplifiers 32 and 36. By the action, the wire guide 22 follows the movement of the wire 23, and the wire guide 22 automatically moves to the winding start position.

Next, although not shown, a start switch is pressed. The spindle shaft 38 rotates, and the winding starts. Then, the traverse guide 19 follows the movement of the wire 23 by the action of the wire sensor 24 and the like, and the wire 23 pulled out from the wire guide 22 adheres to the one before the rotation of the bobbin 12 while its actual thickness. It is wound at a pitch that matches.

On the other hand, a potentiometer 21 is connected to the traverse guide 19 as shown in FIG. Further, the rotary encoder 16 is connected to the spindle shaft 38, and for example, gives a trigger signal to the CPU every 1/10 rotation of the spindle shaft 38 (of course, the rotation need not be 1/10 rotation). In response to this trigger signal, the CPU converts the analog output of potentiometer 21 into an A / D signal.
After conversion, as an absolute position signal of the traverse guide 19,
Store in RAM. The winding proceeds in this manner, and the wire 23
When the wire reaches the opposite end of the bobbin 12, the flange 14 of the bobbin gets in the way and cannot go any further, and the wire 23 naturally folds. Traverse motor 1
7 also starts to rotate in the opposite direction to the rotation so far, and shifts to the winding of the second layer.

When the winding of the second layer is completed and the return to the third layer is confirmed in the same manner, the CPU stops taking in the data from the potentiometer 21, and the analog switches 29 and 31. To the input terminal A side. Then, the absolute position data of the traverse guide 19 which has been stored in the RAM so far is stored in the spindle shaft 3 detected by the rotary encoder 16 this time.
Send to the D / A converter according to the rotation of 8.

Since the analog switches 29 and 31 have been switched, the motor amplifier 36 follows the signal of the D / A converter instead of following the signal of the wire sensor 24 up to that point. Thus, the traverse of the third and subsequent layers is executed with the winding patterns of the second and subsequent layers. By doing so, the wire guide 22 moves according to the previous correct winding pattern. Accordingly, it is possible to prevent the wire 23 from starting to move in an arbitrary direction and the winding disturbance is likely to occur. Also, even if the winding disturbance occurs, as will be described later, it is immediately detected, and the rewinding and rewinding are performed. When the winding up to the predetermined total number of windings is completed, the spindle shaft 38 is stopped to prepare for the next winding.

Incidentally, VR is a volume for adjusting the swing angle θ, which is not mentioned in the above description of the operation because it is difficult to understand. Here, assuming that the straight line CL shown in FIG. 5 is the reference direction (θ = 0 °) and the clockwise direction is the positive direction of the swing angle θ, the resistance value of the volume VR is changed from small to large. When changed, swing angle θ
Is negative → 0 → positive (11 o'clock → 12 o'clock → 1 o'clock)
Changes to

In the tenth embodiment, the swing angle θ
As close to 0 as possible. That is, if the swing angle θ is too large, the wire guide 22 is positioned ahead of the winding position WP when the winding position WP moves to the left, as opposed to the state shown in FIG. This is because the wire 23 may move to the left and the adhesion of the wire 23 may deteriorate. However, there is actually a delay in control. Therefore, if the swing angle θ is close to 0, in reality, even if the winding proceeds to the left in FIG.
Traverses with or slightly behind the wire winding position WP.

In this regard, if it is desired to ensure thoroughness, as shown in FIG. 6, a changeover switch 41 may be placed in front of the sensor amplifier 32 to switch the polarity of the input. The armature 42 connects to the upper side as shown in FIG. 4 when the winding position WP moves to the right, and connects to the lower side when the winding position WP moves to the left. In this case, the wire guide 22 traverses with a delay to the winding position WP around the bobbin 12 regardless of the rightward movement or the leftward movement. In the case shown in FIG. 6, it is preferable that the resistance value of VR is set to a relatively large value, that is, the swing angle θ is set to a certain value.

In the wire winding process as described above, the monitoring of the winding turbulence according to the first or second aspect of the present invention is executed. It should be noted that the invention of claim 1 comprises only means for detecting winding turbulence, and the invention of claim 2 provides a winding machine as in the tenth embodiment, that is, an electric leash and a forced traverse. And a means for detecting this winding disturbance in a winding machine provided with means for simultaneously executing the above.

