JP6839588B2 - Winding device - Google Patents

Description

The present invention relates to a winding device for winding a lead wire around a tooth formed on a stator.

A winding device for winding a winding around a tooth formed on a stator core is disclosed in, for example, Patent Document 1. In the winding device disclosed in Patent Document 1, the wire is wound around the tooth by moving the needle that supplies the wire in one direction around the tooth.

Japanese Unexamined Patent Publication No. 2000-245121

In the conventional winding device, the needle is moved along the circumferential direction, and while being inserted into the slot from the radial inner peripheral side through the slot opening, the needle is moved along the axial direction and the radial direction. The wire is wrapped around the teeth. Therefore, the lead wires may be wound around the teeth in the crossed state. When the wires are wound around the teeth with the wires crossed, the number of turns of the wires that can be inserted into the slot decreases, and the space factor of the wires in the slot decreases.
In recent years, with the increase in the output of electric motors, there has been a demand for improvement in the space factor of the lead wire.
The present invention has been devised in view of such a point, and an object of the present invention is to provide a technique capable of winding a lead wire around a tooth in an aligned state without crossing.

The winding device of the present invention relates to a winding device that winds a wire directly around a tooth by moving a needle around the tooth.
The winding device of the present invention includes a needle for supplying a lead wire, a driving means for moving the needle, a control means for controlling the driving means, and an imaging means.
The teeth have a first tooth side surface on one side in the circumferential direction and a second tooth side surface on the other side in the circumferential direction when viewed from one side in the axial direction, and also have a first tooth side surface and a second tooth. The teeth center line that passes through the center of the side surface in the circumferential direction is defined.
The driving means is configured to allow the needle to move around the teeth formed in the stator core. Typically, the needle movement path is formed on both sides of the tooth in the circumferential direction and a path for moving the needle along the circumferential direction between the slot openings of the slots formed on both sides of the tooth. A movement path for moving the needle along the axial direction and the radial direction while being inserted into the slot from the radial inner peripheral side through the slot opening of the slot is included. As the driving means for moving the needle, known driving means having various configurations can be used.
The imaging means can output imaging information indicating an imaging screen as viewed from one side in the axial direction in a state where the lead wire supplied from the needle is wound around the tooth. As the imaging means, various known imaging means can be used. Typically, a CCD camera is used. The "imaging screen viewed from one side in the axial direction" means an imaging screen capable of determining the extending direction of the lead wire wound around the portion of the core end face corresponding to the teeth (the end face of the teeth on one side in the axial direction). To do. The imaging information output from the imaging means includes imaging information indicating the imaging screen itself viewed from one side in the axial direction, and imaging capable of acquiring an imaging screen viewed from one side in the axial direction by performing image processing. Contains information.
The control means moves the needle around the tooth in one direction and controls the drive means so that the lead wire supplied from the needle is wound around the tooth. Also, when the needle is being moved around the tooth in one direction, whether or not the lead wires wound around the tooth intersect or may intersect based on the imaging information output from the imaging means. Determine if not. As a method of determining whether or not the conductors wound around the teeth intersect or may intersect, one of the wires wound around the teeth is based on the imaging information output from the imaging means. A method of determining whether or not the angle θ between the extending direction of the lead wire and the center line of the teeth is larger than the set angle θs is used. Here, the diameter of the lead wire supplied from the needle is D (mm), the width along the circumferential direction of the tooth is W (mm), and the thickness of the slot insulating member inserted into the slot formed in the stator core. When the value is F (mm), the set angle θs that satisfies [−tan θs = (W + 2F) / 2D] is set. Then, when the angle θ is larger than the set angle θs, it is determined that one of the conducting wires intersects with or may intersect with the other conducting wire, and the driving means is controlled so as to stop the needle. To do. The needle is then moved around the tooth in the other direction to control the drive means so that the crossing of the leads or the possibility of crossing is eliminated. Preferably, after the crossing of the leads or the possibility of crossing is eliminated, the needle is moved in one direction around the teeth and the winding of the leads around the teeth is resumed.
In the present invention, it is determined whether or not the conductors intersect or may intersect based on the imaging information output from the imaging means, and the conductors may or may intersect. If it is determined that there is, the needle is moved so that the crossing of the leads or the possibility of crossing is canceled, so with a simple configuration, the leads should be wound around the teeth in an aligned state without crossing. Can be done.
In another aspect of the invention, the control means controls the drive means to move the needle around the tooth in the other direction, and whether or not the conductors intersect based on the imaging information. Determine if there is a possibility of intersection. Then, when it is determined that the conductors do not intersect or there is no possibility of intersection, that is, when it is determined that the conductors intersect or the possibility of intersection is canceled, the needle is driven to stop. After controlling the means, the drive means is controlled to move the needle around the tooth in one direction.
