JP2010118452A - Winding machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a winding machine capable of surely suppressing the fluctuation of tension of a wire rod to prevent a winding failure. <P>SOLUTION: A tension adjusting mechanism 6 includes: a stationarily disposed first pulley 12; a second pulley 13 stationarily disposed in the downstream of the first pulley 12; a third pulley 14 disposed in the downstream of the first pulley 12 and in the upstream of the second pulley 13; a tension arm 15 which is disposed rotatably around a support 16 and swingably supports the third pulley 14 to give tension to a wire rod 2; and a rotation position detecting device 19 which detects the rotation position of the tension arm 15. In winding operation, the speed of feeding of the wire rod 2 from a tension pulley 4 is determined based on a detection result given by the rotation position detecting device 19 so that an angle θ1 made by the direction of routing of the wire rod 2 between the first pulley 12 and the third pulley 14 and the longitudinal direction of the tension arm 15 is almost perpendicular to an angle θ2 made by the direction of routing of the wire rod 2 between the second pulley 13 and the third pulley 14 and the longitudinal direction of the tension arm 15. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a winding device for forming a rotor coil in a rotor of a motor, for example.

  Generally, in this type of winding device, the winding speed of the wire generated when winding the wire (hereinafter simply referred to as winding speed, and fluctuation in winding speed is referred to as speed fluctuation) is always constant. Since it is difficult to maintain, the tension of the wire greatly changes according to the speed fluctuation (hereinafter, the fluctuation of the tension of the wire is referred to as tension fluctuation). For example, when a rotor coil is formed on a rotor of a motor, a winding defect occurs in the rotor coil when a fluctuation in tension increases. For this reason, various techniques have been proposed to suppress fluctuations in the tension of the wire.

For example, in Patent Document 1, a winding device is disposed on the upstream side in the wire feeding direction, a material drawing portion disposed on the downstream side, a material winding portion disposed on the downstream side, the material drawing portion, and the material winding portion. What is comprised with the material connection part for connecting continuously is disclosed.
The material drawing portion includes a bobbin around which the wire is wound and a drawing pulley for drawing the wire from the bobbin. A servo motor is connected to the drawing pulley, so that the wire feed speed can be controlled.
The material winding unit is configured to wind the wire drawn from the bobbin around the target workpiece. Moreover, the material winding part is provided with a tension pulley for applying an appropriate tension to the wire. A servo motor is also connected to the tension pulley.

The material connecting portion is provided with a dancer configured such that the wire existing between the drawing pulley and the tension pulley largely detours vertically downward. By providing the dancer, the tension of the wire is temporarily set between the drawing pulley and the tension pulley. By doing so, the mutual influence between the tension of the wire existing on the drawing pulley side and the tension existing on the tension pulley side is separated, and the wire is to be wound around the target work with high accuracy and stable tension. .
JP 2007-331915 A

  However, in the above-described prior art, the dancer is used to simply separate the mutual influence between the tension of the wire existing on the drawing pulley side and the tension existing on the tension pulley side. The tension of the wire wound around is controlled by controlling the winding speed of the target workpiece and the peripheral speed of the tension pulley to be the same.

  Here, when the rotational speed of the tension pulley is controlled following the change in the winding speed of the wire, it is difficult to control without generating a time lag. For this reason, it is practically difficult to suppress the tension variation of the wire material that changes one by one only by controlling the tension pulley, and there is a problem that it is difficult to wind the wire material around the target workpiece with a stable tension.

  Therefore, the present invention has been made in view of the above-described circumstances, and provides a winding device that can reliably suppress fluctuations in the tension of a wire and prevent occurrence of winding defects. It is.

In order to solve the above-described problems, the invention described in claim 1 is directed to a tension pulley that feeds a wire wound around a bobbin, a wire that is fed from the tension pulley, and the wire that is directed toward a workpiece. A winding device comprising a flyer that is unrolled and wound around a work, and a tension adjustment mechanism provided between the tension pulley and the flyer, wherein the tension adjustment mechanism is a fixedly arranged first pulley A second pulley fixedly arranged downstream of the first pulley, a third pulley arranged downstream of the first pulley and upstream of the second pulley, and a fulcrum A tension arm that is pivotally provided about the center and that supports the third pulley so as to be swingable; and a tension arm that applies tension to the wire, and a rotational position of the tension arm. A rotational position detection unit for detecting the first pulley, the wiring direction of the wire existing between the second pulley and the third pulley during winding, and the longitudinal direction of the tension arm The feeding speed of the wire rod from the tension pulley is determined based on the detection result of the rotational position detector so that the angle θ between and the rotation angle detector is substantially orthogonal.
With such a configuration, the tension arm can relieve tension fluctuations caused by changes in the feeding speed of the wire from the tension pulley and the pull-in speed by the flyer during winding. In addition to this, the feeding speed of the wire from the tension pulley is determined based on the detection result of the rotational position detector so that the angle θ is substantially orthogonal. For this reason, when the tension arm rotates around the fulcrum due to the change in the feeding speed of the wire from the tension pulley and the pull-in speed by the flyer, the fluctuation in the tension of the wire caused by the inertia moment of the tension arm is also suppressed. be able to.

The invention described in claim 2 is a tension pulley that sends out a wire wound around a bobbin, and a flyer that draws in the wire sent out from the tension pulley, draws the wire toward the workpiece, and winds the wire around the workpiece. And a tension adjusting mechanism provided between the tension pulley and the flyer, and the tension adjusting mechanism includes a plurality of fixed pulleys and a plurality of swings around which a wire is wound between the fixed pulleys. A pulley, a tension arm provided so as to be pivotable about a fulcrum, and applying tension to the wire by supporting the swing pulley so as to swing; and a rotational position for detecting a rotational position of the tension arm A winding that is drawn into the flyer after being wound a plurality of times between the fixed pulley and the swing pulley. The angle θ between the wiring direction of the wire existing between the plurality of fixed pulleys and the plurality of swing pulleys and the longitudinal direction of the tension arm during winding is substantially orthogonal As described above, the fixed pulley and the swinging pulley are arranged, respectively, and the feeding speed of the wire from the tension pulley is determined based on the detection result of the rotational position detecting unit.
With this configuration, the amount of movement of the swinging pulley accompanying the change in the length of the wire between the fixed pulleys can be reduced.

According to a third aspect of the present invention, the plurality of fixed pulleys are respectively arranged on one coaxial line, the plurality of swing pulleys are respectively arranged on the other coaxial line, and the one coaxial line and the other coaxial line are arranged. The lines are characterized by extending in the same direction.
By configuring in this way, variations in the layout of the fixed pulley and the swing pulley can be increased.