That is, first, at the time of starting the wire winding, the initial state of the bobbin 12 is imaged. This imaging is
When the preparation for winding the wire is completed, the operator presses the start switch.
When the wire 23 is wound around the bobbin 12 once and the end of the wire 23 is wound around the bobbin 12 several times, the operation is executed in response to the operator pressing the start switch.

When the start button is pressed, the CPU first instructs the camera 71 to take an image. For example, FIG.
And the field of view 72 of the camera 71
Is within the range indicated by the one-dot chain line in FIG. 7B, an image having a contour as shown in FIG. This image is stored in the RAM. Actually, the image of FIG. 3C is a bobbin 1 as shown in FIGS.
2 and the wire 23 are drawn, but are hatched in FIG. The hatching in FIGS. 8 and 9 has the same purpose.

When the imaging of the initial state of the bobbin 12 is completed, the CPU instructs the spindle motor 11 to rotate. When this rotates and the winding of the wire starts, the movement of the wire 23 at that time is detected by the wire sensor 24, the traverse motor 17 rotates, and the traverse guide 19 follows the movement of the winding position WP.

At this time, the rotation angle of the bobbin 12 is detected by the rotary encoder 16. Here, as described above, if the rotary encoder 16 generates a trigger pulse every 1/10 rotation, the CPU picks up an image on the camera 71 every time the trigger pulse is counted, that is, every time the bobbin 12 makes one rotation. Instruct. For example,
Assuming that the wire 23 is wound as shown in FIG. 8A and the field of view 72 of the camera 71 is within the range of the dashed line in FIG.
The result is as shown in FIG.

The image component at the start of winding, that is, the component of the image in FIG. 7C is subtracted from the image in FIG. 8C.
Thereby, an image of only the coil portion as shown in FIG. 9 is obtained. The CPU obtains an envelope for this image. The envelope can be obtained by a known method (for example, the article “Mitsuo Yoshikawa,” described in the monthly publication “Transistor Technology” published by CQ Publishing Co., Ltd., August 1992, pages 331 to 344, published by Mitsuo Yoshikawa. Basics and Applications of Image Processing Systems ”). The resulting envelope is as shown in FIG. Note that FIG. 10 is drawn on an enlarged scale from FIG.
Enlargement / reduction is appropriately performed for other figures.

Next, based on the envelope of FIG.
Then, the position where the wire is wound is determined. In this case, first, each of the walls 73 to 7 as illustrated in FIG.
5 is detected. That is, in these walls 73 to 75,
At first, the wire 23 is rounded and becomes vertical eventually.
When the dots constituting the walls 73 to 75 are sequentially traced in these portions, the X coordinate of each dot slightly shifts to the left or right in the rounded portion of the wire 23. In the portion where the envelope is vertical, the X coordinate of each dot does not change. Paying attention to this property, the respective walls 73 to 75 are detected.

Here, the first dot where the envelope becomes vertical, that is, the X coordinate of the dot forming the envelope no longer changes, here, the circle in FIG. With the dots 76 to 78 shown as dots representing the wall, their coordinates (x,
Let y) be the coordinates representative of each of the walls 73-75.

The vertical wall exists not only at the portion 74 where the wire is wound at this time, but also at the portions 73 and 75 where the wire is wound earlier. That is, FIG.
Shows a state in which the wire is wound halfway,
Although it may have confused the reader, the detection of each wall, including the walls numbered 73-75, was performed after the start button was depressed and the bobbin 12 was wound from the beginning of the wire winding. It is executed every rotation. CPU
Stores the positions of all the walls at the time of detecting each of the walls.

Then, the positions of all the walls detected for each rotation of the bobbin 12 are compared with the stored positions of the walls. If the positions match in this collation, it is not the newly detected wall at that time, but a previously existing wall. If such a wall is excluded, only the newly formed wall will remain at this time. This indicates the position where the wire is newly wound by one rotation of the bobbin 12 at that time.

Next, the distance between the newly detected wall (the new wire winding position) and the wall detected before the bobbin 12 makes one rotation (the wire winding position before the bobbin 12 makes one rotation). , And find the difference between the coordinates. Here, various winding examples are shown in FIG. FIG. 7A shows a winding position 74 before the bobbin 12 makes one rotation, and FIG. 7B shows that the next wire 23 is correctly wound next to it, so that a correct wall 79 is formed. For example, FIG. (C) shows an example in which the wire 23 has climbed up, so-called an incorrect wall 80 has been formed. FIG. (D) shows an example in which the wire 23 has jumped, and the incorrect wall 81 has The example which has been formed is shown.

