JP2008074502A - Automatic alignment winding method of linear bodies, and its device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To wind cables around a drum without a collapse of winding of cables even if a flange of the drum is deformed, and to wind more cables. <P>SOLUTION: In an automatic alignment winding method of linear bodies, when the linear bodies 5 are wound in multi-layers around a rotating drum 3 having flanges 3B on its each side while relatively traversing and automatically aligning the linear bodies 5, and when the linear bodies 5 are wound in an n-th layer, each width between flanges on a linear line passing the center of measurement points of the linear bodies 5 wound in an (n+1)-th layer next to the n-th layer is detected in advance by a non-contact type flange width detection device 21 at a plurality of measurement points dividing the circumference of the flanges 3B into a plurality of sections. Based on the measured widths between flanges and outer diameters of the linear bodies 5, the number of winding of the linear bodies 5 wound in the (n+1)-th layer and an arrangement pitch P of each linear body 5 are calculated. Based on the calculated arrangement pitch P, depending on the situation, the linear bodies 5 are wound on between the linear bodies 5 that has been wound in the n-th layer, and between the linear bodies 5 in the n-th layer. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  TECHNICAL FIELD The present invention relates to a method and an apparatus for automatically winding a linear body, and in particular, when various layers are wound in a self-aligned manner while a linear body is relatively traversed on a rotating drum having ridges on both sides. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for automatically winding a linear body that performs an alignment winding on a collar shape of a drum.

  Conventionally, as shown in FIG. 17 (A), for example, when a cable 105 as a filament is wound in multiple layers on a drum 103 provided with hooks 101 on both sides, the cable 105 is connected without gaps in the first layer. The cable 105 is wound around the drum 103, and the cable 105 is wound with no gap so as to be arranged in the upper layer between the first layer cables 105 in the second layer. Similarly, a method of winding the cable 105 around the drum 103 without a gap is known.

For example, as disclosed in Patent Document 1, when winding a wire rod (corresponding to the cable 105) while winding it on a winding bobbin (corresponding to the drum 103), the traverse of the winding bobbin The travel position of the filament at an appropriate position (distance y ₁ from the guide roller) between the guide roller located on the center line (YY) and the center axis (XX) of the winding bobbin A passing position detecting device is provided in the vicinity of. The passing position detecting device measures a deviation distance (x ₁ ) from the traverse center line (YY) of the passing position, and further, the inner wall surface of the side plate that is approaching at that time and the traverse center The distance between the wires is measured, the distance between the central axis (XX) and the guide roller is a, the outer diameter of the wire is d, and the gap between the inner wall surface of the plate and the wire It is known that the value of c is calculated by the formula c = L− (ax ₁ / y ₁ ), and the traverse direction of the take-up bobbin is reversed when this value becomes d / 2 or less.

As another conventional cable winding method, as disclosed in Patent Document 2, a linear body (corresponding to the cable 105) is traversed on a winding bobbin (corresponding to the drum 103). When winding, the guide body located on the traverse center line (YY) of the winding bobbin and the central axis (XX) of the winding bobbin are close to the travel position of the linear body The two passing position detection devices are provided at positions where the distances along the traverse center line (Y-Y) from the guide roller are different values b and c, respectively, The deviation distance (x ₁ , x ₂ ) from the traverse center line (Y−Y) is measured by the two passing position detection devices, respectively, and the value of the ratio (x ₁ / x ₂ ) is calculated. A constant value (b / c) that this value should be equal to Which reversing is known to the traverse direction at the time of the change from.

  Further, in Patent Document 3, in order to detect winding abnormalities such as cable run-up and skipping when the cables are aligned and wound, the winding state of the cable is regarded as a still image, and the highest cable in this image is detected. A method of determining a winding point and a winding state from a light-dark pattern on the monitoring line M at a position lower than the point H by d / x (d = cable diameter on the layer, x = arbitrary numerical value). It has been known.

  As another example, in Patent Document 4 and Patent Document 5, an imaging camera sequentially captures the state of a cable wound around a drum, and a control unit (CPU) that stores the captured image is wound in an aligned state. It is determined whether or not. When it is determined that the winding state is not aligned but the winding state is determined by the control signal from the control unit, a force in a direction to automatically correct the winding state is applied to the cable. Devices are known that are automatically modified so that the randomly wound cable is in an aligned tight winding state.

As another example, in Patent Document 6, the crest distance between two points of the current winding point of the cable fitted to the bobbin and the crest point of the bobbin crest inner wall surface on the crawling region side to be wound from now on Is always measured by image processing, and when the winding fluctuation of the cable exceeding the predetermined value in the winding distance at each turn occurs after the winding point reaches within the predetermined distance from the winding point, this is detected. One that corrects the winding behavior of the cable is known.
JP-A-8-217333 JP 9-255226 A JP-A-7-117924 Japanese Utility Model Publication No. 6-27816 Japanese Utility Model Publication No. 6-27818 Japanese Patent Laid-Open No. 3-62417

  By the way, in the conventional cable winding method, the cable 105 is wound around the drum 103 with tension, so that winding around the drum 103 occurs. By the tightening, the position of the cable 105 moves toward the center of the drum 103 as shown in FIG. As a result, the inner surface W of the collar 101 is pushed by the cable 105 and the collar inner width W increases. In this state, since the cable feed pitch P2 is different from the initial calculated value P1, there is a problem that the cable 105 cannot be wound uniformly or that the cable 105 falls and collapses.

  In addition, the dimensions of the drum 103 differ from drum 103 to drum due to poor assembly conditions from the beginning or due to secular change. Actually, the collar 101 is deformed as shown in FIG. Most cases. Even in the same drum 103, the collar inner width W changes depending on the position. In such a case, similarly to the above case, there are problems that the cable 105 cannot be uniformly wound and that the cable 105 is collapsed.

  The deformation of the collar 101 as shown in FIGS. 17B and 17C is as shown in FIG. 17D when the collar width W is constant in the circumferential direction of the collar 101. However, the curvature of the flange 101 does not necessarily deform in the same manner along the entire circumference of the flange 101 from the center CL of the drum 103 toward the outer periphery, but in the circumferential direction of the flange 101 as shown in FIG. The collar width W may change. In this case, since the gap between the cable 105 to be guided and the flange 101 is wide at the portion where the brim width W is widened, there is a problem that the cable 105 falls in the next layer.