According to a fourth aspect of the present invention, there is provided a tension pulley that sends out a wire wound around a bobbin, and a flyer that draws in the wire sent out from the tension pulley, feeds the wire toward the workpiece, and winds the wire around the workpiece. And a tension adjusting mechanism provided between the tension pulley and the flyer. The tension adjusting mechanism is provided so as to be rotatable about a fixed pulley and a fulcrum, and applies tension to the wire. A tension arm, a rotation position detection unit that detects a rotation position of the tension arm, and a swing pulley provided on one end side of the tension arm, and the wire includes the fixed pulley, the swing pulley, A winding device that is drawn into the flyer after being wound a plurality of times between the fixed pulley and the winding device during winding. From the tension pulley, based on the detection result of the rotational position detection unit, so that the angle θ between the wiring direction of the wire existing between the moving pulley and the longitudinal direction of the tension arm is substantially orthogonal. The delivery speed of the wire is determined.
By comprising in this way, the movement amount of the rocking | fluctuation pulley accompanying the length change of the wire between a fixed pulley and a rocking | pulling pulley can be decreased using a simple structure.

The invention described in claim 5 includes a tension pulley that sends out a wire wound around a bobbin, and a flyer that draws in the wire sent from the tension pulley and feeds the wire toward the workpiece to be wound around the workpiece. And a tension adjusting mechanism provided between the tension pulley and the flyer, the tension adjusting mechanism being provided rotatably about a fulcrum, and a tension arm for applying tension to the wire, A rotational position detector for detecting a rotational position of the tension arm, a swing pulley provided at one end of the tension arm, and a first fixed pulley group disposed between the tension pulley and the swing pulley And a second fixed pulley group disposed between the swing pulley and the flyer, and the first fixed pulley group and the first fixed pulley group Each of the fixed pulley groups includes a plurality of fixed pulleys, and the plurality of fixed pulleys included in each of the fixed pulley groups are arranged such that the wiring direction of the wire between adjacent fixed pulleys is the wire rod before and after each of the fixed pulley groups A winding device arranged so as to be in an intermediate direction between the fixed pulleys on the downstream side of the plurality of fixed pulleys of the first fixed pulley group and the swing pulley. And the wiring direction of the wire existing between the fixed pulley on the upstream side and the swinging pulley among the plurality of fixed pulleys of the second fixed pulley group; and The feeding speed of the wire rod from the tension pulley is determined on the basis of the detection result of the rotational position detector so that the angle θ between the tension arm and the longitudinal direction of the tension arm is substantially orthogonal.
By configuring in this way, the radius of curvature of the wire can be set as large as possible. For example, even when a relatively thick wire is used, damage to the wire can be prevented. Moreover, since the diameter of each fixed pulley can be set small while setting the curvature radius of a wire rod large, the moment of inertia by each pulley can be made small.

In the invention described in claim 6, the angle θ is 75 ° ≦ θ ≦ 105 °.
The feed speed of the wire rod from the tension pulley is determined so as to satisfy the condition.
By comprising in this way, the tension | tensile_strength fluctuation | variation of a wire can be suppressed easily.

In the invention described in claim 7, the angle θ is 85 ° ≦ θ ≦ 95 °.
The feed speed of the wire rod from the tension pulley is determined so as to satisfy the condition.
By comprising in this way, it becomes possible to suppress the tension | tensile_strength fluctuation | variation of a wire more reliably.

The invention described in claim 8 is characterized in that an elastic body is provided on the tension arm so as to apply tension to the wire.
By comprising in this way, it becomes possible to provide tension | tensile_strength to a wire with a simple structure.

The invention described in claim 9 is characterized in that a back tensioner portion is provided between the bobbin and the tension pulley for preventing the wire rod from being bent.
By configuring in this way, it is possible to reliably control the wire feed speed by the tension pulley.

  According to the first aspect of the present invention, it is possible to reduce the tension fluctuation caused by the change in the feeding speed of the wire rod from the tension pulley and the pull-in speed by the flyer during winding. In addition to this, the feeding speed of the wire from the tension pulley is determined based on the detection result of the rotational position detector so that the angle θ is substantially orthogonal. For this reason, the tension | tensile_strength fluctuation | variation of a wire which generate | occur | produces by the influence of the inertia moment of a tension arm when a tension arm rotates centering on a fulcrum by the tension | tensile_strength fluctuation | variation of a wire can be suppressed. Therefore, fluctuations in the tension of the wire can be reliably suppressed, and occurrence of winding defects can be prevented.

  According to the second aspect of the present invention, the amount of movement of the swinging pulley accompanying a change in the length of the wire between the fixed pulleys can be reduced. For this reason, the tension | tensile_strength fluctuation | variation of a wire resulting from the inertia moment of a tension arm can further be suppressed.

  According to the third aspect of the present invention, variations in the layout of the fixed pulley and the swing pulley can be increased. For this reason, for example, it is possible to provide a winding device that can flexibly cope with constraints during design.

  According to the fourth aspect of the present invention, the amount of movement of the swinging pulley accompanying a change in the length of the wire between the fixed pulley and the swinging pulley can be reduced using a simple structure. It is possible to reduce the manufacturing cost while suppressing the tension variation of the wire due to the moment of inertia of the tension arm.

  According to the invention described in claim 5, the radius of curvature of the wire can be set as large as possible. For example, even when a relatively thick wire is used, damage to the wire can be prevented. . Moreover, since the diameter of each fixed pulley can be set small while setting the curvature radius of a wire rod large, the moment of inertia by each pulley can be made small. For this reason, it becomes possible to suppress the tension | tensile_strength fluctuation | variation by the influence of the inertia moment of each pulley.

  According to the invention described in claim 6, it is possible to easily suppress fluctuations in the tension of the wire. For this reason, it can prevent that the manufacturing cost of a winding apparatus increases more than necessary.

  According to the seventh aspect of the present invention, it becomes possible to more reliably suppress fluctuations in the tension of the wire.

  According to the invention described in claim 8, it is possible to apply tension to the wire with a simple structure. For this reason, it becomes possible to reduce manufacturing cost further.

  According to the ninth aspect of the present invention, it is possible to reliably control the wire feed speed by the tension pulley. For this reason, it becomes possible to suppress the tension | tensile_strength fluctuation | variation of a wire more reliably.

(First embodiment)
Next, a first embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, the winding device 1 is a device for forming a rotor coil on a rotor of a motor (not shown), for example, and a winding 2 is wound in advance and arranged on the upstream side. A bobbin 3, a tension pulley 4 that sends out the winding 2 of the bobbin 3, a flyer 5 that is arranged downstream and draws the winding 2, and a tension adjustment mechanism 6 that is arranged between the tension pulley 4 and the flyer 5. The guide pulley 7 and the back tensioner 8 are provided between the bobbin 3 and the tension pulley 4 in this order from the upstream side.

