JP5599028B2 - Winding device for core having central hole and winding method therefor - Google Patents

Description

  The present invention relates to a winding device for winding a wire around a core having a hole in the center like a toroidal core, and a winding method thereof. More particularly, the present invention relates to a winding device for a core having a central hole suitable for winding a relatively small core or a relatively thick wire, and a winding method thereof.

  Conventionally, as a winding device for winding a core having a hole in the center, for example, a toroidal core, after a wire having a required length is stored in a spool-shaped shuttle (storage ring), an outer peripheral portion 2. Description of the Related Art A device that winds a coil while turning a shuttle through a central hole of a toroidal core that holds the coil (see, for example, Patent Document 1) is known. This winding device includes an arm and core driving means for rotatably holding a toroidal core, a storage ring on which a wire having a predetermined length is wound in advance, and a C-shape for rotatably holding the storage ring. A winding ring having a shape and a substrate provided with a plurality of driving rollers for rotating the winding ring. In this device, the storage ring is attached to the shaft of the winding ring, and the stored wire is inserted through the groove of the guide member provided in the winding ring, and then the storage ring is combined with the winding ring. It is designed to wrap around the toroidal core.

Patent No. 2670078

  However, in the above-described conventional winding device, the toroidal core must be wound around the central ring of the toroidal core together with the C-shaped winding ring, so that the toroidal core and the winding ring are wound. This is limited to those having an inner diameter larger than the cross-sectional dimension of the wire ring. Accordingly, the storage ring cannot be wound around a relatively small toroidal core that cannot be inserted into the central hole, and there is a limit to automatically winding the toroidal coil by the storage ring method.

  In the winding device using the storage ring method, the storage ring is attached to the shaft of the C-shaped winding ring, the toroidal core is inserted from the cutout portion of the winding ring, and the wire of the storage ring is wound. Since the winding ring holding the storage ring is rotated after being inserted through the groove of the guide member provided on the wire ring, it takes a lot of man-hours to complete the winding of the toroidal coil, and it takes time to wind the winding. There was also a problem of pushing up the unit price of the toroidal coil whose wire was terminated.

  In addition, in the winding device using the storage ring method, a wire of a required length is wound around the storage ring in advance, so that if the wire is relatively thick, the rigidity of the wire is increased and the storage ring is connected to the storage ring. Winding becomes difficult and the outer diameter after winding tends to increase. And, if the outer diameter of the storage ring becomes too large, there is a problem that winding is sometimes impossible.

  Furthermore, in the winding device using the storage ring method, the trajectory of the storage ring that circulates around the toroidal core together with the winding ring is closest to the core when passing through the central hole of the toroidal core. After passing through the hole, a predetermined distance from the core is left. For this reason, the tension applied to the wire released from the storage ring is strengthened after passing through the central hole, but is loosened when inserted into the central hole. Therefore, the tension applied to the wire fluctuates every time the storage ring circulates, and there is a problem that it is difficult to wind the wire around the core with a certain tension.

  The object of the present invention is to reduce the preparation time for winding, enable automatic winding of a core with a relatively small central hole, and also enable automatic winding of relatively thick wires, It is an object of the present invention to provide a core winding device having a central hole capable of winding with a predetermined tension and a winding method therefor.

The apparatus of the present invention repeatedly holds the holding means for holding the core having the central hole and the wire inserted through the central hole near the periphery of the core and returns it to the inlet side of the central hole in the circumferential direction of the core. comprising a wire winding means for winding a wire helically, and a guide member in which slits are formed having an open end wire a can be inserted to pass near the periphery of the core provided in the vicinity of the core.

The wire winding means is composed of a wire gripping passage passing means for gripping the free end portion of the wire, a wire gripping and extending means for gripping and extending the free end portion, and a reversing mechanism for reversing the free end portion. The insertion passage means has a wire gripping insertion mechanism and a wire gripping passage mechanism each having a target structure, and the wire gripping extension means has a penetration wire gripping extension mechanism and a passing wire gripping extension mechanism having a target structure, respectively. And

When the guide member is provided in the holding means, the guide member is formed with a recess for accommodating the core and a through hole through which the wire inserted through the central hole of the core can pass, the base end is continuous with the through hole, and the tip is It is preferable that a plurality of slits reaching the outside from the periphery of the core are formed in the guide member.

On the other hand, when the guide member is provided separately from the holding means, it is preferable to include a guide member moving mechanism that moves the guide portion so that the slit having the open end moves along the periphery of the core.

Further, it is preferable that the movement amount of the insertion wire gripping extension mechanism and the movement amount of the passing wire gripping extension mechanism are controlled by a controller .

The method of the present invention uses the winding device for a core having a central hole described above to stretch and hold the free end portion of the wire inserted from one side to the other through the central hole of the core having the central hole. An insertion wire gripping and extending step of gripping and extending toward the other side by a mechanism, and a wire gripping and passing step of inverting the free end portion by the wire gripping and passing mechanism and passing it from the other side toward the one side in the vicinity of the core A passing wire gripping and extending step of gripping and extending the free end portion by the passing wire gripping and extending mechanism, and after reversing the free end portion by the wire gripping insertion mechanism and moving it from one side to the other A wire gripping insertion process to be inserted, and by repeating these processes, a central hole for spirally winding the wire in the circumferential direction of the core is provided. It is a method of winding core that.

  In the core winding device and winding method of the present invention, the wire inserted through the central hole is passed through the vicinity of the core and returned to the inlet side of the central hole, and the wire is spiraled in the circumferential direction of the core. Since it winds in a shape, it does not use a storage ring like that required in the prior art. For this reason, the work for winding the wire in advance on the storage ring and the preparation work for winding such that the storage ring is attached to the shaft of the C-shaped winding ring, which is conventionally required, are not required. . Therefore, the winding preparation time is reduced, and the winding efficiency can be increased more than before by reducing the extra man-hours from the preparation stage to the end of winding.

  Further, in the core winding device and the winding method of the present invention, the wire is inserted into the central hole or passed through the vicinity of the core without using a storage ring required in the prior art. The core's central hole is sufficient if the wire can be inserted. For this reason, it is possible to automatically wind a relatively small core in which the storage ring, which has been impossible in the past, cannot be inserted into the central hole. Then, by inserting a wire to be passed near the periphery of the core into the slit of the guide member and guiding the wire from the open end to the core, the wire can be wound around a desired position around the core. Therefore, it is possible to obtain a so-called aligned wound coil in which the wire is wound evenly.

  On the other hand, even if the wire is relatively thick and its rigidity is relatively high, by moving the guide member so that the open end of the slit moves along the periphery of the core by the guide member moving mechanism, From the open end of the slit, the wire through which the slit is inserted can be guided to a desired position of the core. Therefore, even if the wire is relatively thick, the wire can be guided to a desired position of the core and the thick wire can be automatically wound.

  If the wire winding means is provided with wire gripping / stretching means that grips and extends the free end portion of the wire that is inserted into the central hole or passed near the periphery of the core, the wire gripping / stretching means is provided in the central hole. By gripping the free end of the wire passed through or around the core and extending it with a predetermined tension, the wire is inserted into the central hole or passed around the core around the wire. Tension can be applied. Therefore, the wire can be wound around the core without loosening with a predetermined tension, and the coil can be miniaturized.

It is a front view which shows the winding apparatus of embodiment of this invention. It is the sectional view on the AA line of FIG. 1 which shows the holding means. It is the figure which looked at the holding | maintenance means in FIG. 2 from the back side. It is a front view of the guide member. It is CC sectional view taken on the line of FIG. It is a reverse view of the guide member. FIG. 4 is a sectional view taken along line BB in FIG. 3. It is the DD sectional view taken on the line of FIG. 1 which shows the wire gripping mechanism. It is sectional drawing corresponding to FIG. 8 which shows the state which the wire gripping mechanism raised. It is a top view of the wire gripping mechanism. It is sectional drawing which shows the internal structure of the wire holding | grip mechanism. It is the EE sectional view taken on the line of FIG. 1 which shows the passage wire holding | grip extending mechanism. It is the FF sectional view taken on the line of FIG. 1 which shows the insertion wire holding | grip extending mechanism. It is explanatory drawing which shows until it hold | grips and extends the wire from the first wire passage process. It is explanatory drawing which shows until it reverses the wire and it penetrates in the center hole of a core. It is explanatory drawing which shows until it extends and reverses the inserted wire, and passes further around a core. It is explanatory drawing which shows after extending the wire which passed through and reversing, inserting in the center hole of a core, and extending further. It is a figure corresponding to the enlarged view of FIG. 3 which shows the state which rotated the guide member and made another slit oppose the 3rd guide hole of a 3rd tongue piece. It is a perspective view of the coil obtained by winding a wire around a core. It is a figure corresponding to FIG. 2 which shows another guide member of this invention. It is a figure corresponding to FIG. 2 which shows another guide member of this invention.