  In Patent Documents 1 and 2, even if there is a warp of a drum or a processing error, the traverse inversion is determined by actually measuring the distance to the kite at the place where the turn should be stored. However, each time the cable approaches the inner surface of the fence, the traverse inversion is performed by instantly judging whether or not the cable should be turned. There are problems such as the occurrence of such a problem and the need for an expensive control device for instantaneously determining the determination of traverse inversion at high speed.

  In addition, when the end of the ridge or the position of the cable is measured by contact type detection using, for example, a limit switch, it takes time until measurement, and more time is required for drum replacement. There was a point.

  Conventionally, in the method for determining the winding state of the cable, in Patent Document 3, the image processing is performed based on the shading of the image, and the image processing is performed by recognizing the cable position and other portions. Yes. However, in this image processing, there is a problem that an error occurs due to a light hitting condition and the like, and it is difficult to narrow down a portion to be measured, so that a problem such as erroneous recognition of the cable position occurs.

  Further, in Patent Document 4 and Patent Document 5, when it is determined that there is a turbulent winding state when the previous cable is wound, the winding method is corrected when the next cable is wound. Therefore, there is a problem in that it is necessary to use an expensive processing apparatus. The same applies to Patent Document 3 in that it is necessary to use such an expensive processing apparatus.

Further, in Patent Document 6, the maximum variation point (D ₁ ) and the minimum variation of the crawling distance between two points of the current winding point of the cable and the crest point of the inner wall surface of the bobbin collar portion on the crawling region side to be wound from now on. Since the correction mechanism is activated when the difference between the point (D ₂ ) exceeds about the cable diameter (d), even if the collar width changes in the circumferential direction of the collar, it is corrected according to the deformation of the collar. Although it is possible and excellent, it always requires an expensive control device to make the above determination instantaneously at high speed while detecting the close distance between the current winding point and the close point of the cable, etc. There was a problem.

  The present invention has been made to solve the above-described problems.

The automatic alignment winding method of the linear body of the present invention is an automatic alignment winding method of a linear body that is automatically aligned and wound in multiple layers while relatively traversing the linear body on a rotating drum having ridges on both sides.
When the striatum is wound on the nth layer, the center of the striate wound on the next (n + 1) th layer is previously measured at a plurality of measurement points obtained by dividing the circumference of the collar into a plurality of pieces. The inner width of the brim on the straight line is measured by a non-contact type brim width detecting device, and based on the measured inner width of the brim and the outer diameter of the linear body, the filament wound around the (n + 1) layer The number of windings at each measurement point of the body and the arrangement pitch of each striated body are calculated, and based on the calculated arrangement pitch, the striated body wound around the nth layer according to the situation and the ridge The striate is wound around and between the striates of the n-th layer.

  In the automatic alignment winding method of the linear body according to the present invention, in the automatic alignment winding method of the linear body, the non-contact type brim width detecting device may be arranged between the flanges on both sides from the rotation center side to the outer peripheral side. It is preferable to detect the distance to each ridge on both sides by moving to.

  Moreover, the automatic alignment winding method of the linear body of this invention WHEREIN: It is preferable in the automatic alignment winding method of the said linear body that the said non-contact-type collar width | variety detection apparatus is a laser displacement detector.

The automatic alignment winding device for a linear body of the present invention is an automatic alignment winding device for a linear body that is automatically aligned and wound in multiple layers while relatively traversing the linear body on a rotating drum having ridges on both sides.
A non-contact type collar width detecting device for measuring the inner width of the collar on a straight line passing through the center of the striate wound around each layer;
When the striatum is wound on the nth layer, the center of the striate wound on the next (n + 1) th layer is previously measured at a plurality of measurement points obtained by dividing the circumference of the collar into a plurality of pieces. A command for measuring the inner width of the collar on the straight line is given to the non-contact type collar width detecting device, and based on the inner width of the collar and the outer diameter of the filament at each measurement point of the (n + 1) layer. , The number of windings at each measurement point of the striated body wound in the (n + 1) layer and the arrangement pitch of each striatum are calculated, and the nth layer is calculated according to the situation based on the calculated arrangement pitch. A control device for giving a command to wind the wire body between the wound wire body and the ridge, and between the n-th layer wire bodies;
It is characterized by comprising.

  In the automatic alignment winding device for a linear body according to the present invention, in the automatic alignment winding device for the linear body, the non-contact-type brim width detecting device may be arranged between the opposite sides of the drum from the rotation center side of the drum. It is preferable that a detection unit that detects the distance to each ridge on both sides is provided.

  Moreover, in the automatic alignment winding device for a linear body of the present invention, in the automatic alignment winding device for the linear body, the non-contact type collar width detection device is preferably a laser displacement detector.

  As will be understood from the means for solving the problems as described above, according to the automatic alignment winding method of the striated body of the present invention, even if the collar is deformed and the inner width of the collar is widened, the line is formed in the nth layer. When the strip is wound, the collar on the straight line passing through the center of the strip that is wound on the next (n + 1) layer at a plurality of measurement points obtained by dividing the circumference of the collar into a plurality of pieces in advance. The inner width is measured by a non-contact type brim width detecting device, and at each measurement point of the filament wound around the (n + 1) layer based on the measured collar inner width and the outer diameter of the filament. Calculate the number of windings and the arrangement pitch of each striated body, and based on the calculated arrangement pitch, depending on the situation, between the striated body wound on the nth layer and the ridge, and Since the striated body is wound between the n-th layer striated bodies and the winding following the deformation of the wrinkles can be performed, Even brim width 1 lap each eye to the flange is deformed at its circumference has changed, eliminated that striatum crumble. Moreover, more striate bodies can be wound. In addition, since the number of windings at each measurement point of the striated body to be wound on the next (n + 1) layer and the arrangement pitch of each striated body are set in advance, there is a time margin, so the speed can be increased instantaneously. An inexpensive device that does not require an expensive control device for determination can be adequately handled.