  A rotation shaft (not shown) of a motor 9 is connected to the tension pulley 4 by a direct drive method. As the motor 9, for example, a brushless DC motor or the like is adopted, and the rotation speed of the tension pulley 4 is controlled by a control unit (not shown). A winding 2 is wound around the tension pulley 4, and a frictional force is generated between the tension pulley 4 and the winding 2. As the tension pulley 4 rotates, the winding 2 is sent out downstream. Therefore, the feeding speed of the winding 2 is performed by controlling the rotational speed of the tension pulley 4.

  The back tensioner portion 8 is for applying tension to the winding 2 so that the winding 2 wound around the tension pulley 4 does not sag. As the back tensioner unit 8, it is possible to use a mechanism in which a wire is sandwiched between felts or a felt, or an electric motor and a pulley. By applying a back tension to the winding 2 using these, loosening of the winding 2 wound around the tension pulley 4 can be prevented.

  The flyer 5 feeds the winding 2 drawn from the tip toward a rotor (not shown) and winds the winding 2 around the rotor. A servo motor 11 is linked to the flyer 5 via a drive mechanism 10 composed of a pulley, a belt and the like. The drive mechanism 10 is configured such that the flyer 5 circulates around a rotor (not shown) as the servomotor 11 is driven. As the flyer 5 circulates around the rotor (not shown), the winding 2 fed from the tip of the flyer 5 is wound around the rotor (not shown) to form a rotor coil.

  The tension adjusting mechanism 6 includes a first pulley 12 disposed on the upstream side, a second pulley 13 disposed on the downstream side, the first pulley 12 and the second pulley 13, and the first pulley 12. It has three pulleys 12 to 14 of a third pulley 14 arranged below the pulley 12 and the second pulley 13 (downward in FIG. 1). One end of a tension arm 15 is rotatably attached to the third pulley 14. The other end of the tension arm 15 is rotatably supported by the column 16. That is, the first pulley 12 and the second pulley 13 are rotatably fixed and function as a fixed pulley, whereas the third pulley 14 functions as a swinging pulley that swings around a column 16. And is rotatable with respect to the tension arm 15.

Stoppers 17 that restrict the rotation of the tension arm 15 are provided above and below the tension arm 15, respectively. Further, a spring hooking portion 23 is provided slightly closer to the support column 16 than the longitudinal center of the tension arm 15, and one end of the tension coil spring 18 is locked thereto.
The longitudinal direction of the tension arm 15 refers to a linear direction connecting the center (fulcrum) of the support column 16 and the center of the third pulley 14 that is a swinging pulley attached to one end of the tension arm 15. Also in the following embodiments, the linear direction connecting the center of the support column 16 and the center of the swing pulley is the longitudinal direction of the tension arm 15.

The other end of the tension coil spring 18 is locked to a spring hooking portion 24 provided in the tension adjustment mechanism 6. As a result, a force is applied to the tension arm 15 in a direction in which one end thereof is separated from the first pulley 12 and the second pulley 13, and as a result, tension is applied to the winding 2 that is drawn from the tension pulley 4 to the flyer 5. Is granted.
Further, a rotational position detector 19 for detecting the rotational position of the tension arm 15 is provided at the other end of the tension arm 15. Examples of the rotational position detection device 19 include a potentiometer.

  Under such a configuration, the winding 2 wound around the bobbin 3 is wound around the guide pulley 7, the tension pulley 4, the first pulley 12, the third pulley 14, and the second pulley 13 in this order. It is drawn into the flyer 5. Then, by driving the tension pulley 4 and the flyer 5, the winding 2 is wound around a rotor (not shown).

  Here, the first pulley 12, the second pulley 13, and the third pulley 14 are arranged in the winding direction of the winding 2a that is routed between the first pulley 12 and the third pulley 14 during winding. And the longitudinal direction of the tension arm 15 is arranged so that the angle θ1 is about 90 °. Further, the angle θ2 between the wiring direction of the winding 2b routed between the third pulley 14 and the second pulley 13 and the longitudinal direction of the tension arm 15 is arranged to be about 90 °. ing.

  That is, during winding, the winding 2a routed between the first pulley 12 and the third pulley 14 and the winding routed between the third pulley 14 and the second pulley 13 The first pulley 12 and the second pulley 13 are arranged so that 2b is substantially parallel to each other. In addition, the tension arm 15 is arranged so that the longitudinal direction is substantially perpendicular to the windings 2a and 2b during winding, while applying a desired tension to the winding 2 by the tension coil spring 18.

  Further, during winding, the flyer 5 circulates around a non-circular periphery of a rotor (not shown), so that the speed of the winding 2 varies and the tension of the winding 2 varies. At this time, the tension arm 15 rotates around the support column 16 according to the speed fluctuation of the winding 2. Thereby, the tension | tensile_strength fluctuation | variation of the coil | winding 2 is eased a little. Further, the rotational position information of the tension arm 15 detected by the rotational position detector 19 is transmitted to a control unit (not shown) of the tension pulley 4 and the rotational speed of the tension pulley 4 is controlled based on the rotational position information. That is, the delivery speed of the winding 2 is controlled. Thus, the angles θ1 and θ2 between the wiring direction of the windings 2a and 2b and the longitudinal direction of the tension arm 15 are controlled so as to maintain a value of about 90 °. For this reason, the tension | tensile_strength fluctuation | variation of the coil | winding 2 is suppressed reliably.

  Here, based on FIG. 2 to FIG. 7, by controlling the angle θ between the wiring direction of the windings 2 a and 2 b and the longitudinal direction of the tension arm 15 to be always about 90 °, The suppression of the tension fluctuation of the wire 2 will be described in more detail.

2 and 3 are simplified views of the tension adjusting mechanism 6. FIG.
Here, the following items are listed as preconditions when creating a simplified diagram.
(1) Winding 2 does not expand or contract.
(2) Each pulley 12, 13, 14 is treated as a point, and friction does not act between the windings 2.
(3) The mass of each pulley 12, 13, and 14 and the moment of inertia are ignored.
(4) The tension generated in the winding 2 on the downstream side from the tension pulley 4 is made uniform.
(5) Looseness of winding 2 is not considered.
(6) The winding 2 has no bending rigidity.
(7) The masses of the winding 2 and the tension coil spring 18 are ignored.
(8) The moment caused by the friction around the support 16 is ignored.
(9) The influence of the gravity acting on the tension arm 15 on the tension of the winding 2 is ignored.

