JP2010130744A - Winding machine for coil of multi-pole armature and method for manufacturing multi-pole armature - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a winding machine 1 for the coil of a multi-pole armature 2 that is of high speed and enables wire winding in an accurate coil position. <P>SOLUTION: The winding machine includes: a nozzle 6 for dispensing a wire material for winding; a nozzle axial direction drive mechanism that drives the nozzle 6 in the direction of the central axis of a ring-shaped yoke portion 3; a nozzle radial direction drive mechanism that drives the nozzle 6 in the direction of the radius of the yoke portion 3; and a yoke portion drive mechanism that rotates the yoke portion around the central axis of the yoke portion 3. The nozzle axial direction drive mechanism includes: a belt 8 on which the nozzle 6 is installed and which moves the nozzle 6 in the direction of the central axis of the yoke portion; a speed reducer 12 whose output shaft is connected to either of the pulleys provided at both ends of the belt 8; and a drive motor 11 the variable range of the response frequency of which includes the natural frequency of the belt and which is connected to the input shaft of the speed reducer 12. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a coil winding device for a multipole armature such as a small motor or a resolver, and a method for manufacturing the multipole armature.

Multi-pole armatures used in small motors and resolvers (angle detectors) are configured by winding a coil around a plurality of magnetic teeth protruding radially inward or outward from a ring-shaped yoke. ing. When winding such magnetic pole teeth, the nozzle that is the wire winding supply portion of the coil winding is disposed in the magnetic pole teeth, and the nozzle is driven in the central axis direction and radial direction of the yoke portion, By winding the yoke portion around the central axis of the yoke portion, the magnetic pole teeth are wound. These three types of drive mechanisms are hereinafter referred to as a nozzle axial direction drive mechanism, a nozzle radial direction drive mechanism, and a yoke portion drive mechanism.
Among the above three types of driving mechanisms, the nozzle axial direction driving mechanism is directly related to an increase in the winding speed. Therefore, the belt driving method has been used because it is necessary to reduce the weight in order to reduce the inertia of the driving mechanism.

JP-A-2006-87258 (page 8-21, FIG. 1-16)

As described above, the nozzle axial drive mechanism has a relatively high response frequency of the drive motor in order to increase the winding speed, and the natural frequency of the belt may be included within the variable range of this response frequency. . The nozzle axial direction drive mechanism controls the nozzle tip position so that it converges to the target position, but when the motor response frequency approaches the natural frequency of the belt, the control gain increases. Overshooting increases the vibration around the target position, degrading the position accuracy of the nozzle tip.
In order to keep tension on the wire during winding, the nozzle tip needs to be driven and controlled to draw a specified trajectory, but in such cases the position of the nozzle tip is inaccurate. Therefore, the wire may be loosened.

  In particular, when a multipole armature is used as a sensor such as a resolver, the position of the wound coil directly affects the detection accuracy. However, if the position of the nozzle tip is displaced as described above, the winding The position is shifted, and the next turn overlaps with the loose turn to increase the size of the coil. Therefore, there is a problem that a resolver with high detection accuracy cannot be obtained.

  The present invention has been made to solve the above problems, and prevents the nozzle position accuracy from deteriorating due to the fact that the response frequency of the motor is close to the natural frequency of the belt, is high speed, and the coil position is accurate. An object of the present invention is to provide a multi-pole armature coil winding apparatus capable of winding well.

In the coil winding device for a multipole armature according to the present invention, a winding wire is used to wind a coil around a plurality of magnetic teeth protruding radially inward or outward from a ring-shaped yoke portion. A nozzle that feeds, a nozzle axial drive mechanism that drives the nozzle in the central axis direction of the yoke part, a nozzle radial drive mechanism that drives the nozzle in the radial direction of the yoke part, and the yoke part that rotates around the central axis of the yoke part And a yoke drive mechanism.
Further, the nozzle axial direction drive mechanism includes a belt to which the nozzle is attached and moves the nozzle in the central axis direction of the yoke portion, a speed reducer having an output shaft connected to one of pulleys provided at both ends of the belt, and a response The variable frequency range includes the natural frequency of the belt, and includes a drive motor connected to the input shaft of the speed reducer.

