JP2011234465A - Coiling device of wire rod - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a coiling device of a wire rod which can wind a wire rod around a magnetic pole of a stator accurately and rapidly.SOLUTION: A coiling device of a wire rod 10 winds a wire rod 12, which is issued from a nozzle 11, around magnetic poles 13b and 63b, and has a nozzle movement mechanism 30 for moving the nozzle 11 in the orthogonal direction to the axis of the magnetic pole 13b. The nozzle movement mechanism 30 comprises: a pedestal 31; a movable base 32 which is provided on the pedestal 31 movably in the orthogonal direction to the shaft center of the magnetic pole 13b and which has the nozzle 11 fixed on it; a driving source 33 which is provided on the pedestal 31 and has a rotary member 34 rotatable; a coupling member 36 one end of which is pivoted in the position lop-sided to the rotation center of the rotary member 34 and the other end of which is pivoted on the movable base 32. The coiling device of the wire rod 10 comprises: a stator core operation mechanism 19 for operating a stator core 13 so that the magnetic pole 13b oscillates. The nozzle movement mechanism 30 has the nozzle 11 moving in the direction that is almost vertical to the axis of the magnetic pole 13b and that is different from the direction in which the magnetic pole 13b oscillates.

Description

  The present invention relates to a wire winding device for winding a wire fed from a tip of a nozzle around a magnetic pole formed to protrude in the radial direction of a stator.

  Conventionally, a stator of an inner rotor type motor is formed by winding a wire around a plurality of magnetic poles that protrude to the inner peripheral side of a stator core formed by laminating a plurality of annular members. It is formed by winding a wire around a plurality of magnetic poles protruding radially from the outer peripheral side. Conventionally, winding of the stator core around each magnetic pole is performed by revolving a nozzle attached to the spindle around each magnetic pole, for example, in a circular orbit along with the rotation of the spindle. According to such a spindle type winding, the winding work can be speeded up.

  However, in this spindle type winding, since it is necessary to provide a certain distance between the tip of the nozzle, which is the feeding end of the wire, and the magnetic pole, it is not possible to precisely control the position of the nozzle tip during winding. There was a bug that could not be done. For this reason, for example, the revolution around the magnetic pole of the nozzle and the feed in the magnetic pole axis direction are not precisely matched, and there is a problem that the winding is disturbed. In the case of a stator core having a convex portion between the magnetic poles, the convex portion may interfere with the locus of the nozzle.

  In order to solve such a problem, the present applicant has proposed a winding device including three moving mechanisms for moving the nozzles in each of the three axial directions (see, for example, Patent Document 1). That is, this winding device supports the left-right movement mechanism by the front-rear movement mechanism so that it can be moved back and forth, supports the vertical movement mechanism by this left-right movement mechanism so as to be movable left-right, and further moves the movable table up-down by this vertical movement mechanism The nozzle is attached to this movable base. In this winding device, the movable base on which the nozzle is mounted is moved in a three-dimensional direction by a combination of operations by these three moving mechanisms, and the tip position, which is the wire feeding end of the nozzle, can be precisely controlled. Yes. As a result, winding can be performed without causing winding disturbance, and it can be expected that the characteristics of the motor can be improved by the stator in which the aligned winding with a high space factor of the wire is formed.

JP-A-10-271774

  However, in the above-described conventional winding device, the moving mechanism for moving the nozzle in each of the three axial directions is configured by sequentially stacking the front, rear, left, and upper moving mechanisms. The left and right movement mechanism and the vertical movement mechanism must be moved, and the left and right movement mechanism must move the vertical movement mechanism together with the nozzle. Since the portion that moves together with the nozzle is relatively large in this way, the forward / backward movement of the nozzle by the forward / backward movement mechanism and the left / right movement of the nozzle by the left / right movement mechanism cannot be speeded up. It was inhibiting.

  In addition, since the vertical movement mechanism in the conventional winding apparatus uses a ball screw, the screw shaft is rotated using a servo motor, thereby moving the possible base on which the nozzle is attached. In this ball screw, when the servo motor rotates the screw shaft once, the nozzle moves up and down by an amount corresponding to the pitch in the longitudinal direction of the spiral groove formed on the screw shaft. And when winding the magnetic pole of the stator, it is usually necessary to move the nozzle several times to several tens of times of the pinch of the spiral groove. The servo motor had to rotate its screw shaft forward several times to several tens of times and then reverse again several times to several tens of times. For this reason, in the above-described conventional winding device using a ball screw, when winding is performed by moving the nozzle at a relatively high speed, the screw shaft is rotated at a high speed by a servo motor and the screw shaft is suddenly moved. Acceleration / deceleration is required. For this reason, in a conventional winding device that attempts to perform winding using a ball screw, a so-called high torque and high response servo motor is required as a drive source for rotating the screw shaft. It is said. Since such a servo motor is very expensive and large, when pursuing winding at high speed, the unit price of the device is pushed up and the device becomes large.