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

  For example, as shown in FIG. 19, the winding device of the present invention is one in which a wire 8 is wound around a core 9 having a central hole 9 a like a toroidal core 9 to obtain a coil 7. As shown in FIG. 1, a winding device 10 of the present invention is provided on a substrate 10b erected on a base 10a, and holding means 11 for holding a core 9 having such a central hole 9a, The wire winding means 40 for spirally winding the wire 8 in the circumferential direction of the core 9 by repeatedly passing the wire 8 inserted through the hole 9a near the periphery of the core 9 and returning it to the entrance side of the central hole 9a. , 70. In this embodiment, a case where a round wire having a circular cross-section with an insulating film formed on the surface is used in this embodiment will be described. However, the wire 8 is not limited to the round wire, and is used for the specification of the coil 7 or the manufacturing process. Accordingly, a so-called square wire having a square cross section may be used, or a double wire in which a plurality of such round wires or square wires are bundled or a litz wire in which the bundle is twisted may be used. Here, the winding device 10 of the present invention will be described on the assumption that three axes X, Y, and Z that are orthogonal to each other are set, the X axis extends in the horizontal front-rear direction, the Y axis extends in the horizontal horizontal direction, and the Z axis extends in the vertical direction. To do.

  As shown in FIG. 2, the holding unit 11 includes a plurality of guide members 12 that can accommodate the core 9 (FIG. 5), and a support member 21 that supports the plurality of guide members 12. In this embodiment, a case where four guide members 12 are provided at the same pitch in the X-axis direction is shown. Each guide member 12 has the same structure, and as shown in FIGS. 4 to 6, the guide member 12 includes an external spur gear 13 and an annular pulley that is coaxially overlapped and fixed to the spur gear 13. 14 and. A concave portion 13a that can accommodate the core 9 is formed in the center of one surface of the spur gear 13 by countersinking, and the wire 8 inserted through the central hole 9a of the core 9 can pass through the concave portion 13a. A through hole 13b is formed. The recess 13a is coaxial with the axis of the spur gear 13 and has an inner diameter slightly larger than the outer diameter of the core 9, and the through hole 13b is formed coaxially with the recess 13a. Further, the spur gear 13 constituting the guide member 12 is formed with a plurality of radial slits 13c and 13d whose base end, which is an open end, is continuous with the through hole 13b and whose distal end is outside the periphery of the core 9. The plurality of radiation slits 13c and 13d are formed so that the tips 8 extend to the periphery beyond the recess 13a and pass through the vicinity of the core 9 so as to be inserted therethrough. Are formed with circular cross-section holes 13e each having an inner diameter larger than the width of the radiation slits 13c and 13d.

  The plurality of radiation slits 13c, 13d in the guide member 12 are all formed equally from the through hole 13b to the hole 13e at the tip thereof except for one radiation slit 13c, and one radiation slit 13c in the other is the other. Are formed longer than the plurality of radiation slits 13d. The annular pulley 14 has an outer diameter smaller than that of the spur gear 13 and is overlapped with the other surface of the spur gear 13, and a part thereof is cut out to form a C shape. The pulley 14 is formed so that the inner diameter is larger than the circle drawn by the hole 13e at the tip of each of the plurality of radiation slits 13d, and the hole 13e at the tip of the single radiation slit 13c formed longer than the other plurality of radiation slits 13d. Is overlapped with the spur gear 13 such that the pulley 14 is positioned between the notches 14 a formed in the pulley 14. Then, the spur gear 13 and the pulley 14 are screwed using a machine screw 16, and the guide member 12 including the spur gear 13 and the pulley 14 is made.

  Returning to FIG. 2, the support member 21 that supports the plurality of guide members 12 includes a main body 22 provided in the base 10 a (FIG. 1) extending in the horizontal direction on the substrate 10 b erected in the Z-axis direction, A cover plate 23 and first and second slide plates 26 and 27 provided on both sides of the main body 22 are provided. As shown in FIG. 7, the main body 22 is formed with a stepped hole 22 a that rotatably accommodates the guide member 12, and the small-diameter hole 22 b has an inner diameter smaller than the spur gear 13 in the guide member 12 and slightly smaller than the pulley 14. It is greatly formed. The large diameter hole 22c of the stepped hole 22a is formed to be slightly larger than the outer diameter of the spur gear 13. When the guide member 12 is accommodated in the stepped hole 22a, the spur gear 13 is inserted into the large diameter hole 22c and the pulley 14 has a small diameter. It is configured to be inserted into the hole 22b. The spur gear 13 in the guide member 12 accommodated in the stepped hole 22a is substantially flush with one surface of the main body 22, and the pulley 14 is substantially flush with the other surface of the main body 22. . As shown in FIG. 3, the small-diameter hole 22b is formed so that a part thereof extends in the X-axis direction to form an egg shape in order to accommodate the wire 8 accompanying the movement of the second tongue piece 27a described later. Is done.

  As shown in FIG. 2, the cover plate 23 is superposed on one surface of the main body 22 and seals the lower outer periphery of the spur gear 13 to prevent the guide member 12 from being detached from the stepped hole 22a. Configured. The first slide plate 26 is superposed on one surface of the main body 22 to seal the upper outer periphery of the spur gear 13 and is attached to the main body 22 so as to be movable along the main body 22 in the X-axis direction. The first slide plate 26 is formed with a first tongue piece 26a that covers the recess 13a (FIG. 7) in the guide member 12, and the first slide plate 26 moves in the X-axis direction so that the first tongue piece 26a is a recess. 14B, the sealing position shown in FIG. 14 (b) that covers 13a and prevents the core 9 accommodated in the recess 13a from being detached, and the recess 13a whose first tongue piece 26a is moved in the X-axis direction and opened. The core 9 is accommodated, and is configured to be movable between an open position shown in FIG. 14A that allows the core 9 accommodated in the recess 13a to be taken out. As shown in FIGS. 2 and 7, the first tongue piece 26a has a central hole 9a of the core 9 accommodated in the recess 13a in a state where the first tongue piece 26a seals the recess 13a. A funnel-shaped first guide hole 26b that tapers toward the first direction, and a first communication slit 26c that extends in the X-axis direction and communicates with the radiation slits 13c and 13d existing in that direction are formed. The The first slide plate 26 is configured to be movable by a first cylinder 28, and the first cylinder 28 is provided at the protruding end of the main body 22.

  As shown in FIG. 3, the second slide plate 27 is superposed on the other surface of the main body 22 and attached to the main body 22 so as to be movable in the X-axis direction below the pulley 14 in the guide member 12. The second slide plate 27 is formed with second and third tongue pieces 27a and 27b that are positioned at the same height as the through hole 13b in the guide member 12, and the second and third tongue pieces 27a and 27b include Funnel-shaped second and third guide holes 27c and 27d are formed which taper toward the hole 13e at the tips of the radiation slits 13c and 13d facing the tongue pieces 27a and 27b (FIG. 7). In the second slide plate 27, when a single relatively long radiation slit 13c in the guide member 12 is positioned in the X-axis direction, the second guide hole 27c in the second tongue piece 27a is a hole 13e at the tip of the radiation slit 13c. 14 and the third guide hole 27d in the third tongue piece 27b at the tip of the radiation slit 13d when any of the unwinding position shown in FIG. The winding position shown in FIG. 16 (c) facing the hole 13e is configured to be movable. The third tongue piece 27b is formed with a second communication slit 27e that allows the third guide hole 27d to communicate with the radiation slit 13d continuous with the hole 13e facing the third guide hole 27d. The second slide plate 27 is configured to be movable by a second cylinder 29, and the second cylinder 29 is a protruding end of the main body 22 and is provided side by side with the first cylinder 28.

  Returning to FIG. 2, the support member 21 is provided with a rotation mechanism 31 that rotates the plurality of guide members 12 around the central axis thereof. The rotation mechanism 31 includes a rack gear 32 provided on the main body 22 so as to be movable in the X-axis direction, and a servo motor 33 that moves the rack gear 32 in the X-axis direction. A concave groove 22d is formed in the main body 22 of the support member 21 so as to accommodate the rack gear 32 so as to be movable in the X-axis direction. The rack gear 32 is accommodated in the concave groove 22d with the spur gear 13 of the guide member 12 engaged. Is done. The cover plate 23 is configured to cover the rack gear 32 and prevent the rack gear 32 from being detached from the concave groove 22d. The servomotor 33 is provided on the substrate 10b side of the main body 22, and a gear 34 that meshes with the rack gear 32 is attached to the rotating shaft 33a. When the servo motor 33 is driven to rotate the rotating shaft 33a, the gear 34 rotates to move the rack gear 32, and the plurality of guide members 12 that mesh with the rack gear 32 can rotate in the same direction. Is done.

