JPH0615386B2 - Aligned winding device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a winding device for winding a wire material such as an electric wire, and more particularly to an aligned winding device for performing aligned winding.

[Conventional technology]

A conventional winding device that winds a wire rod aligned on the circumferential surface of a winding drum is disclosed in, for example, Japanese Patent Laid-Open No. 56-108661. It is driven by a pulse motor,
A traverse mechanism that moves in parallel along the axial direction around the winding drum is installed, and the traverse mechanism is fed by detecting the rotation of the winding drum in the winding and rotating the pulse motor according to the wire diameter of the wire. It is for performing aligned winding.

There is also a device as disclosed in Japanese Patent Laid-Open No. 60-9716, in which aligned windings are made by using a television (TV) camera. This is to detect the silletto image of the winding in the winding on the winding drum using a TV camera, process and analyze this image information with a microprocessor, and control the feed of the traverse mechanism. It is for performing aligned winding.

[Problems to be solved by the invention]

Among the above-mentioned conventional techniques, in the former device,
No consideration was given to the cumulative error in the winding caused by variations in the wire diameter of the wire or bending of the wire.When feeding the traverse mechanism with a constant pitch, a gap is created in the winding or There is a possibility that phenomena such as riding on the wire may occur.

Therefore, when performing high-accuracy aligned winding with such a device, an operator always monitors the winding state and there is manual intervention such as guiding the wire to enable the aligned winding. I had to do it.

Further, it is practically difficult to obtain an image in the cross-sectional direction of the take-up drum in a fine wire (for example, an electric wire having a diameter of 1 mm) as obtained in the latter device, and when processing a circular image, an error due to image processing may occur. Since it is large, it was not enough to perform high-precision aligned winding.

An object of the present invention is to provide an aligned winding apparatus suitable for automatically performing highly accurate aligned winding when winding a wire such as an electric wire.

[Means for solving problems]

In order to solve the above-mentioned problems, the arrangement of the aligned winding device of the present invention has a winding drum around which a wire is wound, and the wire is supplied to the winding drum from the cutting line direction of the winding drum. In the aligned winding device, wherein the wire rod feeder is relatively movable in the direction of the rotation center axis of the winding drum, the wire rod feeder supplies a visual sensor for detecting a delay angle of the wire rod in the winding. An image memory for temporarily storing the image information detected by the visual sensor, and the winding drum necessary for keeping the delay angle of the wire rod within a certain range by using the image information temporarily stored in the image memory And an image information processing unit that obtains a relative movement amount between the wire rod feeder and a control unit that controls a relative movement amount between the winding drum and the wire rod feeder. Is the first feature, and the wire rod has a constant elevation angle. An elevation drive unit for supplying, an elevation detector for detecting an elevation angle in the winding, and an elevation drive unit for keeping the elevation angle of the wire within a certain range by using the elevation information detected by the elevation detector. A second feature is that it has an elevation angle information processing unit for controlling the above, and further, a defect detection unit that differentially processes the image information in the image processing unit to detect a defect in the wire rod, A third feature is that the defect detection unit has a winding abnormality signal generation unit that temporarily stops the winding and generates an abnormality signal when a defect is detected.

[Action]

Since the aligned winding device of the present invention has the wire rod feeder including the visual sensor, the image memory, the image information processing unit, and the control unit, the delay angle of the wire rod in the winding wire is always, for example, TV.
It is directly detected using a camera, and the detection result indicates that
For example, the traverse mechanism is controlled to operate so as to keep the delay angle within a certain range. Furthermore, since it has an elevation angle drive unit, an elevation angle detector, and an elevation angle information processing unit, the elevation angle of the wire rod in the winding is always detected. It works by keeping it within a certain range and dealing with overweight.

Furthermore, the image processing unit has a defect detection unit and a winding abnormality generation unit, which differentiates the image information to detect a defect in the wire rod and temporarily stops the winding to generate an abnormality signal.

〔Example〕

 Examples will be described below.

1 to 4 are explanatory views of one embodiment, FIG. 1 is a top view, FIG. 2 is a side view as seen from the direction R in FIG. 1, and FIGS. It is explanatory drawing of the principal part of FIG. In these figures, 1 is an electric wire, 2 is a take-up drum rotated by a take-up drum drive motor, 3 is a traverse mechanism, 4 is a traverse mechanism drive motor 5, an elevation angle setting table, 6 is an illumination lamp 7, and a lens 8 A TV camera provided with 9 is a line pulley, 10 is an elevation drive unit having a hollow shaft 11 through which the electric wire 1 passes, 12 is an elevation drive motor, and 13 is an elevation detector.

The TV camera 6 constitutes a visual sensor, and as shown in FIG. 1, the axis of the optical system is arranged so as to be parallel to the X axis and the Y axis perpendicular to the X axis and has a delay angle θ. Make sure that an image of the electric wire 1 in the winding can be obtained clearly. T
The V-camera 6 may be arranged in a different arrangement depending on the space relationship, but the software for processing the image becomes rather complicated. As the illumination lamp 7, a high frequency fluorescent lamp is used to prevent flickering, and a lens is a zoom lens.

The elevation angle setting table 5 is configured to rotate in the elevation angle direction by the elevation angle drive motor 12 and the elevation angle drive unit 10 with the center line of the electric wire 1 in the X-axis direction as the center of rotation. That is, the elevation angle drive unit 10 has a gear 14 rotated by the elevation angle drive motor 12 and a gear 15 attached to the hollow shaft 11 engaging with the gear 14, and the elevation angle drive motor 12 is provided.
The angle of the elevation angle setting table 5 is changed by the rotation of. The elevation angle setting device 13 includes a guide arm 17 that rotates around a rotation fulcrum 16 that is a fixed point with respect to the elevation angle setting cable 5, and a movement of the electric wire 1 in the elevation angle direction.
It is composed of an electric wire guide 18, an elevation angle setting table 5 and a magnetic potentiometer 19 rotatably attached to the guide arm 17, and when the electric wire moves in the elevation angle direction due to overweight or the like, the guide arm 17 moves according to the movement of the electric wire 1, and the detection value of the magnetic potentiometer 19 changes.

In this aligned winding device, the electric wire 1 is operated by the feeding drum, passes through the fields of view of the hollow shaft 11, the line pulley 9, the elevation angle detector 13, and the TV camera 6, and is wound up by the winding drum 2. At this time, the traverse mechanism 3 is traversed by the traverse mechanism drive motor 4 in the X-axis direction (direction parallel to the rotation center of the winding drum 2).
Traverse so as to produce a delay angle θ with a slight delay from the winding position. The elevation angle setting table 5 equipped with the elevation angle detector 13 moves up and down on the take-up drum 2 side of the elevation angle drive unit 10 by the elevation angle drive motor 12 with one point of the elevation angle drive unit as a fulcrum to cause winding thickening. Even in the case, the electric wire 1 operates so as not to be derailed by the rotatable line pulley 9 that guides the electric wire 1.

Next, the control device for the aligned winding device of this embodiment will be described with reference to FIG. In this figure, the same parts as those in FIGS. 1 to 4 are denoted by the same reference numerals, 20 is a winding drum drive motor, 21 is a feeding drum drive motor, 22 is a central control unit, and 23 is a winding drum. A control unit, 24 is a feeding drum drive motor, 25 is a traverse mechanism control unit, 26 is an elevation angle control unit, 27 is an image memory, 28 is an image information processing unit,
Reference numeral 29 denotes an elevation angle information processing unit, and 30 denotes an operation information input unit.

The image information obtained by the TV camera 6 is read out by the clock pulse given by the image memory 27 and stored in the image memory 27 in a matrix.
The image memory 27 is a random access memory (RA
It is composed mainly of M).

The image information processing unit 28 detects the delay angle θ and the defect of the electric wire from the stored contents of the image memory 27, and sends the control information to the central control unit 22. Central control unit 22
Controls the traverse mechanism control unit 25 based on this information to control the traverse mechanism drive motor 4. The take-up drum control section 23 and the take-up drum control section 24 are each configured around a servo amplifier, and rotationally drive the take-up drum drive motor 20 and the take-up drum drive motor 21 in response to a command from the central control unit 22. The elevation angle information processing unit 29 processes the information from the elevation angle detector 13 configured by the magnetic potentiometer and outputs it to the central control unit 22 as control information. The central control unit 22 controls the elevation angle control unit 26 based on this control information, and the elevation angle drive motor 12
To drive. The operation information input unit 30 is composed of an operation switch, a keyboard, etc., and inputs a command from the operator. The central control unit 22 centrally manages each unit as described above, and in this embodiment, 1.
A 6-bit single board computer was used.

Next, the operation of the aligned winding device of this embodiment will be described. First, the delay angle θ will be described. It is generally known that in order to perform the aligned winding, it is preferable to give the wire rod a delay angle θ in a certain range. When the feeding position of the electric wire 1 by the traverse mechanism 3 is slightly delayed from the winding position of the winding drum 2, a force for pressing the already wound electric wire 1 against the next electric wire 1 is generated and a gap is prevented from being generated. it can. The angle formed by the feeding position and the winding position due to this delay is the delay angle θ.
Call. Overlapping of the electric wires 1 can be prevented by allowing the electric wires 1 to slide down naturally due to the winding force, and the aligned winding is possible.