Under these preconditions, the tension arm 15 was modeled as a point O corresponding to the column 16 and a point A corresponding to the third pulley 14. That is, in FIGS. 2 and 3, the tension arm 15 (line segment OA) rotates around the point O. Further, the position corresponding to the first pulley 12 was modeled as a point C, and the position corresponding to the second pulley 13 was modeled as a point B. Further, the line segment connecting the point C and the point A is the winding 2a routed between the first pulley 12 and the third pulley 14, and the line segment connecting the point A and the point B is the third pulley. 14 and the second pulley 13, the length of the winding 2a (line segment AC) is l1, and the length of the winding 2b (line segment AB) is l2. When the tension arm 15 is oriented in the horizontal direction, the angle between the line segment 15 ′ extending along the tension arm 15 and the winding 2a is θ1, and the line segment 15 ′ and the winding 2b The angle between them was θ2.
The model parameters used in the simplified diagrams shown in FIGS. 2 and 3 are shown in the table of FIG.

Next, a relational expression is derived based on FIGS.
First, the equation of motion around the support 16 of the tension arm 15 is influenced by the tension F of the winding 2 and the tensile tension Fs by the tension coil spring 18, and is expressed as Equation 1.

  Since the point O is the origin, the coordinates of the points A and D are represented by the angle of the line segment OA from the horizontal direction, that is, the angle θt of the tension arm 15 from the horizontal direction. That is, the point A is expressed by Equation 2 and Equation 3. The point D is expressed by Equation 4 and Equation 5. Here, as the definition of the coordinate system, the coordinate position when the horizontal right direction is the positive direction of X and the vertical upward direction is the positive direction of Y is (X, Y), and the origin is (0, 0). To do.

  Solving for the tension F of the winding 2 from Equation 1, the following is obtained.

  Here, the angle α formed by the line segment AC with respect to the line segment OA, the angle β formed by the line segment AB with respect to the line segment OA, and the angle γ formed by the line segment DE with respect to the line segment DO are determined by using the coordinates of each point. Is required. From Equation 6, the tension F of the winding 2 is the tension generated by the effect of the tension coil spring 18 (first item in Equation 6) and the tension generated by the moment of inertia of the tension arm 15 (the second item in Equation 6, here: It can be divided into the tension fluctuation).

  The length of the tension coil spring 18, that is, the length ls of the line segment DE is represented by the coordinates of the points D and E as follows, and the tension tension Fs by the tension coil spring 18 is also represented by the following. That is, it is expressed by Equation 7 and Equation 8.

  Further, the length 1 of the winding 2 from the point C to the point B via the point A is expressed by the coordinates of the points A, B, and C as shown in Equation 9.

The length 1 of the winding 2 from the point C to the point B via the point A is the length of the winding 2 sent from the tension pulley 4 side and the length of the winding 2 drawn to the flyer 5 side. It can be considered as a difference from the length. If it is assumed that the speed at which the winding 2 is drawn to the flyer 5 side and the speed sent from the tension pulley 4 side do not match, this l is considered to change one by one. Since the point A, which is a movable point (rocking point), is expressed by the angle θt as shown in Equation 2 and Equation 3, the length l is uniquely determined with respect to the angle θt from Equation 9.
Here, if l changes monotonously with respect to angle θt within an arbitrary range of angle θt, it is considered that angle θt is uniquely determined with respect to length l within this range. That is, the angle θt is determined according to the value of the length l, and the relationship of Expression 10 is established. In other words, the angle θt is determined by the length l, and the angle α and the angle β are also determined by the angle θt. Therefore, the angle α and the angle β are functions of the length l.

Next, based on Equation 6, a simulation is performed to determine the fluctuation of the tension F of the winding 2 when the length l is changed.
Here, simulation conditions are shown below.
(1) The angle between the line segment 15 ′ and the winding 2a when the line segment OA is in the horizontal direction is θ1, and the angle θ2 between the line segment 15 ′ and the coil 2b (see FIG. 2). Each simulation is performed in increments of 5 [deg] from 30 [deg] to 150 [deg].
(2) The lengths l1 and l2 (see FIG. 2) when the line segment OA is in the horizontal direction are 200 [mm], respectively. At this time, the coordinates of point C and point B in each simulation are determined by (1) and (2).
(3) The waveform of length l is determined as follows. That is, as shown in FIG. 2, the length l when the line segment OA is in the horizontal direction is determined by determining the angle in (1). The length l at this time is 400 [mm]. A sine wave having an amplitude of 10 [mm] and a frequency of 100 [Hz] is assumed to have a waveform having an offset of 400 [mm] (see FIG. 5).
(4) In order to evaluate the tension fluctuation in the simulation, the tension generated by the influence of the spring of the first item of Formula 6 is ignored here.

FIG. 6 is a graph of simulation results showing the tension fluctuation [N] where the X axis is the angle θ1 [deg], the Y axis is the angle θ2 [deg], and the Z axis is the tension fluctuation [N].
As shown in part P of FIG. 6, it can be confirmed that the variation in tension is the smallest when the angle θ1 and the angle θ2 are around 90 °.

  More specifically, the angle θ1 and the angle θ2 are respectively

  When satisfying, it can be confirmed that the tension fluctuation of the winding 2 is suppressed to be small. That is, it can be confirmed that by controlling the rotational speed of the tension pulley 4 so as to satisfy Expressions 11 and 12, the tension fluctuation of the winding 2 can be suppressed to be small.

  Furthermore, the angle θ1 and the angle θ2 are respectively

  In the case of satisfying, it can be confirmed that the tension fluctuation of the winding 2 is more reliably suppressed. That is, it can be confirmed that the tension fluctuation of the winding 2 can be more reliably suppressed by controlling the rotational speed of the tension pulley 4 so as to satisfy Expression 13 and Expression 14.

(Function)
Next, the operation of the winding device 1 will be described with reference to FIG.
First, as a workpiece to be wound, for example, after setting a rotor (not shown) of a motor, the motor 9, the flyer 5 and the servo motor 11 of the tension pulley 4 are driven, and the winding 2 is attached to the rotor (not shown). I will wind it up. At this time, since the speed at which the winding 2 is drawn to the flyer 5 side changes one by one, this speed and the speed sent from the tension pulley 4 side are unlikely to coincide with each other. The length of the winding 2 in between (hereinafter referred to as the winding length) changes. Then, the tension arm 15 swings around the column 16.

Here, the rotational position of the tension arm 15 is detected by the rotational position detector 19, and the detection result is transmitted to a control unit (not shown) of the tension pulley 4. This control unit controls the motor 9 of the tension pulley 4 based on the detection result of the rotational position detection device 19.
Specifically, when winding is performed and the tension arm 15 swings toward the first pulley 12 and the second pulley 13 during winding, the first pulley 12 and the third pulley 14 are used. The angle θ1 between the winding 2a routed between and the longitudinal direction of the tension arm 15 is smaller than 90 °.

