JP3354462B2 - Winding machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a winding machine for forming a coil by winding a wire supplied from a nozzle around a wound body such as an iron core of an electric motor.

[0002]

2. Description of the Related Art FIG. 13 is a perspective view showing the structure of a conventional winding machine disclosed in Japanese Patent Application No. 8-218648 filed by the same applicant as the present application, and FIG. FIG. 15 is a perspective view showing the configuration of the wire head, FIG. 15 is an operation explanatory view showing the shape of the cam of the winding head and the movement of the slide plate in FIG. 14, FIG. 16 is a waveform diagram showing the movement of the slide plate in FIG. FIG. 15 is an explanatory diagram showing movements of a slide plate and a nozzle plate in FIG.

In FIG. 1, reference numeral 1 denotes arrows X, Y, and Z in FIG.
A three-axis robot that can move in a direction, a base plate 3 attached to the three-axis robot 1, a first linear motion guide 3 that extends and is fixed on the base plate 2 in the direction of arrow Z, Reference numeral 4 denotes a first slide plate movable along the first linear guide 3, reference numeral 5 denotes a second linear guide extending and fixed on the base plate 2 in the direction of arrow X, and reference numeral 6 denotes a second linear guide. A second slide plate 7 slidable along the second linear guide 5 is a third linear guide extending and fixed on the first slide plate 4 in the direction of arrow X, and 8 is a second linear plate. The nozzle plate is slidable along the third linear guide 7, and has a projection 8a formed at a lower portion.

[0004] 9 is rotatably supported on the base plate 2 and shown in FIG.
As shown in FIG. 5, a cam plate 10 having two arc portions B and C having different constant radii and having a shape connected between them by a smooth curve is supported by the lower end of the first slide plate 4. A first cam follower 11 which is in contact with 9 and which is supported on the right end of the second slide plate 6 and which is in contact with a point of the cam plate 9 which is 90 ° out of phase with the contact point with the first cam follower 10; Reference numerals 12 and 13 denote a pair of rollers opposed to and supported by the left end of the second slide plate 6, which move the nozzle plate 8 in the direction of the arrow X by nipping the projection 8 a of the nozzle plate 8 from both sides. Is regulated. Reference numerals 14 and 15 denote spring members for pressing the first and second cam followers 10 and 11 against the cam plate 9 via the first and second slide plates 4 and 6, respectively. are doing.

[0005] Reference numeral 17 denotes a plurality of winding nozzles disposed at predetermined positions on the nozzle plate 8, 18 denotes a wire rod used for winding, 19 denotes a wire drum on which the wire 18 is wound and stored, Reference numeral 20 denotes a tensioner for applying a predetermined tension to the supplied wire 18, reference numeral 21 denotes a connected stator core as a wound body, reference numeral 22 denotes a rotation index for holding the connection stator core 21 to change the posture, and reference numeral 23 denotes this rotation index 22. This is a positioning device for positioning the connected stator core 21 to be held.

Next, the operation of the conventional winding machine configured as described above will be described. First, the connected stator core 2
1 is the rotation index 22 from the direction indicated by the arrow in FIG.
Are simultaneously supplied and positioned by the positioning device 23. The connected stator core 21 whose rotation index 22 is rotated and positioned is the three-axis robot 1.
14 in the direction of the arrow X in FIG. 14 to face the winding head 16 set at a predetermined position.

When the cam plate 9 is driven to rotate in this state,
The first and second slide plates 4 and 6 reciprocate along the first and second linear guides 3 and 5, respectively, having two stopping points (both ends) D and E shown in the waveform diagram of FIG. Movement, that is, reciprocating movement in the directions of arrows Z and X in FIG. The two slide plates 4 and 6 have the same cam plate 9.
9 through the first and second cam followers 10, 11.
Since they are in contact with each other with the phase shifted by 0 degrees, FIG.
As shown in (b), the same motion is performed with a phase shift of 90 degrees.

On the other hand, since the nozzle plate 8 is mounted on the first slide plate 4, the nozzle plate 8 moves together with the first slide plate 4 in the direction of arrow Z in FIG. Since the movement in the direction of the arrow X in FIG. 14 is restricted by 13, the movement in the direction of the arrow X in FIG. 14 is performed together with the second slide plate 6, so that these movements are performed as shown in FIG. Perform the motion of the synthesized square orbit. Then, each winding nozzle 17 arranged on the nozzle plate 8 also draws a square trajectory and goes around each magnetic pole tooth of the connected stator core 21 to perform winding processing.

