JPS58215012A - Automatic winding apparatus for providing coil on core - Google Patents

Abstract

PURPOSE:To permit a coil to be automatically, speedily and accurately wound on not only a doughnut-shaped core but also a toroidal core, by constituting an essential part of an automatic winding apparatus by main and auxiliary manipulators for core and main and auxiliary manipulators for winding. CONSTITUTION:The automatic winding apparatus comprises: a press device 1 for flattening the end part of a wire in cross-section; a cutting device 2 which cuts the wire into a predetermined length and has fingers for clamping a winding on the wire feeder side; a main manipulator 3 for effecting winding; an auxiliary manipulator 4 for effecting winding in cooperation with the main manipulator 3; a main manipulator 5 for moving a core; an auxiliary manipulator 6 for core; an adhesive tape feeder 7; and a core positioning device 8 which optically effects the positioning of the core. By this constitution, a minute toroidal coil or the like is automatically and optimumly wound by employing an extremely thin wire.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method and apparatus for automatically performing toroidal convex winding.

In particular, the present invention aims to provide an automatic coil winding device that is most suitable for automatically winding a minute toroidal coil using an extremely thin wire. FIG. 1 and FIG. 2, which are one embodiment, will be described in detail.

This research can be roughly divided into a press device 1 that flattens the cross-sectional shape of the tip of the wire rod, and a cutting device 1 that cuts the wire rod to a certain length and has fingers that clamp the winding on the wire rod feeder side. a device 2; a main winding manipulator 3 for winding;
A winding auxiliary manipulator 4 that performs winding together with the manipulator 3, a core main manipulator 5 that moves the core, a core auxiliary manipulator 36, an adhesive tape supply device 7, and optically positions the core. It consists of a core positioning device 8.

The configuration of each of the above devices will be explained below with reference to FIG.

The press device 1 presses the hole c1 (fifth
The cross-sectional shape of the wire rod (hereinafter collectively referred to as the winding C') is flattened over the necessary length so that it is easy to monitor the state in which the wire passes through the winding (as shown in the figure), thereby preventing bending in unexpected directions. This is one of the main parts of the present invention. Specifically, it consists of the following configuration.

Namely, numerals 1 to 1 are press parts that flatten the tip of the winding over a length in one molding process, and 1-2 is a press opening/closing device that opens and closes the press part 1-1.

2 is a cutting device for cutting the winding σ into a predetermined length, and has the following configuration. That is, 2-1 is a cutter for cutting the winding C' to a predetermined length, and the cutters 2-1 are configured to move toward and away from each other in the X-axis direction.

2-2 is a fin car that holds the already pressed part corresponding to the next winding after being cut by the cutter 2-1, and the finger 2=2 and the cutter 2-1
are configured to open and close independently. Note that this fin car 2-21□''i is normally closed.

2-3 is a cutter opening/closing device that moves in the X-axis direction to move the cutters 2-1 toward and away from each other; 2-4 is a cutter opening/closing device that moves the cutters 2-1 toward and away from each other;
This is a cutter Y-axis moving device that moves the cutter in the Y-axis direction.

3 is a main winding manipulator for forming a coil, and has the following configuration. That is, 3-1 is a winding clamping finger that clamps the winding wire, and the Z axis is perpendicular to the opening/closing direction of the finger 3-1, and when the finger 3-1 is closed, the clamping finger 3-1 is The plane is parallel to the Y axis, and finger 3-
1 is rotated by a winding rotation device 3-2 (described later), the gripping surface of the finger 3-1 is always parallel to the Y axis, and the center of rotation is on the center line of the winding rotation device 3-2 and the finger 3-1.
It is configured to be performed at the intersection of the Y-axis of No. 1 and the parallel clamping surface.