Similarly, an angle θ2 between the winding 2b arranged between the third pulley 14 and the second pulley 13 and the longitudinal direction of the tension arm 15 is also smaller than 90 °.
At this time, the rotational speed of the motor 9 is increased to increase the delivery speed of the winding 2. Then, the winding length increases, the tension arm 15 swings toward the opposite side of the first pulley 12 and the second pulley 13, and the angles θ1 and θ2 become 90 °.

  Further, when winding, the winding length becomes large, and when the tension arm 15 swings toward the opposite side of the first pulley 12 and the second pulley 13, the values of the angle θ1 and the angle θ2 are Move away from 90 °. At this time, the rotational speed of the motor 9 is decreased to decrease the delivery speed of the winding 2. Then, the winding length becomes small, the tension arm 15 swings toward the first pulley 12 and the second pulley 13 side, and the angles θ1 and θ2 become 90 °.

  In this way, by controlling the feed speed of the winding 2 fed from the tension pulley 4 based on the rotational position of the tension arm 15, the angles θ1 and θ2 are maintained at a value of about 90 °. The winding 2 is wound around a rotor (not shown) while being controlled.

  Therefore, according to the first embodiment described above, during winding, the tension arm 15 of the tension adjusting mechanism 6 rotates around the support column 16 in accordance with the winding length, so that the tension variation of the winding 2 is changed. Slightly relaxed. In addition, the rotational speed of the tension pulley 4 is controlled based on the rotational position information of the tension arm 15 detected by the rotational position detector 19. That is, the angle θ1 between the routing direction of the winding 2a routed between the first pulley 12 and the third pulley 14 and the longitudinal direction of the tension arm 15, and the third pulley 14 and the second pulley 14 The feeding speed of the winding 2 is set so that the angle θ2 between the wiring direction of the winding 2b routed between the pulley 13 and the longitudinal direction of the tension arm 15 maintains a value of about 90 °. I have control. For this reason, the tension | tensile_strength of the winding 2 downstream from the motor pulley 4 can be suppressed reliably, and generation | occurrence | production of a winding defect can be prevented.

Further, since the tension fluctuation of the winding 2 can be suppressed by controlling the rotation speed of the tension pulley 4 so that the angle θ1 and the angle θ2 satisfy the expressions 11 and 12, the rotation speed of the tension pulley 4 can be suppressed. It is not necessary to perform the control with high accuracy, and the tension fluctuation of the winding 2 can be easily suppressed. For this reason, it can prevent that the manufacturing cost of the winding apparatus 1 increases more than necessary.
Furthermore, by controlling the rotational speed of the tension pulley 4 so that the angle θ1 and the angle θ2 satisfy the expressions 13 and 14, it is possible to more reliably suppress the tension fluctuation of the winding 2.

By providing the tension coil spring 18 on the tension arm 15, it is possible to apply tension to the winding 2 with a simple structure. For this reason, it becomes possible to reduce manufacturing cost further.
Further, by providing the back tensioner portion 8 between the bobbin 3 and the tension pulley 4, loosening of the winding 2 wound around the tension pulley 4 can be prevented. For this reason, a frictional force can be reliably generated between the tension pulley 4 and the winding 2, and the driving force of the tension pulley 4 can be reliably transmitted to the winding 2. Therefore, the winding 2 can be sent out more reliably.

(Second embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. In addition, the same code | symbol is attached | subjected to the aspect same as 1st embodiment, and description is abbreviate | omitted (the following embodiment is also the same).
In the second embodiment, the winding device 21 is, for example, a device for forming a rotor coil on a rotor of a motor (not shown), and the winding 2 is wound in advance and arranged on the upstream side. The bobbin 3, the tension pulley 4 that sends out the winding 2 of the bobbin 3, the flyer 5 that is arranged downstream and draws the winding 2, and the tension adjustment mechanism 26 that is arranged between the tension pulley 4 and the flyer 5. The tension adjustment mechanism 26 includes a tension arm 15, and the base end is provided between the bobbin 3 and the tension pulley 4. The guide pulley 7 and the back tensioner 8 are provided in this order from the upstream side. Rotation position detection device for detecting the rotation position of the tension arm 15 at the base end (the other end) of the tension arm 15 in that the side is rotatably supported by the column 16 The basic configuration of such a point 9 is provided, the same as in the first embodiment described above (as well as in the following embodiments).

Here, the tension adjusting mechanism 26 of the winding device 21 in the second embodiment includes three pulleys, a first pulley 27, a second pulley 28, and a third pulley 29, as fixed pulleys fixed in the tension adjusting mechanism 26. In addition to the pulleys 27 to 29, two pulleys 33 and 34, a fourth pulley 33 and a fifth pulley 34, are provided as swinging pulleys that swing around the support column 16 on the tip end side of the tension arm 15. is doing.
The fourth pulley 33 and the fifth pulley 34 are juxtaposed along the longitudinal direction of the tension arm 15. The first pulley 27, the second pulley 28, and the third pulley 29 are arranged side by side in order from the upstream side along the direction in which the fourth pulley 33 and the fifth pulley 34 are arranged side by side.

  And the coil | winding 2 currently wound by the bobbin 3 is the guide pulley 7, the tension pulley 4, the 1st pulley 27, the 4th pulley 33, the 2nd pulley 28, the 5th pulley 34, and the 3rd pulley 29 in order. It is hung around and pulled into the flyer 5.

  Each of the pulleys 27 to 34 has an angle α between the routing direction of the winding 2 c routed between the first pulley 27 and the fourth pulley 33 and the longitudinal direction of the tension arm 15 during winding. Is arranged to be about 90 °. Further, the angle β between the wiring direction of the winding 2d arranged between the fourth pulley 33 and the second pulley 28 and the longitudinal direction of the tension arm 15 is arranged to be about 90 °. ing. Furthermore, the angle ζ between the wiring direction of the winding 2e arranged between the second pulley 28 and the fifth pulley 34 and the longitudinal direction of the tension arm 15 is arranged to be about 90 °. ing. The angle η between the wiring direction of the winding 2f arranged between the fifth pulley 34 and the third pulley 29 and the longitudinal direction of the tension arm 15 is about 90 °. ing.

  In addition, the rotation speed of the tension pulley 4 is controlled based on the rotation position information of the tension arm 15 detected by the rotation position detection device 19 during winding. That is, the delivery speed of the winding 2 is controlled so that the angles α to η between the wiring direction of the windings 2 c to 2 f and the longitudinal direction of the tension arm 15 are maintained at a value of about 90 °.