[0009]

Since the conventional winding machine is configured as described above, high-speed winding of a square track can be performed, but interference between adjacent magnetic pole teeth of the connected stator core 21 is avoided. Also, in order to wind the wires in alignment, it is desirable that the trajectory of the winding nozzle 17 be a rectangular shape corresponding to the cross-sectional shape of the magnetic pole teeth. However, in order to obtain a movement corresponding to a rectangle having a large ratio of the long side and the short side, the lift amount by the cam becomes large, and the cam plate 9 becomes large,
There is a problem in that the driving source for driving this increases the capacity.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a winding machine capable of performing winding at a high speed and efficiently according to a rectangular cross section of an object to be wound. It is intended for.

[0011]

According to a first aspect of the present invention, there is provided a winding machine having a winding nozzle for discharging a wire, an arc portion having two different radii on the outer peripheral surface, and a curved portion connecting the arc portions. A cam driven to rotate, an arm having one end swinging around the fulcrum along the outer peripheral surface of the cam and reciprocating a winding nozzle connected to the other end in the first direction, and one end synchronized with the rotation of the cam. And a link for reciprocating a winding nozzle connected to the other end in a second direction intersecting on the same plane as the first direction, and combining the first and second movements. In this configuration, the wire nozzle orbits around the orbit along an orbit substantially along the rectangular cross section of the wound body.

[0012] A winding machine according to a second aspect of the present invention comprises:
In claim 1, the fulcrum position of the arm is made variable.

[0013] The winding machine according to claim 3 of the present invention comprises:
In the first aspect, one end of the link swings around a fulcrum whose position is variable.

A winding machine according to a fourth aspect of the present invention comprises:
In the first or third aspect, one end of the link is configured to swing by rotation of the cam.

A winding machine according to a fifth aspect of the present invention comprises:
In claim 1, at least one of the winding nozzle and the wound body can be moved perpendicularly to the orbital surface.

A winding machine according to a sixth aspect of the present invention comprises:
In the first or third aspect, the area of the trajectory on the high-stop side of the cam substantially coincides with the area of forward movement of the link trajectory.

Further, a winding machine according to a seventh aspect of the present invention is the winding machine according to any one of the first to sixth aspects, wherein a plurality of winding nozzles are arranged.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a perspective view showing a configuration of a winding head of a winding machine according to Embodiment 1 of the present invention, FIG. 2 is an operation explanatory diagram for explaining an operation of the winding head in FIG. 1, and FIG. FIG. 4 is a diagram showing a comparison of the trajectories of the link, cam and winding nozzle of the winding head in FIG. 4. FIG. 4 shows the operation of the winding head having a different configuration from that shown in FIG. FIG.

In the drawing, reference numeral 24 denotes a mount, 25 denotes a cam drive motor fixed to one surface of the mount 24, 26
Is a cam drive motor 25 disposed on the other surface of the mounting table 24.
The cam plates 27 and 28 which are rotationally driven by the
A pair of support plates 29 erected at a predetermined interval on the other surface of the pair, a screw bar 29 is rotatably supported between the two support plates 27 and 28, and a screw 30 drives the screw bar 29 to rotate. The screw rod drive motor 31 has a screw portion (not shown) screwed with the screw rod 29 and is a fulcrum position adjusting member that slides along the linear motion guide 32 by rotation of the screw rod 29.

Reference numeral 33 denotes a fulcrum member disposed on the fulcrum position adjusting member 31, reference numeral 34 denotes a rotation member which is rotatable at a predetermined radius around the rotation axis of the cam plate 26, and reference numeral 35 denotes a longitudinal direction from one end. The fulcrum member 33 and the rotating member 34 are slidably connected along the linear guide 36 by a link on which the linear guide 36 extends. 37 is connected to the other end of the link 35 via a connecting pin 38,
An X-direction sliding member 40 and 41 slidable in the direction of the arrow X in FIG. 9 along the line 9 are provided at predetermined intervals in directions different from the pair of support plates 27 and 28 on the other surface of the mount 24 by 90 degrees. Are a pair of support plates erected through the support plate.