3-2 is a winding rotating device that rotates the finker to 3-1 and has a function of preventing twisting of the winding of the coil forming reservoir.
The winding rotation device 3-2 rotates in both forward and reverse directions, and its stopping point is 360° or 180° from the center line of the gripping surface of the finger 3-1 when it is parallel to the Y-axis. ″
3-3 is a finger Y-axis moving device for moving the finger 3-1 in the Y-axis direction, and 3-4 is a finger Y-axis moving device for moving the finger 3-1 in the Y-axis direction.
A finger Z @ direction moving device that moves the tip of the winding held by the fin car 3-1 in the X-axis direction, and moves the fin car 3-1 parallel to the Z-axis without changing its position on the The relative position of finger 3-1 and finger 4-1, which will be described later, on the Z-axis is kept constant, and during coil forming, the tip of winding C' moves in a direction parallel to the Y-axis ( In order to prevent the windings from being caught between the fingers 3-1 and 4-1 (which occurs when passing the windings), a structure in which the fingers 3-1 and 4-1 are directly connected to the fixed shaft of the fin car X-axis direction moving device 4-2, which will be described later, is used. It has become.

The above configuration is a soil manipulator that uses a moving shaft to hold the windings.

In the case where the main manipulator 3 for holding the winding and the main manipulator for holding the core are used as the moving axes, the winding can be carried out at only one specified point. can be delivered.

Therefore, in this embodiment, it is necessary to have a structure to provide the same effect as if only the windings could be transferred at one place.

When the finger 3-1 passes through the winding C' from the front side of the core through the hole in the core and the tip of the winding on the back side, the finger 3-1 pinches the tip of the winding that has passed through the core and passes through the hole in the core. The winding wire C' passed through is pulled out for a predetermined length in parallel to the Z-axis, and then the finger 3-1 is moved parallel to the Z-axis to move a fixed distance (
The tip of the winding C' is held at a point (with respect to the direction of the hole in the core), and the tip of the winding is transferred from finger 4-1 to finger 3-1.

This manipulator 4 has the following configuration.

That is, 4-1 is an auxiliary finger for holding the winding C' that has passed through the hole in the core, and 4-2 is an auxiliary finger for holding the winding C'.
is a finger Z-axis moving device that moves parallel to the Z-axis in synchronization with the finger Z-axis moving device 3-4 or independently.

5 holds the core, aligns the center of the hole in the core on the Z axis, rotates the core together with an auxiliary core manipulator 6 (described later) around the hole in the core, and further rotates the core in the flattening direction. The main manipulator for holding the core is configured to be freely movable in the X-Y plane.

This manipulator 5 has the following configuration.

That is, 5-1 is a core clamping main finger that clamps the core, and 5-2 is a finger rotation device that rotates the finger 5-1 in the flat direction, that is, rotates the upper surface toward the lower surface and the lower surface toward the upper surface. , 5-3 is a finger unidirectional conversion device that rotates the finger 5-1 parallel to the X-Y plane to change the direction angle of the core, and 5-4 is an X-
This is a position adjustment device that determines the position of the finger one-way conversion device 5-3 using a Y table.

The core is rotated around the hole by this position adjustment device 5-4 and the one-direction conversion device 5-3.

6 cooperates with the manipulator 5 to center the hole in the core.
This is a core assisting manipulator that temporarily holds the core when the core is closed and rotated, and has the following configuration.

That is, 6-1 is an auxiliary fin finger for holding the core, and this finger 6-1 rotates the core in cooperation with the finger 5-1. An adhesive tape is attached to this finger 6-1 to temporarily fix the rear end of the wire C' to the core, and also to press the winding wire to the core.

6-2 and 6-3 are rotating devices that provide the fin car 6-1 with an adhesive tape clamping operation, an adhesion operation from the upper part of the core, and a suppressing operation that presses the winding C' against the core from the lower part of the core; is a position adjustment device that adjusts the position of the finger 6-1 using an X-Y table composed of orthogonal linear advancers.

Reference numeral 7 denotes an adhesive tape supply device, which is fixed and is cut into a desired length by the fingers 6-1, the rotating device 6-2, the rotating device 6-3, and the position adjusting device 6-4. It is configured.

This adhesive tape supply device 7 has the following configuration.

That is, 7-1 is an adhesive tape supply device which stores an adhesive tape, and this tape is cut to a required size and used when temporarily fixing the winding start end of the winding to the core.