Here, a relational expression is derived using the simplified diagram shown in FIG. 8, and the fluctuation in the tension of the winding 2 is suppressed by controlling the angles α to η to be about 90 °. explain. Note that the preconditions for creating the simplified diagram are the same as those in the first embodiment.
Under the preconditions, the position corresponding to the fourth pulley 33 was modeled as a point A, and the position corresponding to the fifth pulley 34 was modeled as a point A ′. The position corresponding to the first pulley 27 was modeled as a point C, the position corresponding to the second pulley 28 as a point B, and the position corresponding to the third pulley 29 as a point B ′. Further, a line segment connecting the point C and the point A is the winding 2c routed between the first pulley 27 and the fourth pulley 33, and a line segment connecting the point A and the point B is the fourth pulley 33. 2d, which is routed between the second pulley 28 and the second pulley 28, and a wire segment, which is connected between the second pulley 28 and the fifth pulley 34, is connected to the point B and the point A '. 2e, a line segment connecting the point A ′ and the point B ′ is a winding 2f arranged between the fifth pulley 34 and the third pulley 29.
In FIG. 8, for ease of understanding, the point A and the point A ′ are illustrated as being separated from each other, but the point A and the point A ′ are assumed to be at the same position.

Next, a relational expression is derived.
First, the equation of motion around the support 16 of the tension arm 15 is influenced by the tension F of the winding 2 and the tensile tension Fs by the tension coil spring 18, but in order to consider only the tension fluctuation, the influence by the tension coil spring 18 is affected. Is expressed as Expression 15.

  When Equation 15 is solved for the tension F of the winding 2, it is expressed as Equation 16.

  Here, when there is no point A ′ and no point B ′ (see FIG. 2 and FIG. 3), it is expressed as Expression 17.

In the following, the difference in tension variation between the simplified diagrams of FIGS. 2 and 3 in the first embodiment and the simplified diagram of FIG. 7 in the second embodiment will be considered.
First, consider the simplified diagrams of FIGS. 2 and 3 in the first embodiment described above.
The angle formed by the line segment AC and the line segment AB with respect to the line segment OA when the line segment OA is in the horizontal direction is 90 [deg] (= π / 2 [rad]).
Consider that the length l (l = l1 + l2) of the winding 2 varies from the state in which the line segment OA is in the horizontal direction. When an acceleration component (second-order differential component) acc having a length 1 of the winding 2 is generated, a relationship such as Equation 18 is established between the winding angle 2 and the arm angle θt.

  When Expression 18 and α = π / 2 [rad] and β = π / 2 [rad] are substituted into Expression 17, Expression 19 is obtained.

Next, consider the simplified diagram of FIG. 7 of the second embodiment.
When the line segment OA is in the horizontal direction, the angle formed by the line segment AC, line segment AB, line segment A′B, and line segment A′B ′ with respect to the line segment OA is 90 [deg] (= π / 2). [Rad]). Consider that the length of the winding 2 from the point C to the point B ′ varies from the state in which the line segment OA is in the horizontal direction. The acceleration component (second-order differential component) of the length of the winding 2 is the same as the acceleration component acc in the case of the first embodiment described above.
The relationship as expressed by Equation 20 is established between acc and the angle θt of the tension arm 15 (see FIG. 8). However, the arm angular acceleration (second-order differential of the arm angle) is halved compared to Equation 18 because of the geometric relationship.

  Substituting Equation 20 and α = π / 2 [rad], β = π / 2 [rad], ζ = π / 2 [rad], and η = π / 2 [rad] into Equation 16 yields Equation 21: It is expressed in

Here, when Formula 19 and Formula 21 are compared, it can be confirmed that F in Formula 21 is 1/4 compared with F in Formula 19.
Therefore, according to the second embodiment described above, the fourth pulley 33 associated with the length change of the winding 2 between the first pulley 27 and the third pulley 29, as compared with the first embodiment described above, Further, the amount of movement of the fifth pulley 34 can be reduced, and furthermore, fluctuations in the tension of the winding 2 can be suppressed.

  In the second embodiment described above, the fourth pulley 33 and the fifth pulley 34 are juxtaposed along the longitudinal direction of the tension arm 15, and the first pulley 27, the second pulley 28, and the third pulley 29. Has been described with respect to the case where the fourth pulley 33 and the fifth pulley 34 are arranged side by side in order from the upstream side along the direction in which the fourth pulley 33 and the fifth pulley 34 are arranged side by side. However, the present invention is not limited to this, and as shown in FIG. 9, the rotation axes of the fourth pulley 33 and the fifth pulley 34 are arranged coaxially, and the first pulley 27, the second pulley 28, and the The rotation shaft of the three pulleys 29 may be arranged on the same axis. In this case, the axes of the fourth pulley 33 and the fifth pulley 34 and the axes of the first pulley 27, the second pulley 28, and the third pulley 29 only need to be along the same direction. It may be in a state where the longitudinal direction of the tension arm 15 intersects. By doing in this way, it becomes possible to provide the winding apparatus 21 which can respond flexibly by the restrictions at the time of design, for example.

  In the second embodiment described above, the first pulley 27, the second pulley 28, and the third pulley 29 are provided as the fixed pulley, and the fourth pulley 33 and the third pulley 29 are provided as the swinging pulley. The case where the two pulleys 33 and 34 of the five pulleys 34 were provided was demonstrated. However, a plurality of fixed pulleys and at least one swing pulley may be provided, and the winding 2 may be wound around the fixed pulley and the swing pulley in order from the upstream side. When there are more than three fixed pulleys and more than two swing pulleys, fluctuations in the tension of the winding 2 can be further suppressed.

(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to FIG.
The tension adjusting mechanism 36 of the winding device 31 of the third embodiment has a first pulley 37 as a fixed pulley fixed in the tension adjusting mechanism 36, and a column 16 on the tip side of the tension arm 15. A second pulley 38 is provided as a swinging pulley that swings about the center.
The winding 2 wound around the bobbin 3 is wound a plurality of times (at least twice) between the first pulley 37 and the second pulley 38 via the guide pulley 7 and the tension pulley 4. It is drawn into the flyer 5.