Reference numeral 42 denotes a screw rod rotatably supported between the support plates 40 and 41, reference numeral 43 denotes a screw rod drive motor for driving the screw rod 42 to rotate, and reference numeral 44 denotes a screw part (see FIG. A fulcrum position adjusting member that slides along the linear motion guide 45 by the rotation of the screw rod 42;
Reference numeral 46 denotes a fulcrum member disposed on the fulcrum position adjusting member 44, and 47 denotes a cam follower 48 fixed to one end of the cam plate 26 in contact with the cam surface of the cam plate 26, and a linear motion guide 49 in the longitudinal direction of the surface facing the fulcrum member 46. The fulcrum member 46 is slidable along a linear motion guide 49.

Reference numeral 50 denotes a pin member 51 having one end erected on the mount 24 and a tension spring having the other end stretched to the other end of the arm 47. The cam follower 48 is connected to the cam plate 26 via the arm 47. Is pressed against the cam surface with a predetermined force. 52 is a linear motion guide 53 disposed on the X-direction sliding member.
Nozzle plate slidable in the direction of arrow Y in the figure along
Reference numeral 54 denotes a plurality of winding nozzles disposed at predetermined positions on the nozzle plate 52. Reference numeral 55 denotes a first connection member having one end connected to the other end of the arm 47 and slidable along a linear guide 56. , 57 have one end connected to the other end of the first connection member 55 and the other end connected to the nozzle plate 5 via a linear motion guide 58.
The second connecting member 2 is slidable in the direction indicated by the arrow X in FIG. Reference numeral 59 denotes a connected stator core as a wound body.

Next, the operation of the winding head configured as described above will be described. First, the double screw drive motor 3
The fulcrum adjusting members 31 and 44 are moved by driving 0 and 43, and the fulcrum members 33 and 46 are set at predetermined positions of the link 35 and the arm 47. Next, when the cam drive motor 25 is driven to rotate, the cam plate 26 rotates, and accordingly, the rotating member 34 connected to one end of the link 35 starts rotating at a predetermined radius. Then, the other end side of the link 35 repeatedly swings around the fulcrum member 33 according to the turning radius, and the X-direction sliding member 37 connected via the connecting pin 38 is moved along the linear guide 39. The robot is reciprocated along a trajectory indicated by a curve A in FIG. 3 in a direction indicated by an arrow X in FIG.

On the other hand, as the cam plate 26 rotates, one end of the arm 4 which comes into contact with the cam plate 26 via the cam follower 48
7 repeats swinging along the cam surface of the cam plate 26, and connects the first connecting member 55 connected to the other end to the linear motion guide 5;
3 is reciprocated along an orbit as indicated by a curve B in FIG. Then, the reciprocating movement causes the second connecting member 57 to move.
The nozzle plate 52 connected through the nozzle plate 5 moves in the direction indicated by the arrow Y in FIG. 1 while moving in the direction indicated by the arrow X in FIG.
The winding nozzle 54 mounted on the second 2 draws a trajectory as shown by a curve C in FIG. 3 that combines these movements in the X and Y directions, that is, a trajectory along the rectangular cross section of the magnetic pole teeth of the connected stator core 59. Orbit.

Next, the process of forming the trajectory indicated by the curve C in FIG. 3 will be described in detail with reference to FIG. First, FIG.
As shown in (A), when the cam plate 26 is driven to rotate clockwise as indicated by an arrow in the drawing in a state where the winding nozzle 54 is at the position of the point a of the curve C, the rotating member 34 is moved to a predetermined position. Since the cam follower 48 moves along the cam surface while rotating by the radius, the link 35 and the arm 47 start swinging, and the X-direction sliding member 37 and the first
Are moved in the downward direction (X direction) and the left direction (Y direction) in the figure, respectively, so that the nozzle plate 52 moves along a trajectory obtained by combining these movements.
While the cam plate 26 rotates 90 degrees, the winding nozzle 54 moves on the trajectory of the curve C to the position of the point b as shown in FIG.

Next, when the cam plate 26 is rotated from 90 degrees to 180 degrees, the X-direction sliding member 37 is further maintained in the downward direction in the drawing, and the first connecting member 55 is maintained as it is. 2C, the winding nozzle 54 moves to the point C on the trajectory of the curve C as shown in FIG. Further, the cam plate 26 is
When rotated from 0 degrees to 270 degrees, the X-direction sliding member 37
Moves upward in the figure, contrary to the above, the first connecting member 55 once moves rightward in the figure, and then maintains the same state, and the winding nozzle 54 is shown in FIG. 2 (D). Move on the trajectory of the curve C to the position of the point d.