According to the coil winding machine of the multipole armature according to the present invention, the resolution of detecting the rotation angle of the drive motor can be improved by interposing the speed reducer between the drive motor and the pulley in the nozzle axial drive mechanism. it can. Accordingly, since the motor drive control can be appropriately performed based on the more accurate measured value of the motor rotation angle, the response frequency of the motor used in the nozzle axial direction drive mechanism is close to the natural frequency of the belt. Even when the vibration of the nozzle tip increases, the amplitude of the vibration around the target value of the nozzle tip position can be suppressed, and the nozzle tip can be driven and controlled to accurately draw a specified locus.
For this reason, tension is always applied to the wire and no loosening occurs, and the coil position can be wound with high accuracy.

Embodiment 1 FIG.
1A and 1B are schematic views of a winding device 1 for a multipole armature according to Embodiment 1, FIG. 1A is a side view, and FIG. Show. FIG. 2 shows a cross-sectional view (a) and a yoke part outline view (b) in the central axis direction of the multi-pole armature 2 that is the object of which the winding device 1 performs coil winding.
As shown in FIG. 2, the multipole armature 2 includes a ring-shaped yoke part 3 constituting an iron core, a plurality of magnetic pole teeth 4 formed to protrude radially inward from the yoke part 3, and around the magnetic pole teeth 4. The coil 5 is wound around. In this figure, the magnetic teeth 4 (inner core type) projecting radially inward from the yoke portion 3 are shown. However, the magnetic teeth 4 (outer core type) projecting outward from the yoke portion 3 are shown. In contrast, the winding apparatus 1 according to the present embodiment is applicable. The iron core of the multipole armature 2 is formed by punching a thin electromagnetic steel plate having the outer shape of the yoke portion 3 and the magnetic pole teeth 4 by pressing, laminating the punched steel plates, and integrating them by welding or other methods. Is done.

  The winding of the coil 5 needs to be performed while rotating the tip of the nozzle 6 for supplying the wire rod around the magnetic teeth 4. The movement of the nozzle 6 is a nozzle provided in the winding device 1. This is realized by operating in combination of three types of drive mechanisms: an axial drive mechanism, a nozzle radial drive mechanism, and a yoke drive mechanism.

  The nozzle axial direction drive mechanism is for driving the nozzle 6 in the central axis direction (vertical direction in FIG. 1) of the yoke portion 3. The base plate 7 to which the nozzle 6 is attached and the base plate 7 is the center of the yoke portion 3. A belt 8 to be moved in the axial direction, a driving pulley 9 disposed at the upper end of the belt 8, a driven pulley 10 disposed at the lower end of the belt 8, a motor 11 for rotating the driving pulley 9, a motor 11 and driving The speed reducer 12 is provided between the side pulleys 9 and has an input shaft connected to the motor 11 and an output shaft connected to the drive side pulley 9. Each bearing of the driving pulley 9 and the driven pulley 10, and the motor 11 and the speed reducer 12 are supported by a common support member 13.

Here, as the speed reducer 12, FIG. 1B shows a gear using a gear. If a planetary gear is used among the gears, a high reduction ratio can be obtained with a small size and low inertia. In addition to those using gears, there are planetary rollers and those using a pair of rollers of different diameters.
FIG. 3 shows a configuration using the planetary roller 14. The configuration of the speed reducer 12 using the planetary roller 14 is the same as that using the planetary gear, and a sun roller 16 is disposed in the center of the outer ring roller 15, and a plurality of planetary rollers are provided between the outer ring roller 15 and the sun roller 16. 14 is arranged. Each rotating shaft of the planetary roller 14 is attached to the planet carrier 17, and the rotating shafts of the sun roller 16 and the outer ring roller 15 are attached to the frame 18.

The planetary roller 14, the sun roller 16, and the outer ring roller 15 are in contact with each other and rotate without slipping due to frictional force. When the rotating shaft of the planetary carrier 17 is connected to the output shaft of the motor and the rotating shaft of the sun roller 16 is connected to the driving pulley 9 that drives the belt 8, the reduction ratio is expressed by (D1 + D3) / D1. Here, D1 represents the diameter of the sun roller 16, and D3 represents the diameter of the outer ring roller 15. For example, when D1 is 20 mm and D3 is 80 mm, the reduction ratio is 5.
As described above, the planetary roller 14 transmits power by contact rotation, so that when it is used as the speed reducer 12 of the present invention and reciprocates at a high speed, the noise is smaller and the life is longer than when the planetary gear is used. There is.