It is known that the delay angle θ that enables this aligned winding is given by 0.25θ ₀ o <θ <3.5θ ₀ (1). Here, θ0 = tan ⁻¹ (d / πD) (2) d: diameter of electric wire 1 D: diameter of winding drum 2 π: pi

FIG. 6 shows an example of an image in the winding. The image in this embodiment is a binarized image in consideration of the time required for image processing. The number of images is 256 pixels vertically and 256 pixels horizontally. In FIG. 6, the horizontal axis is the X axis, the vertical axis is the Y axis, and the lower left corner of the image is (X, Y) = (0, 0).

The image of the electric wire 1 is shown in black as shown in FIG. The image information processing unit 28 calculates the inclination of the electric wire 1 on the A side and then calculates the inclination of the B side on the information stored in the image memory 27. In general, an image is often disturbed due to the influence of ambient light, etc., and therefore an average inclination is derived by using a known statistical method. Next, the average value of the inclinations on the A side and the B side is obtained, the delay angle θ in the winding is derived, and sent out as control information to the central control unit 22.

Further, the flaw of the electric wire 1 (for example, the portion C in FIG. 6) is detected. That is, the differential value is calculated for each of the A side of the electric wire 1 and the B side of the electric wire 1, and when the differential value is larger than the threshold value determined for the electric wire 1, the winding is temporarily stopped and the operator is notified of the abnormality. If the image obtained by the TV camera 6 is clear, the software for processing this image can be simplified because averaging processing or the like is unnecessary, but if noise is mixed in the image, processing such as noise removal is performed. Requires. Further, the image information is taken in at a constant time in consideration of the image processing time, but in this embodiment, it is taken in every 50 ms.

Next, a method of controlling the aligned winding device of this embodiment will be described. When a start command is given from the operation information input unit 30, the winding drum drive motor 20 and the feeding drum drive motor 21 rotate to start winding. When the diameter d of the electric wire 1 and the diameter D of the winding drum are given together with the start command, the central control unit 22 calculates the delay angle θ required for the aligned winding from the equations (1) and (2). During the winding, the delay angle θ is constantly monitored by the TV camera 6, and the current delay angle θ is (1)
Traverse mechanism control unit 2 so that it falls within the range indicated by the formula
5 is controlled to traverse the traverse mechanism 3 to an appropriate position to perform aligned winding. Furthermore, when an abnormality of the electric wire 1 is detected during monitoring, the winding is temporarily stopped.

The elevation angle detector 13 monitors the elevation angle during winding and sends the detected elevation angle value to the central control unit 22 via the elevation angle information processing unit 29. The central control unit 22 drives the elevation drive motor 12 based on this information. As a result, the elevation angle setting table
Is operated, the electric wire 1 is always wound stably from the line pulley 9 without being derailed.

As described above, according to the aligned winding device of this embodiment, since the winding drum 2 is fixed and the lightweight elevation angle setting table 5 is traversed, the device can be downsized and the traverse mechanism drive motor for traverse control can be achieved. It is possible to reduce the capacity of No. 4 and improve controllability.

In this embodiment, the TV camera 6 is mounted on the elevation angle drive unit 10 on the traverse mechanism 3. However, if the winding thickening does not occur so much, it may be mounted on the traverse mechanism 3.

Further, although the winding drum 2 is fixed and the elevation angle drive unit 10 is traversed in this embodiment, the winding drum is traversed and the TV camera is mounted on the traverse mechanism for mounting the winding drum. Also good.

Further, although the TV camera 6 is installed at a position slightly apart from the winding drum 2 in this embodiment, the TV camera may be arranged so as to obtain an image of a state immediately before winding on the winding drum.

Although the TV camera is used as the visual sensor in this embodiment, another two-dimensional image detecting element may be used, and the elevation angle detector is not limited to the magnetic potentiometer, and may be another non-contact detecting element. As for the illumination, it is not limited to the high frequency lighting fluorescent lamp, and other illumination elements such as an incandescent lamp may be used.

As described above, according to the aligned winding devices of these examples, since the winding is performed while the delay angle θ is monitored by the visual sensor, and the elevation angle is controlled within a certain range, It is possible to automatically perform stable aligned winding.

Further, since the image processed by the present invention is an image composed of straight lines, there is an effect that the accuracy of the image processing is good and the image processing speed can be increased.