  An object of the present invention is made by paying attention to such problems, and is to provide a wire winding device capable of winding a wire around a magnetic pole of a stator with high accuracy and at high speed.

  The present invention is an improvement of a winding device that winds a wire fed from a nozzle around a magnetic pole of a stator.

  The characteristic configuration has a nozzle moving mechanism that moves the nozzle in a direction orthogonal to the axis of the magnetic pole. The nozzle moving mechanism is provided on the pedestal and the pedestal so as to be movable in a direction orthogonal to the axis of the magnetic pole. A movable base having a nozzle fixed thereto, a drive source provided on the base and configured to be able to rotate the rotating member, and one end pivotally supported at a position deviated from the rotation center of the rotating member and the other end pivoted to the movable base. And a connected member.

  This wire winding device includes a stator core operation mechanism that operates the stator core so that the magnetic poles oscillate, and the nozzle moving mechanism moves the nozzle in a direction substantially perpendicular to the axis of the magnetic poles and in a direction different from the oscillation of the magnetic poles. It is preferable to constitute so as to be.

  In the wire winding apparatus of the present invention, the nozzle is moved back and forth by the nozzle moving mechanism, and the nozzle is moved in the direction substantially perpendicular to the magnetic pole axis and perpendicular to the reciprocating direction by the nozzle moving mechanism. The nozzle is rotated around the magnetic pole by a combination of these operations. Thereby, the wire rod drawn out from the nozzle can be wound around the magnetic pole of the stator. Then, by rotating the nozzle in a track shape that linearly moves in the slot between the magnetic poles, the gap generated between the wire rod feeding end of the nozzle and the magnetic poles is reduced, and the winding is disturbed. This can be avoided.

  Further, the reciprocating movement of the nozzle by the nozzle moving mechanism is performed by rotating the rotating member by a driving source. When the rotating member is rotated, one end of the connecting member that is pivotally supported by being offset from the rotation center moves circularly. The movable base on which the other end of the connecting member is pivotally supported is reciprocated together with the nozzle. Therefore, when the rotating member rotates once, the nozzle reciprocates once by an amount equal to twice the amount of deviation from the rotation center of the rotating member, and the drive source simply rotates the rotating member in the same direction. The nozzle can be reciprocated as many times as the number of rotations. For this reason, it is possible to relatively easily increase the speed of the winding without requiring the rapid acceleration / deceleration from the high speed required by the servo motor that rotates the screw shaft in the conventional ball screw. In addition, a high-torque, high-response servomotor that can perform rapid acceleration / deceleration from a high speed, which has been conventionally required, is not required, and the unit price of the winding device is not increased.

  Further, as another moving mechanism for moving the nozzle in the direction orthogonal to the reciprocating direction by the nozzle moving mechanism, if a stator core operating mechanism for operating the stator core so that the magnetic poles swing is provided, in this stator core operating mechanism, The winding can be performed by rotating the stator core forward and backward at an angle corresponding to the angle formed by the magnetic pole to be wound and the magnetic pole adjacent thereto. Here, since the angle between the magnetic pole that is the object of winding and the magnetic pole adjacent to it is relatively small, the magnetic pole is swung quickly during winding, thereby reliably increasing the winding speed. Can be made.

It is a side view which shows the winding apparatus of this invention embodiment. It is a top view of the winding device. It is a figure which shows operation | movement of the nozzle moving mechanism. It is the sectional view on the AA line of FIG. 1 which shows the state which a nozzle linearly moves the slot between the magnetic pole wound and the magnetic pole adjacent to the one. FIG. 5 is a cross-sectional view corresponding to FIG. 4 illustrating a state in which the nozzle linearly moves in a slot between the wound magnetic pole and the other adjacent magnetic pole. It is a figure which shows the motion of the nozzle with respect to the magnetic pole. It is sectional drawing of the outer rotor type | mold stator core by which the winding was made | formed by the winding apparatus. It is a perspective view which shows the winding apparatus of another embodiment of this invention. It is the BB sectional drawing of FIG. 8 which shows the state which winds a wire around a magnetic pole with the another winding apparatus. It is a figure which shows operation | movement of the another nozzle moving mechanism. It is a figure which shows the motion of the nozzle with respect to the magnetic pole of the another stator core. FIG. 6 is a cross-sectional view of an inner rotor type stator core wound by another winding device. It is a top view corresponding to FIG. 2 which shows another winding apparatus with which the nozzle moving mechanism was attached to the base via the front-back direction drive part which moves a nozzle moving mechanism along an X-axis. FIG. 14 is a top view corresponding to FIG. 13 in which a plurality of nozzles are provided in another winding device.

  Next, the best mode for carrying out the present invention will be described with reference to the drawings.

  1 and 2 show a wire rod winding device 10 according to the present invention. In each figure, three axes X, Y, and Z orthogonal to each other are set, the X axis extends in a substantially horizontal front-rear direction, the Y axis extends in a substantially horizontal lateral direction, and the Z axis extends in a vertical direction. The configuration of will be described. The winding device 10 winds a wire 12 fed from a nozzle 11 around a magnetic pole 13 b of a stator core 13. As shown in FIG. 7, the stator core 13 in this embodiment is of an outer rotor type, and has an annular annular portion 13a and an outer peripheral surface of the annular portion 13a toward the outside of the annular portion 13a. And a plurality of magnetic poles 13b projecting radially.