  FIG. 4 shows a configuration using a pair of rollers of different diameters. A large roller 19 is connected to the driving pulley 9 that drives the belt 8. A motor 11 is connected to the small roller 20, and the small roller 20 and the large roller 19 are connected by a belt 21. The rotation of the motor 11 is transmitted from the small roller 20 to the large roller 19 to obtain a reduction ratio of the diameter ratio. Also in this case, there is an advantage that the noise is small and the life is prolonged as compared with the case where the planetary gear is used.

As shown in FIG. 1, the nozzle radial direction drive mechanism includes a motor 22, a ball screw 23, and a linear guide 24 so that the entire nozzle axial direction drive mechanism mounted on the support member 13 can be moved in the left-right direction in FIG. It is made up of.
The yoke part drive mechanism is a mechanism for rotating the yoke part 3 around its central axis by a motor 25 provided at the lower part of the yoke part 3. The motor 25 is supported by a support member (not shown) independent of the support member 13.
Note that each drive device actually requires a drive transmission component such as a coupling, but the illustration and description thereof are omitted.

Next, a winding method using this winding device 1 will be described.
By inserting the nozzle 6 into the inner periphery of the yoke part 3 and feeding the wire from the nozzle 6, the nozzle 6 is combined with the vertical movement by the nozzle axial drive mechanism and the rotational movement by the yoke drive mechanism. The tip of the nozzle 6 rotates around the magnetic pole teeth 4 and the wire is wound around the magnetic pole teeth 4. The next turn can be wound by moving the nozzle 6 in the left-right direction in FIG. 1B by the width of the wire using the nozzle radial direction drive mechanism. The coil 5 is formed by repeating the above movement.
Commands from the control device 26 are output to the three types of motor amplifiers 27, 28, and 29 so that the three types of drive mechanisms can operate in a coordinated manner, and each drive is driven according to the pulses output from these motor amplifiers. The motors 11, 22, and 25 of the mechanism perform rotation.

As can be seen from the above winding procedure, the nozzle radial direction drive mechanism is moved only once per turn, and the stroke is only the width of the wire, so that the response frequency of the motor 22 is low. . Compared with this, since the moving stroke of the nozzle axial direction drive mechanism and the yoke portion drive mechanism is long, it is necessary to increase the response frequencies of the motors 11 and 25 in order to increase the winding speed.
In particular, since the nozzle axial direction driving mechanism performs belt driving as shown in FIG. 1, interference between the natural frequency of the belt and the response frequency of the motor 11 becomes a problem. An analysis is performed on the motion of the motor 11 below.

The nozzle axial direction drive mechanism is typically controlled so that its velocity waveform becomes substantially trapezoidal corresponding to the position on the track as shown in FIG. In this case, the acceleration to be controlled (= motor torque) has a pattern as shown in FIG. 5B obtained by first-order differentiation of FIG.
In the actual winding device 1, since it starts from the point A in FIG. 5A and goes around the magnetic teeth 4 and returns to the point A, the rotation frequency is typically about 20 Hz. However, at this time, as shown in this figure, if the time of each section of acceleration, constant speed, deceleration, and stop is equal, the fundamental frequency of acceleration is about 80 Hz, which is four times that.

  The rotation control of the motor 11 needs to be performed at a speed higher than the above frequency so that the trajectory of the tip of the nozzle 6 is within a predetermined accuracy. Usually, since the motor response frequency is determined with a margin of about three times the frequency of the control target, about 240 Hz is a typical motor response frequency in the winding device 1. This response frequency is a value that is appropriately adjusted by the operator and set in the motor amplifier 27 in the form of a feedback gain.

On the other hand, the natural frequency f _{n of the} belt is given by Equation 1 below.

ここで、
ｋ：ベルト８のばね定数
ｍ：ベルト８の駆動対象物（ノズル６、ベース板７等）の質量
である。典型的な値として、ｋ＝２８７４Ｎ／ｍｍ、ｍ＝１．３５ｋｇを用いると、ｆ_ｎ＝２３３Ｈｚとなる。

here,
k: Spring constant of the belt 8 m: Mass of the object to be driven (the nozzle 6, the base plate 7, etc.) of the belt 8. As a typical value, when k = 2874 N / mm and m = 1.35 kg are used, f _n = 233 Hz.