As can be understood from this example, the normal and abnormal winding states of (B) to (D) are determined by the bobbin 1
2, the winding position 74 before one rotation, and the current winding position 79-
81, that is, it can be determined based on the positional relationship between the two walls of the previous time and the current time, and it can be determined based on the coordinate difference between them. In other words, if the winding is normal, the new winding position moves to the next position, so the difference in the X direction is one wire, and there is no difference in the Y direction. Other than this, it is a turbulence in principle. The CPU detects the presence / absence of turbulence for each rotation of the bobbin 12 based on the nature of the difference between the coordinates.

However, when the wire is wound up to the full width of the bobbin 12, the next wire 23 is wound obliquely upward. In this case, even if the winding is normal, the difference between the coordinates is Y.
Ingredients come out. However, in this case, the winding position one rotation before is closer to the left side or the right side inside the bobbin 12. Therefore, if the Y component appears in the coordinate difference,
The X coordinate of the previous winding position is checked, and if it indicates the position of the full left or full right inside the bobbin 12, it is normal.
Otherwise, it is determined that the turbulence has occurred.

The X coordinate indicating the position of the full left or full right inside the bobbin 12 can be physically specified from the shape (dimension) of the bobbin 12. Therefore, the value may be input in advance or each time the type of the bobbin 12 changes.
Since a display (DISP) is provided, an image of the bobbin 12 as shown in FIG. 7 (C) is displayed on the display, and the cursor is moved to the left or right position inside the bobbin 12 and the mouse button is pressed. By clicking, the CPU may fetch these X coordinates and hold them in the RAM.

As described above, the CPU 1
The presence or absence of turbulence is detected for each rotation. Then, if winding disturbance occurs, the brake 28 is operated and the spindle motor 11 is stopped. In this case, the bobbin 12 rotates several times from when the brake 28 is applied to when it stops.
After operating the brake 28, the CPU counts the number of trigger pulses output from the rotary encoder 16, and stores the number of rotations and the rotation angle of the bobbin 12 until it stops. When the bobbin 12 stops, the spindle motor 11 is rotated in the reverse direction by the stored rotation speed and rotation angle while rewinding the wire 23 by rotating the wire drum (not shown) in the reverse direction.

In the tenth embodiment, the turbulence is detected once per rotation of the bobbin 12. For this reason, the position where the turbulence actually started may be at most one rotation before the detected position. Also,
The position at which rewinding is started may be slightly before the position at which the unwinding has occurred. Therefore, in performing the rewinding, the rotation angle of less than one rotation is neglected, and for example, the number of rotations of the bobbin 12 from when the brake 28 is applied to when the bobbin 12 is stopped is stored, and a value obtained by adding a few more rotations to the storage is stored. What is necessary is just to make the number of rotations of return.

After the bobbin 12 is rotated in the reverse direction and the wire is rewound, the winding is restarted from there. With this, even if a winding disorder is generated, it is automatically eliminated, and the wire 23 is completely aligned and wound from the beginning to the end.

The method of detecting the winding position WP of the bobbin 12 is not limited to the above. For example, a new winding position WP can be detected by the procedure shown in FIG. That is, in FIG. 12, (A) is an image taken one rotation before, (B)
Represents an image captured when the bobbin 12 has been rotated once (the image is correctly drawn with the bobbin 12 and the coil 25, etc., but is shown as an outline in these figures). Here, when a difference between the image of FIG. 7B and the image of FIG. 7A before one rotation is obtained, an image 82 having a difference as shown in FIG. 8C is obtained. The image 82 of the difference represents an amount increased by one rotation of the bobbin 12, that is, the wire 23 newly wound at this time.

Next, a position representing the difference image 82 is obtained. The representative position may be anywhere, but here, the position G of the center of gravity of a set of several tens of dots forming the difference image 82 is set. The CPU executes these processes each time the bobbin 12 is rotated once. Then, the center-of-gravity position G for each time is stored as a new wire winding position at that time. As described above, the difference image 82 is composed of tens of dots depending on the thickness of the wire and the resolution of the image at that time. Since it is difficult to show this with a dot on the figure, it is shown with an outline. FIG.
The same applies to the image of each difference of No. 3.