Under such a configuration, during winding, between the wiring direction of the winding 2 routed between the first pulley 37 and the second pulley 38 and the longitudinal direction of the tension arm 15. The rotational speed of the tension pulley 4 is controlled on the basis of the rotational position information of the tension arm 15 detected by the rotational position detector 19 so that the angles θ1 ′ and θ2 ′ are maintained at a value of about 90 °.
Therefore, according to the above-described third embodiment, in addition to the same effects as those of the above-described second embodiment, fluctuations in the tension of the winding 2 can be suppressed with a simple structure. For this reason, the manufacturing cost of the winding device 31 can be further reduced.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described with reference to FIG.
The tension adjusting mechanism 46 of the winding device 41 of the fourth embodiment includes a first fixed pulley group 60 and a second fixed pulley group 61, and swings around the support column 16 at the tip end side of the tension arm 15. A fifth pulley 51 is provided as a swinging pulley that moves.
The first fixed pulley group 60 is disposed between the fifth pulley 51 and the tension pulley 4 that are upstream of the fifth pulley 51. The first fixed pulley group 60 is provided with two pulleys 47 and 48, which are a first pulley 47 and a second pulley 48, as fixed pulleys fixed in the tension adjusting mechanism 46.

  As for the 1st pulley 47 and the 2nd pulley 48, the wiring direction of coil | winding 2a 'currently arranged between these is with respect to a perpendicular direction, ie, between the 2nd pulley 48 and the 5th pulley 51. Is arranged so as to be approximately 45 ° with respect to the wiring direction of the winding 2a. This is because the winding angle of the winding 2a ′ with respect to the winding 2 arranged between the tension pulley 4 and the first pulley 47 is about 45 °, and the winding 2a with respect to the winding 2a ′. This means that the bending angle is about 45 °. Furthermore, the wiring direction of the winding 2 a ′ is an intermediate direction between the wiring directions of the windings 2 and 2 a before and after the first fixed pulley group 60.

  On the other hand, the second fixed pulley group 61 is disposed between the fifth pulley 51 and the flyer 5 which are on the downstream side of the fifth pulley 51. The second fixed pulley group 61 is provided with two pulleys 49 and 50, which are a third pulley 49 and a fourth pulley 50, as fixed pulleys fixed in the tension adjusting mechanism 46.

  In the third pulley 49 and the fourth pulley 50, the wiring direction of the winding 2 b ′ arranged therebetween is relative to the vertical direction, that is, between the fifth pulley 51 and the third pulley 49. Is arranged so as to be about 45 ° with respect to the wiring direction of the winding 2b. This is because the winding angle of the winding 2b ′ with respect to the winding 2b is about 45 °, and the winding 2 is routed between the fourth pulley 50 and the flyer 5 with respect to the winding 2b ′. This means that the bending angle is about 45 °. Furthermore, the wiring direction of the winding 2 b ′ is an intermediate direction between the wiring directions of the windings 2 b and 2 before and after the second fixed pulley group 61.

  Under such a configuration, during winding, the winding 2a routed between the second pulley 48 and the fifth pulley 51 and the fifth pulley 51 and the third pulley 49 are arranged. Detected by the rotational position detector 19 so that the angles θ1 ″ and θ2 ″ between the wiring direction of the wound winding 2b and the longitudinal direction of the tension arm 15 are maintained at a value of about 90 °. Based on the rotation position information of the tension arm 15, the rotation speed of the tension pulley 4 is controlled.

Therefore, according to the fourth embodiment described above, in addition to the same effects as those of the first embodiment described above, the bending angle of the winding 2a ′ with respect to the winding 2a and the bending angle of the winding 2b ′ with respect to the winding 2b are set. By setting the angle to about 45 °, the radius of curvature of the winding 2 routed in the first fixed pulley group 60 and the second fixed pulley group 61 can be set large. For this reason, for example, even when a relatively large-diameter winding 2 is used, the winding 2 is not forcibly bent, and damage to the winding 2 can be prevented.
The first fixed pulley group 60 is provided with two pulleys 47 and 48, and the second fixed pulley group 61 is provided with two pulleys 49 and 50. Here, when a large-diameter pulley is used in place of the first fixed pulley group 60 and the second fixed pulley group 61 in order to set the radius of curvature of the winding 2 large, the moment of inertia due to the pulley increases. However, by using the first fixed pulley group 60 and the second fixed pulley group 61, the radius of curvature of the winding 2 can be set large using the pulleys 47 to 50 having a relatively small diameter. For this reason, the moment of inertia by the pulleys 47 to 50 can be reduced while preventing the winding 2 from being damaged. Therefore, it is possible to suppress the tension fluctuation due to the influence of the moment of inertia of each pulley 47-50.

  In the fourth embodiment described above, the case where the first fixed pulley group 60 is provided with the two pulleys 47 and 48 and the second fixed pulley group 61 is provided with the two pulleys 49 and 50 has been described. However, the present invention is not limited to this, and each of the fixed pulley groups 60 and 61 may be provided with two or more pulleys. Further, the number of pulleys provided in the first fixed pulley group 60 and the second fixed pulley group 61 may be different from each other.

  In the fourth embodiment described above, the first pulley 47 and the second pulley 48 set the bending angle of the winding 2a ′ with respect to the winding 2a to about 45 °, and the third pulley 49, and The case where the bending angle of the winding 2b ′ with respect to the winding 2b is set to about 45 ° by the fourth pulley 50 has been described. However, the present invention is not limited to this, and the wiring direction of the winding 2 a ′ may be an intermediate direction between the wiring directions of the windings 2 and 2 a before and after the first fixed pulley group 60. Further, the wiring direction of the winding 2 b ′ only needs to be an intermediate direction between the wiring directions of the windings 2 b and 2 before and after the second fixed pulley group 61. By configuring in this way, it is possible to prevent damage to the large-diameter winding as compared with the first to third embodiments described above.

Furthermore, in the above-described embodiment, for example, the case where the winding devices 1, 21, 31, and 41 are devices for forming a rotor coil on a rotor of a motor (not shown) has been described. Instead, the winding devices 1, 21, 31, and 41 can be widely used without departing from the spirit of the present invention. For example, instead of the rotor, the winding devices 1, 21, 31, 41 can be used when a coil is formed on the stator of the motor or when a coil for a power source is formed.
And in the above-mentioned embodiment, the case where a potentiometer etc. was mentioned as the rotation position detection apparatus 19 for detecting the rotation position of the tension arm 15 was demonstrated, for example. However, the present invention is not limited to this, and an encoder, a resolver, or the like may be used instead of the potentiometer.