This is a core positioning device that optically positions the 8-core core, and converts the image into a video signal to identify the hole C' of the core C and the core, as well as the winding Ci and its surroundings. The position is determined by detecting a point, and when viewing the normal image of the core C, it is equivalent to using a prism and installing a camera on a line parallel to the Z axis.

When passing the winding through the hole Q of the core C, monitor the winding from the 911 side of the core C and move the finger 5-1.3-1 so that the winding is positioned at the hole C4 of the core C. and core C
This allows the winding wire to be passed through the hole accurately, and also monitors the wire immediately before and after passing the wire iML, and if any abnormality occurs in the coil winding operation, the winding can be corrected. This core positioning device 8 also has a monitoring function.
consists of the following structure.

That is, 8-1 is a hiteo camera with a magnifying glass, and 8-2 is a hiteo camera with a magnifying glass.
8-3 is a prism for viewing the normal image of the core C; 8-3 is a linear moving device for setting the prism 8-2 on the front side of the lens when the prism 8-2 is used;
4 is a moving device in the Y-axis direction used to adjust the position of the camera. Fig. 2 shows the main parts for winding the coil of the present invention, including a winding clamping soil manipulator 3 and a winding clamping aid 7. L/-ta 4, core clamping main manipulator 5
A specific example of the structure of an auxiliary core-clamping manipulator 6 and a core positioning device 8, which assist in winding, is shown as one embodiment.

That is, the figure 3-1 consists of two members, a winding clamping part 3-1a bent in an L shape and a winding clamping part 3-1a.
In FIG. 2, it has a rack 3-1b that opens and closes in the vertical direction, a pinion/3-1c that engages the rack 3-1b, and a motor 3-], d that rotates the pinion 3-1c in forward and reverse directions. The wearable rotation device 3-2 includes a motor 3-2a that rotates in forward and reverse directions.
and a connecting shaft 3-2b, and the finger 3-1 is rotated about the X-axis by the motor 3-2a.

The finger Y-axis direction moving device 3-3 includes a motor 3-3a that rotates forward and backward, a fixed base 3-3b for moving in the Y-axis direction, and a Y-axis that moves in the Y-axis direction on the fixed base 3-3b for moving in the Y-axis direction. The motor 3-2a is fixedly attached to the moving table member 3-3c for moving in the Y-axis direction.

The finger Z-axis direction moving device 3-4 moves in the Z-axis direction using a motor 3-4a that rotates forward and backward, a fixed table 3-4b for moving in the Z-axis direction, and a fixed table 3-4b for moving in the Z-axis direction as a guide. It has a moving table 3-4C for moving in the Z-axis direction, which also serves as the fixed table 3-3b for moving in the Y-axis direction and a fixed table 4-2b for moving in the Z-axis direction of the Y-axis moving device 4-2, which will be described later. The holding finger 4-1 consists of two members, and the winding holding part 4
-1a and the winding clamping part 4-1a are opened and closed in the vertical direction in FIG. The finger two-axis direction moving device 4-2 has a motor 4-1d that rotates in reverse, a motor 4-2a that rotates in forward and reverse directions, a fixed base 4-2b for moving in the Z-axis direction, and a fixed base 4 for moving in the Z-axis direction. -2b
The fin car 4-1 is not fixedly attached to the Z-axis moving platform 4-20, which moves in the Z-axis direction as a kite. equipped.

As described above, the fixed base 4-2b for moving in the Z-axis direction is fixed to the moving base 3-4C for moving in the Z-axis direction.

The finger 5-1 consists of two members, the core holding part 5
-1a, a shaft 5-1b for opening and closing the core holding part, a pinion 5-IC engaging the rack 5-1b, and a motor 5-1d for rotating the pinion 5-IC in forward and reverse directions.
The gar rotation device 5-2 has a motor 5-2a that rotates the finger 5-1.