  As shown in FIGS. 1 and 2, the winding device 10 includes a machine base 14 installed at an installation location. The machine base 14 is provided with a front-rear direction drive unit 17 that moves the table 16 in the front-rear direction, which is the X-axis direction, and the table 16 is provided with a support 18 that supports the stator core 13. The front-rear direction drive unit 17 is a front-rear direction guide 17a disposed on the machine base 14 along the X-axis that is the drive direction, and a front-rear direction in which a spiral male screw is disposed on the surface in parallel with the front-rear direction guide 17a. Direction rotating shaft 17b, a front-rear direction moving member 17d (FIG. 1) that is screwed to the front-rear direction rotating shaft 17b by a ball screw and is movable along the front-rear direction guide 17a by rotation of the front-rear direction rotating shaft 17b, A front-rear direction drive source 17c that rotationally drives the direction rotation shaft 17b is disposed. The front-rear direction drive source in this embodiment is a front-rear direction servo motor 17c, and the table 16 is attached to a front-rear direction moving member 17d that moves when the servo motor 17c is driven.

  The table 16 is provided with a swinging servomotor 19 having a rotary shaft 19a in the Z-axis direction and a mounting plate 21 that is offset from the swinging servomotor 19 in the Y-axis direction and is adjacent to the swinging servomotor 19. The support 18 that supports the stator core 13 pushes the stator core 13 placed on the upper end edge of the core member 18a from above and the rod-like core member 18a extending in the vertical direction for placing the stator core 13 horizontally on the upper end edge. And a pressing member 18b. The lower end of the rod-shaped core member 18a is attached to the rotating shaft 19a of the servo motor 19 for swinging, and the upper portion is formed to have an outer diameter slightly smaller than the outer diameter of the annular portion 13a (FIG. 7) of the stator core 13. A linear motion guide rail 23 is attached to the side of the mounting plate 21 facing the swinging servo motor 19 so as to extend in the vertical direction, and an elevating member 22 is attached to the guide rail 23 so as to be movable up and down.

  The pressing member 18b is attached to the elevating member 22 so that the center vertical axis coincides with the center axis of the rod-shaped core 18a and is rotatable about the vertical axis. The lower part of the pressing member 18b that actually pushes the stator core 13 placed on the upper edge of the core member 18a from above is formed to have an outer diameter slightly smaller than the outer diameter of the annular part 13a of the stator core 13 (see FIG. 4 and FIG. 5), the stator core 13 is sandwiched between the annular portion 13a by the core material 18a and the pressing member 18b, and the magnetic poles 13b project radially from the annular portion 13a so that the nozzles 11 can circulate around the magnetic poles 13b. Configured.

  Since the lower end of the rod-shaped core member 18a is attached to the rotating shaft 19a of the oscillating servo motor 19, when the rotating shaft 19a of the servo motor 19 rotates, the rod-shaped core member 18a rotates together with the rotating shaft 19a, and the rod-shaped core member 19a The stator core 13 sandwiched between the pressing members 18b rotates around the central axis of the support 18 composed of the rod-shaped core member 18a and the pressing member 18b. The stator core 13 is placed on the upper end edge of the rod-shaped core member 19 a so that its center coincides with the central axis of the support 18, and the magnetic pole 13 b around the stator core 13 is swung by the rotation of the stator core 13. Configured to be possible. Therefore, the swing servomotor 19 is configured to function as a stator core operating mechanism that operates the stator core 13 so that the magnetic pole 13b swings. The mounting plate 21 above the lifting member 22 is provided with a lifting cylinder 24 that lifts and lowers the lifting member 22 together with the pressing member 18b.

  The winding device 10 is provided with a nozzle moving mechanism 30 that moves the nozzle 11 in a direction orthogonal to the axis of the magnetic pole 13b. The nozzle moving mechanism 30 includes a pedestal 31 that is vertically extended and fixed directly to the machine base 14, a movable pedestal 32 that is provided on the surface of the pedestal 31 that faces the stator core 13, and is movable in the vertical direction. It has a drive source 33 provided at the top and configured to be able to rotate the rotating member 34, and a connecting member 36 that connects the rotating member 34 and the movable base 32. A linear motion guide rail 37 is provided on the surface of the base 31 facing the stator core 13 so as to extend in the vertical direction, and a movable base 32 is provided on the guide rail 37 so as to be movable in the Z-axis direction. The drive source in this embodiment is a lifting servo motor 33. The rotating member 34 is pivotally supported via a pivot member 38 on the extension line of the rotating shaft 33a and above the movable base 32. The The central shaft 34 a of the rotating member 34 and the rotating shaft 33 a of the lifting servo motor 33 are connected by a universal joint 39, and the rotating member 34 is configured to rotate directly by the rotation of the rotating shaft 33 a of the lifting servo motor 33. On the other hand, one end of the connecting member 36 is pivotally supported at a position deviated from the center of rotation of the rotating member 34, and the other end is pivotally supported by a movable base 32 attached below the rotating member 34 so as to be movable up and down. The extension base 41 is fixed to the movable base 32 by extending in the Y-axis direction, and the nozzle 11 extends in the X-axis direction at a protruding end of the extension base 41 and located in the X-axis direction of the stator core 13. Fixed.