  Returning to FIG. 1, the wire winding means in this embodiment grips the free end portion of the wire 8 and inserts it into the central hole 9 a of the core 9 or passes it in the vicinity of the periphery of the core 9. Means 40 and wire gripping / stretching means 70 for gripping and extending the free end portion of the wire 8 inserted through the central hole 9a of the core 9 or passed near the periphery of the core 9 are provided.

  The wire gripping insertion passage means 40 shown in FIG. 1 grips the free end portion of the wire 8 and inserts it into the central hole 9a of the core 9 or passes the free end portion around the periphery of the core 9. In the embodiment, a wire gripping insertion mechanism 50 and a wire gripping passing mechanism 60 are provided. The wire gripping insertion mechanism 50 and the wire gripping passing mechanism 60 are attached to the upper moving table 41, and the upper moving table 41 is attached to the substrate 10 b erected on the base 10 a via the upper moving device 42. The upper moving device 42 is configured by a combination of X-axis and Y-axis direction extendable actuators 43 and 44. These telescopic actuators 43 and 44 in this embodiment include ball screws 43b and 44b that are rotationally driven by servo motors 43a and 44a, followers 43c and 44c that are screwed into the ball screws 43b and 44b and moved in parallel. Consists of.

  That is, the upper moving device 42 is attached to the follower 44c of the Y-axis direction expansion / contraction actuator 44 so that the upper movement table 41 is movable in the Y-axis direction, and the Y-axis direction expansion / contraction actuator 44 is movable in the X direction. The telescopic actuator 43 is attached to the follower 43c, and the X-axis direction telescopic actuator 32 is attached to the substrate 10b. Here, reference numeral 10c in FIG. 1 is a top plate 10c provided at the upper end of the substrate 10b, and reference numeral 46 is an upper guide rail 46 that supports the Y-axis direction extendable actuator 44 so as to be movable in the X direction. The X-axis servomotor 43a (FIG. 8) and the Y-axis servomotor 44a in each of the telescopic actuators 43 and 44 are connected to a control output of a controller (not shown) that controls the upper moving device 42. The upper moving device 42 is configured to arbitrarily move the upper moving table 41 in the two axial directions of the X axis and the Y axis with respect to the holding means 11 fixed to the substrate 10b in accordance with a command from the controller.

The wire gripping / passing mechanism 50 and the wire gripping / passing mechanism 60 attached to the upper moving table 41 have symmetrical structures , and the wire gripping / passing mechanism 60 will be described as a representative. As shown in FIGS. The mechanism 60 includes a pedestal 61 fixed to the upper moving base 41, a mounting base 63 attached to the pedestal 61 so as to be movable up and down via a rail 62 (FIG. 10), and the mounting base 63 to the base 61. And a plurality of air chucks 66 mounted on the mounting base 63 so as to be rotatable about a central axis extending in the Z-axis direction and immovable in the axial direction. As shown in FIGS. 8 and 9, the pedestal 61 is provided with a driving plate 64a that can be moved in the X-axis direction by the elevating cylinder 64, and the driving plate 64a has a moderate S-shaped length having an intermediate inclined portion. A hole 64b is formed, and the mounting base 63 is provided with a pin 63a to be inserted into the long hole 64b. The elevating cylinder 64 is configured to be able to move the drive plate 64a, and when the drive plate 64a is moved, the pin 63a is configured to be movable from the end of the long hole 64b to the end in the X-axis direction inside the long hole 64b. Is done. Although the elevating cylinder 64 positions the drive plate 64a so that the mounting base 63 is in the lowered state shown in FIG. 8 in the normal state, the elevating cylinder 64 moves the drive plate 64a as shown by a one-dot chain line arrow in FIG. When the pin 63a passes through the inclined portion of the long hole 64b, the mounting base 63 moves together with the air chuck 66 as shown by the two-dot chain line arrow in FIG. Is done.

  The air chuck 66 is configured such that the pair of claws 66a and 66b are opened and closed in accordance with the supply and discharge of compressed air so that the free end portion of the wire 8 can be opened, and the pair of claws 66a and 66b is the center of the air chuck 66. Provided offset from the shaft. The air chucks 66 are provided corresponding to the number of the cores 9 to be wound, that is, the number of the guide members 12, and in this embodiment in which four guide members 12 are used, the four air chucks 66 have the X axis. It is provided on the mounting base 63 at the same pitch as the pitch of the guide members 12 aligned in the direction.

  The wire gripping and passing mechanism 60 is provided with a reversing mechanism 67 that reverses the free end portion by rotating the air chuck 66 that grips the free end portion of the wire 8. The reversing mechanism 67 that rotates the air chuck 66 includes a servo motor 67a that is a rotatable drive source, and the servo motor 67a is fixed to the mounting base 63 via an auxiliary plate 67b. A drive pulley 67c is attached to the rotation shaft of the servo motor 67a, and a belt 67d is wound around the drive pulley 67c and the four air chucks 66. For this reason, when the servo motor 67a is driven, the drive pulley 67c rotates to circulate the belt 67d, and the four air chucks 66 around which the belt 67d is wound rotate in the same direction around the central axis. The Here, reference numeral 67e in the figure is an auxiliary pulley for making the tension of the belt 67d constant.

Returning to FIG. 1, in the wire gripping and passing mechanism 60 configured in this way, the air chuck 66 grips the free end portion of the wire 8, and the upper moving device 42 moves from the other on the right side in FIG. It moves so that it may approach the holding | maintenance means 11, and it is comprised so that the free end part may be passed to the circumference | surroundings vicinity of the core 9 via the 2nd or 3rd guide holes 27c and 27d (FIG. 7). On the other hand, in the wire gripping insertion mechanism 50 having a symmetric structure with the wire gripping passing mechanism 60, the air chuck 56 grips the free end portion of the wire 8, and the reversing mechanism 57 rotates the air chuck 56 so that the looseness of the wire gripping insertion mechanism 50 is obtained. The wire gripping insertion mechanism 50 is moved from one side on the left side in FIG. 1 to the other side in the right direction by the upper moving device 42 after the end portion is reversed, and the air chuck 56 for gripping the free end portion thereby holds the holding means 11. The free end is inserted into the central hole 9a of the core 9 through the first guide hole 26b (FIG. 7).

  The wire gripping / stretching means 70 is for gripping and stretching the free end portion of the wire 8 that is inserted into the central hole 9a of the core 9 or passed near the periphery of the core 9, and in this embodiment, the insertion wire A gripping and stretching mechanism 80 and a passing wire gripping and stretching mechanism 90 are provided. The insertion wire gripping extension mechanism 80 and the passing wire gripping extension mechanism 90 are attached to the lower moving base 71, and the lower moving base 71 is attached to the substrate 10 b erected on the base 10 a via the lower movement device 72. Mounted. The lower moving device 72 is configured by a combination of X-axis and Y-axis direction expansion and contraction actuators 73 and 74. These telescopic actuators 73 and 74 in this embodiment include ball screws 73b and 74b that are rotationally driven by servo motors 73a and 74a, followers 73c and 74c that are screwed into the ball screws 73b and 74b and moved in parallel. Consists of.

  That is, the lower moving device 72 is attached to the follower 74c of the Y-axis direction expansion / contraction actuator 74 so that the lower movement table 71 can be moved in the Y-axis direction, and the Y-axis direction expansion / contraction actuator 74 can be moved in the X direction. It is made by attaching to the follower 73c of the axial extension actuator 73 and attaching the X-axis extension actuator 73 to the substrate 10b. Here, reference numeral 10d in FIG. 1 denotes a bottom plate 10d provided on the base 10a, and reference numeral 76 denotes a lower guide rail 76 that supports the Y-axis direction expansion / contraction actuator 74 so as to be movable in the X direction. The X-axis servomotor 73a (FIGS. 12 and 13) and the Y-axis servomotor 74a in each of the telescopic actuators are connected to a control output of a controller (not shown) that controls the moving device 72. The lower moving device 72 is configured to be arbitrarily movable in the biaxial direction with respect to the holding means 11 fixed to the substrate 10b by a command from the controller.