A typical example of the motor response frequency is shown above, but it varies depending on the required winding speed, cross-sectional dimensions of the teeth, the setting of the trajectory of the nozzle tip, and the acceleration / deceleration pattern. It has a wide range. If the natural frequency of the belt is included within this variable range, there is a possibility that the response frequency of the motor is close to the natural frequency of the belt, so that there is a problem that the control gain increases and the vibration of the nozzle tip also increases. It will be. In the calculation example shown in, for 232Hz and typical motor response frequency 240Hz of f _n are close, so that the above-mentioned problems.

  The equation of motion for the motor 11 is expressed by the following Equation 2.

ここで、
θ：モータ１１の回転角
Ｊ：モータ１１の慣性モーメント
Ｔ_ｍ：モータ１１の発生トルク
Ｔ_ｂ：モータ１１、減速機１２の内部ベアリング摩擦
Ｔ_ｒｅａｃ：減速機１２の被駆動側からの反力トルク
η：減速比
速度方向は上下方向に周期的に切り換わるような振動状態であるため、摩擦力の方向は周期的な速度方向の変化に応じて切り換わるので、数式２は

here,
θ: rotation angle of the motor 11 J: moment of inertia of the motor 11 T _m : generated torque of the motor 11 T _b : internal bearing friction of the motor 11 and the speed reducer 12 T _reac : reaction force torque from the driven side of the speed reducer 12 η: Reduction ratio Since the speed direction is a vibration state that is periodically switched in the vertical direction, the direction of the frictional force is switched according to the periodic change in the speed direction.

と表現できる。
減速機１２の被駆動側からの反力トルクＴ_ｒｅａｃは、被駆動側の２個の慣性モーメントとそれらを連結するベルトの弾性を模擬したばね要素からの振動反力となるので、

Can be expressed as
The reaction force torque _Treac from the driven side of the speed reducer 12 is a vibration reaction force from a spring element that simulates the two inertia moments on the driven side and the elasticity of the belt connecting them.

ここで、

here,

ｋ：ベルト８のばね定数
ｒ：駆動側プーリ９の半径（＝従動側プーリ１０の半径）
θ_２：駆動側プーリ９の回転角
θ_３：従動側プーリ１０の回転角
Ｊ_２：駆動側プーリ９の慣性モーメント
Ｔ_ｂ２：従動側プーリ１０、減速機１２の摩擦トルク
である。数式４、５を数式３に代入して、

k: spring constant of belt 8 r: radius of driving pulley 9 (= radius of driven pulley 10)
θ ₂ : The rotation angle of the driving pulley 9 θ ₃ : The rotation angle of the driven pulley 10 J ₂ : The moment of inertia of the driving pulley 9 T _b2 : The friction torque of the driven pulley 10 and the speed reducer 12. Substituting Equations 4 and 5 into Equation 3,

となる。
数式６は、振動工学などでよく用いられる１自由度振動系と同じ式である。よく知られているように、数式６の振動特性に影響する減衰係数ζ、固有角振動数ω_ｎは数式７、８にて表される。

It becomes.
Formula 6 is the same formula as a one-degree-of-freedom vibration system often used in vibration engineering and the like. As is well known, the damping coefficient ζ and the natural angular frequency ω _n that affect the vibration characteristics of Equation 6 are expressed by Equations 7 and 8.

減衰係数ζは大きいほど振動の減衰が大きいので、減速機１２、モータ１１、駆動側プーリ９、従動側プーリ１０の摩擦トルクＴ_ｂ、Ｔ_ｂ２が大きいほどモータの回転減衰がよく効くことが数式６より判る。
また、数式６の右辺第２項が従動側プーリ１０、ベルト８からの振動反力トルクとなるが、減速比ηを大きくすればモータの受ける振動反力トルクは小さくなり、ベルト振動の影響を受けにくくできることがわかる。

The larger the damping coefficient ζ, the greater the damping of vibration. Therefore, the larger the friction torques T _b and T _{b2 of} the speed reducer 12, the motor 11, the driving pulley 9, and the driven pulley 10, the better the rotational damping of the motor works. 6
The second term on the right side of Equation 6 is the vibration reaction force torque from the driven pulley 10 and the belt 8. However, if the reduction ratio η is increased, the vibration reaction force torque received by the motor is reduced, and the influence of the belt vibration is reduced. You can see that it can be difficult to receive.