The finger one-way conversion device 5-3 has the finger rotation device 5-2 and a motor 5-3a for rotating the finger 5-1 in the direction of the arrow, and rotates the finger 5-1 over a necessary range. The position adjustment device 5-4, which can arbitrarily change the direction coefficient with respect to the Y-axis, is commonly called an X-Y table and consists of two orthogonal linear advancers.

That is, a motor 5-4a for forward/reverse rotation for X-axis movement, a fixed base 5-4b for Y-axis movement, a moving base 5-4C for XY-axis movement, and a motor 5-4d for forward/reverse rotation for X-axis movement. -5
-4e, a moving table 5-4f for X-axis movement, and a moving table 5-4c for Y-axis movement and a fixed table 5-4e for X-axis movement are fixed at right angles, and the The position on the plane can be set arbitrarily by rotation.

The finger 6-1 consists of two members, a core holding part/adhesive tape holding part 6-1a and a core/tape holding part 6-1a.
The rotating device 6-2 has a rack 6-1b that opens and closes 1a, a pinion 6-1c that engages with the rack 6-1b, and a motor 6-1d that rotates the binio/6-IC in forward and reverse directions. The rotating device 6-3 has a motor 6-2a that rotates in the opposite direction and a connecting member 6-2b, and the rotating device 6-3 has a motor 6-3a that rotates in the forward and reverse directions and a connecting member 6-3b. The position adjustment device 6-4 for arbitrarily setting the direction coefficient for the direction over the necessary range has the same structure as the position adjustment device 5-4 in 5.11 Y-axis forward and reverse rotation motor 6-4a Fixed base for movement 6-4b Moving base for XY-axis movement 6-4C and X
Forward and reverse rotation motor 6-4d for axis movement, fixed table 6-4e for X-axis movement, mobile table 6-4f for X-axis movement, mobile table 6-4c for Y@ movement and fixed table for X-axis movement. It is fixed to the stand 6-4e, and its position on the plane can be set arbitrarily by rotation of each motor.

The video camera Y-axis direction moving device 8-4 consists of a motor 8-4a that rotates forward and backward, a fixed base 8-4b for moving in the Y-axis direction, and a moving base 8-40 for moving in the Y-axis direction, and the rotation of the motor 8-4a. By moving the movable base 8-4C for moving in the Y-axis direction, the video camera 8-1 fixed on the movable base 8-4c is moved in the direction of the arrow.The prism 8-2 moves the video camera in the Y-axis direction. Moving device 8
It is configured to move in the Z-axis direction by a linear advance device 8-3 having the same configuration as that of -4 (the tapping motor is replaced with a lunoid).

As is clear from FIGS. 1 and 2 described above, each manipulator is composed of a combination of a linear movement device and a rotation device.

Therefore, the positioning of the fingers can be achieved by a linear displacement device, a rotation device alone, or a combination of a linear displacement device and a rotation device.

Furthermore, as is clear from FIG.
-3. The two axes 5-5 parallel to the Z-axis of the manipulator 5 are the main axes of the present invention, and there are three combinations of -axis fixed type and two-axis movable type. Axis 3-5.4
An example is shown in which the shaft 5-3 is a movable type and the shaft 5-5 is a fixed type.

Further, the winding rotation device 3-2 attached to the winding clamping main manipulator 3 is connected to the winding clamping main manipulator 33.
However, the present invention is not limited to this, and coil winding can also be performed by attaching it to another winding clamping auxiliary manipulator 4 or core clamping errand manipulator 5.

In this embodiment, the rotating device 5-2 attached to the core-clamping soil manibulator 5 is not used as a winding rotating device.

Next, the concept of the coil forming operation by the winding device having the above-mentioned configuration will be explained with reference to FIG. It is necessary to set the wire in this device, and once the winding C' is set, the coil winding operation is completely automatic at 1, when the winding in the winding drum reaches its end.

Figure 3 shows an explanatory diagram of the operation of each part from the time when the winding C' is first manually set, one toroidal coil is wound, and the two-piece operation begins. I will explain. .

In FIG. 3, the members shown with hatched lines indicate that they are in an operating state, and the members that are not hatched/lined indicate that they are in an inoperative state.