The insertion wire gripping and extending mechanism 80 and the passing wire gripping and extending mechanism 90 attached to the lower moving base 71 are each configured in a symmetrical structure except for the gripping direction. That is, as shown in FIG. 12, the insertion wire gripping and extending mechanism 80 is provided on the lower moving base 71 corresponding to the number of cores 9 to be wound, that is, the number of guide members 12, and has one gripping piece 81a at the upper end. A vertical gripping member 81 formed on the vertical gripping member 81, and a vertical movement member 82 mounted on the vertical gripping member 81 so as to be movable up and down and formed with one gripping piece 81 a and the other gripping piece 82 a on the upper end. A swinging member 83 configured such that one end is pivotally supported by the gripping member 81 and a vertically moving member 82 is pivotally supported in the middle so that the vertically moving member 82 can be moved up and down. An operating shaft 84 is configured such that the upper end is pivotally supported on the other end of the swing member 83 and is attached to the lower moving table 71 so as to be movable up and down, and the swing member 83 can swing about the one end. And provided on the lower moving base 71 Having an air cylinder 86 for vertically moving the operating shaft 84 by infested the death shaft 86a. Then, the cylinder 86 causes the swinging member 83 to swing by way of the operating shaft 84 by retracting the retracting shaft 86a, thereby causing the vertically moving member 82 to move up and down to move the wire 8 to one gripping piece 81a. The other gripping piece 82a is sandwiched from above and below in the Z-axis direction so that the wire 8 can be gripped. Note that reference numeral 87 in FIG. 12 denotes a coil spring 87 that urges the operation shaft 84 in a direction to immerse the operating shaft 84 in the lower moving base 71. Also, one gripping piece 81a and the other gripping piece 82a for gripping the free end portion of the wire 8 are each made of sapphire glass or plate-shaped ceramics with relatively little unevenness, and the wire 8 can be moved in the gripped state. Although it is prohibited, the wire 8 is allowed to move when the wire 8 is pulled with a predetermined force or more, and the wire 8 is prevented from being pulled and cut. It is configured to be able to apply proper tension.

  On the other hand, as shown in FIG. 13, the passing wire gripping and extending mechanism 90 is provided on the lower moving base 71 corresponding to the number of cores 9 to be wound, that is, the number of guide members 12, and has one gripping piece 91a at the upper end. And a side gripping member 91 that is attached to the side gripping member 91 so as to be movable in the X-axis direction, and a slide piece 92a that can grip the wire 8 together with the one gripping piece 91a. The member 92 and the other end of the slide member 92 are attached to the lower moving base 71 so as to be movable up and down while the side edge is locked, and the slide member 92 is configured to be movable in the X-axis direction by moving up and down. An operating shaft 94 and an air cylinder 96 that is provided on the lower moving base 71 and moves the operating shaft 94 up and down by projecting and retracting the projecting and retracting shaft 96a. Then, the cylinder 96 moves the slide member 92 in the X-axis direction via the operation shaft 94 by protruding and retracting the retracting shaft 96a, whereby the wire 8 is moved in the X-axis direction by the one gripping piece 91a and the other gripping piece 92a. The wire 8 is configured to be gripped from both sides. Note that reference numeral 97 in FIG. 13 denotes a coil spring 97 that urges the operation shaft 94 in the direction of immersing the operating shaft 94 in the lower moving base 71. Also, one grip piece 91a and the other grip piece 92a for gripping the free end portion of the wire 8 are each made of sapphire glass or plate-shaped ceramics with relatively little unevenness, and the wire 8 can be moved in the gripped state. Although it is prohibited, the wire 8 is allowed to move when the wire 8 is pulled with a predetermined force or more, and the wire 8 is prevented from being pulled and cut. It is configured to be able to apply proper tension.

  Returning to FIG. 1, a wire supply unit 101 that holds the wire 8 supplied from the outside in an openable manner is provided at the end of the base 10 a in the right direction in the drawing. The wire 8 is wound around a reel (not shown), and this reel serves as a supply source of the wire 8. The reel (not shown) is placed on a floor, for example, in the Y-axis direction at a different location from the winding device 10. The wire supply unit 101 includes a die 101a through which the wire 8 passes, and a clamping unit 101b that sandwiches the wire 8 that has passed through the die 101a with a predetermined pressure through a felt (not shown). And this supply part 101 passes the die | dye 101a, and removes the wrinkle of the wire 8 paid out from the reel which is a supply source, and extends straightly, and it is made to pass through sapphire glass or plate-shaped ceramics by the clamping part 101b. Although the movement of the wire 8 is normally prohibited by being pinched at a predetermined pressure, the wire 8 is allowed to move when the wire 8 is pulled with a predetermined force or more by the wire gripping and extending means 70 or the like. It is configured to prevent being pulled and cut. The pair of claws 56a, 56b, 66a, 66b in the wire gripping insertion passage means 40 for gripping the wire 8, and one gripping piece 81a, 91a and the other gripping piece 82a, 92a in the wire gripping extension means It is comprised so that it may be located on the straight line of a direction.

  Although not shown, the winding device 10 includes a core insertion / removal machine that inserts the core 9 into the recess 13 a of the guide member 12 and takes out the core 9 that has been wound, and a wire supply unit 101. When the winding of the core 9 is completed, the wire 8 is cut, and until the wire gripping insertion passing means 40 grips the free end portion on the wire supply unit 101 side, the cut wire 8 is on the wire supply unit 101 side. A cutter gripping mechanism is provided for retaining the free end portion at the position.

  Next, the winding method of the present invention using such a winding apparatus will be described.

  In the winding method of the present invention, the wire 8 inserted through the central hole 9a of the core 9 is repeatedly passed through the vicinity of the periphery of the core 9 and returned to the inlet side of the central hole 9a. Is spirally wound. Since the wire winding means includes the wire gripping insertion passage means 40 and the wire gripping / stretching means 70, this method is used for the wire 8 inserted from one side to the other in the central hole 9 a of the core 9 having the central hole 9 a. An insertion wire gripping and extending step of gripping and extending the free end portion toward the other side, and after reversing the free end portion of the wire 8 extended by the insertion wire gripping and extending step, the free end portion of the core 9 A wire gripping and passing step in which the wire 8 passes from one side to the other in the vicinity of the periphery, and a passing wire gripping extension in which the free end portion of the wire 8 that has passed from the other side to the one in the vicinity of the periphery of the core 9 is gripped and extended toward the one. After reversing the free end portion of the wire 8 stretched in the process and the passing wire gripping and stretching step, the free end portion is moved from one side to the other in the center hole 9a. Headed it can be divided into the wire gripping insertion step for inserting, to repeat these steps. Hereinafter, each of these steps will be described.

<First wire gripping passing step>
In this step, first, the free end portion of the wire 8 is gripped, and the free end portion is passed near the periphery of the core 9 from the other side to the one side. Therefore, it is a requirement that the core is held by the holding means 11 as the premise. As shown in FIG. 14A, the core is held by moving the first slide plate 26 (FIG. 2) in the X-axis direction so that the first tongue piece 26a opens the recess 13a in the guide member 13. The core 9 is accommodated in the recess 13a in this state. Thereafter, the first slide plate 26 (FIG. 2) is moved in the reverse direction to seal the concave portion 13a with the first tongue piece 26a, and the core accommodated in the concave portion 13a as shown in FIG. 14 (b). 9 is prevented from leaving.

  As shown in FIG. 14 (b), the guide member 12 has its single relatively long radiation slit 13c positioned in the X-axis direction, and the second slide plate 27 (FIG. 3) is set in the unwinding position. The 2nd guide hole 27c in the 2 tongue piece 27a is made to oppose the hole 13e in the radiation | emission slit 13c front-end | tip.

  On the other hand, the wire 8 has its free end passed through the die 101a of the supply unit 101 and then passes through the holding portion 101b, and the air chuck 66 in the wire gripping and passing mechanism 60 grips the free end 8a. At the time of gripping, an operator may grip directly, or the free end portion 8a of the wire may be gripped by a cutter gripping mechanism (not shown), and the free end portion 8a in this state may be gripped by the air chuck 66.

  As shown in FIG. 14A, after the free end portion 8a of the wire 8 is gripped by the air chuck 66 of the wire gripping and passing mechanism 60, the upper moving device 42 (FIG. 1) moves from the other side on the right side of FIG. The wire gripping and passing mechanism 60 is moved so as to approach the holding means 11 toward one side in the left direction, and as shown in FIG. 14 (b), the free end portion 8a is connected to the core via the second guide hole 27c. 9 is passed through a hole 13e at the tip of the radiation slit 13c located in the vicinity of the periphery of the hole 9. At this time, the mounting base 63 in the wire gripping and passing mechanism 60 grips the wire in the air chuck 66 and passes through the free end portion 8a in the lowered state shown in FIG.