  The nozzle 11 has a large-diameter portion 11a fixed to the extension base 41 and a small-diameter portion 11b continuous with the large-diameter portion 11a. 4 and 5, the small diameter portion 11b is provided coaxially with the large diameter portion 11a, and the small diameter portion 11b has an outer diameter that can enter the slot 13c between the magnetic pole 13b and the magnetic pole 13b of the stator core 13. Formed. The large diameter portion 11a and the small diameter portion 11b are provided with through-holes through which the wire 12 can be inserted through their central axes, and the wire 12 inserted through the through-hole can be fed out from the tip of the small-diameter portion 11b. Composed.

  Next, winding work using such a wire winding device will be described.

  In winding work using the winding device 10, first, the stator core 13 is supported by the support 18. In this support, the front-rear direction drive unit 17 drives the front-rear direction servo motor 17c to rotate the front-rear direction rotation shaft 17b, whereby the front-rear direction moving member 17d together with the table 16 is pedestal as shown by the solid line arrow in FIG. Keep away from 31. In this state, the rod 24a of the lifting cylinder 24 provided on the mounting plate 21 is immersed to raise the lifting member 22, and the pressing member 18b attached to the lifting member 22 is lifted as indicated by a one-dot chain line arrow. Thus, a space is formed below the rod-shaped core member 18a. And the stator core 13 is horizontally mounted on the upper edge of the rod-shaped core material 18a through the space. Then, the rod 24a of the lifting cylinder 24 is protruded to lower the lifting member 22 as indicated by a two-dot chain line arrow, and is placed on the upper edge of the rod-shaped core 18a by the pressing member 18b that is lowered together with the lifting member 22. The stator core 13 thus formed is pressed from above as shown in FIG.

  Thereafter, the front-rear direction driving unit 17 drives the front-rear direction servo motor 17c to rotate the front-rear direction rotating shaft 17b in the reverse direction, and the front-rear direction moving member 17d together with the table 16 is indicated by the broken line arrow in FIG. Move closer to. When starting actual winding, the stator core 13 is moved so that the front-rear direction drive unit 17 that moves the stator core 13 in the X-axis direction, the nozzle moving mechanism 30 that moves the nozzle in the Z-axis direction, and the magnetic pole 13b swing. An oscillating servo motor 19 functioning as a stator core operating mechanism to be operated moves the nozzle 11 in a three-dimensional direction with respect to the stator core 13, and an end portion of the wire 12 fed from the tip of the nozzle 11 is not shown. Or tie it around the wire clamp device and fix it. Next, although actual winding is performed, in this actual winding, the nozzle 11 is reciprocated in the Z-axis direction by the nozzle moving mechanism 30, and the wound magnetic pole 13b is swung. The stator core 13 is alternately rotated in the forward and reverse directions by the swing servo motor 19 so as to move. By the combination of these operations, the nozzle 11 is rotationally moved around the magnetic pole 13b in a track shape along the cross-sectional shape of the magnetic pole 13b.

  Specifically, the track-like rotational movement will be described. The reciprocating movement of the nozzle 11 by the nozzle moving mechanism 30 is a slot formed between the magnetic pole 13b and the magnetic pole 13b of the stator core 13 as shown in FIGS. It is performed in a state in which the tip of the nozzle 11, that is, the tip that is the wire feeding end of the small diameter portion 11b is inserted into 13c. As shown in FIG. 6, when the tip of the nozzle 11 is in the slot 13c sandwiched between the magnetic pole 13b wound and the magnetic pole 13b adjacent to one of the windings, the magnetic pole 13b is not oscillated by the oscillating servo motor 19. Then, only the nozzle 11 is lowered. Then, when the tip of the nozzle 11 comes out of the slot 13c, the magnetic pole 13b starts to swing, and the tip of the nozzle 11 is adjacent between the magnetic pole 13b wound and the magnetic pole 13b adjacent to the other side. The swinging is terminated at the stage positioned below the slot 13c. That is, when the magnetic pole 13b starts swinging when it exits downward from the first slot 13c, the tip of the nozzle 11 that changes direction at the lower end folding point and then rises before entering the adjacent slot 13c thereafter. The rocking is finished. When the movement of the tip of the nozzle 11 in this case is observed centering on the magnetic pole 13b, the tip of the nozzle 11 draws an arc trajectory in the lower part of FIG.