First, as shown in (2), the winding C' is drawn out from a winding feeder (not shown) and manually fed to the lower blade of the press section 1-1. Next, as shown in (2), the press section is moved in the closing direction to press the tip of the winding to flatten it. Then, as shown in C], the flat winding is lowered. Next, as shown in (2), the winding wire is held between the fingers 2-2, and then the winding wire is cut by force (2-1), and the cut pieces are discarded.

In this case, the fin car 2-2 continues to hold the winding as shown in (2). Next, as shown in ■, finger 3
-1 up, grip the winding at a certain distance above the finger 2-2, and release the grip of the finger 2-2. Move the fin car 2-2 and cutter 2-1 as shown in The finger 3-1 moves laterally and then stops at a predetermined position to press the tip of the winding of the next coil, and then presses the press part 1-1 as shown in operates to press the winding, and when this pressing is completed, the finger 3-1 descends and stops at a predetermined distance above the surface of the core C, as shown by O, and as a result, the winding Stop at a predetermined distance above the tip of the core or the surface of the core.

The stopping position of this winding is monitored and confirmed by the video camera 8-1, and it is determined whether it is okay to insert the winding C' into the hole C1 of the core C. If the result is good, the The insertion operation is performed.

That is, insert the winding wire into the hole in the core (by lowering the finger 3-1), and then monitor again whether or not the hiteo camera 8 is connected.
After confirming this, move the fin car 4-1 upward to clamp the tip of the winding wire that has been inserted.

Next, as shown in (■), move the finger 3-1 upward to clamp the rear end of the winding at a predetermined position below the cutter 2-1. The length of the winding wire is the sum of the length required for forming the coil, the tip, the tacking portion, and the extra length.

Above press m1-L Fin car 2-2, cutter 2-1
The winding existing in the section is the winding for the next coil, and after the fingers 3-1 move upward to sandwich the winding, the winding is cut by the cutter 2-1.

The winding below the cutter 2-1 is the winding of the first coil,
The upper winding of the cutter 2-1 is the winding of the second coil, and the predetermined part above the cutter 2-1 is the part of the press part 1.
-1 has already been pressed.

The positions of the press part 1-1 and the cutter 2-1 can be set arbitrarily under certain conditions, and when the types of coils (difference in coil size and number of turns) etc.
This can be done by adjusting the downward movement distance of 1.Next, as shown in @, if fingers 3-1 and 4-1 do not maintain that distance, they should descend at the same time to leave the necessary length for temporary fixing. Stop, then move finger 3 as shown in [phase]
-1 is laterally moved to bring the rear end of the winding into close contact with the surface side of the core, and at the same time, the adhesive tape carried by the fingers 6-1 is temporarily attached to the rear end of the winding on the surface of the core.

Next, as shown in (2), the fingers 3-1 release the temporarily fastened winding and descend to grip the tip of the winding at a predetermined position above the fin car 4-1. 0 then [
As shown in [Phase], the clamping of the winding is changed from finger 4-1 to finger 3-1. Next, as shown in [phase], the finger 3-1 moves upward while rotating in a circle while holding the winding.

In this case, the core is moved laterally by the fingers 5-1. Next, as shown at 0, the finger 3-1 is rotated 1800 times around the tip of the winding while moving upward to the position of the core. Next, as shown in 07, the finger 3-1 is further rotated while moving upward.

In this case, the core moves laterally to F? , return to position. Next, ■
) As shown in Figure 3-1, it stops at the tip of the winding or at the same position as '■' above. In this case, hiteo camera 8
-1, and when the winding is inserted into the hole in the core, the winding at the bottom of the core is pressed against the core with the fingers 6-1 to give a curl to the winding. , (indicated by an arrow) Next, the winding is inserted into the hole in the core as shown in φ), and then the finger 4-1 moves upward as shown in ◎ and stops at a predetermined position below the back side of the core. and pinch the tip of the winding.