In another aspect of the invention, the control means determines the number of other leads intersecting any of the leads based on the imaging information while the needle is stopped. Then, the driving means is controlled so as to move the needle around the tooth in the other direction a number of times corresponding to the number of other conducted wires determined. The drive means is then controlled to move the needle around the tooth in one direction. The number of other leads intersecting any of the leads determines the maximum number of other leads intersecting any of the leads when there are a plurality of intersecting leads.
Since the needle is moving at a high speed, when the driving means is stopped and controlled, the needle does not stop immediately, but moves by inertial force and then stops. That is, there is a high possibility that the crossed state of the lead wires at the time when the crossing of the lead wires is determined is different from the crossed state of the lead wires when the needle is stopped. Therefore, in the state where the needle is stopped, by determining the number of other conducting wires intersecting with any of the conducting wires, the intersection of the conducting wires can be surely released by a simple process.
In this embodiment, the intersection of the lead wires can be surely released.
In another embodiment of the present invention, the control means means that one of the wires is one of the other wires on the image pickup screen in which the wire supplied from the needle is wound around the tooth on one side in the axial direction. It is determined that the lead wires intersect by intersecting the first lateral line and the second lateral line indicating the lateral edge and the other lateral edge of the above. For example, a wire extension that passes through the center of one of the wires, one lateral line of the wire, or either the first or second lateral line that indicates the other side, is one of the other sidings. It is determined by intersecting both the first lateral line and the second lateral line indicating the other lateral edge.
When moving the needle around the tooth in the other direction, the needle is moved at a sufficiently lower speed than when the needle is moved around the tooth in one direction (when the wire is wound). Therefore, it is possible to determine whether or not the intersection of the lead wires has been released while moving the needle in the other direction.
In another embodiment of the present invention, a wire feeding device including a wire feeding means, a wire feeding regulating means, and a wire rewinding means is provided.
The lead wire sending means sends out the lead wire. As the lead wire feeding means, for example, a lead wire roll around which the lead wire is wound is used. The lead wire sending regulation means regulates the sending of the lead wire from the lead wire sending means. As the lead wire sending regulating means, for example, a tension applying means capable of adjusting the tension applied to the lead wire is used. The wire rewinding means is provided between the wire feeding regulating means and the needle, and when the needle is moved around the tooth in the other direction (rewinding direction), the wire rewinding amount is adjusted to adjust the wire. Prevents the lead wire between the feed regulating means and the needle from sagging. As the lead wire rewinding means, an air cylinder or the like having a telescopic rod is used.
When the needle is moved in the other direction around the tooth (when the intersection of the wires is released), the control means controls the wire feed regulating means so as to regulate the wire feeding from the wire feeding means, and winds the needle. The rewinding means is controlled to adjust the rewinding amount.
In this embodiment, it is possible to prevent the lead wire from slackening between the lead wire delivery regulating means and the needle when the crossing of the lead wires is released.
Other embodiments of the invention include a plurality of needles. Further, the driving means is configured so that a plurality of needles can be moved around different teeth. Further, the imaging means can output imaging information indicating an imaging screen viewed from one side in the axial direction in a state where the lead wires supplied from each of the plurality of needles are wound around different teeth. The number of imaging means may be one, or a plurality of imaging means may be provided corresponding to each needle.
The control means determines for each of the different teeth whether or not the wound conductors intersect based on the imaging information. Then, when it is determined that the wound conducting wires intersect with any of the teeth, the driving means is controlled so as to stop the needle. When the needle is moved around the teeth in the other direction to eliminate the intersection of the conducting wires, the driving means is controlled so that the intersection of the conducting wires in all the teeth is eliminated.
In this embodiment, a plurality of needles can be used to wind the lead wires around a plurality of teeth in an aligned state without crossing.

In the present invention, the lead wires can be wound around the teeth in an aligned state without crossing.

It is a figure explaining the operation of winding a lead wire around a tooth of a stator core by using the winding device of this invention. It is a figure which shows the lead wire feed device used in one Embodiment of the winding device of this invention. It is a block diagram which shows the structure of one Embodiment of the winding apparatus of this invention. It is a figure explaining the 1st Embodiment of the method of discriminating the intersection of the conducting wire used in one Embodiment of the winding apparatus of this invention. It is a figure explaining the 2nd Embodiment of the method of discriminating the intersection of the conducting wire used in one Embodiment of the winding apparatus of this invention.