  In addition, according to the automatic alignment winding device for the striated body of the present invention, when the striated body is wound on the nth layer according to the instruction of the control device, in advance, by the non-contact type brim width detecting device, The inner width of the collar on a straight line passing through the center of the striate wound around the next (n + 1) layer is measured at a plurality of measurement points obtained by dividing the circumference of the collar. Furthermore, the number of turns at each measurement point of the filament wound around the (n + 1) layer based on the inner width of the collar and the outer diameter of the filament at each measurement point of the (n + 1) layer by the control device And the arrangement pitch of each striate body is calculated, and on the basis of the calculated arrangement pitch, depending on the situation, between the striate wound around the nth layer and the ridge, and the n layer Since the striated body is wound between the striated bodies of the eyes and can be wound following the deformation of the wrinkles, even if the wrinkles are deformed around the circumference, the width of the collar is one round of each layer. Even if is changed, the striatum will not collapse. Moreover, more striate bodies can be wound. In addition, since the number of windings at each measurement point of the striated body to be wound on the next (n + 1) layer and the arrangement pitch of each striated body are set in advance, there is a time margin, so the speed can be increased instantaneously. An inexpensive device that does not require an expensive control device for determination can be adequately handled.

  Embodiments of the present invention will be described below with reference to the drawings.

  Referring to FIGS. 1 and 2, a cable winding apparatus 1 according to this embodiment is an apparatus for winding, for example, a cable 5 as a linear body on a perimeter of a drum 3 in multiple layers. A drum rotating device 9, a cable guide device 11, and a control device (not shown) are provided on the table 7.

  The drum rotating device 9 is a device that rotatably supports the drum 3 with respect to the base 7 around the central axis CL1 of the drum 3. In this embodiment, the central axis CL1 of the drum 3 extends in the horizontal direction, and the drum 3 is installed so as to rotate above the base 7. That is, as shown in FIG. 1, the drum rotating device 9 includes a portal drum support member 13 provided on the base 7 and rotatably supporting the drum 3, and a servo for rotating the drum 3. And an actuator 15 such as a motor. By rotating the actuator 15, the drum 3 rotates in the direction of the arrow AR 1 shown in FIG. In FIG. 2, the drum rotating device 9 is not shown.

  As shown in FIG. 4, the drum 3 includes a drum main body 3A formed in a columnar shape, and disk-shaped ridges 3B provided at both ends of the drum main body 3A. The cable 5 is wound around the outer periphery of the drum body 3A.

  Here, for convenience of explanation, the extending direction of the rotation center axis CL1 of the drum 3 (direction perpendicular to the paper surface of FIG. 1) is the X-axis direction, the vertical direction is the Y-axis direction, and the X-axis and Y-axis are An orthogonal direction (left-right direction in FIG. 1) is a Z-axis direction.

  Further, on the drum support member 13 of the drum rotating device 9 described above, the collar width detecting device moving arm 17 is located on the right side in FIG. 1 and is located at a predetermined position in the direction of the collar inner width W (X-axis direction). In this embodiment, it is provided so as to be movable on a straight line CL2 which is orthogonal to the substantially central position of the inner width W of the collar and orthogonal to the rotation center axis CL1 of the drum 3. The collar width detecting device moving arm 17 is configured to move in the direction of arrow B in FIG. 1 by an actuator 19 such as a servo motor. Further, for example, a laser displacement detector 21 as a non-contact type collar width detecting device for measuring the distance to the inner surface of each collar 3B on both sides is provided at the lower end of the collar width detecting device moving arm 17 in FIG. Is provided.

  As shown in FIG. 5, the laser displacement detector 21 captures, for example, a light projecting unit that irradiates a laser beam as the detecting units 21A and 21B and an image of the laser beam that is irradiated on the inner surface of each ridge 3B. For example, imaging means such as a CCD camera are provided on both the left and right sides of the collar width detecting device moving arm 17 in the X-axis direction. For example, laser light is irradiated from the left and right light projecting portions in the direction of the inner width W (X-axis direction), and an image of the laser light irradiated on the inner surface of each ridge 3B is detected by the CCD camera. Based on the image detected by the CCD camera, the arithmetic unit of the control device calculates the distance from each of the left and right detection units 21A, 21B to the inner surface of each ridge 3B. The non-contact type collar width detecting device is not limited to the laser displacement detector 21 and may be another device.

  The cable guide device 11 is a device that guides the cable 5 in order to wind the cable 5 around an appropriate position of the drum 3. That is, an X-axis carriage 25 that is movable in the X-axis direction via a linear guide bearing 23 provided on the cable guide device support base 7A is provided above the base 7, and the X-axis carriage 25 is a servo motor or the like. The actuator 27 is configured to move in the X-axis direction.

  A Y-axis base member 29 is erected integrally with the X-axis carriage 25 above the X-axis carriage 25, and a Y-axis carriage 31 is linearly connected to the Y-axis base member 29. The guide bearing 33 is engaged so as to be movable in the Y-axis direction. The Y-axis carriage 31 is configured to move in the Y-axis direction by an actuator 35 such as a servo motor.

  A roller support member 37 is provided on the side of the Y-axis carriage 31. The base end portion of the roller support member 37 is rotatably supported by the Y-axis carriage 31, and the tip end side extends in the Z-axis direction and the drum 3 is installed. Below the tip of the roller support member 37 is a roller 39 for guiding the cable 5 just before being wound around the drum 3 (in a normal state, the roller whose rotation center axis CL3 extends in the X-axis direction) ) Is rotatably provided with respect to the roller support member 37. A roller 41 for pressing and guiding the cable 5 from below is provided behind the roller 39 so as to be rotatable with respect to the roller support member 37.

  As shown in FIG. 3, the roller 39 is provided with flanges 39A at both ends, and the cable 5 is sandwiched between the flanges 39A to guide the cable 5 from above. is there. The roller 41 is also provided with similar ridges at both ends.

  With the above configuration, the roller 39 moves in the X-axis and Y-axis directions, and the position of the contact point Q1 (contact point with the cable 5) located at the lower end of the roller 39 is, for example, FIG. As shown in FIG. 1, the thickness of the cable 5 wound around the drum 3 (for example, the upper end of the drum main body 3A shown in FIG. It is configured to be able to move from the vicinity to the upper end of the ridge 3B.

  Further, the rear end side of the roller support member 37 protrudes rearward from the rear end of the Y-axis carriage 31, and as shown in FIG. 2, the roller support member 37 is shown in FIG. It is configured to rotate in the clockwise and counterclockwise directions on the paper. As a result, when the roller 39 winds the cable 5 around the drum 3 in the vicinity of the flange 3B of the drum 3, the roller support member 37 rotates, so that the roller 39 becomes the flange 3B as shown in FIG. It tilts diagonally so as not to interfere.