<First passing wire gripping and stretching step>
In this step, the free end portion 8a of the wire 8 that has passed from the other side toward the one side in the vicinity of the periphery of the core 9 is gripped and extended toward the one side. Specifically, the free end portion 8a of the wire 8 that has passed through the hole 13e at the distal end of the radiation slit 13c is sandwiched between one grip piece 91a and the other grip piece 92a in the passing wire gripping and extending mechanism 90, and the free end portion 8a. 1 is moved by the lower moving device 72 (FIG. 1) so as to move away from the holding means 11 from the other side on the right side of FIG. 1 toward the left side in FIG. As shown in c), the wire 8 that has passed through the hole 13e is stretched. The moving amount of the passing wire gripping and extending mechanism 90, that is, the extending amount of the wire 8 is the total length of the wire 8 in the coil 7 to be obtained or a slightly longer amount thereof, and the moving amount is controlled by a controller (not shown). .

  Prior to the movement of the passing wire gripping and extending mechanism 90, the gripping of the wire 8 by the air chuck 66 of the wire gripping and passing mechanism 60 is canceled by opening the pair of claws 66a and 66b. At the time of the cancellation, the mounting base 63 in the wire gripping and passing mechanism 60 is raised as shown in FIG. 9, and the air chuck 66 with the pair of claws 66a and 66b opened is lifted, and the wire 8 is passed between the pair of claws 66a and 66b. The pair of claws 66a and 66b are prevented from interfering with the gripping pieces 81a and 82a in the insertion wire gripping and extending mechanism 80 that replaces the wire gripping and passing mechanism 60.

<First wire gripping insertion process>
In this step, as shown in FIG. 15, the free end portion 8 a of the wire 8 stretched by the passing wire gripping and stretching step is reversed, and then the free end portion 8 a is inserted into the central hole 9 a of the core 9. From one to the other. Specifically, as shown in FIG. 15A, first, the free end portion 8a of the wire 8 stretched by the above process is gripped by the air chuck 56 in the wire gripping insertion mechanism 50. . Thereafter, the gripping of the free end portion 8a by the one gripping piece 91a and the other gripping piece 92a in the passing wire gripping extension mechanism 90 is canceled, but the one gripping piece 91a gripping the free end portion 8a of the wire 8 and the other Since the gripping pieces 92a are each made of sapphire glass or plate-shaped ceramics with relatively small irregularities, the gripping pieces 92a are wired as shown by the one-dot chain line arrow in FIG. 8 is moved straight in the axial direction of 8 and removed from the leading edge thereof, the free end portion 8a is squeezed, and the free end portion 8a ahead of the portion gripped by the air chuck 56 is straightened.

  Thereafter, the air chuck 56 that grips the free end portion 8a of the wire 8 is rotated by the reversing mechanism 57 (FIG. 1) provided in the wire gripping insertion mechanism 50, and as shown in FIG. Invert 8a. At the time of this reversal, the pair of claws 56a, 56b of the air chuck 56 are provided offset from the center thereof, so that the free end portion 8a is gripped with the pair of claws 56a, 56b being away from the holding means 11, Thereafter, by rotating the air chuck 56, the pair of claws 56a and 56b approach the holding means 11. For this reason, the free end 8a can be reversed without pulling the wire 8. Then, the tip end edge of the inverted free end 8a faces the guide member 12, and as shown in FIG. 15 (c), the upper moving device 42 (FIG. 1) causes the left side of FIG. The wire gripping and inserting mechanism 50 is moved so as to approach the holding means 11 toward the other side, and the free end portion 8a is inserted into the central hole 9a of the core 9 through the first guide hole 26b. At this time, the mounting base 53 in the wire gripping insertion mechanism 50 is lowered, and the gripping by the air chuck 56 and the insertion of the free end portion 8a are performed.

<First insertion wire gripping and stretching step>
In this step, the gripping of the wire 8 by the air chuck 56 of the wire gripping insertion mechanism 50 is canceled, and the free end portion 8a of the wire 8 inserted from one side to the other in the central hole 9a of the core 9 having the central hole 9a. Is gripped and stretched towards the other. Specifically, as shown in FIG. 15 (c), the free end portion 8 a inserted through the central hole 9 a of the core 9 passes through the through hole 13 b in the guide member 12. The free end portion 8a of the wire 8 that has passed through the through hole 13b is sandwiched between one gripping piece 81a and the other gripping piece 82a in the insertion wire gripping and extending mechanism 80, and the free end portion 8a is sandwiched between The moving device 72 (FIG. 1) moves the insertion wire gripping and extending mechanism 80 so as to move away from the holding means 11 from one side on the left side of the drawing toward the other side in the right direction, and as shown in FIG. The wire 8 that has passed through the through hole 13b is stretched.

  At this time, as shown in FIG. 15C, the second slide plate 27 (FIG. 3) is moved so that the free end 8a of the wire 8 is easily sandwiched between the one gripping piece 81a and the other gripping piece 82a. The third guide hole 27d in the third tongue piece 27b is moved to the winding position facing the hole 13e at the tip of the plurality of short radiation slits 13d. When the wire 8 that has passed through the through hole 13b is stretched in this state, the wire 8 that has passed through the second guide hole 27c in the second tongue piece 27a passes through the notch 14a of the pulley 14 as shown in FIG. After that, it passes through a single long slit 13c, and then is inserted through the center hole 9a from the outer periphery of the core 9 and is wound around. Therefore, the wire 8 can be firmly wound around the core 9.

  The amount of movement of the insertion wire gripping and extending mechanism 80 at this time, that is, the amount of stretching of the wire 8, passes through the slit 13 c from the amount of stretching of the wire 8 in the previous first passing wire gripping and stretching process and passes from the outer periphery of the core 9 to the center. This is an amount obtained by subtracting the amount to be wound around the hole 9a, and the amount of movement is controlled by a controller (not shown).

  Prior to the movement of the insertion wire gripping extension mechanism 80, the gripping of the wire 8 by the air chuck 56 of the wire gripping insertion mechanism 50 is canceled. This cancellation is performed by opening the pair of claws 56a and 56b. At the time of the cancellation, the air chuck 56 is lifted with the mounting base 53 of the wire gripping insertion mechanism 50 in the raised state, and the opened pair of claws 56a and 56b. The wire 8 is reliably removed from the gap, and the pair of claws 56a and 56b are prevented from interfering with the gripping pieces 91a and 92a in the passing wire gripping and extending mechanism 90 that replaces the wire gripping insertion mechanism 50.

<Second wire gripping passing step>
In this step, the free end portion 8a of the wire 8 stretched by the first insertion wire gripping and stretching step is reversed, and the reversed free end portion 8a is passed near the periphery of the core 9 from the other side toward the one side. In this passing step, the guide member 12 is rotated, and as shown in FIG. 18, any one of a plurality of short radiation slits 13d other than the single relatively long radiation slit 13c is positioned in the X-axis direction, and the third tongue The third guide hole 27d in the piece 27b is opposed to the hole 13e at the tip of the radiation slit 13d. The rotation of the guide member 12 is performed by a rotation mechanism 31 provided in the support member 21 (FIG. 2). When the servo motor 33 is driven, the rack gear 32 is moved, and thereby a plurality of guides meshed with the rack gear 32. The member 12 is rotated in the same direction. When the guide member 12 is rotated, as shown in FIG. 18, the wire 8 that has passed through the second guide hole 27c in the second tongue piece 27a passes through the single long slit 13c from the outer periphery of the core 9, and the pulley 14 is wound around the outer periphery of the pulley 14 from the notch 14a.

  The free end portion 8a is reversed by the wire gripping and passing mechanism 60. That is, as shown in FIG. 16B, first, the free end portion 8a of the wire 8 stretched by the above-described process is gripped by the air chuck 66 in the wire gripping and passing mechanism 60. Thereafter, the gripping of the free end portion 8a by the one gripping piece 81a and the other gripping piece 82a in the insertion wire gripping extension mechanism 80 is canceled, but one gripping piece 81a gripping the free end portion 8a of the wire 8 and the other Since the gripping pieces 82a are each made of sapphire glass or plate-shaped ceramics with relatively little unevenness, the gripping pieces 82a are wired as shown by the dashed-dotted arrows in FIG. The free end portion 8a is squeezed by moving it straight in the axial direction of 8 and detaching it from the tip edge thereof, so that the free end portion 8a ahead of the portion gripped by the air chuck 66 is straightened.

  Here, the gripping of the wire by the one gripping piece 81a and the other gripping piece 82a of the insertion wire gripping extension mechanism 80 is performed from the Z-axis direction, and one gripping piece 91a that grips the wire 8 from the X-axis direction. And the passing wire gripping and extending mechanism 90 having the other gripping piece 92a. For this reason, in both the insertion wire gripping extension mechanism 80 and the passing wire gripping extension mechanism 90, the free end portion 8a can be squeezed alternately from both the Z-axis direction and the X-axis direction. It can extend in the axial direction and always be straight.

  Thereafter, the air chuck 66 that grips the free end portion 8a of the wire 8 is rotated by the reversing mechanism 67 provided in the wire gripping and passing mechanism 60, and the free end portion 8a is moved to the alternate long and short dash line as shown in FIG. Invert as shown by the arrow. At the time of this reversal, the pair of claws 56a, 56b of the air chuck 56 are provided offset from the center thereof, so that the free end portion 8a can be reversed without pulling the wire 8. Then, the tip end edge of the inverted free end portion 8a faces the guide member 12, and as shown by a two-dot chain line arrow, the wire gripping and passing mechanism 60 holding the free end portion 8a is moved to the upper side moving device 42. The tip of the radiation slit 13d located near the periphery of the core 9 through the third guide hole 27d is moved so as to approach the holding means 11 from the other on the right in FIG. Is inserted through the hole 13e.

<Second passing wire gripping and stretching step>
In this step, the free end portion 8a of the wire 8 that has passed from the other side toward the one side in the vicinity of the periphery of the core 9 is gripped and extended toward the one side. Specifically, the free end portion 8a of the wire 8 that has passed through the hole 13e at the distal end of the radiation slit 13d is sandwiched between one grip piece 91a and the other grip piece 92a in the passing wire gripping and extending mechanism 90, and the free end portion 8a. 17 is moved by the lower side moving device 72 (FIG. 1) so as to move away from the holding means 11 toward the left in FIG. 1, and is shown in FIG. 17 (a). Thus, the wire 8 that has passed through the hole 13e is stretched.

  When the wire 8 that has passed through the hole 13e is stretched, the wire 8 that has passed through the third guide hole 27d in the third tongue piece 27b and is inserted into the hole 13e, as shown in FIG. The second communication slit 27e formed in the piece 27b passes through the slit 13d and reaches the outer periphery of the core 9 from the base end which is the open end of the slit 13d. As a result, the wire inserted through the central hole 9a is folded and wound around the outer periphery of the core. Therefore, by stretching the wire 8 that has passed through the hole 13e in this step, a predetermined tension is applied to the wire 8 so that the wire 8 is firmly wound and the looseness of the wire 8 can be prevented.

  The amount of movement of the passing wire gripping and extending mechanism 90 at this time, that is, the amount of stretching of the wire 8, is determined by folding the wire inserted into the central hole 9a from the amount of stretching of the wire 8 in the previous first insertion wire gripping and stretching step. This amount is obtained by subtracting the amount to be wound around the outer periphery of the sword, and the amount of movement is controlled by a controller (not shown).

<Second wire gripping insertion process>
In this step, after the free end portion 8a of the wire 8 stretched by the passing wire gripping and stretching step is reversed, the free end portion 8a is inserted into the central hole 9a from one side to the other side. Specifically, first, the free end portion 8a of the wire 8 stretched by the above process is gripped by the air chuck 56 in the wire gripping insertion mechanism 50, and the free end portion 8a of the wire 8 is gripped. One grip piece 91a and the other grip piece 92a are moved straight in the axial direction of the wire 8 to squeeze the free end portion 8a, and the free end portion 8a ahead of the portion gripped by the air chuck 56 is straightened. To.

  Thereafter, as shown by a one-dot chain line in FIG. 17B, the air chuck 56 that grips the free end portion 8a of the wire 8 is rotated by the reversing mechanism 57 provided in the wire gripping insertion mechanism 50, and the free end portion 8a is rotated. Is reversed. Then, the wire gripping insertion mechanism 60 that grips the free end portion 8a facing the guide member 12 approaches the holding means 11 from one side on the left side of FIG. 1 toward the other side in the right direction by the upper moving device 42 (FIG. 1). Then, the wire gripping and inserting mechanism 50 is moved so that the free end portion 8a is inserted into the central hole 9a of the core 9 through the first guide hole 26b as shown by a two-dot chain line in FIG.

<Second insertion wire gripping and stretching step>
In this step, the free end portion 8a of the wire 8 that has been inserted through the central hole 9a of the core 9 and passed through the through hole 13b of the guide member 12 is connected to one holding piece 81a and the other holding piece in the insertion wire holding and extending mechanism 80. The insertion wire gripping / stretching mechanism 80 is held by the lower moving device 72 (FIG. 1) so as to move away from the holding means 11 toward the other side in the right direction of FIG. As shown in FIG. 17 (c), the wire 8 that has passed through the through-hole 13b is stretched.

  When the wire 8 that has passed through the through hole 13b is stretched, as shown in FIG. 17C, the wire 8 that has passed through the first guide hole 26b in the first tongue piece 26a and is inserted into the central hole 9a of the core is It passes through the first communication slit 26 c formed in the first tongue piece 26 a and reaches the outer periphery of the core 9. As a result, the wire 8 is folded back from the outer periphery of the core to the central hole 9a, and the wire 8 is wound once along the slit 13d formed in the guide member 12. Therefore, by applying a predetermined tension to the wire 8 and winding it around the core 9 in this step, the wire 8 can be wound around the core 9 once without being loosened.

  The amount of movement of the insertion wire gripping and extending mechanism 80 at this time, that is, the amount of stretching of the wire 8, passes through the first communication slit 26 c from the amount of stretching of the wire 8 in the previous second passing wire gripping and stretching step and passes through the first communication slit 26 c. This is an amount obtained by further subtracting the amount folded from the outer periphery to the center hole 9a, and the amount of movement is controlled by a controller (not shown).

  Thereafter, the process returns to the second wire gripping and passing step, and the process from the second wire gripping and passing step to the second insertion wire gripping and extending step is repeated. Then, although the wire 8 is inserted through the single relatively long radiation slit 13c in the first first wire gripping and passing step, the guide member 12 is moved for each step in the second wire gripping and passing step repeated thereafter. The third guide hole 27d in the third tongue piece 27b is opposed to the hole 13e in the short radiation slit 13d other than the long radiation slit 13c by rotating. Therefore, in the repeated second wire gripping and passing step, the wires 8 are sequentially inserted through the holes 13e in the circumferential direction through a plurality of short radiation slits 13d formed around the recesses 13a other than the relatively long radiation slits 13c. Is done. Then, in the subsequent passing wire gripping and extending step, the wire 8 passes through the slit 13d and reaches the outer periphery of the core 9 from the open end of the slit 13d, and a predetermined tension is applied to the wire 8 to apply the core. Let 9 wind tightly. Further, the wire 8 is further inserted into the center hole 9a of the core in the wire gripping insertion process and the insertion wire gripping extension process repeated continuously in the process, and a predetermined tension is applied to the wire 8 so that the wire 8 is connected to the outer periphery of the core. Can be wound around the core 9 sequentially in the circumferential direction while applying a predetermined tension to the wire 8 along the slit 13d.

  Therefore, by repeating the above-described second wire gripping and passing step to the second insertion wire gripping and extending step, the wires 8 are sequentially inserted in the circumferential direction of the plurality of radiation slits 13c and 13d in the guide member 12, and the radiation slits A toroidal coil 7 shown in FIG. 19 in which the wire 8 is wound around the toroidal core 9 with a predetermined tension along the lines 13c and 13d can be obtained. After the toroidal coil 7 in which the wire 8 is wound around the core 9 a desired number of times is obtained, the wire 8 between the coil 7 and the wire supply unit 101 is cut by a cutter gripping mechanism (not shown), The first tongue piece 26a is moved in the X-axis direction to open the recess 13a, and the core 9 around which the wire 8 is wound is taken out from the recess 13a. Then, the cutter gripping mechanism (not shown) holds the free end portion 8a on the wire supply portion 101 side of the cut wire 8 until the wire gripping insertion passing means 40 grips the free end portion 8a on the wire supply portion 101 side. Hold in place and prepare for the next winding.

  Therefore, the core winding device 10 and the winding method thereof according to the present invention do not use a storage ring like that required in the prior art. And since the free end part 8a of the wire 8 is grasped and inserted into the central hole 9a of the core 9 or passed through the vicinity of the periphery of the core 9, if the wire 8 can be inserted into the central hole 9a of the core 9, It will be enough. For this reason, the center hole 9a, which is impossible with the conventional device using the storage ring, can be automatically wound in the relatively small core 9 having a small diameter, and the small coil 7 that cannot be automatically wound conventionally. Productivity can be significantly increased. Then, since the free end portion 8a of the wire 8 inserted through the central hole 9a or passed through the vicinity of the core 9 is then gripped and stretched, a predetermined tension can be applied to the wire 8, thereby a desired tension. Thus, the wire 8 can be wound around the core 9 and the coil can be downsized. In addition, since the storage ring required in the prior art is not used, the work required for winding the wire around the storage ring in advance and the storage ring used as a C-shaped winding ring are used. This eliminates the need for preparatory work for the winding to be mounted on the shaft, and reduces the number of steps from the preparation stage of the winding to the end of the winding.