  Then, while the tip of the nozzle 11 rises in the adjacent slot 13c sandwiched between the magnetic pole 13b and the other magnetic pole 13b, the nozzle 11 is raised only without moving the magnetic pole 13b, and the tip of the nozzle 11 is The magnetic pole 13b is swung in the reverse direction when it exits upward from the adjacent slot 13c, and the rocking is finished when the tip of the nozzle 11 is positioned above the first slot 13c. That is, when this swinging is pulled upward from the adjacent slot 13c, the swinging of the magnetic pole 13b is started, and the tip of the nozzle 11 that changes its direction at the upper end turning point and descends enters the first slot 13c. The oscillation is finished before. When the movement of the tip of the nozzle 11 in this case is observed around the magnetic pole 13b, the tip of the nozzle 11 draws an arc trajectory in the upper part of FIG. Thereby, the nozzle 11 can be rotated in a track shape around the magnetic pole 13b along the cross-sectional shape of the magnetic pole 13b.

  Here, the reciprocating movement of the nozzle 11 in the Z-axis direction by the nozzle moving mechanism 30 is performed by rotating the rotating member 34 by a lifting servo motor 33 which is a driving source. As shown in FIG. 3, when the rotating member 34 is rotated, one end of the connecting member 36 that is pivotally supported by being offset from the center of rotation draws a circular motion in the order of (a) to (d) of FIG. become. On the other hand, the other end of the connecting member 36 is pivotally supported by a movable base 32 that can be moved up and down. When rotating, the movable table 32 reciprocates once by an amount equal to twice the amount of deviation R from the rotation center of the rotating member 34. For this reason, the raising / lowering servomotor 33 can reciprocate the movable stand 32 by the number of rotations corresponding to the number of rotations only by rotating the rotating member 34 in the same direction.

  On the other hand, the magnetic pole 13b to be wound is oscillated by reciprocatingly rotating the stator core 13, and the rotation is performed by the oscillating servo motor 19 with the rod-shaped core 18a (FIG. 1) as the center axis. Is done. Since this rod-shaped core 18a is attached to the rotating shaft 19a of the servo motor 19 for oscillation, as shown in FIGS. 4 and 5, this rotation is caused by the magnetic pole 13b to be wound and the magnetic pole 13b adjacent thereto. This is performed by rotating the rotating shaft 19a of the servo motor 19 for swinging forward and backward at an angle corresponding to the angle formed. Therefore, the rotating member 34 is rotated once by the lifting servo motor 33 and the rotating shaft 19a of the swinging servo motor 19 is rotated forward and backward at a slight angle so that the nozzle 11 is tracked around the magnetic pole 13b. It can be rotated once. For this reason, for example, if the servo motor 33 for raising and lowering is such that the rotating shaft 33a can be rotated 3000 times per minute, the nozzle 11 can be rotated 3000 times per minute around the magnetic pole 13b. It becomes a winding device. Therefore, the winding speed can be remarkably increased as compared with the conventional case in which the nozzle cannot be rotated once without rotating the servo motor several times or several tens of times.

  Further, in the winding device 10 of the present invention, the ball screw type that has been conventionally used for winding the nozzle 11 by rotating the nozzle 11 around the magnetic pole 13b is not used. For this reason, the rapid acceleration / deceleration from the high speed required by the servo motor for rotating the screw shaft of the ball screw is not required. In the lifting servo motor 33 which is a drive source in the present invention, the nozzle 11 can be reciprocated in the Z-axis direction by rotating the rotating shaft 33a in the same direction at the same speed. In 19, the magnetic pole 13 b can be swung by repeating forward and reverse rotation at a slight angle. This eliminates the need for a high-torque, high-response servomotor that is conventionally required to increase the winding speed. Therefore, by using a servo motor that is commercially available as a standard product as the lifting / lowering servo motor 33 or the swinging servo motor 19 of the winding device 10 in the present invention, the winding speed can be reduced without increasing the unit price of the winding device 10. The speed can be increased, and the winding speed can be increased to the limit of the capacity of the lift servo motor 33 and the swing servo motor 19.

  In order to align and wind the wire 12 around the magnetic pole 13b, the nozzle 11 is rotated around the magnetic pole 13b, and the stator core 13 is moved by the front-rear direction driving unit 17 by the diameter of the wire 12 for each turn of the wire 12. It is necessary to move in the X-axis direction. The stator core 13 is moved in the X-axis direction by rotating the front-rear direction rotation shaft 17b by the front-rear direction servomotor 17c of the front-rear direction drive unit 17, but the amount of movement is per winding of the wire 12. The diameter of the wire rod 12 is very small, so that it is not necessary to rotate the front-rear direction rotating shaft 17b at a high speed. Therefore, even in the front-rear servo motor 17c that rotates the front-rear rotation shaft 17b, a commercially available servo motor can be used, and windings that are aligned and wound without increasing the unit price of the winding device 10 can be used. The linear velocity can be increased.