  Further, when the cable 5 is wound around the outer periphery of the drum 3 in layers by using the cable winding device 1 of this embodiment, the collar inner width W of the collar 3B at both ends of the drum body 3A is not necessarily shown in FIG. As shown in FIG. 7, there are many cases where the center CL1 is not uniform toward the outer periphery but is deformed in many cases, and further, it is not uniformly deformed even at the circumference of the flange 3B. As described above, when the inner width W of one round on an arbitrary circumference is expressed as being over the actual plane, the inner width W of one round may change. For example, as shown in the front view of the drum 3 as shown in FIG. 8, the collar 3B is deformed such that the upper and lower collar inner widths W are W1 and W2 in FIG.

Therefore, the measurement points of the collar inner width W by the laser displacement detector 21 described above are provided at a plurality of locations obtained by dividing the circumference of the collar 3B into a plurality of portions. In this embodiment, as shown in FIG. 6, twelve measurement points MP _{1 to} MP ₁₂ are provided by dividing the circumference of the ridge 3B into, for example, twelve equal parts.

Referring to FIG. 9, the control device 45 described above is based on a pre-stored program and has a slight size between the cables 5 wound on the same layer as shown in FIG. The gap G is formed, the coil is wound without any gap, and the laser displacement detector 21 detects the inner width W of the measurement points MP _{1 to} MP _{12 in} each layer of the cable 5 to be wound, This is a device for controlling the drum rotating device 9, the cable guide device 11, and the collar width detecting device moving arm 17 so that the cable 5 is wound in multiple layers at appropriate pitch intervals.

  More specifically, the control device 45 includes a CPU 47 as a central processing unit. The CPU 47 includes an input device 49 such as a keyboard and a touch panel for inputting various data and programs, and a display such as a CRT or a liquid crystal display. A device 51 and a memory 53 for storing a program input from the input device 49, distance data to the inner surfaces of the respective hooks 3B detected by the laser displacement detector 21, and the like are provided.

Further, when the cable 5 is wound on an arbitrary n-th layer of the multi-winding cable 5, the CPU 47 has a plurality of measurement points obtained by dividing the circumference of the flange 3 </ b> B in advance. In this embodiment, at 12 measurement points MP _{1 to} MP ₁₂ , the distance L (n + 1) ₁ to ₁₂ of the inner width W on the straight line passing through the center of the cable 5 wound on the next (n + 1) layer is set. A first command unit 55 for giving a command to be detected to the laser displacement detector 21; a distance L (n + 1) _1-12 of a collar inner width W at each of the measurement points MP _{1 to} MP ₁₂ in the (n + 1) layer; and a cable. An arithmetic device 57 for calculating the number m of windings at each of the measurement points MP _{1 to} MP ₁₂ of the cable 5 wound in the (n + 1) layer and the arrangement pitch P of each cable 5 based on the outer diameter d of 5; Arrangement calculated by the arithmetic unit 57 Based on the pitch P, an instruction to wind the cable 5 between the cable 5 wound on the n-th layer and the flange 3 and between the cables 5 on the n-th layer depending on the situation. Is connected to a second command unit 59 that provides

In this embodiment, the distances L (n + 1) ₁ to ₁₂ are, for example, L (n + 1) ₁ indicates the distance at the measurement point MP ₁ of the cable 5 wound in the (n + 1) layer, (N + 1) ₂ indicates the distance at the measurement point MP ₂ in the (n + 1) layer. Similarly, L (n + 1) ₁₂ indicates the distance at the measurement point MP ₁₂ in the (n + 1) layer.

  The program is input to the memory 53 by inputting the outer diameter D of the main body 3A of the drum 3, the inner width W of the collar, the outer diameter D1 of the flange 3B, and the outer diameter d of the cable 5 based on these. A program is automatically created and stored in the memory 53. Alternatively, the ID of the drum 3 and the specification of the drum 3 (the outer diameter of the main body 3A, etc.) are stored in advance in the memory 53, and similarly the ID of the cable 5 and the specification of the cable 5 (outer diameter). d) may be stored, and the program may be automatically created and stored simply by inputting the ID of the drum 3 and the ID of the cable 5.

  Next, the operation of the cable winding device 1 will be described.

Before the winding of the cable 5 is started, the drum 3 around which the cable 5 is not wound is set in the cable winding device 1. As shown in Figure 5, previously, the first layer of the first distance L1 ₁ laser displacement detector of the flange within the width W of the straight line M1 through the center of the cable 5 at the measurement point MP ₁ of the drum 3 21 is detected. That is, the collar width detecting device moving arm 17 moves so that the laser beam irradiation positions (projecting units) of the detection units 21A and 21B of the laser displacement detector 21 are on a straight line M1 passing through the center of the first-layer cable 5. In FIG. 5 of the laser displacement detector 21, distances La ₁ and Lb ₁ from the left and right detectors 21A and 21B to the inner surface of the flange 3B are detected. This detection data is sent to a control device 45 (not shown), and the following calculation is performed in the control device 45.

The distance L1 ₁ (La ₁ + Lb ₁ + Lc) of the collar inner width W at the first measurement point MP ₁ in the first layer is calculated from the detection data of the laser displacement detector 21 by the arithmetic device 57 in the control device 45. Note that Lc is a distance between the left and right laser displacement detectors 21. In Figure 7, the distance L1 ₁ of the flange within the width W of the first measurement point MP ₁ has become 720 mm.

  There are various methods for winding the cable 5 around the drum 3, but any winding method may be used in the embodiment of the present invention.

  For example, as shown in FIG. 4, the cable 5 is wound by providing a gap (d / 2) that is half of the outer diameter d of the cable 5 at each of both end portions in the direction of the inner width W of the drum 3. The case where it is calculated on the assumption that it is attached will be described.

In the control device 45, from the distance L1 (= W) calculated by the arithmetic device 57 and the outer diameter d of the cable 5 inputted in advance, as shown in FIG. When the number of turns m is calculated with a gap of / 2,
m = [(L1 ₁ −d) / d] (1)
Where [] is a Gaussian symbol,
It becomes.

Gap _{G 0} when wound without gap m times from the inner surface of the flange 3B during the above _(L1 1 -d) left over. As shown in FIG. 11, when the remaining gap G ₀ is distributed evenly at P ₁ ′ (gap G) as a correction amount to each of the cable pitches P ₁ ,
The correction amount P ₁ ′ (gap G) is
P ₁ ′ = G = {(L1 ₁ −d) − (m × d)} / (m−1)
= {(L1 ₁ −d) − ([(L1 ₁ −d) / d] × d)} / ([(L1 ₁ −d) / d] −1)
... (2)
It becomes.

Accordingly, the winding pitch P _{1 of the} cable 5 (a gap G having a slight size) is formed between the cables 5 to be wound many times (number of turns m). The pitch in the width direction of the drum; a pitch slightly larger than the outer diameter d of the cable 5) is obtained by the following equation (3).

P ₁ = d + P ₁ ′ (3)
Incidentally, _{P 1} above shows the winding pitch at the measurement point MP _1. Incidentally, _{P 2} to be described later shows the winding pitch at the measurement point MP _2, In the same _manner, P 3 _{to P 12} denote the winding pitch at each measurement point _MP 3 _{to MP 12.}

Next, in the flange on the straight line M1 passing through the center of the cable 5 at the second measurement point MP ₂ of the first layer of the drum 3 (at a position where the circumferential angle from the measurement point MP ₁ is 30 ° in FIG. 6). distance L1 ₂ of width W is detected by the laser displacement detector 21. Detection method in this case is the same as the calculation method of the distance L1 ₁ of the flange within the width W of the first layer of the first measuring points MP ₁ described above, the winding pitch P ₂ in the measurement point MP ₂ is calculated .

In the same manner, the third to 12-th distance _L1 3 _{~L1 12} and each winding with a pitch _P 3 _{to P 12} is the calculation of the collar within the width W at the measurement point _MP 3 _{to MP 12} of the first layer of the drum 3 Is done.

Therefore, as shown in FIG. 7, distances L1 _{3 to} L1 ₁₂ of the collar inner width W at each of the measurement points MP _{1 to} MP ₁₂ are calculated.

  Next, the collar width detecting device moving arm 17 is moved up so that the laser beam irradiation position moves on a straight line M2 passing through the center of the second layer cable 5, and on the basis of the calculated value, the first layer cable is moved. 5 is wound around the drum 3.

  First, as shown in FIG. 4, the tip 5A of the cable 5 extends to the outside from a through hole 3C provided in the flange 3B, and this extended portion is attached to the flange 3B by a fixing tool (not shown). It shall be fixed.

  Further, as shown in FIG. 1, the cable 5 extends between the drum 3 and the roller 39 in the Z-axis direction. The extended cable 5 is given a slight tension by, for example, a tension applying device (not shown) provided on the Y-axis carriage 31 in order to prevent sagging.

From such an initial state, the cable winding device 1 operates under the control of the control device 45, and the cable 5 is wound between the cables 5 at the measurement points MP _{1 to} MP ₁₂ of the cable 5 wound on the same layer. The cable 5 is wound around the drum 3 so as to form a gap G having a slightly equal size. For example, in the first layer, as shown in FIG. 1, while the drum 3 rotates at a substantially constant speed in the direction of the arrow AR1, the cable 5 is previously calculated by the arithmetic unit 57 of the control unit 45 as described above. For example, as shown in FIG. 8, the position of the roller 39 is set in the direction of the inner width W of the drum 3 so as to be arranged at the pitches P _{1 to} P ₁₂ at the calculated measurement points MP _{1 to} MP ₁₂ . The drum 3 is wound from one end side to the other end side of the inner width W of the collar 3 while being appropriately shifted in the X-axis direction).

In addition, as described above, the measurement time by the laser displacement detector 21 is measured before the start of winding of the first layer, and the measurement points MP _{1 for the} second and subsequent layers precede the winding of the previous layer. The distances L2 _{1 to} L2 ₁₂ of the inner width W of the collar at ~ MP ₁₂ are measured.

Therefore, while the first-layer cable 5 is wound as described above, as shown in FIG. 5, the collar width detecting device moving arm 17 is raised and the laser beam irradiation position (projecting unit) ) Moves on a straight line M2 passing through the center of the cable 5 of the second layer, and the distance L2 _{1 of the} inner width W of the collar on the straight line M2 passing through the center of the cable 5 at each of the measurement points MP _{1 to} MP ₁₂ in the second layer. ˜L2 ₁₂ is detected by the laser displacement detector 21.

That is, first in the measurement points MP ₁ of the second layer, the distance _La 2, Lb ₂ from the left and right in FIG. 5 of the laser displacement detector 21 to the inner surface of each flange 3B is detected. This detection data is sent to a control device 45 (not shown), and calculation is performed in the control device 45 as in the case of the first layer.

More specifically, the distance L2 ₁ (= La ₂ + Lb ₂ + Lc) of the collar inner width W at the first measurement point MP ₁ in the second layer is calculated from the detection data of the laser displacement detector 21, and this distance L2 ₁ is calculated in advance. and an outer diameter d of the input cable 5, the number of turns m and the arrangement pitch P ₁ is calculated. In the same manner, the distance _L2 2 _{~L2 12} of the flange within the width W is calculated at the second 12-th each measurement point _MP 2 _{to MP 12} of the second layer, previously inputted and distance _L2 2 _{~L2 12} The number m of windings and the arrangement pitches P _{2 to} P ₁₂ are calculated from the outer diameter d of the cable 5 thus obtained.

  Next, the cable 5 wound on the second layer is wound on the first layer from the other end side to the one end side of the collar inner width W of the drum 3 based on the calculated value after the winding of the first layer is completed. Similarly to the case, the roller 39 moves while the drum 3 rotates, and is wound around a position above the gap G between the cables 5 wound in the first layer.

Thus, flange 3B is diagram when in the normal position as shown in solid line 5, for example, the second layer of the distance _L2 1 _{~L2 12} of the flange within the width W at each measurement point _MP 1 _{to MP 12} If There is substantially the same as the distance _L1 1 _{~L1 12} of the flange within the width W at each measurement point _MP 1 _{to MP 12} of the first layer, the pitch _P 1 _{to P 12} of the cable 5 in the second layer, the first layer It becomes equal to the pitch _P 1 _{to P 12} in.

  As described above, when the third and subsequent layers are wound, the same winding as that for the second layer is performed. That is, the cable 5 wound around the upper layer is wound around the gap G between the cables 5 wound around the lower layer, whereby the cable 5 is wound around the drum 3 in multiple layers.

If the collar 3B is deformed outward from the center of the drum 3 as shown by a two-dot chain line in FIG. 5 or the inner width W of the collar for one round on an arbitrary circumference changes. when you are in the example n-th layer of the arrangement pitch _P 1 _{to P 12} each in the gap G of the distance _Ln 1 _{Ln 12} cable 5 which is calculated accordingly collar within the width W at each measurement point _MP 1 _{to MP 12} It will be changed slightly.

From the above, in the normal state where the inner width W of the drum 3 is substantially constant, even if the distance of the inner width W of the layer around which the cable 5 is wound is not measured by the laser displacement detector 21 in advance. It can be wound almost uniformly. However, even when the flange 3B of the drum 3 is deformed, as described above, the collars at the measurement points MP _{1 to} MP ₁₂ in the n-th layer where the cable 5 is wound in advance by the laser displacement detector 21. Since the distance Ln _{1 to} Ln ₁₂ of the inner width W is measured and the cable 5 is wound based on the measured distances Ln _{1 to} Ln ₁₂ , the cable 5 may collapse according to the deformation state of the drum flange 3B. It becomes possible to wind almost uniformly so that there is no.

  Next, the case where the drum flange 3B is deformed from the center of the drum 3 toward the outer circumferential direction and also in the circumferential direction will be described in detail. In addition, it demonstrates by the winding method different from the winding method mentioned above (how to wind the clearance gap G between the cables 5).

12 to 15, for example, as shown in FIG. 12, for example, the first layer is one side in the direction of the inner width W of the collar 3B of the drum 3 (the right side in FIG. 12). ) And the other end in the direction of the inner width W of the collar 3B (see FIG. 3). the left end) in 12 is a method for the cable 5 is wound in the left extra gap G _1.

  The measurement time by the laser displacement detector 21 is measured before the start of winding of the first layer as in the above-described example, and the inner width W of the second and subsequent layers precedes the winding of the previous layer. Is to measure.

Referring to FIG. 12, the laser displacement detector 21, first, the first layer of the first distance L1 ₁ detection of the flange within the width W of the straight line M1 through the center of the cable 5 at the measurement point MP ₁ of the drum 3 Is done. In FIG. 12 of the laser displacement detector 21 of the collar width detector moving arm 17, distances La ₁ and Lb ₁ from the left and right detectors 21A and 21B to the inner surface of the flange 3B are detected, and this detected data is not shown in the control device. 45, the distance L1 ₁ (La ₁ + Lb ₁ + Lc) of the collar inner width W at the first measurement point MP ₁ of the first layer is calculated. Note that Lc is a distance between the left and right laser displacement detectors 21. And the distance L1 ₁ with the computing device 57 of the controller 45, and an outer diameter d of the cable 5 which is input in advance, the number of turns m (= _L1 1 / d) and the arrangement pitch _{P 1} is calculated.

Next, in the flange on the straight line M1 passing through the center of the cable 5 at the second measurement point MP ₂ of the first layer of the drum 3 (at a position where the circumferential angle from the measurement point MP ₁ is 30 ° in FIG. 6). distance L1 ₂ of width W is detected by the laser displacement detector 21. Detection method is the same as the method of calculating the distance L1 ₁ of the flange within the width W of the first layer of the first measuring points MP ₁ described above in this case, the distance L1 ₂ and collar within the width W at the measurement point MP ₂ arrangement pitch _{P 2} is computed.

In the same manner, collar within the width W distance _L1 3 _{~L1 12} and the arrangement pitch _P 3 _{to P 12} of the third to 12-th measurement point _MP 3 _{to MP 12} of the first layer of the drum 3 7 It is calculated in the same way as in.

Next, the collar width detecting device moving arm 17 moves up, and the laser beam irradiation position moves on a straight line M2 passing through the center of the second layer cable 5 and is shown in FIG. 13 based on the above calculation. as there operates under the control of cable winding apparatus 1 the control device 45, the distance _L1 1 ~ collar within the width W of the first 12-th measurement point _MP 1 _{to MP 12} of the first layer of the The space between L1 ₁₂ is wound m times without gap from one end side, and the remaining gaps G1 _{1 to} G1 _{12 at the} measurement points MP _{1 to} MP ₁₂ are left as they are.

Note that G1 ₁ indicates an excess gap at the measurement point MP ₁ in the first layer, G1 ₂ indicates an excess gap at the measurement point MP ₂ in the first layer, and G1 _{3 to} G1 in the same manner. Reference numeral ₁₂ denotes a remaining gap at each measurement point MP _{3 to} MP ₁₂ in the first layer.

While this manner the cable 5 as the first layer is wound, the flange on the straight line M2 that in the first 12-th measurement point MP ₁ to MP ₁₂ of the second layer of the drum 3 through the center of the cable 5 The distances L2 _{1 to} L2 ₁₂ of the inner width W are measured by the laser displacement detector 21 as shown in FIG.

That is, in the first measurement point MP ₁ of the second layer, the detection unit 21A of the left and right in FIG. 13 of the laser displacement detector 21, the distance _La 2, Lb ₂ from 21B to the inner surface of each flange 3B is detected. This detection data is sent to a control device 45 (not shown), and calculation is performed in the control device 45 as in the case of the first layer.

More specifically, the distance L2 ₁ (= La ₂ + Lb ₂ + Lc) of the collar inner width W at the first measurement point MP ₁ in the second layer is calculated from the detection data of the laser displacement detector 21, and this distance L2 ₁ is calculated in advance. and an outer diameter d of the input cable 5, the number of turns m and the arrangement pitch P ₁ is calculated.

In the same manner, the distance _L2 2 _{~L2 12} of the flange within the width W is calculated at the second 12-th each measurement point _MP 2 _{to MP 12} of the second layer, previously inputted and distance _L2 2 _{~L2 12} The number m of windings and the arrangement pitches P _{2 to} P ₁₂ are calculated from the outer diameter d of the cable 5 thus obtained.