The winding device of the present invention will be described below with reference to the drawings.
In the present specification, the description "axial direction" indicates the direction of the rotation center line passing through the rotation center of the rotor in a state where the rotor is arranged so as to be rotatable relative to the stator. The description "circumferential direction" refers to the center of rotation O as a center when viewed in a cross section perpendicular to the axial direction (see FIG. 1) in a state where the rotor is arranged so as to be rotatable relative to the stator. Indicates the circumferential direction. The description "radial direction" indicates a direction passing through the center of rotation O when viewed in a cross section perpendicular to the axial direction in a state where the rotor is arranged so as to be rotatable relative to the stator. The description "diameter inner circumference side" indicates the rotation center O side along the radial direction, and the description "diameter outer circumference side" indicates the side opposite to the rotation center O along the radial direction. Hereinafter, the center of rotation O is referred to as "center O of the stator core".
Further, in the following, in the cross section perpendicular to the axial direction (FIG. 1), the clockwise direction is referred to as "one side in the circumferential direction" and the counterclockwise direction is referred to as "the other side in the circumferential direction". "And" the other side in the circumferential direction "may be in the opposite direction.

First, the schematic operation of the winding device of the present invention will be described with reference to FIG. FIG. 1 shows an example of the stator 10 of the rotating machine. FIG. 1 is a view of the stator 10 viewed from a direction perpendicular to the axial direction (one side in the axial direction).
The stator 10 is composed of a stator core 20, a slot insulating member 30, and a lead wire 40.
The stator core 20 is composed of a laminated body obtained by laminating a plurality of electromagnetic steel plates, has a first core end face 20A on one side in the axial direction, and has a second core end face 20B on the other side in the axial direction (FIG. 2).
The stator 10 has a yoke 21 extending along the circumferential direction and a teeth 22 extending from the yoke 21 to the inner peripheral side in the radial direction (O side at the center of the stator core) along the radial direction.
The teeth 22 are provided on the radial inner peripheral side of the teeth base 23 and the tooth base 23 extending radially from the yoke 21 and extending along the circumferential direction. Has 24.
The teeth base 23 has a first tooth base side surface 23a (see FIGS. 4 and 5) on one side in the circumferential direction, and a second tooth base side surface 23b (see FIGS. 4 and 5) on the other side in the circumferential direction. It has a first tooth base end face (not shown) on one side in the axial direction and a second tooth base end face (not shown) on the other side in the axial direction. In the present embodiment, the first tooth base end face is formed flush with the first core end face 20A. That is, the first tooth base end face is included in the first core end face 20A. Similarly, the second tooth base end face is included in the second core end face 20B.
The first tooth base side surface 23a corresponds to the "first tooth side surface (teeth side surface on one side in the circumferential direction)" of the present invention, and the second tooth base side surface 23b corresponds to the "second tooth side surface" of the present invention. Corresponds to the side surface of the teeth (“the side surface of the teeth on the other side in the circumferential direction”).
An arcuate tooth tip surface 25 is formed on the inner peripheral side of the tooth tip 24 in the radial direction. The tooth tip surface 25 corresponds to the inner peripheral surface of the stator core 20. The tooth tip surface 25 forms a rotor insertion space 20a into which a rotor (not shown) is inserted.
Slots 26 are formed by teeth 22 adjacent to each other in the circumferential direction. Further, a slot opening 26a is formed between the tooth tips 24 of the teeth 22 adjacent to each other in the circumferential direction.
A lead wire 40 forming a stator winding is wound around the teeth 22 (specifically, the teeth base 23).