Next, as shown in (2), the finger 4-1 moves downward and stops at a calculated predetermined position slightly higher than in (2) above. In this case, the fin car 3-1 loosens its grip slightly to allow the winding to pass through, so the winding is held by the finger 3-1.
-1, moves downward through the hole in the core held by fingers 5-1, stops at a predetermined position, and then moves downward as shown in ■). The winding is held at a predetermined position below the core, and moved slightly downward in cooperation with the fingers 4-1 to more tightly wind the winding around the coil.

Next, as shown in (2), the finger 3-1 is moved down and stopped at a position where it receives the winding from the finger 4-1, thereby holding the winding.

With the above operation, the wire is wound around the core once.

Therefore, when winding the coil the required number of times, the above ■
All you have to do is repeat the steps from [phase] to [phase].

The above explanation is for the case where the winding is wound only on one side of the core, and in order to wind the coil on the other side of the core, as shown in (■), the finger 3-1 is °
It is sufficient to reverse the operation and perform operations that are completely symmetrical to each operation from 0 to (2) above.

(In order to reverse the finger 3-1 at this time, it must be reversed when transferring from 3 to 3.) In other words, [phase] indicates the final stage of coil winding, and the
Stop with the tip of the winding facing upward.

Next, the finger 3-1 is moved laterally as shown in (') to bring the core and the winding into close contact, and this portion is temporarily fastened with the adhesive tape carried by the finger 6-1.

The winding of the first coil is completed with each of the above operations.3 Next, the second core is held between the fingers 5-1, and once its positioning is completed, the winding of the second coil is completed from the above operation (■). After moving on to coil winding, coil winding is continued until there is no more winding in the winding drum.

The above explanation is about a coil in which winding wires are intensively wound on both sides of the core, but the above winding method is applied to the hole in the core only when the fin car 3-1 moves from above to below. A one-way winding method in which the winding wire is passed through a hole is used, and if the front and back sides of the core are reversed using the finger rotation device 5-2, a reciprocating winding method is obtained.

Further, the present invention is not limited to the above-described operations in the vertical direction, and even if the coil is configured to operate in the left-right direction, for example, the same coil as described above can be obtained.

In order to wind a coil of equal width, while continuing the above winding operation, the core should be wound 360 degrees around the hole in the core.
This is possible by rotating 0 times.

According to an embodiment of the present invention, the 360' rotation of the core is achieved by clamping and re-clamping the core several times. If it is necessary to rotate the scraped core around the X-axis, it is sufficient to re-pin the core each time the core is rotated.

Specifically, the core is held again using fingers 5-1 and 6-.
1, and the necessary rotation of the core is performed by a finker one-way conversion device 5-3 and a position adjustment device 5-4.

Next, core positioning and confirmation of the presence of windings will be specifically explained.

Core positioning in a non-contact state uses optics to position the core using a video signal, and depending on the size of the object, magnification and close-up photography may be used to convert the size of the shape to a size that can be observed using the video signal. It can be carried out.

Positioning would be great if it could be converted to a video signalv)+
jJ Noh. Next, I will explain it.

First, as (2), the core is positioned, as (2), the position of the tip of the winding and the tip of the winding are confirmed, and as (C), the difference between the next expected position of the tip of the winding and the actual position is corrected.

That is, positioning the core in (-), memorize the reference position of the core, and move the actual core to that position by moving the manibilator 5.
Activate and set. This front image of the core is observed by installing a prism 8-2 on the video camera 8-1, and compared with the reference position in the memory, the error is detected by the manipulator 5.
Even if the core is set accurately using the manipulator 5 to match the position of the core with the reference position in the memory, if this setting is inaccurate, of course adjustments will be made. is performed using the processing force method using a rectangular coordinate system.5) Next, (R) can be confirmed by observing the core from the side with the video camera 8-1, as long as the position of the core has been determined. Since the position of the hole in the core is fixed, the position of the tip of the winding can be clearly measured by the confirmation operation described above with respect to ◯ in FIG. 3, which describes the tip of the winding. Depending on the relationship between the position of the tip of the winding and the position of the hole in the core, the winding is inserted into the hole in the core.