Next, the collar width detecting device moving arm 17 moves up, and the laser light irradiation position moves on a straight line M3 passing through the center of the third layer cable 5 and is shown in FIG. 14 based on the above calculation. As in the case of the first layer, the cable 5 wound on the second layer extends from the other end side to the one end side of the collar inner width W of the drum 3 after the winding of the first layer is completed. As the roller 3 rotates, the roller 39 moves and winds between the cables 5 wound in the first layer. At this time, if at least one of the gaps G2 _{1 to} G2 ₁₂ between the end of the first layer cable 5 and the inner surface of the flange 3B at the second layer measurement position is smaller than d / 2, the first layer The second-layer cable 5 is not wound on the space between the cable 5 and the flange 3B. On the other hand, when all of the gaps G2 _{1 to} G2 ₁₂ are d / 2 or more, the second-layer cable 5 is placed between the first-layer cable 5 and the flange 3B as shown in FIG. Will be wound.

Referring to FIG. 14, while the cable 5 of the second layer as described above is wound, straight through the center of the cable 5 of the collar within the width W of the first measurement point MP ₁ of the third layer M3 The distance L3 ₁ (= La ₃ + Lb ₃ + Lc) of the upper collar inner width W is detected by the laser displacement detector 21 and calculated in the controller 45 as in the first and second layers. And an outer diameter d of the distance L3 ₁ with a previously input cable 5, the number of turns m and the arrangement pitch P ₁ is calculated.

In the same manner, the distance of the flange within the width W _L3 2 _{to L3 12} is calculated in the second 12-th each measurement point _MP 2 _{to MP 12} of the third layer, previously inputted this distance _L3 2 _{to L3 12} The number m of windings and the arrangement pitches P _{2 to} P ₁₂ are calculated from the outer diameter d of the cable 5 thus obtained.

Next, the collar width detecting device moving arm 17 moves up, and the laser beam irradiation position moves on a straight line M4 passing through the center of the fourth layer cable 5 and is shown in FIG. 15 based on the above calculation. As in the case of the first layer, the cable 5 wound on the third layer extends from one end side to the other end side of the collar inner width W of the drum 3 after the winding of the second layer is completed. As the roller 3 rotates, the roller 39 moves and is wound around between the cables 5 wound in the second layer. At this time, if at least one of the gaps G3 _{1 to} G3 ₁₂ between the end of the second layer cable 5 and the inner surface of the flange 3B at the third layer measurement position is smaller than d / 2, the second layer The third-layer cable 5 is not wound between the cable 5 and the flange 3B. On the other hand, when all of the gaps G3 _{1 to} G3 ₁₂ are d / 2 or more, the third-layer cable 5 is placed between the second-layer cable 5 and the flange 3B as shown in FIG. Will be wound.

In addition, although the cable 5 is not wound at the normal position of the flange 3B indicated by the dotted line, in FIG. 14, the deformation amount of the flange 3B is such that the cable 5 is wound, and the gaps G3 ₁ to G3 for G3 all ₁₂ is d / 2 or more, wound between the end and the flange 3B of the third layer of the cable 5. In FIG. 14, since the gap G3 is substantially d / 2, the end of the third-layer cable 5 and the flange 3B are almost in contact with each other and wound. The number of turns is one more than the normal case of the heel 3B indicated by the dotted line. Further, there is a respective gap between the end and the flange 3B of the first and second layers of the cable 5, the end of the cable 5 of the third layer of several measurement points measurement points MP ₁ to MP ₁₂ The cable 5 in the second layer is not collapsed because it is in a state of being substantially in contact with the flange 3B. Even if the end of the cable 5 and the flange 3B are not in contact at some measurement points on the third layer, when the cable 5 is wound on the upper layer, the end of the cable 5 and the flange 3B Since the space is almost in contact, it will not collapse.

Referring to FIG. 15, while the cable 5 of the third layer as described above is wound, straight through the center of the cable 5 of the collar within the width W of the first measurement point MP ₁ of the fourth layer M4 The distance L4 ₁ (= La ₄ + Lb ₄ + Lc) of the upper inner width W of the collar is detected by the laser displacement detector 21 and calculated in the controller 45 in the same manner as in the first and second layers. And an outer diameter d of the distance L4 ₁ previously inputted and the cable 5, the number of turns m and the arrangement pitch P ₁ is calculated.

In the same manner, the distance _L4 2 _{to L4 12} of the flange within the width W is calculated at the second 12-th each measurement point _MP 2 _{to MP 12} of the fourth layer, previously inputted this distance _L4 2 _{to L4 12} The number m of windings and the arrangement pitches P _{2 to} P ₁₂ are calculated from the outer diameter d of the cable 5 thus obtained.

Next, the collar width detecting device moving arm 17 moves up, and the laser beam irradiation position moves on a straight line M5 passing through the center of the cable 5 of the fifth layer and, based on the above calculation, is wound on the fourth layer. After the winding of the third layer is completed, the roller 39 moves while the drum 3 rotates from the other end side to the one end side of the inner width W of the drum 3, and the cable 39 is wound on the third layer. It is wound on between the cables 5 that are present. At this time, when at least one of the gaps G4 _{1 to} G4 ₁₂ between the end of the third-layer cable 5 and the inner surface of the flange 3B at the fourth-layer measurement position is smaller than d / 2, it is shown in FIG. As shown, the fourth-layer cable 5 is not wound on the space between the fourth-layer cable 5 and the flange 3B. On the other hand, when all of the gaps G4 _{1 to} G4 ₁₂ are d / 2 or more, the fourth-layer cable 5 is wound between the third-layer cable 5 and the flange 3B.

  As described above, when the fifth and subsequent layers are wound, the cable 5 is wound around the drum 3 in a multilayer manner by performing the same winding as in the case of winding the second to fourth layers.

  FIG. 16 shows a state in which the six layers are wound as described above, and it is not wound at the normal position of the collar 3B indicated by the dotted line, but according to the winding method according to this embodiment, the three layers are wound. A cable 5 indicated by hatching in the fifth, sixth and sixth layers is wound. Therefore, more cables 5 can be wound. Also, if the cable 5 indicated by the hatching cannot be wound, the cable 5 may collapse. However, according to the winding method according to this embodiment, the deformation of the heel is followed. Since it can be wound, the cable 5 does not collapse. In addition, since the part of the cable 5 shown with the dotted line is not wound, it has shown that the clearance gap has arisen between the end of the cable 5, and the collar 3B.

In addition, the laser displacement detector 21 can measure any dimensional change of the flange 3B, and the cable 5 can be moved to a predetermined position by this measurement. Also, when for example that wound cable 5 to any n-th layer, in this embodiment, in advance, a plurality of measuring points MP ₁ to MP ₁₂ in which the circumference of the flange 3 12 divides, the following Since the number of turns m of the cable 5 wound in the (n + 1) layer and the arrangement pitches P _{1 to} P _{12 of} each cable 5 are set, there is a time margin. Therefore, an inexpensive control device that does not require an expensive control device for making a high-speed instantaneous determination as in the prior art can be adequately handled.