Further, if there is a scratch on the electric wire or the like, the wound can be detected and the winding can be temporarily stopped, so that unmanned operation is possible.

As a modified example of this embodiment, when the winding thickness does not occur much, the elevation angle drive unit may be unnecessary, and in that case, the elevation angle detector, the control device such as the elevation angle information processing unit is also unnecessary. is there.

Further, when it is considered that there is no flaw on the wire or when the wire is wound at high speed, the software for detecting the flaw on the wire can be excluded to speed up the image processing.

〔The invention's effect〕

INDUSTRIAL APPLICABILITY The present invention can provide an aligned winding device suitable for automatically performing highly accurate aligned winding when winding a wire material such as an electric wire, and thus has a great industrial effect. It is a thing.

[Brief description of drawings]

FIG. 1 is a top view of an embodiment of the aligned winding device of the present invention, FIG. 2 is a side view seen from the P direction in FIG. 1, and FIGS. 3 and 4 are FIGS. FIG. 5 is an explanatory diagram of a main part of the figure, FIG. 5 is an explanatory diagram of the control device, and FIG. 6 is an explanatory diagram of an example of an image in the winding. 1 ... Electric wire, 2 ... Winding drum, 3 ... Traverse mechanism, 4 ... Traverse mechanism drive motor, 5 ... Elevation angle setting table, 6 ... TV camera, 9 ... Line pulley, 1
0 ... elevation drive unit, 12 ... elevation drive motor, 13 ...
Elevation detector.

Claims (4)

[Claims] 1. A winding drum for winding a wire rod, and a wire rod feeder for supplying the wire rod to the winding drum from a cutting line direction of the winding drum are relatively arranged in a direction of a central axis of rotation of the winding drum. In a vertically aligned movable winding device, the wire rod feeder includes a visual sensor that detects a delay angle of the wire rod in a winding wire, and an image memory that temporarily stores image information detected by the visual sensor. Image information for obtaining a relative movement amount between the winding drum and the wire feeder, which is necessary to hold the delay angle of the wire within a certain range by using the image information temporarily stored in the image memory An aligned winding device comprising: a processing unit; and a control unit that controls a relative movement amount between the winding drum and the wire rod feeder. 2. The visual sensor is fixed to the wire rod feeder that is moved by a traverse mechanism that moves with respect to the winding drum that is fixed in the direction of the central axis of rotation, and is a fixed point on the wire rod feeder. The aligned winding device according to claim 1, which is a television camera that captures an image of the wire wound from the winding drum to the winding drum. 3. A winding drum around which a wire is wound, and a wire feeding device which feeds the wire onto the winding drum from a cutting line direction of the winding drum, are relatively arranged in a direction of a central axis of rotation of the winding drum. In a vertically aligned movable winding device, the wire rod feeder includes a visual sensor that detects a delay angle of the wire rod in a winding wire, and an image memory that temporarily stores image information detected by the visual sensor. Image information for obtaining a relative movement amount between the winding drum and the wire feeder, which is necessary to hold the delay angle of the wire within a certain range by using the image information temporarily stored in the image memory A processing unit, a control unit that controls a relative movement amount between the winding drum and the wire rod feeder, and an elevation angle drive unit that supplies the wire rod at a constant elevation angle,
An elevation angle detector that detects an elevation angle in the winding, and an elevation angle information processing unit that controls the elevation angle drive unit to maintain the elevation angle of the wire rod within a certain range by using the elevation angle information detected by the elevation angle detector. And an aligned winding device. 4. A winding drum around which a wire is wound, and a wire feeding device which feeds the wire onto the winding drum from a cutting line direction of the winding drum, relative to each other in a direction of a rotation center axis of the winding drum. In a vertically movable aligned winding device, the wire rod feeder detects a delay angle of the wire rod in the winding wire, and an image memory for temporarily storing image information detected by the visual sensor, Image information processing for obtaining a relative amount of movement between the winding drum and the wire feeder, which is necessary to keep the delay angle of the wire within a certain range by using the image information temporarily stored in the image memory. Section, a control section that controls a relative movement amount between the winding drum and the wire rod feeder, an elevation angle drive unit that supplies the wire rod at a constant elevation angle, and an elevation angle in the winding wire is detected. Elevation angle detector, and detected by the elevation angle detector An elevation angle information processing unit that controls the elevation angle driving unit so as to keep the elevation angle of the wire rod within a certain range by using angle information, and a defect that differentially processes the image information in the image processing unit to detect a defect of the wire rod. An aligned winding device comprising: a detection unit; and a winding abnormality signal generation unit that temporarily stops winding and generates an abnormality signal when the defect detection unit detects a defect.