The presence of the tip of the winding wire is also measured in the same way.Furthermore, the bending of the tip of the winding wire is limited to only the desired direction due to the shaping (by press working) of the tip of the winding wire, making it easy to bend. By observing the surface with the video camera 8-1, unexpected bending of the tip can be actually measured, and subsequent countermeasures can be taken.

Further, if the fingers 3-1, 4-1 that clamp the winding are incorrectly clamping the winding, this can be detected by the video camera 8-1.

The next correction for C is that if it is impossible to insert the winding wire into the hole in the core, and as a result of trying to insert it again, the result is that the wire cannot be inserted again, it will be treated as an accident. This is done by measuring and memorizing the current position of the winding (in the case of a control accident of the manipulator 5's Y-movement linear device (in case the core position deviates in the Y-axis direction), and then measuring and memorizing the current winding position.
Calculate the position when 1 is moved down a certain distance, and the calculated position differs from the actual position (the tip of the winding collides with the core and bends, so the position differs from the calculated value) If the above insertion is impossible, remeasure and correct the core position.

Note that when the finger 3-1 is lowered a certain distance, the tip of the winding will bend if the winding does not pass through the hole in the core.
This is because when the tip of the winding is returned to its original position, the above-mentioned direction of the winding is within the elastic limit, so it will be restored.

Next, the movement of the core and the rotation about the center of the hole in the core will be specifically explained.

When positioning the core, the manipulator 5 is used to make adjustments to match the reference points.

When forming a coil with equal windings, it is necessary to rotate around the hole in the core.

Furthermore, a manipulator 5 is used when taking out the core from the supply device.

FIG. 4 is an explanatory view of taking out the core from the supply device using the manipulator 5, positioning it at a prescribed position, and rotating the core around the center of the hole in the core. The intersection point 01 of the
The straight line 01.0° is on the X axis, and R is a constant length from the center of the hole in the core held by the fingers 5-1 to the center of the rotation axis of the finger unidirectional conversion device 5-3. Now, the amount of variation δy is the length of the perpendicular line from the center of the rotation axis of the finger one-way conversion device 5'-3 to
This can be changed by moving the X-axis moving table 5-40.

The amount of variation δX is the length of a perpendicular line drawn from the center of the rotation axis of the finger one-way conversion device 5-3 to a straight line parallel to the Y-axis that touches the lower part of the circle α (in FIG. 4) of the position adjustment device. 5 by moving the X-axis moving table 5-4f.

B2, Bs, B4 are circles B20. B30. B40
This is the point at which the straight line, H3, H4 and the line P are taken out from the supply device.

At the 82nd point, the finger 5-1 takes out the core, and the center of the hole in the core is adjusted by the position adjustment device 5-4 and rotated by the figure/direction conversion device 5-3. If it is set to 0, it can match point 01. :, (At this time, δx−〇, /iy〇.

) Next, for rotation with the center of the hole in the core as the rotation axis, the base axis is 01.02, and when rotating the core with respect to the straight line 0+, 02, the rotation angle is given as θ.

Rotating the core by this amount θ is performed by the finger one-way conversion device 5-3 and the position adjustment devices 5-4.

If the rotation angle θ1 of the finger unidirectional conversion device 5-3, the adjustment amount (variation amount) δX, δy 1.4 of the position adjustment device 5-4, and the required amount of core rotation rotation angle θ are given, it is determined by the following equation. θ, -〇δy=R, sin θ δX2R (1-cos θ) According to the above three equations, the finger unidirectional conversion device 5-3,
If the position adjustment device 5-4 is set and driven,
A predetermined rotation can be applied to the core.

Incidentally, since the rotation by the manipulator 5 alone is limited within the range, the core can be rotated once by using another manipulator 6 together.