In one embodiment of the winding device of the present invention, the needle 100 for supplying the lead wire 40, the driving means 210 (see FIG. 3) for moving the needle 100 around the tooth 22 (teeth base 23), and the lead wire to the needle 100. It is equipped with a wire feeding device that feeds 40.
As the driving means, known driving means having various configurations can be used.
The driving means is arranged coaxially with the central axis of the stator core in the rotor insertion space 20a of the stator core 20. Then, with the needle 100 inserted into the slot 26 from the radial inner peripheral side via the slot opening 26a, the needle 100 is moved along the axial direction (direction of arrow A shown in FIG. 3) and the stator core. The lead wire 40 is wound around the teeth 22 by combining the movements along the circumferential direction around the center O (the direction of the arrow C shown in FIG. 1) and rotating the teeth 22 around the teeth 22. Further, by moving the needle 100 in the radial direction (direction of arrow B shown in FIG. 1) about the center O of the stator core, the lead wires 40 are aligned and wound along the radial direction.
In FIG. 1, the winding device includes three needles 100 (1), 100 (2), and 100 (3), and the driving means has three needles 100 (1) and 100 (2). , 100 (3) are configured to be able to be moved around three different teeth 22. As a result, the lead wire 40 can be wound around the three teeth 22 at the same time, and in FIG. 1, the teeth 22 (1), 22 (3), and 22 (5).
Of course, the number of needles can be changed as appropriate. Further, the structure of the driving means is changed according to the number of needles.
Further, preferably, the lead wire 40 is wound around the teeth 22 in a state where resin bobbins (not shown) formed of a resin having insulating properties are arranged on both sides of the stator core 20 in the axial direction. The resin bobbin is formed of, for example, a resin having insulating properties. The resin bobbin connects the outer wall portion extending along the circumferential direction, a plurality of inner wall portions extending in the radial direction from the outer wall portion and extending along the circumferential direction, and the outer wall portion and each inner wall portion. It has a plurality of connecting portions. The outer wall portion, the connecting portion, and the inner wall portion of the resin bobbin are arranged at positions facing the yoke 21, the tooth base 23, and the tooth tip 24 of the stator core 20, respectively.

Next, the lead wire feeding device used in one embodiment of the winding device of the present invention will be described with reference to FIG. Note that FIG. 2 shows a case where one needle 100 is provided. Of course, the same applies when a plurality of needles are provided.
The wire feeding device is composed of a wire feeding means 110, a wire feeding regulating means 120, and a wire rewinding means 130.
As the lead wire sending means 110, a lead wire roll around which the lead wire 40 is wound is used, and the lead wire 40 is sent out.
The lead wire sending regulation means 120 regulates the sending of the lead wire from the lead wire sending means 110. As the lead wire feeding regulating means 120, for example, a tension applying means capable of adjusting the tension applied to the lead wire 40 is used. The lead wire delivery regulating means 120 is configured so that a predetermined tension can be applied to the lead wire 40 and the lead wire can be sent out, and the delivery of the lead wire can be stopped (regulated).
The lead wire rewinding means 130 is provided between the lead wire feed regulating means 120 and the needle 100, and is configured to be able to rewind the lead wire 40 between the lead wire feed regulating means 120 and the needle 100. In the present embodiment, the lead wire rewinding means 130 is composed of an air cylinder 131 having a stretchable rod 131a and an air cylinder 132 having a stretchable rod 132a. By adjusting the lengths of the rod 131a of the air cylinder 131 and the rod 132a of the air cylinder 132, the lead wire 40 between the lead wire feeding means 110 and the needle 100 can be rewound.
As will be described later, in the winding device of the present embodiment, when it is determined that the lead wires 40 wound around the teeth 22 intersect, the needle 100 is moved in the reverse direction in order to eliminate the intersection of the lead wires 40. Move to. At this time, by stopping the feeding of the lead wire from the lead wire feeding means 110 and rewinding the lead wire 40 between the lead wire feed regulating means 120 and the needle 100, the lead wire 40 moves in the rewinding direction of the needle 100. Deflection can be prevented. The amount of rewinding by the lead wire rewinding means 130 is adjusted as the needle 100 is moved around the teeth 22 in the other direction (rewinding direction), that is, according to the amount of movement in the rewinding direction. preferable. As a result, it is possible to appropriately prevent the lead wire 40 from bending due to the movement of the needle 100 in the rewinding direction.

FIG. 3 shows a block diagram of the winding device of this embodiment.
The winding device of the present embodiment includes a control means 200, an image pickup means 220, a drive means 210 for moving the needle 100, a lead wire delivery regulating means 120 constituting the lead wire delivery device, and a lead wire rewinding means 130.
The control means 200 is composed of a CPU. The control means 200 includes input means for inputting image pickup information and the like output from the image pickup means 220, processing means for executing various processes such as image pickup information processing means for processing the image pickup information, programs and data, which will be described later. Various means such as a storage means for storing the information, an input means for inputting input information, a display means for displaying predetermined information, and the like are included.
The imaging means 220 outputs imaging information indicating an imaging screen in which the lead wire 40 supplied from the needle 100 is wound around the teeth 22. The imaging information may include information capable of discriminating the intersection of the conducting wires 40, which will be described later, and preferably, an imaging screen in which the conducting wires 40 are wound around the teeth 22 as viewed from one side in the axial direction. The imaging information indicating is used. In the present embodiment, as shown in FIGS. 1 and 2, the imaging means 220 images the state in which the lead wire 40 is wound around the end surface of the first teeth on one side in the axial direction of the teeth 22. Have been placed.
In FIG. 1, the three needles 100 (1), 100 (2), and 100 (3) have different teeth, and in FIG. 1, the wires are connected to the teeth 22 (1), 22 (3), and 22 (5). In order to image the state in which the 40 is wound, three imaging means, 220 (1), 220 (2), and 220 (3), are provided in FIG.
On the other hand, FIG. 2 is a block diagram in the case where one imaging means 220 is provided.
Of course, in the winding device provided with the plurality of imaging means 220, the block diagram shown in FIG. 2 is modified.