It is a schematic block diagram of the winding apparatus in 1st embodiment of this invention. It is a simplified diagram of a tension adjustment mechanism in the first embodiment of the present invention. It is a simplified diagram of a tension adjustment mechanism in the first embodiment of the present invention. It is a table | surface which shows the model parameter in 1st embodiment of this invention. It is a graph which shows the sinusoidal waveform of the coil | winding used for the simulation in 1st embodiment of this invention. It is a graph of the simulation result which shows the change of the tension | tensile_strength fluctuation | variation in 1st embodiment of this invention. It is a schematic block diagram of the tension adjustment mechanism in 2nd embodiment of this invention. It is a simplified diagram of a tension adjustment mechanism in a second embodiment of the present invention. It is a schematic block diagram of the other tension adjustment mechanism in 2nd embodiment of this invention. It is a schematic block diagram of the tension adjustment mechanism in 3rd embodiment of this invention. It is a schematic block diagram of the tension adjustment mechanism in 4th embodiment of this invention.

Explanation of symbols

1, 21, 31, 41 Winding device 2, 2a to 2f Winding 4 Tension pulley 5 Flier 6, 26, 36, 46 Tension adjusting mechanism 8 Back tensioner section 12 First pulley 13 Second pulley 14 Third pulley 15 Tension Arm 16 Prop (fulcrum)
18 Tensile coil spring (elastic body)
19 Rotation position detector (Rotation position detector)
27, 37, 47 First pulley (fixed pulley)
28, 48 Second pulley (fixed pulley)
29, 49 Third pulley (fixed pulley)
33 Fourth pulley (oscillating pulley)
34 Fifth pulley (oscillating pulley)
38 Second pulley (oscillating pulley)
50 Fourth pulley (fixed pulley)
51 Fifth pulley (oscillating pulley)
60 First fixed pulley group 61 Second fixed pulley group θ1, θ1 ′, θ1 ″, θ2, θ2 ′, θ2 ″, α, β, ζ, η Angle

Claims (9)

A tension pulley that feeds the wire wound around the bobbin;
A flyer that draws in the wire sent from the tension pulley, draws the wire toward the workpiece, and winds the wire around the workpiece;
A winding device comprising a tension adjusting mechanism provided between the tension pulley and the flyer,
The tension adjusting mechanism is
A first pulley fixedly disposed;
A second pulley fixedly arranged downstream of the first pulley;
A third pulley disposed downstream of the first pulley and upstream of the second pulley;
A tension arm provided so as to be pivotable about a fulcrum, and applying tension to the wire by supporting the third pulley so as to be swingable;
A rotation position detector for detecting the rotation position of the tension arm;
During winding,
The rotational position is such that an angle θ between the wiring direction of the wire existing between the first pulley and the second pulley and the third pulley and the longitudinal direction of the tension arm is substantially orthogonal. A winding device characterized by determining a delivery speed of the wire from the tension pulley based on a detection result of a detection unit. A tension pulley that feeds the wire wound around the bobbin;
A flyer that draws in the wire sent from the tension pulley, draws the wire toward the workpiece, and winds the wire around the workpiece;
A tension adjusting mechanism provided between the tension pulley and the flyer;
The tension adjusting mechanism is
A plurality of fixed pulleys;
A plurality of oscillating pulleys around which wire is wound between the fixed pulleys;
A tension arm provided so as to be rotatable about a fulcrum, and applying tension to the wire by supporting the swing pulley so as to swing freely;
A rotation position detector that detects a rotation position of the tension arm;
The wire rod is a winding device that is drawn into the flyer after being wound a plurality of times between the fixed pulley and the swing pulley,
During winding,
The fixed pulley and the swinging pulley are swung so that the angle θ between the wiring direction of the wire existing between the plurality of fixed pulleys and the plurality of swinging pulleys and the longitudinal direction of the tension arm are substantially orthogonal to each other. While arranging the pulley,
A winding device characterized in that a delivery speed of the wire from the tension pulley is determined based on a detection result of the rotational position detector. Each of the plurality of fixed pulleys is disposed on one coaxial line, and each of the plurality of swing pulleys is disposed on the other coaxial line;
The winding device according to claim 2, wherein the one coaxial line and the other coaxial line extend along the same direction. A tension pulley that feeds the wire wound around the bobbin;
A flyer that draws in the wire sent from the tension pulley, draws the wire toward the workpiece, and winds the wire around the workpiece;
A tension adjusting mechanism provided between the tension pulley and the flyer;
The tension adjusting mechanism is
A fixed pulley;
A tension arm provided so as to be rotatable around a fulcrum, and applying tension to the wire;
A rotational position detector for detecting the rotational position of the tension arm;
A swing pulley provided on one end side of the tension arm;
The wire rod is a winding device that is drawn into the flyer after being wound a plurality of times between the fixed pulley and the swing pulley,
During winding,
Based on the detection result of the rotational position detection unit so that the angle θ between the wiring direction of the wire existing between the fixed pulley and the swinging pulley and the longitudinal direction of the tension arm are substantially orthogonal to each other. And determining a delivery speed of the wire from the tension pulley. A tension pulley that feeds the wire wound around the bobbin;
A flyer that draws in the wire sent from the tension pulley, draws the wire toward the workpiece, and winds the wire around the workpiece;
A tension adjusting mechanism provided between the tension pulley and the flyer;
The tension adjusting mechanism is
A tension arm provided so as to be rotatable around a fulcrum, and applying tension to the wire;
A rotational position detector for detecting the rotational position of the tension arm;
A swing pulley provided on one end of the tension arm;
A first fixed pulley group disposed between the tension pulley and the swing pulley;
A second fixed pulley group disposed between the swing pulley and the flyer;
Each of the first fixed pulley group and the second fixed pulley group includes a plurality of fixed pulleys,
The plurality of fixed pulleys included in each of the fixed pulley groups are arranged such that the wire routing direction between the adjacent fixed pulleys is an intermediate direction of the wire routing direction before and after each fixed pulley group. Winding device comprising:
Of the plurality of fixed pulleys of the first fixed pulley group, the wiring direction of the wire existing between the fixed pulley on the downstream side and the swing pulley, and the plurality of fixed pulleys of the second fixed pulley group The rotational position is detected so that the angle θ between the wire arrangement direction existing between the fixed pulley on the upstream side and the swinging pulley and the longitudinal direction of the tension arm is substantially orthogonal to each other. A winding device characterized in that a delivery speed of the wire from the tension pulley is determined based on a detection result of the portion. The angle θ is 75 ° ≦ θ ≦ 105 °
The winding device according to any one of claims 1 to 5, wherein a feeding speed of the wire from the tension pulley is determined so as to satisfy the condition. The angle θ is 85 ° ≦ θ ≦ 95 °
The winding device according to claim 6, wherein a feeding speed of the wire rod from the tension pulley is determined so as to satisfy the condition.   The winding device according to any one of claims 1 to 7, wherein an elastic body is provided on the tension arm so as to apply tension to the wire. The winding device according to any one of claims 1 to 8, wherein a back tensioner portion is provided between the bobbin and the tension pulley for preventing the wire rod from being bent.

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