According to the present invention, there is provided a core manipulator comprising core clamping fingers, a rotation device, and a position adjustment device, and a winding manipulator comprising a main fin car for winding clamping, a winding rotation device, and a linear movement device. Since the main parts are a main manipulator and a winding auxiliary manipulator consisting of winding clamping auxiliary fingers and a linear movement device, the coil can be used not only for donut-shaped cores but also for toroidal cores of other shapes. Winding can be done automatically, accurately and quickly.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and FIG.
4 is an explanatory diagram of the process of coil winding, FIG. 4 is an explanatory diagram of the operation of the core fingers of the manipulator, and FIGS. 5A and 5B are perspective views showing the core before and after winding. ■Press device, ■-1 Press section, 2 Cutter device, 2
-1 Cutter, 2-2 Finger, 3 Manipulator, 3-1 Finger, 3-2 Winding rotation device,
4 Manipulator, 4-1 Finger, 5 Manibu L/-ta, 5-1 Finger, 6 Manipulator,
6 - Tofinger, 7 - Adhesive tape supply device, 8 - Core positioning device, 8-1 Video camera, C core, C1
Core hole, C'... winding. ■ ■ ■■■ し１ [4-1]”=0 1 ==Om −0 Figure 3 e1] Gu Ku Gu procedure amendment (method) 121% formula% 2 Title of invention Automatic winding for core Winding device 3
Person making the amendment 1'4: The above relationship Patent applicant I; ” ”l::l 2-Omori Kita, Ota-ku, Tokyo
6-11 2nd Taketora Hill L (18 (61, Il), Zaix Co., Ltd. Representative: Suzuki Banao 4, Agent: 105 Address: Shinbashi Fuji Hill 4, 2-19-2 Shinbashi, Minato-ku, Tokyo
Floor 8 Contents of the amendment (1) The column for a brief explanation of the drawings in the specification should be attached as a separate sheet.
4. Brief explanation of the drawings The drawings show an embodiment of the present invention, Fig. 1 is an overall explanatory diagram of the automatic winding device, and Fig. 2 shows the main parts. Course explanatory diagram, Figure 3 Knee 5.-J2 is the coil winding process A, Figure 4 is an explanatory diagram of the operation of the core finger of the manipulator, Figure 5 A
Figure XB is a perspective view showing the core before and after winding. 1 Press device, ■-1 Press unit, 2 Cutter device, 2-1 Cutter, 2-2 Finger, 3 Manipulator, 3-1 Finger, 3-2 Winding rotation device, 4 Manipulator, 4-1 Finger, 5 Manipulator, 5-1 Finger, 6-Manipulator, 6-Tophi/Gar, 7 Adhesive tape supply device, 8 Core positioning device, 8-1 Video force, /W, C core, C
1 core hole, C' winding. ”

Claims (1)

[Claims] The windings to be wound around the toroidal core are cut to a predetermined length, and the windings are then wound onto the toroidal core, which has been positioned at a predetermined position using a video camera equipped with a magnifying glass, using various mani-vectors and a video camera equipped with a magnifying glass. In a coil winding device that automatically performs a series of operations to form a coil by inserting the wire into a hole in the core, the length of the winding is determined by measuring the length of the tip, coil forming part, temporary fastening part, and extra length. A means for cutting the wire into a length consisting of the sum of the sum and processing and forming the tip portion into a structure that bends only in a desired direction, and a means for holding the tip portion of the winding having the processed and formed tip portion structure. Between the main manipulator and the auxiliary manipulator for holding the winding, the winding receiver has a means for alternately holding and winding the wire in order to transfer the coil, and the winding receiver is at the transfer position to wind the coil once. If the number of designated locations is one or more, and the number of designated locations is two or more, the relative positions of the main manipulator for winding clamping and the auxiliary manipulator for winding clamping are equivalent to one location, or It has a mechanism structure that gives the closest equivalent, and in order to wind the winding wire around the coil, either the main manipulator for holding the core, the main manipulator for holding the winding wire, or the auxiliary manipulator for holding the winding wire is used. In addition to having a mechanical structure with a mounting rotation device, the core clamping horse manipulator, the winding clamping main manipulator, and the winding clamping auxiliary manipulator have a mechanical structure that allows coil winding by fixed axes and two-axis movement means. An automatic winding device characterized by having: