JP7376168B1 - winding device - Google Patents

Abstract

An object of the present invention is to provide a winding device capable of suppressing sagging during winding and increasing the degree of winding alignment. This winding device 10 includes a wire guide tube 15, a lifting base 19, a first drive device that moves the lift base 19 up and down, and a second drive device that rotates the wire guide tube 15 back and forth. It includes a nozzle holder 57 attached to the tip of the conductor guide cylinder, a plurality of nozzles 74, 75, 76, a cam plate 55, and a third drive device that rotates the cam plate 55. The device and the third drive device each have independent servo motors, and the drive timing and drive amount are controlled by the control device, and the nozzle is moved around the internal teeth of the stator core by the first and second drive devices, The windings are moved and aligned in the radial direction by three drives. [Selection diagram] Figure 1

Description

The present invention relates to a winding device for directly winding a conducting wire around the internal teeth of a stator core.

For example, as a winding device for directly winding a conducting wire around the internal teeth of a stator core, Patent Document 1 below discloses a guide tube in which a conducting wire introduced from one side is delivered from a nozzle provided on the other side, and a guide tube that reciprocates in the axial direction. and a swinging part that swings the guide tube at a set angle in the circumferential direction of the shaft. A winding device for the stator core is described which is wound around the teeth to form a coil. Then, a swinging sleeve is spline-engaged with the guide cylinder, a cam follower is installed in two on one side of the swinging sleeve, and a cam that is disposed in a circumferential manner on a camshaft arranged perpendicularly to the guide cylinder is connected to the above-mentioned cam follower. Clamp the cam follower. This cam has alternately continuous cam curved parts that swing the guide cylinder and straight cam parts that stop the swinging of the guide cylinder and prepare for the next reversal.

The camshaft rotates in synchronization with a reciprocating section that reciprocates the guide tube in the axial direction, thereby swinging the guide tube and moving the nozzle around the internal teeth of the stator core. It looks like this.

Further, Patent Document 2 below includes a conductor introduction tube, a head attached to the tip thereof, and a nozzle attached to the conductor introduction tube via the head, and the nozzle is moved into the stator core by the operation of the conductor introduction tube. A device in which a conductive wire is wound around the teeth is described. The nozzle is attached to the head so as to be slidable in the radial direction, and a cam follower is attached to the base end of the nozzle, and a cam plate having a cam groove into which the cam follower is fitted is rotatably built into the head. A rotationally controllable motor that rotates the cam plate is attached to the head. Furthermore, a gear is formed on the outer periphery of the cam plate, and a drive gear mounted on a drive shaft of a motor such as a stepping motor whose rotation can be controlled is meshed with this gear.

Then, the motor operates according to a preset program, and by rotating the cam plate at a predetermined angle and timing via the drive gear and the gear on the outer periphery of the cam plate, the cam follower fitted into the cam groove moves in the radial direction. The base of the nozzle is moved in the radial direction along the guide groove, and the nozzle is moved back and forth in the radial direction of the stator core to wind the conductor while aligning it along the protruding direction of the internal teeth to be wound. It is designed to be attached.

Japanese Patent Application Publication No. 8-251880 Japanese Patent Application Publication No. 2000-175415

In the winding devices of Patent Documents 1 and 2 above, the vertical movement and swinging movement of the conductor guide tube are mechanically interlocked via cranks and cams, so changing the stator core can change the movement. The problem was that attempting to change the trajectory required replacing the crank and cam.

In addition, since the orbit of the orbit is set by the shape of the crank and cam, it is difficult to sufficiently match the shape of the internal teeth of the stator core and the shape of the insulator attached to the internal teeth, and the nozzle may become separated from the internal teeth during winding. In some cases, the conductor wire wound around the internal teeth would become slack.

Therefore, an object of the present invention is to provide a winding device that can shorten setup time when changing a stator core, suppress slack during winding, and increase winding alignment.

In order to achieve the above object, a winding device according to the present invention includes a conductor guide tube in which a conductor insertion passage is formed, an elevating base that rotatably holds the conductor guide tube, and an elevating base that allows the elevating base to be moved up and down. a first drive device for moving the wire guide tube; a second drive device for reciprocating the wire guide tube at a predetermined angle; a nozzle holder attached to the tip of the wire guide tube; and a nozzle holder held movably in a radial direction. a plurality of nozzles protruding radially outward from the outer periphery of the nozzle holder at predetermined angular intervals with respect to the conductor guide cylinder; It includes a cam plate that changes the amount of outward protrusion, and a third drive device that rotates the cam plate, and the first drive device, the second drive device, and the third drive device each have independent servos. The nozzle has a motor, and the drive timing and drive amount are controlled by a control device, the tips of the nozzles are inserted into corresponding slots of the stator core, and the first drive device and the second drive device drive the stator core. It is characterized in that the winding is moved so as to go around the corresponding internal teeth, and is moved in the radial direction by the third drive device so as to be aligned with the internal teeth.