  Further, in the core winding device and the winding method thereof according to the present invention, the free end portion 8a of the wire 8 is gripped and inserted into the central hole 9a of the core 9 or passed through the vicinity of the core 9, and thereafter Since winding is performed by grasping and extending the free end portion 8a of the inserted or passed wire 8, the wire 8 is relatively thick and its rigidity is relatively high. Winding becomes possible, and the productivity of a coil wound with a relatively thick wire 8 that cannot be automatically wound in the related art can be increased. Then, by using the guide member 12 for guiding the wire 9 to a predetermined place around the core, the so-called aligned wound coil 7 in which the wire 8 is wound around the core 9 along the radiation slits 13c and 13d is provided. It can be obtained relatively easily.

  In the above-described embodiment, the reversing mechanisms 57 and 67 are provided in the wire gripping and passing means 40, and the air chucks 56 and 66 that grip the free end portion 8a of the wire 8 are rotated so that the free end portion 8a is moved. Although an example of reversal has been described, although not shown, a reversing mechanism is provided in the wire gripping and extending means 70, and the free end portion 8a of the stretched wire 8 is reversed with the wire gripping and stretching means 70 gripped, and then the free end thereof. The wire gripping insertion passage means 40 may grip the portion 8a. Further, if the free end portion 8 a of the wire 8 can be reversed, the reversing mechanisms 57 and 67 may be provided independently of the wire gripping insertion passage means 40 and the wire gripping extension means 70.

  Further, in the above-described embodiment, the guide member 12 is rotated by the rotation mechanism 31 using the upper moving device 42 and the lower moving device 72 configured to be arbitrarily movable in the two axial directions of the X axis and the Y axis. Although the case has been described, the upper moving device 42 and the lower moving device 72 are configured to be arbitrarily movable in the three axial directions of the X axis, the Y axis, and the Z axis, and the wire gripping insertion is performed without rotating the guide member 12. The free end 8a of the wire 8 gripped by the passing means 40 is inserted into the hole 13e at the tip of the radiation slits 13c and 13d and the central hole 9a of the core 9, and the free end 8a is gripped and extended. good. Even if the guide member 12 is not rotated in this way, the wire 8 is sequentially provided in the circumferential direction of the plurality of radiation slits 13c and 13d by using the guide member 12 that guides the wire 9 to a predetermined place around the core. It is possible to obtain a so-called aligned wound coil 7 in which the wire 8 is wound around the core 9 with a predetermined tension along the radiation slits 13c and 13d.

  In the above-described embodiment, the wire gripping / passing means 40 includes the wire gripping / inserting mechanism 50 and the wire gripping / passing mechanism 60, and the wire gripping / inserting mechanism 50 and the wire gripping / passing mechanism 60 exceed the holding means 11. However, although not shown in the figure, the wire gripping insertion passage means 40 has a single wire gripping mechanism and the wire gripping mechanism beyond the holding means 11. And an upper moving device 42 that can move from one to the other or from the other to the other. Even in such a wire gripping insertion passage means 40, the upper moving device 42 moves from one side to the other or from the other side to the single wire gripping mechanism that grips the free end portion of the wire 8. By moving it, the free end portion 8a can be inserted through the central hole 9a or passed through the vicinity of the core 9.

  In the embodiment described above, the wire gripping and extending means 70 includes the insertion wire gripping and extending mechanism 80 and the passing wire gripping and extending mechanism 90, and the insertion wire gripping and extending mechanism 80 and the passing wire gripping and extending mechanism 90 are the holding means. Although the case where the wire does not move from one to the other or from the other to the other over 11 has been described, although not shown, the wire gripping and stretching means 70 holds a single wire gripping and stretching mechanism and the wire gripping and stretching mechanism. A lower moving device 72 that can move from one to the other or from the other over the means 11 may be provided. Even with such wire gripping and stretching means 70, the single wire gripping and stretching mechanism that grips the free end portion 8a of the wire 8 that has been inserted through the central hole 9a or passed near the periphery of the core 9 is moved downward. By moving the device 72 beyond the holding means 11 from one to the other or from the other to the other, the wire 8 can be stretched.

  In the above-described embodiment, the wire gripping insertion passage means 40 that grips the free end portion of the wire 8 and passes through the central hole 9 a of the core 9 or passes near the periphery of the core 9, and the center of the core 9. The wire winding means provided with the wire gripping and extending means 70 for gripping and extending the free end portion of the wire 8 inserted through the hole 9a or passed near the periphery of the core 9 has been described. The free end portion 8a of the wire 8 provided on the other side or one side in the Y-axis direction of the holding means 11 and inserted through the central hole 9a of the core 9 is gripped and extended, and the free end portion 8a is inverted to reverse the core 9 A wire gripping extension passage means that passes near the periphery of the wire 9 and a free end portion 8a of the wire 8 that is provided on one side or the other side of the holding means 11 in the Y-axis direction and that passes near the periphery of the core 9 are stretched. And The end 8a is reversed may be a structure having a wire gripping stretching insertion means for inserting the center hole 9a.

  Further, in the above-described embodiment, the case where the wire 8 is a so-called round wire made of a single wire, and the wire gripping insertion passing means 40 and the wire gripping and extending means 70 directly grip the free end portion at the tip of the wire 8 is described. However, a long and narrow needle may be attached to the tip edge of the wire 8 so that the wire gripping insertion / passing means 40 and the wire gripping / stretching means 70 grip the needle 8 as a free end portion. If the needle attached to the leading edge of the wire 8 is gripped as a free end of the wire in this way, for example, when winding an extremely thin wire 8 whose tip is difficult to extend straight, Alternatively, when winding a double wire in which square wires are bundled or a litz wire in which the bundle is twisted, it is preferable because a plurality of wires at the tip can be prevented from spreading and spreading.

  Further, in the above-described embodiment, the description has been given using the guide member 12 in which the concave portion 13a for accommodating the annular toroidal core 9 and the plurality of radiation slits 13c and 13d are formed. However, the core 9 is not limited to the toroidal shape. The guide member does not need to accommodate the core. For example, as shown in FIG. 20, the core 109 may have a square shape having a central hole 109 a, and a guide member 120 may be provided independently of the holding means 111 that holds the core 109. The holding means 111 shown in FIG. 20 includes a main body 112 provided with a recess 112a in which a lower portion of a core 109 is seated and extends in a horizontal direction on a base plate 10b standing on a base 10a. A handle 113 that supports the upper portion of the core 109 seated on 112a from above, a support column 114 whose lower end is fixed to the main body 112 and on which the end of the handle 113 on the side of the substrate 10b is pivoted, and an operation side end of the handle 113 And a fixed cylinder 116 capable of fixing the portion. In this holding means 111, the lower portion of the core 109 is seated in the recess 112 a of the main body 112, the upper portion of the core 109 is supported from the upper side by the handle 113, and the projecting shaft 116 a of the fixed cylinder 116 is projected to project the handle 113. The core 109 is held by prohibiting rotation.

  On the other hand, the guide member 120 shown in FIG. 20 includes a base plate 121 extending in the X-axis direction, and first and first plates provided on both sides of the base plate 121 so as to sandwich the core from both sides in the X-axis direction. Two slit forming members 122, 123, and the first and second slit forming members 122, 123 can be inserted with a wire 8 that passes through the vicinity of the core 109 held by the holding means 111, and Slits 124 are formed around the core 109. The slits 124 are formed so that the open end 124a faces and the width increases as the distance from the open end 124a increases. Although FIG. 20 shows a case where the open end 124 a of the slit 124 faces the periphery of the core 109, the open end 124 a of the slit 124 may overlap with the front and rear surfaces of the core 109.

  In addition, since the winding device 10 in FIG. 20 is provided with the guide member 120 independently from the holding means 111, the guide member 120 is moved so that the slit 124 having the open end 124 a moves along the periphery of the core 109. A guide member moving mechanism 131 is provided. The guide member moving mechanism 131 is configured by a combination of X-axis, Y-axis, and Z-axis direction telescopic actuators 132 to 134. These telescopic actuators 132 to 134 are configured by ball screws 132b to 134b that are rotationally driven by servo motors 132a to 134a, followers 132c to 134c that are screwed into the ball screws 132b to 134b and moved in parallel. In FIG. 20, the base plate 121 is attached to the follower 132c of the X-axis direction expansion / contraction actuator 132 so as to be movable in the X-axis direction, and the X-direction expansion / contraction actuator 132 is driven in the Z-axis direction. The Z-axis expansion / contraction actuator 134 is attached to the follower 133c of the Y-axis expansion / contraction actuator 133 so as to be movable in the Y-axis direction, and the Y-axis expansion / contraction actuator 133 is attached to the base 10a via the bottom plate 10d. Mounted. Servo motors 132a to 134a in each of the telescopic actuators 132 to 134 are connected to a control output of a controller (not shown) that controls the guide member moving mechanism 131. The guide member moving mechanism 131 is configured to be able to arbitrarily move the guide member 120 relative to the holding unit 111 in three axial directions based on a command from a controller (not shown).

  Even with the guide member 120 configured as described above, when the wire 8 inserted into the slit 124 is extended, the wire 8 moves inside the slit 124, and the wire 8 moves from the open end 124 a to the core 109. The wire 8 can be wound around the outer periphery or the front and rear surfaces of the core 109 that reaches the outer periphery or the front and rear surfaces thereof and the open end 124a faces. For this reason, the guide member 120 is moved using the guide member moving mechanism 131 so that the slit 124 having the open end 124 a sequentially moves along the periphery of the core 109 every time the wire 8 is inserted into the slit 124. As a result, the wire 8 inserted through the slit 124 is sequentially guided to a predetermined location around the core to obtain a so-called aligned-wound coil 7 in which the wire 8 is closely aligned with the adjacent wire. .

  Note that the guide member moving mechanism 131 in FIG. 20 allows the guide member 120 to arbitrarily move in the three-axis directions with respect to the holding means 111, but as shown in FIG. The guide member 120 may be arbitrarily movable in the three-axis directions with respect to the holding unit 111, and the guide member 120 may be rotatable. That is, the guide member moving mechanism may include a rotation servomotor 136 that rotates the guide member 120 together with the X-axis, Y-axis, and Z-axis direction expansion / contraction actuators 132 to 134. Specifically, as shown in FIG. 21, the base end of the support piece 137 is attached to the follower 132c of the X-axis direction telescopic actuator 132, and the support plate 138 is attached to the tip end of the support piece 137 extending in the X-axis direction. Is installed. The rotation servomotor 136 is attached to the support plate 138, and a spur gear 139 is attached to the rotation shaft 136a.

  On the other hand, in the guide member 120 shown in FIG. 21, a base plate 121 having first and second slit forming members 122 and 123 provided on both sides is formed in an arc shape centering on the central hole 141a of the core 141, and the inside Further, teeth that can mesh with the spur gear 139 are formed continuously in the longitudinal direction. The support plate 138 is provided with a pair of support rollers 140 a and 140 b that support the base plate 121 from below with the spur gear 139 sandwiching the base plate 121 of the guide member 120. As a result, when the spur gear 139 is rotated by driving the servomotor 136 for rotation, the base plate 121 that is screwed to the spur gear 139 moves along the circular arc, thereby moving the guide member 120 around the central hole 141a of the core 141. And can be rotated as indicated by the dashed-dotted arrow. The rotation servomotor 136 is connected to a control output of a controller (not shown) that controls the guide member moving mechanism 131. The guide member moving mechanism 131 holds the guide member 120 based on a command from the controller. The guide member 120 is configured to be freely movable in the three-axis directions with respect to 111 and rotatable. Here, FIG. 21 also shows the case where the open end 124 a of the slit 124 faces the periphery of the core 141, but the open end 124 a of the slit 124 may overlap the front and rear surfaces of the core 141.

  If the guide member 120 can be rotated in this way, as shown in FIG. 21, when the wire 8 is wound around a relatively large-diameter toroidal core 141, the slit 124 in the guide member 120 is formed on the core. The wire 8 guided through the open end 124a of the slit 124 can be reliably guided to a predetermined position on the outer periphery of the core 141 or on the front and rear surfaces thereof. it can. Here, the holding means 111 shown in FIG. 21 for holding the toroidal core 141 is formed on a main body 112 provided horizontally extending on the substrate 10b, and a protruding piece 112b for supporting the lower portion of the core 141 at the protruding end, and its protruding portion. A fixed piece 142 that enters the central hole 141a of the core 141 whose lower part is supported by the piece 112b and holds the core 141 together with the protruding piece 112b, a holding position where the fixed piece 142 holds the core 141, and the core 141 It has a fixed piece moving means (not shown) that can move between a releasing position and a releasing position.

  As shown in FIGS. 20 and 21, a slit 124 is formed around the cores 109 and 141, through which the wire 8 that passes through the vicinity of the held cores 109 and 141 can be inserted, and the open end 124 a faces. If the guide member 120 and the guide member moving mechanism 131 that moves the guide member 120 so that the slit 124 having the open end 124a moves along the periphery of the cores 109 and 141 are provided, the guide member moving mechanism 131 is provided. By moving the slit 124 each time the wire 8 is inserted, the wire 8 can be sequentially guided to a predetermined place around the core via the open end 124a. It can be easily obtained. In particular, it is difficult to form a plurality of radiation slits when the wire 8 is tightly wound so that there is no gap between the wires 8 in a wound state. Is often used when a relatively thick wire 8 is used, but the guide member 120 can also be wound with the wire 8 in close contact, which is effective when winding such a thick wire 8 closely. . The insertion of the free end portion 8a of the wire 8 can be facilitated by increasing the width as the slit 124 moves away from the open end 124a.

8 Wire 8a Free end portion 9, 109, 141 Core 9a, 109a Central hole 10 Winding device 11, 111 Holding means 12 Guide member 13a Recess 13b Through-hole 13c, 13d Radiation slit 40 Wire grip insertion passage means 57, 67 Reverse mechanism 70 Wire gripping and extending means 120 Guide member 124 Slit 124a Open end 131 Guide member moving mechanism

Claims (5)

Holding means (11,111) for holding a core (9,109,141) having a central hole (9a, 109a, 141a);
By repeatedly passing the wire (8) inserted through the central hole (9a, 109a, 141a) near the periphery of the core (9, 109, 141) and returning it to the inlet side of the central hole (9a, 109a, 141a) Wire winding means for spirally winding the wire in the circumferential direction of the core (9, 109, 141);
A guide member provided in the vicinity of the core (9, 109, 141) and having a slit (13c, 13d, 124) having an open end into which a wire (8) passing through the vicinity of the core (9, 109, 141) can be inserted. 12,120) and equipped with a,
The wire winding means includes a wire gripping / passing means (40) for gripping the free end portion (8a) of the wire (8) and a wire gripping and extending means (70) for gripping and extending the free end portion (8a). And a reversing mechanism (57, 67) for reversing the free end (8a),
The wire gripping insertion passing means (40) has a wire gripping insertion mechanism (50) and a wire gripping passage mechanism (60) with symmetrical structures, respectively.
The wire gripping / stretching means (70) includes a core wire winding device having a central hole, characterized in that each has a symmetrical insertion wire gripping / stretching mechanism (80) and a passing wire gripping / stretching mechanism (90) .   A guide member (12) is provided in the holding means (11, 111), and the guide member (12) includes a recess (13a) for housing the core (9) and a wire inserted through the central hole (9a) of the core (9) ( A through hole (13b) through which 8) can pass, and a slit (13c, 13d) in which the base end is continuous to the through hole (13b) and the distal end extends outside the periphery of the core (9) is the guide member The core winding device having a central hole according to claim 1, wherein a plurality of core winding devices are formed in (12).   A guide member (120) is provided separately from the holding means (111), and the guide member (120) is moved so that a slit (124) having an open end (124a) moves along the periphery of the core (109, 141). The core winding apparatus having a central hole according to claim 1, further comprising a guide member moving mechanism (131). The winding amount of the core having a central hole according to claim 1, wherein a movement amount of the insertion wire gripping extension mechanism (80) and a movement amount of the passing wire gripping extension mechanism (90) are controlled by a controller . Wire device. Using the core winding device having the central hole according to claim 1,
The free end (8a) of the wire (8) inserted from one side to the other through the central hole (9a, 109a, 141a) of the core (9, 109, 141a) having the central hole (9a, 109a, 141a) is inserted. An insertion wire gripping and stretching step of gripping and stretching the gripping and stretching mechanism (80) toward the other;
A wire gripping passing step of passing the free end portion (8a) in the vicinity of the periphery of the core (9, 109, 141) from the other side toward the other side by reversing the free end portion (8a) by a wire gripping passing mechanism (60);
Passing wire gripping and stretching step of gripping the free end portion (8a) by the passing wire gripping and stretching mechanism (90) and extending toward one side;
After inverting the free end (8a) by the wire gripping insertion mechanism (50), performing a wire gripping insertion step of inserting the central hole (9a, 109a, 141a) from one side to the other,
A method of winding a core having a central hole for spirally winding the wire (8) in the circumferential direction of the core (9, 109, 141) by repeating these steps .

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