  As shown in FIG. 6, since the magnetic pole 13b has a rectangular cross-sectional shape, the winding path of the nozzle 11 is such that the nozzle 11 does not come into contact with the wire 12 wound around the magnetic pole 13b. By setting so as to pass as close as possible to the magnetic pole 13b, the gap generated between the wire 11 feeding end of the nozzle 11 and the magnetic pole 13b on which the winding is formed can be reduced. Thereby, it is possible to avoid the occurrence of winding disturbance in the winding, and the wire 12 can be effectively aligned and wound around the magnetic pole 13b.

  Such winding is performed on all the magnetic poles 13b, and after the winding to all the magnetic poles 13b is completed, the stator core 13 is removed from the support member 18. At the time of this removal, the front-rear direction drive unit 17 drives the front-rear direction servo motor 17c to rotate the front-rear direction rotation shaft 17b, and moves the support 18 together with the table 16 away from the pedestal 31 as shown by the solid line arrow in FIG. In this state, the rod 24a of the lifting cylinder 24 provided on the mounting plate 21 is immersed, and the pressing member 18b is lifted together with the lifting member 22 as indicated by a one-dot chain line arrow, and the pressing of the stator core 13 by the pressing member 18b. And a space is formed above the stator core 13. Then, the stator core 13 placed on the upper end of the rod-shaped core material 18a is removed from the rod-shaped core material 18a through the space, and a series of winding operations is completed.

  8 to 12 show another embodiment of the present invention. In this other embodiment, the same reference numerals as those in the previous embodiment denote the same parts, and repeated description will be omitted.

  As shown in FIG. 12, the stator core 63 in this other embodiment is of an inner rotor type, and has an annular annular portion 63a and the center of the annular portion 63a from the inner peripheral surface of the annular portion 63a. And a plurality of magnetic poles 63b protruding toward the surface. As shown in FIG. 8, the machine base 14 is provided with a support device 68 on which such a stator core 63 is mounted. The support device 68 includes a fixed base 68a disposed on the machine base 14, a rotary base 68b on which the stator core 63 can be mounted and fixed on the fixed base 68a so as to be rotatable in a horizontal plane, and the rotary base 68b. An oscillation servo motor (not shown) that rotates is provided.

  The winding device 60 according to another embodiment includes a machine base 14 provided with the support device 68 and installed at an installation location, and the nozzle moving mechanism 30 provided on the machine base 14 and described above in three axial directions. Drive means 70 for driving is provided. The driving means 70 is a combination of driving units 71, 72, and 73 in the triaxial direction, and includes a front-rear direction driving unit 71, a left-right direction driving unit 72, and a vertical direction driving unit 73. These drive units 71, 72, 73 are substantially the same drive mechanism along the drive directions X, Y, Z.

  First, the vertical drive unit 73 will be described. The vertical drive unit 73 includes a vertical guide 73a disposed along the drive direction Z, and a male screw disposed on the surface in parallel with the vertical guide 73a. A vertical rotation shaft 73b, a vertical movement portion 73c that is screwed to the vertical rotation shaft 73b with a ball screw and is movable along the vertical guide 73a, and a vertical direction connected to the vertical movement portion 73c. A connecting portion 73d and a vertical driving source 73e that rotates the vertical rotating shaft 73b are arranged. The vertical rotation shaft 73b is connected to the vertical drive source 73e by a universal joint 73f. The moving range in the driving direction Z is set in the vertical moving unit 73c by the range of the external thread disposed on the vertical rotating shaft 73b.

  The front-rear direction drive unit 71 and the left-right direction drive unit 72 are arranged along the drive directions X and Y shown in FIG. The front-rear direction drive unit 71 is fixed to the machine base 14 and includes a front-rear direction drive source 71e, and the left-right direction drive unit 72 is connected to the front-rear direction drive unit 71 via the front-rear direction connection unit 71d. It is arranged so that it can move back and forth. The left-right direction drive unit 72 includes a left-right direction drive source 72e, and the up-down direction drive unit 73 is arranged so as to be movable in the left-right direction with respect to the left-right direction drive unit 72 via the left-right direction connection unit 72d. Is done. And as each drive source 71e, 72e, 73e, the servomotor which can be controlled with high precision is used, for example. A nozzle moving mechanism 30 that moves the nozzle 11 in the Z-axis direction, which is a direction orthogonal to the axis of the magnetic pole 63b that performs winding, is provided in the vertical direction connecting portion 73d of the vertical direction driving portion 73.

  This nozzle moving mechanism 30 has the same structure as that described in the previous embodiment, and is fixed to the vertical direction connecting portion 73d of the vertical direction driving portion 73 as shown in FIGS. A pedestal 31, a movable pedestal 32 provided on the surface of the pedestal 31 facing the stator core 13 so as to be movable in the vertical direction, a drive source 33 provided on the pedestal 31 and configured to rotate the rotating member 34; The rotating member 34 and a connecting member 36 for connecting the movable base 32 are provided. A linear motion guide rail 37 is provided on the surface of the pedestal 31 facing the stator core 63 so as to extend in the vertical direction, and a movable base 32 is provided on the guide rail 37 so as to be movable in the Z-axis direction. The drive source in this embodiment is a lifting servo motor 33, and the rotating member 34 is directly attached to the rotating shaft. On the other hand, one end of the connecting member 36 is pivotally supported at a position deviated from the center of rotation of the rotating member 34, and the other end is pivotally supported by a movable base 32 attached below the rotating member 34 so as to be movable up and down. Then, the nozzle 11 extends in the X-axis direction and is fixed to a portion below the movable table 32 and located in the X-axis direction of the stator core 13. As shown in FIG. 9, the movable base 32 is provided with a first pulley 76 that turns the wire 12 that has penetrated the nozzle 11, and the base 31 has the wire 12 that has penetrated the nozzle 11 and turned by the first pulley 76. A second pulley 77 that is further turned toward the vertical connecting portion 73d is provided.