Finally, when the cam plate 26 rotates from 270 degrees to 360 degrees, the X-direction sliding member 37 is further moved upward in the drawing, and the first connecting member 55 is maintained as it is. 2A, the winding nozzle 54 moves to the original point a on the trajectory of the curve C as shown in FIG. 2A. Hereinafter, by repeating the above-described operation, the winding nozzle 54 orbits around the magnetic pole teeth of the connected stator core 59, and although not shown, the wire supplied through the winding nozzle 54 is wound around the magnetic pole teeth and the coil is wound. Is formed.

As described above, according to the first embodiment, one end of the arm 47 that swings along the cam surface of the cam plate 26 via the cam follower 48 at the other end thereof has the nozzle plate 52
By moving the winding nozzle 54, the winding nozzle 54 is moved in the direction indicated by the arrow Y in FIG.
Further, by moving the nozzle plate 52 at the other end of the link 35 that swings along with the rotation of the rotation member 34 that rotates by the rotation of the cam plate 26 to one end, the winding nozzle 5
4 are operated in the directions indicated by arrows X in FIG. 1 (length directions of the long sides of the rectangular cross section), and by combining these two operations, the winding nozzle 54 is connected to the connected stator core 59.
Because the winding is performed by orbiting around the magnetic pole taste in a substantially rectangular cross section, the link 35 is not used for the movement of the long side, but a large stroke is taken out. For the movement, a long stationary area can be taken out by using the cam plate 26, and the winding can be performed at high speed and efficiently according to the rectangular cross section of the wound body without increasing the size of the cam plate 26. It becomes possible.

In the above configuration, the link 35 is swung about the fulcrum member 33. However, as shown in FIG. Directly connected with the connecting pin 38, that is,
One end of the link 60 may be directly swung by the rotation of the cam plate 26 to move the X-direction sliding member 37, and the same effect as described above can be obtained as a matter of course. Since the fulcrum member 33 and the like are unnecessary, the configuration can be simplified.

Embodiment 2 FIG. FIG. 5 is an operation principle explanatory view for explaining the operation principle of the X direction movement of the winding head of the winding machine according to the second embodiment of the present invention, and FIG. FIG. 7 is an operation principle explanatory view for explaining the operation principle of the movement of the winding head in the Y direction, FIG. 7 is a front view showing a step of applying a winding to a connected stator core as a body to be wound, and FIG. It is a front view which shows the stator comprised by shape | molding the connection stator core to which the winding was given in an annular shape. Since the components of the winding head according to the second embodiment are the same as those in the first embodiment, the same reference numerals are used for the description.

First, the screw rod drive motor 30 shown in FIG.
By driving the fulcrum adjusting member 31, the fulcrum member 33 is slid along the linear motion guide 36,
As shown in FIGS. 5A, 5B, and 5C, the link 35
A length l ₁ from the upper pivot member 34 to the fulcrum member 33;
The fulcrum member 33 is adjusted so that the ratio of the length l ₂ from the fulcrum member 33 to the connecting pin 38 is 6: 4, 1: 1, and 4: 6.
When the cam plate 26 is rotated by driving the drive motor 25, the nozzle plate 52 is moved to the X direction sliding member 3 when the turning radius of the turning member 34 is 1.
7 together with the length l ₁ and l _{2 in} the X direction by a length of 0.67, 1.5, respectively, in proportion to the ratio of the two lengths l ₁ and l ₂ , and the winding nozzle 54 mounted thereon also has the same length. Trajectory of

Next, the screw rod drive motor 43 shown in FIG.
By driving the fulcrum adjusting member 44 to move the fulcrum member 46 along the linear motion guide 49,
As shown in FIGS. 6A, 6B, and 6C, the arm 47
Length l ₁ from upper cam follower 48 to fulcrum member 46
And the length l ₂ from the fulcrum member 46 to the other end of the arm 47 and the connecting portion of the first connecting member 55 is 6: 4, 1:
The position of the fulcrum member 46 is set so as to be 1, 4: 6,
When the driving motor 25 is driven to rotate the cam plate 26, when the rotation radius of the rotating member 34 is 1, the nozzle plate 52 and the first connecting member 55 have the length l ₁ ,
In proportion to the ratio of l ₂ , Y is 0.67, 1.5 and 1.5 respectively.
, And the winding nozzle 54 mounted thereon also follows a trajectory of the same length.

As described above, according to the second embodiment, the positions of the fulcrum members 33 and 46 of the link 35 and the arm 47 are changed by the two screw rod drive motors 30 and 43, so that X and Since the movement stroke in the Y direction is adjusted, for example, as shown in FIG. 7, the winding is applied to the connection stator core 59 by the winding nozzle 54 to form the coil 61, and then the connection is made as shown in FIG. 8. In the case where the stator 62 is formed by bending the stator core 59 in an annular shape, the connected stator core 59 depends on the model.
Even if the size, that is, the winding dimension changes, it is possible to respond without having to prepare a dedicated winding machine for each model or replace jigs, thus reducing production costs. Becomes possible.

Embodiment 3 In the first embodiment, as shown in FIG. 9A, the rotating member 34 and the connecting pin 3
8 is directly connected by a link 60 and driven, and as shown in FIG. 10A, the link 35 between the rotating member 34 and the connecting pin 38 is provided by a link 35 having the position of the fulcrum member 33 as a fulcrum. The case of connecting and driving is shown.

However, when the link is directly connected by the link 60, the trajectory of the winding nozzle 54 is equal to the curve C in FIG. Although there is no problem as shown in FIG.
In the case of the link 35 having the fulcrum at the position of No. 3, FIG.
As shown in FIG. 0 (B), the forward and backward areas of the trajectory by the link 35 become unequal. For example, as shown by the curve A in FIG. 11, the forward area becomes narrower from 17 degrees to 163 degrees. However, as shown by the curve B in FIG. 11, the trajectory of the cam is formed so that the region of the high stopping portion and the region of the low stopping portion are formed equally, so that the trajectory of the winding nozzle 54 is as shown by the curve C in FIG. In fact, since the wire is actually biased as shown by a curve C in FIG. 11, there is a problem that the wire is loosened in the winding and alignment becomes difficult.

Therefore, in the third embodiment of the present invention, as shown by the curve B in FIG. 12, the area of the trajectory on the high stopping side of the cam is defined by the forward path of the link 35 shown by the curve A in FIG. By substantially matching the area, that is, between 17 degrees and 163 degrees, the trajectory of the winding nozzle 54 is shown in FIG.
2. Modified as indicated by C in FIG. 2 to allow alignment ratios without wire slackening in the windings.

Although not described in the first embodiment, by using a plurality of winding nozzles 54 as shown in FIG. 1, a plurality of connected stator cores 59 can be wound at once. Although not shown, at least one of the winding head or the connected stator core 59 as a wound body is vertically oriented with respect to the winding surface. By being configured to be able to be moved to a predetermined position, aligned winding can be performed and the winding density per volume can be increased, so that the magnetic properties of the product can be improved.

[0038]

As described above, according to the first aspect of the present invention, there is provided a rotary nozzle having a winding nozzle for discharging a wire, an arc portion having two different radii on its outer peripheral surface, and a curved portion connecting these arc portions. Cam, an arm that swings around the fulcrum at one end along the outer peripheral surface of the cam, and reciprocates a winding nozzle connected to the other end in a first direction, and one end in synchronization with the rotation of the cam. A link for oscillating and reciprocating a winding nozzle connected to the other end in a second direction intersecting with the first direction on the same plane, and combining the first and second movements to provide a winding nozzle; Is wound around the orbit in a substantially rectangular cross section of the wound body, thereby providing a winding machine capable of high-speed and efficient winding in accordance with the rectangular cross section of the wound body. can do.

According to the second aspect of the present invention, since the fulcrum position of the arm is made variable in the first aspect, it is of course possible to perform winding in accordance with the rectangular cross section of the wound body. That is, it is possible to provide a winding machine that can cope with a change in the dimension of the wound body in the Y direction.

According to a third aspect of the present invention, in the first aspect, the one end of the link is swung about a fulcrum whose position is variable. Of course, it is possible to make
A winding machine capable of responding to a change in the directional dimension can be provided.

According to a fourth aspect of the present invention, in one of the first and third aspects, the one end of the link is swung by the rotational driving of the cam. Can be provided.