FIG. 6 shows the result of confirming the frequency characteristics of how the rotation angle of the motor responds to the torque commanded to the motor 11 when the reduction ratio η of the speed reducer 12 is set to 1 in Formula 6. . FIG. 6A shows a gain curve, and a peak value corresponding to the natural frequency (f _n ) of the belt is observed near 232 Hz. FIG. 6B shows a phase curve, and it can be seen that the phase changes greatly from about −150 ° to about −300 ° around the same frequency.
Therefore, when the response frequency of the motor 11 is close to the natural frequency f _n of the belt 8, the control gain increases near this frequency, so that the nozzle tip position overshoots from the target position, and around the target position. The vibration is increased, the position accuracy of the nozzle tip is deteriorated, and the winding accuracy of the coil 5 is also deteriorated.

  FIG. 7A schematically shows how the nozzle 6 vibrates around the control target value. The rotation of the motor 11 is discretely measured by a rotation detector (such as a rotary encoder) provided on the motor shaft. Therefore, although it is actually oscillating almost like a sine wave around the target value as shown by the broken line, it is observed as if it is a waveform on the stairs as shown by the solid line. Differences between values and observed values are recognized incorrectly. When the drive control of the motor is performed based on the erroneous difference, the control command also has a large error, and it is difficult to suppress the vibration of the nozzle 6, and conversely, the amplitude is increased. There was also.

  On the other hand, when the speed reducer 12 is provided between the motor 11 and the driving pulley 9, the number of rotations of the η motor increases, and the output from the rotation detector has a waveform as shown in FIG. Therefore, the difference between the target value and the observed value is recognized with high accuracy. Therefore, even when the response frequency of the motor 11 is close to the natural frequency of the belt 8, the difference can be controlled to converge, so that the vibration amplitude can be reduced.

As described above, according to the coil winding machine of the multipole armature according to the present embodiment, the drive motor is provided by interposing the speed reducer 12 between the motor 11 and the drive pulley 9 in the nozzle axial drive mechanism. It is possible to improve the resolution of detecting the rotation angle. Accordingly, since the motor drive control can be appropriately performed based on the more accurate measured value of the motor rotation angle, the response frequency of the motor 11 used in the nozzle axial direction drive mechanism becomes the natural frequency of the belt 8. Even when the vibration at the nozzle tip increases due to the approach, the amplitude of the vibration around the target value at the nozzle tip position can be suppressed, and the nozzle tip can be driven and controlled to accurately draw a specified locus. .
For this reason, tension is always applied to the wire and no loosening occurs, and the coil position can be wound with high accuracy.

  Further, when the speed reducer 12 is mounted, the rotation angle of the motor 11 increases by a reduction ratio η times, and therefore the amount of control pulses given to the motor 11 even if the movement amount of the nozzle 6 is the same. Is η times greater than when no reduction gear 12 is installed. As the amount of pulses increases, the amount of movement of the nozzle per pulse can be controlled finely. Therefore, even when the motor 11 is used in a state where the response frequency of the motor 11 is away from the natural frequency of the belt 8, the positioning accuracy is increased. Can do.

Embodiment 2. FIG.
In the first embodiment, the speed reducer 12 is interposed between the motor 11 of the nozzle axial direction drive mechanism and the driving pulley 9 that rotates the belt 8 to improve the controllability of the motor 11, thereby improving the position of the nozzle 6, Furthermore, in the second embodiment, the wire rod fed out from the nozzle 6 is prevented from loosening by devising the trajectory of the nozzle 6 in order to improve the winding accuracy of the coil 5. The object is to improve the winding accuracy of the coil 5. The configuration of the device is the same as that of the first embodiment shown in FIG.

FIG. 8 is a projection of the trajectory of the nozzle 6 in the present embodiment from the cross section BB in FIG. 2, and FIG. 9 shows the trajectory of the nozzle in the same direction in the conventional coil winding for comparison. Projected from
First, the trajectory of the nozzle 6 during winding will be described based on a conventional example. Since the nozzle 6 is driven so as to rotate around the magnetic teeth 4, the tip of the nozzle 6 is moved from P 1 to P 2 with one end of the wire contacting the corner A point where the magnetic teeth 4 are present as shown in FIG. Suppose you move to

  As can be seen from the arrangement of the magnetic teeth 4 shown in FIG. 2, the distance between the adjacent magnetic teeth is narrow, and therefore, the orbit of the tip of the nozzle 6 often has to be a vertically long elliptical orbit. . In this case, when the distance L1 of A-P1 and the distance L2 of A-P2 are compared, a relationship of L2 <L1 is established. Therefore, when the tip of the nozzle 6 moves from P1 to P2, the wire rod is moved. There was a problem that it loosened and caused deterioration of winding accuracy.