When the lead wire 40 is wound around the teeth 22, the control means 200 releases the regulation of the lead wire feed by the lead wire feed regulation means 120, sets the control means 200 to a normal state in which a predetermined tension is applied to the lead wire 40, and rewinds the lead wire. The means 130 is set to a normal state to control the driving means 210 for moving the needle 100.
Further, the control means 200 inputs the image pickup information output from the image pickup means 220 in a state where the lead wire 40 is wound around the teeth 22. Then, based on the input imaging information, it is determined whether or not the lead wires 40 wound around the teeth 22 intersect.
An intersection determination method for determining whether or not the lead wires 40 wound around the teeth 22 intersect based on the imaging information will be described below.

[First crossing discrimination method]
The first crossing discrimination method is a method of discriminating the intersection of the lead wires 40 by discriminating whether or not any of the lead wires 40 intersects with the other lead wires 40.
The first crossing discrimination method will be described with reference to FIG. Note that FIG. 4 is an imaging screen on the tooth end face on one side in the axial direction of the teeth 22 around which the lead wire 40 is wound, which is captured by the imaging means 220, that is, indicated by the input imaging information.

The fact that one of the leads 40 intersects with the other 40 means that one of the leads 40 indicates a first lateral line indicating one side edge of the other lead 40 and a second lateral line indicating the other lateral edge. It is determined by intersecting the lateral line.
For example, in FIG. 4, by determining the direction in which the lead wire 40 (s) extends, the central line H (s) of the lead wire 40 (s), the first lateral line A (s) indicating one side edge, The extending direction of the second lateral line B (s) indicating the other lateral edge can be determined. As a method for determining the direction in which the lead wire 40 extends based on the imaging information, various known methods can be used.
Similarly, the extending direction of the center line H (t) of the lead wire 40 (t), the first side line A (t) indicating one side edge, and the second side line B (t) indicating the other side edge. It can be determined.
In FIG. 4, when the wires 40 (1), 40 (2), and 40 (s) are wound around the teeth 22, the wires 40 (1), 40 (2), and 40 (s) are of the other wires. Since it does not intersect the first lateral line and the second lateral line, it is determined that it does not intersect with the other lead wires 40.
In this state, when the lead wire 40 (t) is wound around the teeth 22, any of the central line H (t), the first lateral line A (t), and the second lateral line B (t) of the lead wire 40 (t). The ton crosses the first siding A (s) and the second siding B (s) of the lead wire 40 (s). Therefore, it is determined that the lead wire 40 (t) intersects with another lead wire, in this case, the lead wire 40 (s).
When it is determined that one of the leads 40 intersects the other lead 40, the needle 100 is moved around the tooth 22 in the other direction, that is, by moving the needle in the rewinding direction. , The intersection of the lead wires 40 can be eliminated.

When the first crossing discrimination method is used, not only that one of the lead wires 40 intersects with the other lead wire 40, but also the number of other lead wires 40 intersecting with any of the lead wires 40. It can be determined.
For example, in FIG. 4, when the wire 40 (10), 40 (11), 40 (12) is wound around the tooth 22, the wire 40 (12) is the first lateral line and the second lateral line of the wire 40 (10). It intersects with the siding of the above, and also intersects with the first siding and the second siding of the lead wire 40 (11). Therefore, it can be determined that the number of the conducting wires 40 (12) intersecting with the other conducting wires 40 is "2".
By determining the number of other conducting wires 40 intersecting with any of the conducting wires 40, the number of times of rewinding can be determined when the needle is moved in the rewinding direction, and the intersection of the conducting wires 40 can be determined in a short time. Can be resolved.
When the first crossing discrimination method and the second crossing discriminating method described later are used, the surface of the slot insulating member 30 arranged on one side in the circumferential direction with the tooth 22 sandwiched between the surface on the slot 26 side and the other side in the circumferential direction. Within the region of the slot insulating member 30 arranged in (inside the region on the slot 26 side) (in the region of (W + 2F) shown in FIG. 5), preferably in the region of the teeth base 23 (in the region of the teeth base 23). It suffices to perform the process of discriminating the intersection of the lead wires 40 in the region (W) shown in FIG. W (mm) is the width of the teeth 22 (teeth base 23) along the circumferential direction, and F (mm) is the thickness of the slot insulating member 30.

[Second intersection discrimination method]
The second intersection determination method determines the intersection of the conductors 40 by determining whether or not the angle θ between the extending direction of any of the conductors 40 and the teeth center line Q is larger than the set angle θs. It is a method.
The second intersection discrimination method will be described with reference to FIG. Note that FIG. 5 is an imaging screen of the tooth end face on one side in the axial direction of the teeth 22 around which the lead wire 40 is wound, which is captured by the imaging means 220, that is, indicated by the input imaging information. Further, the teeth 22 has a first tooth base side surface 23a (first tooth side surface) on one side in the circumferential direction and a second tooth base side surface 23b (second tooth side surface) on the other side in the circumferential direction. A tooth center line Q passing through the center in the circumferential direction between the first tooth base side surface 23a (first tooth side surface) and the second tooth base side surface 23b (second tooth side surface) is defined. Here, since the first tooth base side surface 23a (first tooth side surface) and the second tooth base side surface 23b (second tooth side surface) are parallel to or substantially parallel to the tooth center line Q, the following description will be given. In place of the teeth center line Q, a first tooth base side surface 23a (first tooth side surface) or a second tooth base side surface 23b (second tooth side surface) can be used.

The extending direction of any of the lead wires 40 is determined. For example, in FIG. 5, by determining the direction in which the lead wire 40 (n) extends, the central line H (n) of the lead wire 40 (n), the first lateral line A (n) indicating one side edge, The extending direction of the second lateral line B (n) indicating the other lateral edge can be determined. As a method for determining the direction in which the lead wire 40 extends based on the imaging information, various known methods can be used.
Next, the angle θ between the extending direction of any of the lead wires 40 and the tooth center line Q is determined. For example, the angle θ between any one of the center line, the first lateral line, and the second lateral line of any of the lead wires 40 and the tooth center line Q is determined.
Then, it is determined whether or not the angle θ between the extending direction of any of the lead wires 40 and the tooth center line Q is larger than the set angle θs.
Here, as shown in FIG. 5, the state in which the lead wire 40 (n) is wound around the lead wire 40 (m) is defined as the boundary for crossing determination. The angle θs between the extending line of the lead wire 40 (n) and the tooth center line Q satisfies [−tan θs = (W + 2F) / 2D]. Note that D (mm) is the diameter of the lead wire 40 supplied from the needle 100. W (mm) is the width of the teeth 22 (teeth base 23) along the circumferential direction. F (mm) is the thickness of the slot insulating member 30 inserted into the slot 26.
In the second intersection determination method, the conductors 40 intersect (the other conductors) because the angle θ between the extending direction of one of the conductors 40 and the tooth center line Q is equal to or greater than the set angle θs. (Including the possibility of intersecting with).
The second crossing discrimination method is simple because it is sufficient to discriminate the angle θ between the extending direction of the lead wire 40 and the tooth center line Q.
In the second crossing determination method, it is difficult to determine the number of other conducting wires intersecting any of the conducting wires.

When winding the lead wire 40 around the teeth 22, the lead wire 40 may be wound in an inclined state with respect to the teeth center line Q at the time of the first winding. In this case, although it does not intersect with the other lead wires 40, the second and subsequent lead wires 40 intersect and are wound. Therefore, even when the teeth 22 are wound in such a state where the intersection with the other conductors 40 is predicted, it is determined that the conductors 40 are intersecting and the needle 100 is moved in the rewinding direction. It is preferable to configure in.
By using the second intersection discrimination method, such a case can be dealt with.

Next, an embodiment of the operation of the control means 200 will be described.
First, the control means 200 moves the needle 100 around the teeth 22 in one direction, and controls the drive means 210 so that the lead wire 40 supplied from the needle 100 is wound around the teeth 22.
While the lead wire 40 is wound around the tooth 22, the control means 200 determines whether or not the lead wire 40 wound around the tooth 22 intersects based on the imaging information. Whether or not any of the lead wires 40 intersect can be determined by using, for example, a first intersection determination method or a second intersection determination method. When it is determined that any of the conducting wires 40 intersects, a stop control signal for stopping the needle 100 is output to the driving means 210.

Next, the control means 200 moves the needle 100 around the teeth 22 in the other direction to release the intersection of the lead wires 40. At this time, the lead wire sending regulation means 120 and the lead wire rewinding means 130 are controlled as described above.
As a method of moving the needle 100 around the teeth 22 in the other direction to release the intersection, for example, a [first intersection release method] or a [second intersection release method] can be used.

[First crossing cancellation method]
The first crossing release method is a method of moving the needle 100 around the teeth 22 in the other direction until the crossing of the lead wires 40 cannot be determined.
The control means determines whether or not any of the lead wires 40 intersects based on the imaging information while controlling the drive means 210 so as to move the needle 100 around the teeth 22 in the other direction. Whether or not any of the lead wires 40 intersect can be determined by using, for example, a first intersection determination method or a second intersection determination method. The moving speed of the needle 100 when the needle 100 is moved around the tooth 22 in the other direction is the moving speed of the needle 100 when the needle 100 is moved in one direction around the tooth 22 and the lead wire 40 is wound around the tooth 22. Much slower than. Therefore, there is time to determine whether or not any of the lead wires 40 intersects based on the imaging information.
When the control means 200 does not determine that any of the lead wires 40 intersects with the other lead wires 40, that is, determines that all the lead wires 40 do not intersect with the other lead wires 40, the needle 100 is set. The drive means 210 is controlled so as to stop.
Then, the control means 200 then controls the drive means 210 so that the needle 100 moves in one direction around the teeth 22, and resumes winding the lead wire 40 around the teeth 22.

[Second crossing cancellation method]
The second crossing release method is a method of moving the needle 100 around the teeth 22 in the other direction according to the crossing state of the lead wires 40.
Since the needle 100 is moving at a high speed, it takes a certain period of time (there is a delay) from the output of the stop control signal to the driving means 210 to the stop of the needle 100 due to the influence of inertial force and the like. In this case, there is a possibility that the crossing state of the lead wire 40 at the time when the crossing of any of the lead wires 40 is determined and the crossing state of the lead wire 40 when the needle 100 is stopped are different. When the needle 100 is stopped, the control means 200 determines the crossing state of the lead wires 40 based on the imaging information. For example, it is determined which lead wire 40 intersects, the number of other lead wires 40 that any lead wire 40 intersects, and the like. It can be determined that the needle 100 has stopped by using a known appropriate method.
The control means 200 determines the number of times the needle 100 is moved around the tooth 22 in the other direction based on the crossing state of the lead wires 40 when the needle 100 is stopped. At this time, if there are a plurality of the intersecting lead wires 40, the largest number among the number of the other intersecting lead wires 40 is selected.
The control means 200 moves the needle 100 around the teeth 22 in the other direction based on the maximum number of other conductors 40 intersecting one of the conductors 40, which is determined based on the intersecting state of the conductors 40. Determine the number of times to move. Then, the driving means 210 is controlled so that the needle 100 moves around the tooth 22 in the other direction for the determined number of times.
The control means then controls the drive means 210 so that the needle 100 moves around the teeth 22 in one direction, and resumes winding the lead wire 40 around the teeth 22.

As described above, in the winding device of the present embodiment, the imaging means 220 for imaging the state in which the lead wire 40 supplied from the needle 100 is wound around the teeth 22 is provided, and the imaging information output from the imaging means 220 is used. When it is determined whether or not the conducting wires 40 intersect (including whether or not the conducting wires may intersect) based on the above, and when it is determined that the conducting wires 40 intersect (there is a possibility of intersecting). Since the needle 100 is moved in the rewinding direction, it is possible to prevent the lead wires from being wound around the teeth in a crossed state. Further, when the needle 100 is moved in the rewinding direction, it is moved in the rewinding direction until the intersection of the lead wires 40 is released (including until the possibility of intersection disappears), or when the needle 100 is stopped. By moving the lead wires 40 in the rewinding direction a number of times according to the crossing state of the lead wires 40, the crossing of the lead wires 40 can be canceled efficiently and effectively in a short time.

The present invention is not limited to the configuration described in the embodiment, and various changes, additions, and deletions can be made.
The method for determining that one of the leads intersects with the other lead based on the imaging information and the number of other leads that intersect with any of the leads is the configuration described in the embodiment. Not limited.
The number of imaging means, the arrangement position, and the like can be changed as appropriate.
As the imaging information output from the imaging means, it is possible to use imaging information that can represent the imaging screen independently, imaging information that can represent the imaging screen by combining a plurality of imaging information, and the like.
The configuration of the needle and the configuration of the driving means for moving the needle can be changed as appropriate.
The number of needles and the number of imaging means can be changed as appropriate.
The lead wire feeding regulation means and the lead wire rewinding means are not limited to the configuration described in the embodiment.
Each configuration described in the embodiment may be used alone, or a plurality of appropriately selected configurations may be used in combination.

10 Stator 20 Stator core 20A, 20B Core end faces 21 Yorks 22, 22 (1) to 22 (6) Teeth 23 Teeth base 23a First tooth base side surface (one side of the tooth base in the circumferential direction)
23b Second tooth base side surface (teeth base side surface on the other side in the circumferential direction)
24 Teeth tip 25 Teeth tip surfaces 26, 26 (1) to 26 (6) Slots 26a, 26a (1) to 26a (6) Slot opening 30 Slot insulation members 40, 40 (1) to 40 (4), 40 (10), 40 (11), 40 (t), 40 (s), 40 (m), 40 (n) Lead wire 100, 100 (1) to 100 (3) Needle 110 Lead wire reel (lead wire feeding means)
120 Tension applying means (lead wire sending regulation means)
130 Lead wire rewinding means 131, 132 Air cylinder 220, 220 (1) to 220 (3) Imaging means

Claims (6)

A needle for supplying a lead wire, a driving means for moving the needle around a tooth formed in a stator core, and a control means are provided, and the control means moves the needle around the tooth on one side. A winding device that moves in a direction and controls the driving means so that a lead wire supplied from the needle is wound around the tooth.
The teeth have a first tooth side surface on one side in the circumferential direction and a second tooth side surface on the other side in the circumferential direction when viewed from one side in the axial direction, and the first tooth side surface and the first tooth side. The teeth center line passing through the center of the circumferential direction of the side of the teeth of 2 is defined.
An imaging means capable of outputting imaging information indicating an imaging screen as viewed from one side in the axial direction in a state where the lead wire supplied from the needle is wound around the tooth is provided.
The diameter of the lead wire supplied from the needle is D (mm), the width along the circumferential direction of the tooth is W (mm), and the thickness of the slot insulating member inserted into the slot formed in the stator core is When F (mm) is set, a set angle θs satisfying [-tan θs = (W + 2F) / 2D] is set, and the setting angle θs is set.
Based on the imaging information output from the imaging means, the control means determines whether the angle θ between the extending direction of any of the conducting wires wound around the teeth and the center line of the teeth is larger than the set angle θs. If it is determined whether or not the angle θ is larger than the set angle θs, it is determined that one of the conducting wires intersects with or may intersect with the other conducting wire, and the needle is stopped. After controlling the drive means as described above, the winding device is characterized by moving the needle around the teeth in the other direction and controlling the drive means so that the intersection of the lead wires is released. The winding device according to claim 1.
In a state where the control means controls the drive means so as to move the needle around the tooth in the other direction, one of the leads intersects with the other lead based on the imaging information. If it is determined whether or not there is a possibility of intersection, and if it is determined that none of the conductors intersects or is unlikely to intersect with another conductor, the needle is stopped. A winding device comprising controlling the driving means so as to move the needle around the teeth in the one-way direction after controlling the driving means. The winding device according to claim 1.
The control means determines the number of other conductors intersecting with any of the conductors based on the imaging information in the state where the needle is stopped, and the number of times corresponding to the number of the determined other conductors. The driving means is controlled so as to move the needle around the tooth in the other direction, and then the driving means is controlled so as to move the needle around the tooth in the other direction. Winding device. The winding device according to claim 3.
In the imaging screen in which the lead wire supplied from the needle is wound around the tooth in the image pickup screen viewed from one side in the axial direction, one of the lead wires is formed on one side edge of the other lead wire and the control means. A winding device characterized in that it is determined that one of the conducting wires and the other conducting wire intersect by intersecting the first lateral line and the second lateral line indicating the other lateral edge. The winding device according to any one of claims 1 to 4.
A wire winding means for feeding a wire, a wire feeding regulating means for regulating the feeding of the wire from the wire feeding means, and a wire winding provided between the wire feeding regulating means and the needle and capable of adjusting the rewinding amount. Equipped with a return means,
When the needle is moved around the tooth in the other direction, the control means controls the lead wire delivery regulating means so as to regulate the delivery of the lead wire from the lead wire delivery means, and also controls the lead wire delivery regulating means and winds the lead wire. A winding device characterized by controlling the return means. The winding device according to any one of claims 1 to 5.
With a plurality of the needles
The driving means can move the plurality of needles around different teeth.
The imaging means can output imaging information indicating an imaging screen viewed from one side in the axial direction in a state in which a lead wire supplied from each of the plurality of needles is wound around each of the different teeth.
Based on the imaging information, the control means determines whether or not the wound conductors intersect each of the different teeth, and the wound conductors intersect with any of the teeth. A winding device characterized in that the driving means is controlled so as to stop the needle when it is determined that the needle is being used.

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