According to a fifth aspect of the present invention, in the first aspect, at least one of the winding nozzle and the object to be wound can be vertically moved with respect to the orbital surface. It is possible to provide a winding machine capable of performing winding according to a rectangular cross section of a body, as well as improving the magnetic characteristics of a product by performing aligned winding.

According to the sixth aspect of the present invention, in the first or the third aspect, the region of the high-stop trajectory of the cam substantially coincides with the region of the forward trajectory of the link trajectory. And a winding machine capable of forming a winding in accordance with a rectangular cross section of the wound body without occurrence of the winding.

According to a seventh aspect of the present invention, there is provided a winding machine capable of improving productivity because a plurality of winding nozzles are arranged in any one of the first to sixth aspects. be able to.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a configuration of a winding head of a winding machine according to Embodiment 1 of the present invention.

FIG. 2 is an operation explanatory diagram for explaining the operation of the winding head in FIG. 1;

FIG. 3 is a diagram showing a comparison of orbits of a link, a cam, and a winding nozzle of a winding head in FIG. 1;

FIG. 4 is a diagram showing an operation of a winding head of the winding machine according to the first embodiment of the present invention having a configuration different from that shown in FIG. 1;

FIG. 5 is an operation principle explanatory diagram for explaining an operation principle of X-direction movement of a winding head of a winding machine according to a second embodiment of the present invention.

FIG. 6 is an operation principle explanatory diagram for describing an operation principle of Y-direction movement of a winding head of a winding machine according to a second embodiment of the present invention.

FIG. 7 is a front view showing a step of applying a winding to a connected stator core as a wound body.

FIG. 8 is a front view showing a stator formed by annularly forming the connected stator core to which the winding is applied in the step of FIG. 7;

FIG. 9 is a diagram for explaining a region of a trajectory going back and forth by a link of a winding head in FIG. 4;

10 is a diagram for explaining a region of a trajectory going back and forth by a link of a winding head in FIG. 1;

FIG. 11 is a diagram showing a comparison of orbits of a link, a cam, and a winding nozzle of the winding head in FIG. 1;

FIG. 12 is a diagram showing a comparison of orbits of a link, a cam, and a winding nozzle of a winding head according to Embodiment 3 of the present invention.

FIG. 13 is a perspective view showing a configuration of a conventional winding machine.

14 is a perspective view showing a configuration of a winding head in FIG.

FIG. 15 is an operation explanatory view showing the shape of the cam of the winding head and the movement of the slide plate in FIG. 14;

FIG. 16 is a waveform diagram showing the movement of the slide plate in FIG.

FIG. 17 is an explanatory diagram showing movements of a slide plate and a nozzle plate in FIG.

[Explanation of symbols]

26 cam plate, 33, 46 fulcrum member, 34 rotating member, 35, 60 link, 37 X direction sliding member, 38
Connecting pin, 47 arm, 52 nozzle plate, 5
4 Winding nozzle, 55 First connecting member, 59 Connecting stator core (wound body), 61 coil.

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Masaru Matsumoto 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Mitsubishi Electric Corporation (56) References JP-A-10-66313 (JP, A) JP-A-60 -16160 (JP, A) JP-A-50-118478 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) H02K 15/095

Claims (7)

(57) [Claims] 1. A winding nozzle for discharging a wire rod, and 2 on the outer peripheral surface.
A cam that has two circular arc portions having different radii and a curved portion that connects them, and is driven to rotate, the winding nozzle having one end swinging around the fulcrum along the outer peripheral surface of the cam and being connected to the other end. An arm that reciprocates in a first direction, and a second end that swings in synchronization with the rotation of the cam and connects the winding nozzle connected to the other end on the same plane as the first direction.
A link for reciprocating in the direction described above, and combining the first and second movements so as to cause the winding nozzle to orbit around the orbit substantially along the rectangular cross section of the wound body. A winding machine. 2. The winding machine according to claim 1, wherein the fulcrum position of the arm is variable. 3. The winding machine according to claim 1, wherein one end of the link swings about a fulcrum whose position is variable. 4. The winding machine according to claim 1, wherein one end of the link swings by rotating the cam. 5. The winding machine according to claim 1, wherein at least one of the winding nozzle and the wound body is movable vertically with respect to the orbital surface. 6. The winding machine according to claim 1, wherein an area of the trajectory on the high-stop side of the cam substantially coincides with an area of forward movement of the trajectory of the link. 7. The winding machine according to claim 1, wherein a plurality of winding nozzles are arranged.