The orbit of the nozzle 6 in the present embodiment is parallel to four sides constituting the cross section of the magnetic teeth 4 as shown in FIG. 8 and has four straight lines having a length equal to or shorter than the length of each side, These four straight line end portions are formed by four arcs in contact with the respective straight lines.
In the present embodiment, how the distances from the corner A of the magnetic teeth 4 to P1, P2, and P3 change when the tip of the nozzle 6 moves to P1, P2, and P3 will be described with reference to FIG. To do.

When the tip portion of the nozzle 6 is moving along the straight line portion, the distance A-P2 becomes clearly longer than the distance A-P1 as it moves from P1 to P2, so that the wire does not loosen.
Next, the distance from the point A is examined in the case of P3 on the arc. As shown in FIG. 10, in the xy coordinate system having the center of the arc as the origin O, the angle formed by O-P3 and the y axis is φ, and the angle formed by OA and the y axis is β. Further, the distance of O-P3 is represented by r, and the distance of OA is represented by R. Here, since the length of the track of the straight line portion is equal to or shorter than the length of each side of the magnetic pole teeth 4, the origin O exists in the cross section of the magnetic pole teeth 4, and the relationship of 0 <β ≦ π / 2. There is.
When the above constants and variables are used, the coordinates of A are represented by (−R sin β, R cos β), and therefore the distance L (φ) between A and P3 is expressed by the following formula 8.

これをθについての変化を調べるために１回微分すると、

Differentiating this once to examine the change in θ,

が得られる。
ここで、０≦φ≦π／２より、０＜φ＋β≦πであるため、ｄＬ（φ）／ｄφ≧０となり、この円弧区間において、Ｌ（φ）は単調に増加する。
従って、Ｐ１〜Ｐ２〜Ｐ３のいずれの区間においても、ノズル６の先端部と磁極ティース４の角部との距離は常に増加することがわかった。

Is obtained.
Here, since 0 ≦ φ ≦ π / 2, since 0 <φ + β ≦ π, dL (φ) / dφ ≧ 0, and L (φ) monotonously increases in this arc section.
Therefore, it was found that the distance between the tip of the nozzle 6 and the corner of the magnetic teeth 4 always increases in any of the sections P1 to P2 to P3.

  As described above, the control device 26 controls the operation of the motors 11, 22, and 25 so that the trajectory of the nozzle 6 is a combination of the straight line group and the circular arc group as described above. Thus, even if the nozzle 6 rotates around the magnetic pole teeth 4, the wire does not loosen. Therefore, there is no problem that the coil already wound is unwound and the winding position is shifted, or the coil is enlarged by entraining a part of the wire material of the loose turn at the next turn winding. A highly accurate coil can be obtained.

Embodiment 3 FIG.
In the present embodiment, the capacity of the motor 11 is optimized. The configuration of the device is the same as that of the first embodiment shown in FIG.
In order to increase the winding speed and to control the rotation of the motor 11 with high accuracy, it is necessary to increase the maximum angular acceleration α that can be generated by the motor 11 as much as possible given by the following formula 10.

Here, T _max is the maximum torque of the motor 11, J ₀ is the self-inertia moment, J ₁ is the load inertia moment of each device constituting the nozzle axial direction drive mechanism, and η is the reduction ratio of the reducer 12. The term J ₁ / η ² originally reduces the load as a belt drive system and is reduced by the square of the reduction ratio, so that the relationship of J ₀ >> J ₁ / η ² is established. Therefore, the angular acceleration α that can be generated by the motor 11 in this winding device is ultimately determined by T _max / J ₀ and the characteristics of the motor 11 itself.

FIG. 11 shows the servomotor used for the motor 11 with the rated output on the horizontal axis, the maximum torque (T _max ; unit [N · m]), and the maximum angular acceleration (α: unit [× 10 ³ s ⁻² ]). ) Are plotted. Although the graph is an example of a servo motor, the approximate tendency may be considered to be the same as that shown in FIG.
As the rated output of the motor increases, the maximum torque T _max increases, but at the same time the physique increases, so the self-inertia moment J ₀ tends to increase. In a commercially available servo motor, since J ₀ tends to increase more than T _max , α≈T _max / J _o is a downward-sloping curve. That is, in order to obtain a large angular acceleration α, it is considered advantageous to select a motor having a small rated output.