  Next, a wire winding method using such a winding device will be described.

  First, the wire 12 is passed through the nozzle 11 and fed out from the tip of the nozzle 11. When starting the winding, the driving means 70 moves the nozzle 11 together with the nozzle moving mechanism 30 in a three-dimensional direction, and fixes the end of the wire 12 to a binding pin or a wire clamp device (not shown). Thereafter, the driving means 70 is driven to move the nozzle 11 in the horizontal position to the slot 63c between the magnetic pole 63b to be wound on the stator core 63 and the magnetic pole 63b adjacent thereto as shown in FIG. . Then, although actual winding is performed next, in this actual winding, the nozzle 11 is reciprocated in the Z-axis direction by the nozzle moving mechanism 30, and the wound magnetic pole 63b is provided. The turntable 68b is rotated forward and backward together with the stator core 63 by a swing servo motor (not shown) of the support device 68 so as to swing. By a combination of these operations, the nozzle 11 is rotationally moved around the magnetic pole 63b in a track shape along the cross-sectional shape of the magnetic pole 63b.

  As shown in FIG. 11, this rotational movement in the form of a track is for the swinging motion (not shown) of the support device 68 when the tip of the nozzle 11 is in the slot 63c sandwiched between the magnetic pole 63b wound and the magnetic pole 63b adjacent to one of them. Only the nozzle 11 is lowered or raised without swinging the magnetic pole 63b by the servo motor. Then, when the tip of the nozzle 11 comes out of the slot 63c, the magnetic pole 63b starts to swing, and the tip of the nozzle 11 is adjacent between the magnetic pole 63b wound and the magnetic pole 63b adjacent to the other side. The swinging is finished at the stage positioned below or above the slot 63c. That is, when the magnetic pole 63b starts swinging downward or upward from the first slot 63c, the tip of the nozzle 11 that changes its direction at the lower end or upper end turning point and rises or lowers is the slot next to it. The rocking is finished before entering 63c. Thereby, the nozzle 11 can be rotationally moved in a track shape around the magnetic pole 63b along the cross-sectional shape of the magnetic pole 63b.

  As shown in FIG. 10, the reciprocating movement of the nozzle 11 by the nozzle moving mechanism 30 is performed by rotating a rotating member 34 by a lifting servo motor 33 which is a drive source. When the rotating member 34 is rotated, one end of the connecting member 36 that is pivotally supported by being deviated from the center of rotation performs a circular motion, and in addition to the connecting member 36 in the order of FIGS. The end performs a reciprocating motion together with the movable base 32 by an amount equal to twice the deviation amount R from the rotation center of the rotating member 34. For this reason, the raising / lowering servo motor 33 by the nozzle moving mechanism 30 can reciprocate the movable table 32 by the number of times corresponding to the number of rotations only by rotating the rotating member 34 in the same direction.

  On the other hand, the magnetic pole 63b to be wound is oscillated by reciprocatingly rotating the stator core 63, and the rotation is performed by an oscillating servo motor (not shown) in the support device 68. The reciprocating rotation of the stator core 63 is performed by rotating a rotating servo motor (not shown) in the forward and reverse directions at an angle corresponding to the angle formed between the magnetic pole 63b to be wound and the magnetic pole 63b adjacent thereto. Therefore, the nozzle 11 is rotated once around the magnetic pole 63b in a track shape by rotating the rotating member 34 once by the lifting servo motor 33 and rotating the rotating servo motor (not shown) forward and backward at a slight angle. Can be moved. As a result, the winding speed can be increased as compared with the conventional technique in which the nozzle cannot be rotated once around the magnetic pole unless the screw shaft is rotated a plurality of times.

  In addition, the winding device 60 according to another embodiment includes a driving unit 70 that moves the nozzle 11 in a three-dimensional direction together with the nozzle moving mechanism 30. The driving unit 70 changes the magnetic pole 63b to be wound. This is used when the nozzle 11 is moved largely, such as when the end of the wire 12 fed out from the tip of the nozzle 11 is bound to a binding pin or a wire clamp device (not shown) and fixed. For this reason, the driving means 70 includes a vertical driving unit 73 that moves the nozzle 11 up and down along the Z-axis together with the nozzle moving mechanism 30, but when the nozzle 11 is rotated around the magnetic pole 63 b and wound. The vertical drive unit 73 is not used. For this reason, it is not necessary to use a high-torque, high-response servomotor capable of rapid acceleration / deceleration from high speed as the vertical drive source 73e in the vertical drive unit 73. In the lifting servomotor 33, the nozzle 11 can be reciprocated in the Z-axis direction by rotating in the same direction and at the same speed. The magnetic pole 63b can be swung by repeating the rotation and the reverse rotation. Therefore, by using a servo motor marketed as a standard product as the vertical drive source 73e of this another winding device 60, the lifting servo motor 33, or a swinging servo motor (not shown), The winding speed can be increased without increasing the unit price.

  In order to align and wind the wire 12 around the magnetic pole 63 b, the nozzle 11 is rotated around the magnetic pole 63 b and the nozzle 11 is moved by the front-rear direction driving unit 71 by the diameter of the wire 12 for each turn of the wire 12. It is necessary to move in the X-axis direction together with the nozzle moving mechanism 30. The nozzle 11 is moved in the X-axis direction by driving the front-rear direction driving source 71e of the front-rear direction driving unit 71 and moving the front-rear direction connecting unit 71d in the X-axis direction. Since there is only a diameter of the wire 12 for each turn of the wire 12, the number of wires 12 is extremely small, and it is not necessary to drive the front-rear direction driving source 71 e at high speed. Therefore, even when a servo motor is used as the front-rear direction drive source 71e, a commercially available product can be used, and aligned winding can be performed at high speed without increasing the unit price of the winding device 60. The winding device 60 can be obtained.

  In the above-described embodiment, the case where the servo motor is used as the drive source has been described. However, a stepping motor can be used as the drive source.

  In the above-described embodiment, the nozzle 11 is reciprocated in the Z-axis direction by the nozzle moving mechanism 30 and the stator cores 13 and 63 are rotated forward and backward so that the wound magnetic poles 13b and 63b swing. The case where the wire 11 is wound by rotating the nozzle 11 in a track shape by a combination of these operations has been described. However, the nozzle 11 is also moved in the Y-axis direction along with the vertical movement, and the combination of these operations. The nozzle 11 may be rotationally moved by moving the stator core 13, 63 itself in the Y-axis direction in synchronization with the vertical movement of the nozzle 11, thereby winding the wire 12 around the magnetic poles 13b, 63b. . Even in this case, the wire 12 can be reliably wound around the magnetic poles 13b and 63b.

  Furthermore, in another embodiment described above, the driving means 70 for driving the nozzle moving mechanism 30 in the three-axis direction has been described. However, this driving means is not limited to the three-axis direction, and one of X, Y, and Z can be used. It may be an axis or two axes. For example, as shown in FIGS. 13 and 14, the table 16 is attached to the machine base 14, and the nozzle movement mechanism 30 is attached to the machine base 14 via a front-rear direction drive unit 87 that moves the nozzle movement mechanism 30 along the X axis. You may attach to. The front-rear direction drive unit 87 in FIGS. 13 and 14 includes a front-rear direction guide 87a disposed on the machine base 14 along the X-axis that is the drive direction, and a spiral surface on the surface disposed parallel to the front-rear direction guide 87a. A front-rear direction rotation shaft 87b on which a male screw is disposed and a front-rear direction drive source 87c that rotationally drives the front-rear direction rotation shaft 17b are disposed. With such a winding device 10, the width in the Y-axis direction can be reduced, and if a plurality of nozzles 11 are mounted side by side in the Y-axis direction as shown in FIG. A plurality of stator cores 13 (FIG. 1) can be simultaneously wound by the nozzle moving mechanism 30.

DESCRIPTION OF SYMBOLS 10 Winding apparatus 11 Nozzle 12 Wire rod 13, 63 Stator core 13b, 63b Magnetic pole 19 Stator core operating mechanism 30 Nozzle moving mechanism 31 Base 32 Movable base 33 Drive source 34 Rotating member 36 Connecting member

Claims (2)

In the winding device for winding the wire (12) fed from the nozzle (11) around the magnetic poles (13b, 63b) of the stator,
A nozzle moving mechanism (30) for moving the nozzle (11) in a direction perpendicular to the axis of the magnetic pole (13b, 63b);
The nozzle moving mechanism (30) includes a pedestal (31),
A movable base (32) provided on the base (31) so as to be movable in a direction perpendicular to the axis of the magnetic poles (13b, 63b) and to which the nozzle (11) is fixed;
A drive source (33) provided on the pedestal (31) and configured to rotate the rotating member (34);
One end of the wire rod is pivotally supported at a position deviated from the rotation center of the rotating member (34), and the other end is provided with a connecting member (36) pivotally supported by the movable base (32). Wire device.   A stator core operating mechanism (19) is provided for operating the stator core (13) so that the magnetic pole (13b) swings, and the nozzle moving mechanism (30) moves the nozzle (11) in a direction substantially perpendicular to the axis of the magnetic pole (13b). The wire winding apparatus according to claim 1, wherein the wire winding device is configured to move in a direction different from the swing of the magnetic pole (13b).

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