According to the above invention, the first drive device, the second drive device, and the third drive device each have an independent servo motor, and the drive timing and drive amount are controlled by the control device. The locus can be set relatively freely, and the locus can be set so that the coil rotates at a position close to the internal teeth of the stator core, thereby suppressing sagging during winding and increasing the degree of winding alignment.

Furthermore, even if the shape of the stator core changes, this can be handled simply by changing the settings of the control device, so the setup time can be shortened. Furthermore, even if the winding speed is reduced due to the use of a servo motor, the winding cycle can be shortened by simultaneously winding a plurality of internal teeth using a plurality of nozzles.

In the winding device according to the present invention, the nozzle includes a base portion that is held movably in the radial direction by the nozzle holder, and a tip that extends from the base portion and protrudes radially outward, and is provided with a discharge port for the conducting wire. The base may extend beyond the axial center of the conductive wire guide cylinder to a side opposite to the tip, and the base may be held by the nozzle holder so as to overlap in the axial direction.

According to the above aspect, the base of the nozzle extends beyond the axis of the conductor guide tube to the opposite side of the tip and is held by the nozzle holder, so that rattling when the nozzle moves in the radial direction is suppressed. Therefore, the degree of winding alignment can be further improved.

In the winding device according to the present invention, a ball screw is provided that is disposed parallel to the conductor guide tube, screws into a screw hole provided in the lifting base, and passes through the lifting base, and the first drive The device may be configured to rotate the ball screw.

According to the above aspect, the vertical movement of the nozzle can be performed more accurately by rotating the ball screw passing through the elevating base and raising and lowering the conductive wire guide tube held by the elevating base.

In the winding device according to the present invention, a spline formed with a predetermined length along the axial direction is provided on the outer periphery of the conductor guide tube, and the second drive device is configured to drive a gear that fits into the spline. It may be configured to rotate.

According to the above aspect, since the conductor guide tube is rotated by the second drive device via the gear fitted to the spline, the second drive device can be fixedly installed.

In the winding device according to the present invention, a spline tube is provided on the outer periphery of the distal end of the conductor guide tube and is arranged rotatably with respect to the conductor guide tube, and the distal end extending from the spline tube is connected to the cam. The third drive device may be connected to a plate, and the third drive device may be configured to rotate a gear fitted to the spline tube.

According to the above aspect, since the cam plate is rotated by the third drive device via the gear fitted to the spline tube, the third drive device can be fixedly installed.

According to the winding device of the present invention, the first drive device, the second drive device, and the third drive device each have an independent servo motor, and the drive timing and drive amount are controlled by the control device. Therefore, the trajectory of the nozzle can be set relatively freely, and the trajectory can be set so that the nozzle orbits at a position close to the internal teeth of the stator core, suppressing sagging during winding and increasing the degree of winding alignment. .

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram showing one embodiment of a winding device according to the present invention. FIG. 2 is an enlarged explanatory diagram of the main part of the winding device. FIG. 3 is an enlarged explanatory view of the main part of the same winding device in a direction different from that of FIG. 2; It is a top view of the same winding device. FIG. 4 is an enlarged explanatory diagram of the main part of FIG. 3; It is an enlarged perspective view showing a nozzle holder, a nozzle, etc. in the same winding device. FIG. 7 is an enlarged perspective view showing a nozzle holder, a nozzle, etc., viewed from a different direction from FIG. 6; FIG. 8 is an enlarged perspective view of FIG. 7 with the second nozzle holder removed. FIG. 3 is an enlarged perspective view of a second nozzle holder that constitutes a nozzle holder in the same winding device. FIG. 3 is an enlarged perspective view showing a state in which a plurality of nozzles overlap in the same winding device. FIG. 2 is an enlarged perspective view of a cam plate in the same winding device. It is an explanatory view showing the relationship between a stator core and a plurality of nozzles in the same winding device. FIG. 3 is an explanatory diagram illustrating a winding process for the internal teeth of the stator core in the same winding device. FIG. 7 is an enlarged explanatory view of the main part of the winding device when the nozzle traces an octagonal trajectory, and when the nozzle is ascending. FIG. 7 is an enlarged explanatory view of the main part of the winding device when the nozzle traces an octagonal trajectory, and when the nozzle is lowered. FIG. 2 is an enlarged explanatory view of the main part of the winding device when the nozzle is raised in a case where the locus of the nozzle draws a rectangular shape. FIG. 2 is an enlarged explanatory view of the main part of the winding device when the nozzle traces a rectangular trajectory, and when the nozzle is lowered. FIG. 6 is an enlarged explanatory view of the main part of the winding device when the nozzle is ascending in a case where the locus of the nozzle draws an arc shape. FIG. 2 is an enlarged explanatory view of the main part of the winding device when the nozzle traces an arc shape, and when the nozzle is lowered. It is a flowchart when setting the locus of a nozzle in the same winding device.