On the other hand, in the case of a motor having a very small capacity, the term of J ₁ / η ² cannot be ignored with respect to J ₀ , and it becomes difficult to generate an acceleration for obtaining a necessary winding speed. Therefore, by selecting a capacity of 400 W to 1000 W as the motor 11 for the winding device 1, it is possible to secure the minimum necessary torque while obtaining a large angular acceleration.

As described above, according to the invention of the present embodiment, by selecting the motor 11 having a capacity of 400 W to 1000 W, the angular acceleration α of the motor 11 can be increased, so that the control accuracy of the nozzle 6 can be further improved. At the same time, the winding speed can be improved.

It is a schematic diagram of the winding apparatus of the multipole armature according to the first embodiment of the present invention. FIG. 3 is a cross-sectional view in the central axis direction of the multipolar armature according to the first embodiment of the present invention and an external view of a yoke portion. It is a figure which shows the structure of the reduction gear using a planetary roller. It is a figure which shows the structure of the reduction gear using a different diameter roller. In the winding apparatus of the multipole armature which concerns on Embodiment 1 of this invention, it is a figure which shows the rotational speed and acceleration pattern of a motor. It is a graph which shows the control characteristic of a motor in the winding device of the conventional multipole armature. It is a schematic diagram showing the time change of the actual motor motion and the measured value of the rotation detector. In the winding apparatus of the multipole armature which concerns on Embodiment 2 of this invention, it is a figure which shows the track | orbit of a nozzle front-end | tip part. In the winding apparatus of the multipole armature of a prior art example, it is a figure which shows the track | orbit of a nozzle front-end | tip part. In the winding apparatus of the multipole armature which concerns on Embodiment 2 of this invention, it is a figure for analyzing the track | orbit of a nozzle front-end | tip part. 6 is a graph showing the relationship between motor capacity, angular acceleration α, and maximum torque T _max in a winding device for a multipole armature according to Embodiment 3 of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Coil winding apparatus 2 Multipole armature 3 Yoke part 4 Magnetic pole teeth 5 Coil 6 Nozzle 8 Belt 9 Drive side pulley 10 Drive side pulley 11 Motor 12 Reduction gear 14 Planetary roller 19 Small roller 20 Large roller 26 Controller

Claims (6)

In order to wind a coil around a plurality of magnetic teeth protruding radially inward or outward from a ring-shaped yoke portion, a nozzle for feeding a wire for winding,
A nozzle axial direction drive mechanism for driving the nozzle in the central axis direction of the yoke portion;
A nozzle radial drive mechanism for driving the nozzle in the radial direction of the yoke portion;
A yoke drive mechanism for rotating the yoke around the central axis of the yoke;
A coil winding device for a multi-pole armature comprising:
The nozzle axial direction drive mechanism is
A belt to which the nozzle is attached and moves the nozzle in the direction of the central axis of the yoke portion;
A speed reducer having an output shaft connected to one of pulleys provided at both ends of the belt;
A variable range of response frequency includes the natural frequency of the belt, and a drive motor connected to the input shaft of the speed reducer;
Multi-pole armature coil winding device with The cross section of the magnetic teeth projected radially outward from the center of the yoke portion has a rectangular shape, and a group of straight lines having a length parallel to each side of the magnetic pole teeth in the cross section and having a length equal to or less than the length of each side. A nozzle axial direction drive mechanism, a nozzle radial direction drive mechanism, and the yoke part drive mechanism are arranged so that the tip of the nozzle moves on a track formed by a group of arcs in contact with each straight line at the end of the straight line group. A control device to control;
A coil winding apparatus for a multipole armature according to claim 1, comprising: The capacity of a drive motor is 400 W or more and 1 kW or less, The coil winding apparatus of the multipolar armature of Claim 1 or 2 characterized by the above-mentioned. The multi-pole armature coil winding device according to any one of claims 1 to 3, wherein the speed reducer has a configuration using planetary rollers. The multi-pole armature coil winding apparatus according to any one of claims 1 to 3, wherein the speed reducer has a configuration using two rollers of different diameters. Forming an iron core having a plurality of magnetic pole teeth protruding inward or outward from the ring-shaped yoke portion;
A method of manufacturing a multipole armature, comprising: a step of winding a coil by feeding a wire while a nozzle portion of the coil winding device according to claim 1 circulates around the magnetic teeth.

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