  Furthermore, since the laser displacement detector 21 as the non-contact type collar width detecting device of this embodiment has a shorter detection time than a mechanical detecting device, the work for changing the layers to each layer can be performed quickly. Can do. In addition, there is less disturbance and accuracy compared to conventional image processing, and it is not necessary to perform complicated processing such as conventional image processing, and faster processing is performed by using an inexpensive device such as an NC or a sequencer. be able to.

  In the above-described embodiment, the case where the cable 5 is wound around the drum 3 has been described. However, the present invention can also be applied to a case where a wire other than a cable is packed and wound around a portion within a non-constant dimension without a gap. .

It is a front view of the cable winding apparatus of embodiment of this invention. It is the side view seen from the left side of FIG. It is state explanatory drawing of the roller in a drum main body and the corner part of a collar. It is state explanatory drawing which wound the cable of the 1st layer around the drum. It is state explanatory drawing of the flange width measurement of the 1st layer and the 2nd layer. It is a side view of a drum in which a measuring point _MP 1 _{to MP 12} of the circumference of the collar 12 split 12. It is a schematic explanatory drawing of the state which represented the collar inner width W for 1 round on the arbitrary circumferences of the drum of FIG. 6 with the plane. It is a front view of the drum of FIG. It is a block block diagram of a control apparatus. It is a state explanatory view when a cable is wound m times without gaps from one side assuming that a d / 2 gap is provided on both sides of the drum. FIG. 11 is a state explanatory diagram when gaps G (correction pitch P ′) are dispersed between the cables from the state of FIG. 10. It is a state explanatory drawing of the 1st layer collar width measurement in the state where the eyelid was deformed. FIG. 13 is a state explanatory diagram of the measurement of the second layer collar width from the state of FIG. 12. FIG. 14 is a state explanatory diagram of the measurement of the third layer collar width from the state of FIG. 13. FIG. 15 is an explanatory diagram of a state of measuring a flange width of the next fourth layer from the state of FIG. 14. It is a state explanatory view when a cable is wound up to the 6th layer through the state of FIGS. (A) is a schematic cross-sectional view when a cable is wound around a drum in which a conventional wrinkle is in a normal state, and (B) to (E) are cables in a drum in which a conventional wrinkle is in a deformed state. It is a schematic sectional view when wound, (D) is a case where the collar width is constant in the circumferential direction, (E) is a case where the collar width changes in the circumferential direction.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Cable winding apparatus 3 Drum 3A Drum main-body part 3B 鍔 5 Cable 7 Base 9 Drum rotation apparatus 11 Cable guide apparatus 13 Drum support member 17 Non-contact type collar width detection apparatus movement arm 21 Laser displacement detector (non-contact type) Collar width detection device)
21A, 21B Detection unit 25 X-axis carriage 29 Y-axis base member 31 Y-axis carriage 33 Linear guide bearing 37 Roller support member 39 Roller 39A Ａ 45 Controller 53 Memory 55 First command unit 57 Computing device 59 Second command unit CL1 Center Axis CL2 straight line (of the brim width detecting device moving arm 17)
M1-M4 straight line (measurement position)
MP ₁ to MP ₁₂ distance at each measurement point _L1 1 _{~L1 12} 1-layer measurement points _MP 1 _{to MP 12} of the flange 12 circumference was 12 split _L2 1 _{~L2 12} 2-layer each measuring point MP The distances La ₁ , Lb ₁ , Lc distance La ₂ , Lb ₂ , Lc distance in _{1 to} MP ₁₂

Claims (6)

In the automatic alignment winding method of a linear body that is automatically aligned and wound in multiple layers while relatively traversing the linear body on a rotating drum having ridges on both sides,
When the striatum is wound on the nth layer, the center of the striate wound on the next (n + 1) th layer is previously measured at a plurality of measurement points obtained by dividing the circumference of the collar into a plurality of pieces. The inner width of the brim on the straight line is measured by a non-contact type brim width detecting device, and based on the measured inner width of the brim and the outer diameter of the linear body, the filament wound around the (n + 1) layer The number of windings at each measurement point of the body and the arrangement pitch of each striated body are calculated, and based on the calculated arrangement pitch, the striated body wound around the nth layer according to the situation and the ridge A method for automatically aligning and winding a linear body, characterized in that the linear body is wound between and between the n-th layer of linear bodies.   2. The non-contact type collar width detecting device detects a distance to each ridge on both sides by moving from a rotation center side of the drum to an outer peripheral side between the ridges on both sides. Automatic alignment winding method of the described striatum.   3. The method of automatically aligning and winding a wire body according to claim 2, wherein the non-contact type collar width detecting device is a laser displacement detector. In an automatic alignment winding apparatus for a linear body that is automatically aligned and wound in multiple layers while relatively traversing the linear body on a rotating drum having ridges on both sides,
A non-contact type collar width detecting device for measuring the inner width of the collar on a straight line passing through the center of the striate wound around each layer;
When the striatum is wound on the nth layer, the center of the striate wound on the next (n + 1) th layer is previously measured at a plurality of measurement points obtained by dividing the circumference of the collar into a plurality of pieces. A command for measuring the inner width of the collar on the straight line is given to the non-contact type collar width detecting device, and based on the inner width of the collar and the outer diameter of the filament at each measurement point of the (n + 1) layer. , The number of windings at each measurement point of the striated body wound in the (n + 1) layer and the arrangement pitch of each striatum are calculated, and the nth layer is calculated according to the situation based on the calculated arrangement pitch. A control device for giving a command to wind the wire body between the wound wire body and the ridge, and between the n-th layer wire bodies;
A device for automatically aligning and winding a striated body characterized by comprising:   The non-contact type collar width detecting device is provided with a detecting unit that is movable from the rotation center side of the drum to the outer peripheral side between the ribs on both sides and detects the distance to each of the ribs on both sides. The automatic alignment winding apparatus for a linear body according to claim 4.   6. The apparatus for automatically aligning and winding a linear body according to claim 4, wherein the non-contact type collar width detecting device is a laser displacement detector.

Images