(One embodiment of a winding device)
DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a winding device according to the present invention will be described below with reference to the drawings.

As shown in FIG. 1, this winding device 10 has a frame 11, and a wire guide tube 15 extending for a predetermined length is supported on this frame 11. Referring also to FIG. 3, this conductor guide tube 15 has an insertion passage 17 for the conductor 13 formed therein, and a plurality of conductors 13 (here, the stator core has U, V , three conducting wires for forming the W phase) are guided until they reach the tips (lower ends) in the extending direction. Further, the conductor guide tube 15 is arranged coaxially with respect to the center of the stator core 1 (see FIG. 5).

Note that, as shown in FIG. 12, the stator core 1 has a plurality of internal teeth 3 and a plurality of slots 5 formed between adjacent internal teeth 3, 3. Furthermore, an insulator 7 is attached to each internal tooth 3 of the stator core 1 (see FIG. 13).

As shown in FIG. 3, the conductor guide tube 15 is rotatably held by an elevating base 19. This elevating base 19 is movably guided by a pair of guide shafts 21, 21 arranged parallel to the conductor guide tube 15. Further, a guide tube holder 23 is attached to the center of the lifting base 19. The guide tube holder 23 has an inner peripheral portion inserted into a groove (not shown) formed on the entire outer circumference of the conductor guide tube 15 to rotatably hold the conductor guide tube 15, and the upper and lower ends of the groove. The conductor guide tube 15 is engaged with the conductor guide tube 15 and moves up and down along with the up and down movement (up and down movement).

Further, as shown in FIGS. 1 and 2, the winding device 10 includes a lifting motor 25. A drive pulley 27 is connected to the drive shaft of this lifting motor 25. Furthermore, as shown in FIG. 3, a pair of driven pulleys 29, 29 are arranged above the frame 11, and a belt 31 is tensioned between these pair of driven pulleys 29, 29 and the drive pulley 27. (See Figure 4).

Further, as shown in FIG. 3, each driven pulley 29 is connected to a ball screw 33 that is arranged parallel to the conductor guide tube 15 and passes through the elevating base 19. Further, a pair of ball screws 33, 33 are screwed into a pair of screw holes 20, 20 formed in the elevating base 19. Therefore, when the lifting motor 25 is driven and the drive pulley 27 is rotated, the pair of driven pulleys 29, 29 are rotated via the belt 31, and the pair of ball screws 33, 33 are also rotated, so that the lifting base 19 is lifted and lowered. Operate. Further, as the elevating base 19 moves up and down, the conductor guide tube 15 moves up and down via the guide tube holder 23.

The above-mentioned lifting motor 25, driving pulley 27, driven pulley 29, belt 31, and ball screw 33 constitute a "first drive device" that moves the lifting base up and down in the present invention.

Further, on the outer periphery of the conductive wire guide tube 15, a plurality of splines 35 are formed in the circumferential direction in the shape of a concave groove that extends for a predetermined length along the axial direction.

Furthermore, as shown in FIGS. 1 and 3, a driven gear 41 is externally mounted in the middle of the conductor guide tube 15 in the axial direction and below the elevating base 19. This driven gear 41 has a fitting protrusion formed therein to fit into the spline 35 on the outer periphery of the wire guide tube 15 . Therefore, the driven gear 41 rotates together with the wire guide tube 15 while allowing the wire guide tube 15 to move up and down.

Further, the driven gear 41 meshes with a drive gear 45 connected to the drive shaft of the swing motor 43. When the swing motor 43 is driven and the drive gear 45 rotates, the wire guide tube 15 rotates via the driven gear 41.

The above-mentioned driven gear 41, swing motor 43, and drive gear 45 constitute a "second drive device" for reciprocating the conductor guide tube at a predetermined angle in the present invention.

Furthermore, as shown in FIG. 1 and FIGS. 5 to 11, the winding device 10 includes a nozzle holder 57 (a first nozzle holder 58 and a second nozzle holder 59) attached to the tip of the conductor guide tube 15, and a nozzle holder 57. A plurality of nozzles 74 , 75 , 76 are held movably in the radial direction and protrude outward in the radial direction from the outer periphery of the nozzle holder 57 with respect to the conductor guide tube 15 at predetermined angular intervals. The cam plate 55 is provided with a cam plate 55 that can be held so as to change the amount of radial outward protrusion of the plurality of nozzles 74 to 76, and a third drive device that rotates the cam plate 55.

Next, the above-mentioned nozzle holder 57, nozzles 74, 75, 76, third drive device, etc. will be described in detail.

As shown in FIGS. 1, 3, and 5, a spline tube 51 that is rotatable with respect to the conductor guide tube 15 is arranged on the outer periphery of the distal end of the conductor guide tube 15 in the extending direction. ing. On the outer periphery of the spline cylinder 51, a plurality of groove-shaped splines 61 are formed in the circumferential direction and extend a predetermined length along the axial direction.

Further, the base end (upper end) of a substantially cylindrical cam plate connecting shaft 53 is connected to the outer periphery of the tip (lower end) of the spline cylinder 51 . A cam plate 55 is connected to the tip (lower end) of this cam plate connecting shaft 53.

Furthermore, as shown in FIG. 5, the conductor guide tube 15 extends from the tip (lower end) of the spline tube 51 and is inserted from the tip (lower end) of the cam plate connecting shaft 53, thereby forming a nozzle holder 57. It is connected to a first nozzle holder 58 . Note that the nozzle holder 57 includes a first nozzle holder 58 and a second nozzle holder 59 disposed below the first nozzle holder 58. Further, as shown in FIG. 5, the cam plate 55 is rotatably held by the first nozzle holder 58.

Furthermore, as shown in FIGS. 1 and 3, a driven gear 63 is externally mounted on the outer periphery of the spline cylinder 51 near the lower end. This driven gear 63 has a fitting protrusion formed therein to fit into the spline 61 on the outer periphery of the spline cylinder 51 . This driven gear 63 meshes with a drive gear 67 connected to a drive shaft of a cam plate rotation motor 65. Then, when the cam plate rotation motor 65 is driven and the drive gear 67 is rotated, the spline cylinder 51 is rotated via the driven gear 63. Further, when the spline cylinder 51 rotates, the cam plate 55 rotates with respect to the nozzle holder 57 via the cam plate connecting shaft 53.

Note that the above-mentioned driven gear 63, cam plate rotation motor 65, and drive gear 67 constitute a "third drive device" that rotates the cam plate in the present invention.

Further, since the first nozzle holder 58 of the nozzle holder 57 is connected to the lower end of the conductor guide tube 15, the nozzle holder 57 moves up and down together with the conductor guide tube 15 in accordance with the operation of the first drive device. In addition, as the second drive device operates, it rotates together with the conductor guide tube 15 (see arrows R1 and R2 in FIG. 6).

As shown in FIG. 11, the cam plate 55 has a substantially circular plate shape, and has three spiral-shaped cam grooves 69, 70, and 71 that draw an arc whose radius relative to the conductor guide tube 15 gradually changes. Three nozzles are formed corresponding to the nozzles 74, 75, and 76. A cam follower 81 attached to the nozzle 74 fits into the cam groove 69, a cam follower 81 attached to the nozzle 75 fits into the cam groove 70, and a cam follower 81 attached to the nozzle 76 fits into the cam groove 71. is inserted. Further, a conductor insertion hole 72 through which the conductor 13 is inserted is formed in the radially central portion of the cam plate 55 .

As shown in FIGS. 6 to 8 and FIG. 10, the nozzles 74, 75, 76 include a base 78 which is radially movably held in the nozzle holder 57, and which extends from the base 78 and projects radially outward. The distal end portion 79 is provided with a discharge port 82 for the conducting wire 13. Further, the base portion 78 extends beyond the axis of the conductive wire guide cylinder 15 to the opposite side from the tip portion 79, and is configured such that the base portion 78 is held by the nozzle holder 57 while overlapping in the axial direction.

More specifically, the bases 78 of the nozzles 74, 75, and 76 include an extending portion 84 extending in a long plate shape, and provided at one end (tip) and the other end (base end) of the extending portion 84. It has one end 85 and the other end 86 that are block-shaped. As shown in FIG. 10, the base 78 of the nozzle 74 has one end 85 and the other end 86 protruding upward (in a direction away from the first nozzle holder 58) from the front side of both ends of the extension 84. In addition, the base 78 of the nozzle 75 has one end 85 and the other end 86 protruding in the vertical direction from both the front and back sides of both end portions of the extension portion 84 . Furthermore, one end 85 and the other end 86 of the base 78 of the nozzle 76 protrude downward (in a direction approaching the first nozzle holder 58) from the back side of both ends of the extension 84.

As shown in FIG. 8, the nozzles 74, 75, and 76 are arranged on the lower surface side of the first nozzle holder 58 with one end 85 and the other end 86 of the base 78 interposed therebetween. That is, the extending portion 84 of the base 78 of the nozzle 75 is disposed below the extending portion 84 of the base 78 of the nozzle 74, and the extending portion 84 of the base 78 of the nozzle 76 is disposed below the extending portion 84. 84, and the base portions 78 of the nozzles 74, 75, 76 overlap in the axial direction.

Further, as shown in FIGS. 8 and 10, elongated holes 87 are formed in the extending portions 84 of the bases 78 of the nozzles 74, 75, and 76, respectively. The elongated holes 87 pass through the axis of the nozzle holder 57, overlap each other at the axis of the nozzle holder 57, and communicate with each other. The conductive wire 13 guided by the conductive wire guide tube 15 is drawn out downward through the communication portion where the respective elongated holes 87 overlap.

Further, as shown in FIG. 8, a narrow portion 85a is provided at the lower end side of one end portion 85 of each base portion 78, and the tip portion 79 is connected via the narrow portion 85a. Further, the tip portion 79 includes a block portion 88 having a block shape and a nozzle portion 89 extending from the tip of the block portion 88. Further, an insertion port 83 into which the conducting wire 13 is inserted is formed at the rear end of the block portion 88, and the discharge port 82 is formed at the tip of the nozzle portion 89 and communicates with the insertion port 83 and for discharging the conducting wire 13. is formed (see FIGS. 8 and 10).

Further, the nozzle 74 has a cam follower 81 attached to the other end 86 of the base 78 via a shaft 81a, and the nozzle 75 has a shaft attached to one end 85 of the base 78 and a block 88 of the tip 79. A cam follower 81 is attached to the nozzle 76 via the shaft portion 81a, and the cam follower 81 is attached to the other end 86 of the base portion 78 of the nozzle 76 via the shaft portion 81a.

Furthermore, as shown in FIG. 8, the first nozzle holder 58 has a substantially circular plate shape, and has a shaft insertion hole 90 through which the shaft portion 81a of the cam follower 81 attached to the nozzles 74, 75, 76 is inserted. are formed respectively.

Further, as shown in FIG. 9, the second nozzle holder 59 has a substantially circular plate shape that fits the first nozzle holder 58, and has a plurality of nozzle guide grooves 91, 92, 93 formed therein. . Each nozzle guide groove 91, 92, 93 has a shape that extends straight across the axis of the second nozzle holder 59. One end 85 and the other end 86 of the base 78 of the nozzle 74 are inserted into the nozzle guide groove 91, and one end 85 and the other end 86 of the base 78 of the nozzle 75 are inserted into the nozzle guide groove 92. One end 85 and the other end 86 of the base 78 of the nozzle 76 are inserted into the nozzle guide groove 93, and the sliding movement of each nozzle 74, 75, 76 is guided.

Furthermore, slits 94 are formed in portions of the nozzle guide grooves 91, 92, 93 into which one ends 85 of the nozzles 74, 75, 76 are inserted. A narrow portion 85a of one end portion 85 of the nozzle 74, 75, 76 is slidably inserted into each slit 94. Furthermore, a conductor insertion hole 95 through which the conductor 13 is inserted is formed in the radially central portion of the second nozzle holder 59 .

Further, in FIG. 11, the cam follower 81 of the nozzle 74 is fitted into the starting end of the cam groove 69, the cam follower 81 of the nozzle 75 is fitted into the starting end of the cam groove 70, and the cam follower 81 of the nozzle 76 is fitted into the starting end of the cam groove 71. As shown in FIG. It is in the same position. That is, the tip portions 79 of the nozzles 74, 75, and 76 are in a forward state.

From this state, the third drive device is driven, that is, the cam plate rotation motor 65 is driven, the drive gear 67 is rotated, the spline cylinder 51 is rotated via the driven gear 63, and the cam plate connecting shaft 53 is rotated. When the cam plate 55 rotates in the direction of arrow K in FIG. is now moving backwards. That is, the tips 79 of the nozzles 74, 75, and 76 move radially inward of the nozzle holder 57.

Further, when the cam plate 55 rotates in the direction opposite to the direction K in FIG. The tips 79 of the nozzles 74, 75, 76 move forward via the cam followers 81 and 70, 71. That is, the tips 79 of the nozzles 74, 75, and 76 move radially outward of the nozzle holder 57.

In this winding device 10, the first drive device, the second drive device, and the third drive device each have an independent servo motor. That is, the lifting motor 25 of the first drive device, the swing motor 43 of the second drive device, and the cam plate rotation motor 65 of the third drive device are each independent servo motors. Further, the drive timing and drive amount of each of the motors 25, 43, and 65 are controlled (in this case, NC control) by a control device 97 (see FIG. 2).

Furthermore, the tips of the nozzles 74, 75, and 76 (in this case, the nozzle part 89 of the tip part 79) are inserted into the corresponding slots 5 of the stator core 1, and the stator core 1 is driven by the first drive device and the second drive device. The winding wire is moved so as to go around the corresponding internal teeth 3, and is also moved in the radial direction by a third drive device so as to be aligned with the internal teeth 3.

(effect)
Next, the operation of winding the stator core 1 by the winding device 10 will be explained.

Note that the plurality of conductive wires 13 (here, three conductive wires 13 forming U, V, and W phases) are pulled out from a conductor accommodating portion (not shown) and inserted through the lower end opening of the insertion passage 17 of the conductor guide tube 15. The wire passes through the wire insertion hole 72 of the cam plate 55, the elongated hole 87 of the nozzles 74, 75, 76, and the wire insertion hole 95 of the second nozzle holder 59, and is inserted into the insertion port 83 of the nozzle 74, 75, 76. The liquid is then discharged from the discharge port 82.

Further, as shown in FIG. 12, the nozzles 74, 75, 76 enter into the adjacent slots 5, 5, 5 of the stator core 1, and apply the conductive wire 13 to the outer periphery of the insulator 7 of the internal tooth 3 adjacent to the slot 5. It is designed to be wound.

As an example of the winding in this embodiment, the operation shown in FIG. 13 is performed. As shown at point P1 in FIG. 13, in the initial state, the nozzle holder is lowered, and as shown in FIG. , 76 are in a forward state.

From this state, when the nozzle holder 57 is raised a predetermined distance by the first drive device and rotated (forward) by a predetermined angle in the direction of arrow R1 in FIG. 6 by the second drive device (see point P1 to point P2 in FIG. 13). , a conductive wire 13 is wound around the lower left corner of the insulator 7 in the figure.

When the nozzle holder 57 is raised a predetermined distance from the above state by the first drive device (see point P2 to point P3 in FIG. 13), the conductor 13 is wound around the left side surface of the insulator 7 in the figure.

From the above state, when the nozzle holder 57 is raised by a predetermined distance by the first drive device and rotated by a predetermined angle (backward movement) in the direction of arrow R2 in FIG. 6 by the second drive device (see point P3 to point P4 in FIG. 13). , a conducting wire 13 is wound around the upper left corner of the insulator 7 in the figure.

From the above state, when the nozzle holder 57 is rotated by a predetermined angle in the direction of arrow R2 in FIG. Ru.

From the above state, when the nozzle holder 57 is lowered a predetermined distance by the first drive device and rotated by a predetermined angle in the direction of arrow R2 in FIG. 6 by the second drive device (see point P5 to point P6 in FIG. 13), the conductor 13 The wire is wound on the upper right corner of the insulator 7 in the figure.

When the nozzle holder 57 is lowered a predetermined distance by the first drive device from the above state (see point P6 to point P7 in FIG. 13), the conductive wire 13 is wound around the left side surface of the insulator 7 in the figure.

From the above state, when the nozzle holder 57 is lowered by a predetermined distance by the first drive device and rotated by a predetermined angle in the direction of arrow R1 in FIG. 6 by the second drive device (see point P7 to point P8 in FIG. 13), the conductor 13 The wire is wound on the lower right corner of the insulator 7 in the figure.

From the above state, when the nozzle holder 57 is rotated by a predetermined angle in the direction of arrow R1 in FIG. Ru.

The above process is a process in which the first drive device and the second drive device go around the internal teeth 3 of the stator core 1, and is one cycle of the winding process of the conducting wire 13 around the internal teeth 3.

As described above, when one cycle of the winding process is completed, the cam plate 55 is rotated in the direction K in FIG. 11 by the third drive device. Then, the tips 79 of the nozzles 74, 75, and 76 retreat (move inward in the radial direction of the nozzle holder 57), and the nozzles 74, The tips of the nozzle portions 89 of the tip portions 79 of 75 and 76 are located. Thereafter, the winding process from point P1 to point P9 shown in FIG. 13 is repeated, and the conducting wire 13 is wound in a state aligned with the insulator 7 on the outer periphery of the internal tooth 3.

Furthermore, in this embodiment, the loci of the nozzles 74, 75, and 76 draw an octagonal shape with respect to the insulator 7 attached to the internal teeth 3 of the stator core 1, as shown in FIGS. 13, 14A, and 14B. It looks like this.

However, the trajectories of the nozzles 74, 75, and 76 may be rectangular with respect to the insulator 7 attached to the internal teeth 3 of the stator core 1, as shown in FIGS. 15A and 15B; As shown in 16B, the insulator 7 attached to the internal teeth 3 of the stator core 1 may have a circular arc shape (each corner of the insulator 7 has a circular arc shape).

Further, when setting the trajectory of the nozzle, it can be set according to a flow as shown in FIG. 17, for example.

First, the nozzle is rotated without the stator core 1, and its operation is photographed using a high-speed camera or the like (step S1).

Next, the captured video is tracked using motion analysis software or the like to create a trajectory of the nozzle (step S2).

Next, the locus of the nozzle is imported into CAD, and contact between the nozzle and the circumferential surface of the insulator is confirmed (step S3).

Next, it is determined whether the nozzle rotates at a position close to the circumferential surface of the insulator (step S4).

If the nozzle rotates at a position close to the circumferential surface of the insulator, the trajectory of the nozzle is confirmed by photographing again with a high-speed camera or the like (step S5).

If the nozzle does not rotate close to the circumferential surface of the insulator, the position of the point where the control signal is commanded (points P1 to P9 in Fig. 13), program setting values (gain, in-position value, acceleration/deceleration, etc.) ), the vertical movement of the nozzle, the speed ratio during reciprocating rotation of the nozzle, etc. are changed as appropriate (step S6).

After that, when the desired nozzle trajectory is obtained, the conductor 13 is actually wound around the insulator 7 of the internal teeth 3 of the stator core 1 and confirmed (step S7).

Further, the nozzle trajectory is repeatedly adjusted depending on the winding state of the conducting wire 13 in the winding (step S8).

In the winding device 10 described above, the first drive device, the second drive device, and the third drive device each have independent servo motors (elevating motor 25, swing motor 43, and cam plate rotation motor). Since the drive timing and drive amount are controlled by the control device 97, the trajectories of the nozzles 74, 75, and 76 can be relatively freely set, and the nozzles 74, 75, and 76 can be rotated at positions close to the internal teeth 3 of the stator core 1. It is possible to set the locus so that the wires are aligned, suppress sagging during winding, and improve the degree of winding alignment.

Further, even if the shape of the stator core 1 changes, this can be handled simply by changing the settings of the control device 97, so the setup time can be shortened. Furthermore, even if the winding speed is reduced due to the use of a servo motor, the winding cycle can be shortened by simultaneously winding a plurality of internal teeth 3 using a plurality of nozzles 74, 75, 76.

Further, in this embodiment, as shown in FIGS. 6 to 8 and 10, the nozzles 74, 75, and 76 include a base 78 that is movably held in the nozzle holder 57 in a radial direction, and a base 78 that extends from the base 78. The distal end portion 79 protrudes radially outward and is provided with a discharge port 82 for the conducting wire 13 . Further, the base portion 78 extends beyond the axis of the conductive wire guide cylinder 15 to the opposite side from the tip portion 79, and is configured such that the base portion 78 is held by the nozzle holder 57 while overlapping in the axial direction.

According to the above aspect, the base portions 78 of the nozzles 74, 75, and 76 extend beyond the axis of the conductor guide tube 15 to the side opposite to the tip portion 79 and are held by the nozzle holder 57, so that the nozzles 74, 75, and It is possible to suppress rattling when the wires 75 and 76 move in the radial direction, thereby further increasing the degree of winding alignment.

Furthermore, in this embodiment, a ball screw 33 is provided which is disposed parallel to the conductor guide tube 15, screws into a screw hole 20 provided in the lifting base 19, and passes through the lifting base 19. is configured to rotate the ball screw 33.

According to the above aspect, the vertical movement of the nozzles 74, 75, 76 can be made more accurate by rotating the ball screw 33 passing through the lifting base 19 and raising and lowering the conductor guide tube 15 held by the lifting base 19. It can be carried out.

Further, in this embodiment, a spline 35 formed with a predetermined length along the axial direction is provided on the outer periphery of the conductor guide tube 15, and the second drive device is equipped with a gear (driven It is configured to rotate a gear 41).

According to the above aspect, since the conductor guide tube 15 is rotated by the second drive device via the driven gear 41 that fits into the spline 35, the second drive device can be fixedly installed.

Furthermore, in this embodiment, a spline tube 51 is provided on the outer periphery of the distal end of the conductor guide tube 15 so as to be rotatable relative to the conductor guide tube 15, and the tip extending from the spline tube 51 serves as a cam. The third drive device is connected to the plate 55 and is configured to rotate a gear (driven gear 63) that fits into the spline cylinder 51.

According to the above aspect, since the cam plate 55 is rotated by the third drive device via the driven gear 63 that fits into the spline cylinder 51, the third drive device can be fixedly installed.

Note that the present invention is not limited to the embodiments described above, and various modified embodiments are possible within the scope of the gist of the present invention, and such embodiments are also included in the scope of the present invention. .

1 Stator core 3 Internal tooth 5 Slot 10 Winding device 13 Conductor 15 Conductor guide tube 17 Insertion passage 19 Lifting base 20 Screw holes 21, 21 Guide shaft 25 Lifting motor 27 Drive pulley 29 Driven pulley 31 Belt 33 Ball screw 35 Spline 41 Driven gear 43 Swing motor 45 Drive gear 51 Spline tube 55 Cam plate 57 Nozzle holder 61 Spline 63 Driven gear 65 Cam plate rotation motor 69, 70, 71 Cam grooves 74, 75, 76 Nozzle 78 Base 79 Tip 82 Discharge port 97 Control Device

Claims (4)

a conductor guide tube with a conductor insertion passage formed inside;
an elevating base that rotatably holds the conductor guide tube;
a first drive device that moves the elevating base up and down;
a second drive device that reciprocates the conductor guide tube at a predetermined angle;
a nozzle holder attached to the tip of the conductor guide tube;
a plurality of nozzles that are held movably in the radial direction by the nozzle holder and protrude radially outward from the outer periphery of the nozzle holder with respect to the conductor guide tube at predetermined angular intervals;
a cam plate rotatably held by the nozzle holder to change the amount of radial outward protrusion of the plurality of nozzles;
and a third drive device that rotates the cam plate,
The first drive device, the second drive device, and the third drive device each have an independent servo motor, and drive timing and drive amount are controlled by a control device,
The tips of the nozzles are respectively inserted into corresponding slots of the stator core, and are moved by the first drive device and the second drive device so as to go around the corresponding internal teeth of the stator core, and are moved around the corresponding internal teeth of the stator core. the winding is moved radially by a drive to be aligned with the internal teeth ;
The nozzle has a base portion that is movably held in the nozzle holder in a radial direction, and a distal end portion that extends from the base portion and projects outward in the radial direction and is provided with a discharge port for a conducting wire, and the base portion includes: A winding device characterized in that the winding device extends beyond the axis of the conductive wire guide tube to a side opposite to the tip end, and the base portion overlaps in the axial direction and is held by the nozzle holder. A ball screw is provided that is arranged parallel to the conductive wire guide cylinder and that is threaded into a screw hole provided in the lifting base and passes through the lifting base, and the first driving device is configured to rotate the ball screw. The winding device according to claim 1, wherein the winding device is configured to. A spline formed with a predetermined length along the axial direction is provided on the outer periphery of the conductor guide tube, and the second drive device is configured to rotate a gear fitted to the spline. A winding device according to claim 1. The conductor wire guide tube has a spline tube disposed on the outer periphery of the distal end thereof so as to be rotatable with respect to the conductor wire guide tube, the tip extending from the spline tube is connected to the cam plate, and the third The winding device according to claim 1, wherein the drive device is configured to rotate a gear that fits into the spline tube.