When the winding position of each winding is obtained and stored in this way, the winding turbulence can be detected on the basis of the winding position in the same procedure as described above with reference to FIG. FIG.
FIG. 3B is an enlarged view of FIG. 3A, showing that various windings of the wire are shown again. Normal winding is performed. In the example in which a new difference image 83 appears, FIGS. 9C and 9D also show the same enlargement ratio as that of FIG. 9B, and FIG.
, The difference image 84 appears there, and FIG. 9D shows an example in which the wire 23 has jumped and the difference image 85 has appeared there.

That is, also in this case, if the winding is normal, the new winding position (difference image 83) moves immediately to the next position. In principle, there is no difference in the Y direction in principle. The CPU, based on the nature of such a difference in coordinates,
As in the case of the detection method described with reference to FIG. 11, the presence / absence of turbulence is detected for each rotation of the bobbin 12.

It is to be noted that the wire 2 extends to the full width of the bobbin 12.
3 is wound, the next wire 23 is wound obliquely upward, and the Y component appears in the coordinate difference, which is also normal, as in the previous detection method. It is. Also in this case, it is determined whether it is normal or turbulent by the same procedure as in the above detection method. Further, rewinding and rewinding when it is determined that the winding is disordered are the same as those in the above-described detection method. The description is omitted because it becomes redundant.

In the above description, rewinding and re-winding are performed after detecting winding disturbance. Usually, this seems to be the best embodiment, but some wires are wound while being heated, for example with hot air. Such a thing adheres mutually after winding. Since this type is difficult to rewind, rewinding is not performed, and each invention of the present application is implemented as an apparatus for detecting winding disturbance early and accurately.

In the embodiment, one of the bobbins 12
Winding turbulence was detected at each rotation. The present invention is not limited to this. For example, the detection may be performed every two rotations of the bobbin 12, or conversely, the detection may be performed every half rotation of the bobbin 12.

[0060]

As described above, according to the first aspect of the present invention, an image of the coil being wound is picked up at each point in time, and the image of the coil is picked up at each point in time based on the picked up image of the coil. The wire winding position is specified, and the turbulence is detected from the correlation between the specified wire winding positions.

Accordingly, compared with the conventional method, for example, a method in which a detection needle is engaged with a wire and the angle (movement) thereof is detected by an angle sensor or the like, it is extremely accurate and highly accurate.
It is possible to detect a turbulence, and to provide a motive for automatically performing necessary operations such as a turbulence detection method itself, a correction operation such as rewinding and rewinding, or a traverse data correction operation. It can be used effectively.

The present invention is further effective in a winding of a fine wire having a wire diameter of several tens μm or less. That is, in general, it is almost impossible to determine the state of a very fine wire during winding with the naked eye. However, according to the present invention, by utilizing the zoom function normally provided in the imaging means, it is possible to sufficiently detect turbulence even with a fine wire, thereby greatly improving the yield in the winding of the fine wire. Things become possible.

Next, in the invention of claim 2, the same construction as that of the invention of claim 1 is adopted in the winding machine according to the earlier application.
That is, the winding machine according to the earlier application includes a wire sensor that detects a supply angle of the wire, and a traverse mechanism that automatically follows the movement of the wire with a slight delay. The second to third layers are wound in a tracing manner while storing the traverse position, and the subsequent windings are wound by the forced traverse method based on the data stored so far.

However, in the winding machine according to the earlier application,
Regarding the windings after switching from the follow-up winding to the forced traverse method, if the windings are turbulent, so that even if the windings are so-called galvanized windings, there is no means for detecting them. Therefore, as described in the specification of the previous application, a so-called mottled coil has been proposed as a winding machine that can be wound at a lower cost than a conventional winding machine. According to the second aspect of the present invention, a function of detecting winding disturbance is added to this. As a result, it is possible to constantly monitor the state of the winding, and to perform control such as rewinding when winding disturbance occurs. Therefore, a winding machine that can perform aligned winding at low cost is realized.

[Brief description of the drawings]

FIG. 1 is a front view showing a main part of a tenth embodiment of the present invention.

FIG. 2 is a right side view showing a main part of a tenth embodiment of the present invention.

FIG. 3 is a plan view showing how the shutter 37 (the rear end of the detection needle 26) is hooked on the wire sensor 24;
(A) and (C) show the state where the position shift occurs, and (B) shows the state where the position is appropriate. The hatching in each drawing indicates that the wire sensor 24 has been broken along the line AA in FIG. 2.

FIG. 4 is a block diagram showing a circuit configuration of a tenth embodiment.

FIG. 5 is a plan view showing a positional relationship between a position WP where a wire is wound and a wire guide 22;

FIG. 6 shows a changeover switch 41 provided before the sensor amplifier 32.
FIG. 9 is a circuit diagram showing a modified example in which is placed.

FIGS. 7A and 7B are explanatory diagrams showing a relationship between the bobbin 12 and a captured image, wherein FIG. 7A shows the bobbin 12 viewed from the back;
(B) shows an image obtained by superimposing the field of view 72 of the camera on this,
(C) shows a captured image.

FIGS. 8A and 8B are explanatory diagrams showing the relationship between a bobbin 12 on which a wire is wound halfway and a captured image, wherein FIG. 8A shows the bobbin 12 on which the wire is wound viewed from the back, and FIG. An image in which the field of view 72 of the camera is superimposed on the bobbin 12 on which the wire is wound as viewed from the back is shown, and (C) shows a captured image.

9 is a diagram showing a difference image obtained by subtracting the components of the image of FIG. 7C from the image of FIG. 8C.

FIG. 10 is an enlarged view of FIG. 9, showing respective walls and dots representing them.

11A and 11B are diagrams for explaining transition of a wire winding position represented by a wall, wherein FIG. 11A shows a winding position of the bobbin 12 before one rotation, and FIG. Shows the transition from the winding position of the bobbin 12 one rotation before to the current winding position in the case, (C) shows the same transition when the winding is repeatedly performed, and (D)
Indicates a similar transition when one winding is wound.

12A and 12B are diagrams for explaining a procedure of detecting a wire winding position at that time from a difference image, wherein FIG. 12A shows an image taken one rotation before, and FIG.
Shows an image captured when is rotated once, and (C) shows an image of the difference between (A) and (B).

13A and 13B are diagrams for explaining a transition of a wire winding position represented by a difference between images, and FIG. 13A is a diagram illustrating a relationship between a winding position of the bobbin 12 one rotation before when the winding is performed in a line and the current time; The transition of the winding position to the winding position is shown, (B) is an enlarged view of a main part of (A), and (C)
Shows, in an enlarged manner, the transition of the same winding position when the windings are overlapped, and (D) shows the transition of the same winding position when the windings are skipped by one. It is shown enlarged.

FIG. 14 is a plan view showing an example of a conventional configuration for detecting winding disturbance.

FIG. 15 is a right side view showing an example of a conventional configuration for detecting winding disturbance.

[Explanation of symbols]

CP: Middle of the first layer CL: Reference line G: Center of gravity VR: Volume WP: Current winding position θ: Swing angle 10: Winding machine of the embodiment 11 ... Spindle motor 12 ... Bobbin 13 ... Angle sensor 14 ... Flange 16 Rotary encoder 17 Traverse motor 18 Ball screw 19 Traverse guide 21 Potentiometer 22 Wire guide 23 Wire 24 Wire sensor 25 Coil 26 Detecting needle 27 Detecting needle tip 28 Brake 29 First Analog switch 31 ... Second analog switch 32 ... Sensor amplifier 33 ... Light emitting element 34 ... Light receiving element 36 ... Motor amplifier 37 ... Shutter 38 ... Spindle shaft 41 ... Switching switch 42 ... Arpole 71 ... Camera 72 ... Field of view 73-75 ... Wall 76-78 ... wall Representative dot 79: Wall when correct winding 80: Wall when riding 81: Wall when flying 82 ... Difference image 83 ... Image of next difference when correct winding 84: When riding Next difference image of 85 ... Image of next difference when flying

Claims (2)

[Claims] 1. An image pickup means for picking up an image of a coil being wound at each time point, and a winding position specifying means for specifying a wire winding position at each time point based on the picked up image of the coil. And a winding disturbance detecting means for detecting winding disturbance based on the correlation between the specified wire winding positions. 2. A traverse control means and a storage means, wherein the traverse control means traverses a wire guide so as to follow a movement of a wire winding position at that time in winding of at least a first layer, The storage means stores data on the movement of the wire guide when the traverse is performed following the traverse, and the traverse control means controls the winding of a layer subsequent to the wound layer to be stored. In a winding machine that traverses a wire guide according to the stored data, an imaging unit that captures an image of the wound coil at each point in time, and an image capturing unit that captures an image of the wound coil based on the captured image of the coil. Winding position specifying means for specifying a wire winding position at the time, and winding turbulence detecting means for detecting winding turbulence from the correlation between the specified wire winding positions A winding machine characterized by comprising: