JPS62240265A - Orderly wire winding device - Google Patents

Abstract

PURPOSE:To make automatic, high-accuracy, orderly wire winding possible by detecting always the lag angle of a wire material being wound by means of a visual sensor and controlling an incident angle drive part by detecting the incident angle of the wire material. CONSTITUTION:A control device having an image information processing part always detects directly the lag angle theta of a wire material being wound over a winding drum 2 by means of a visual sensor 6 such as a TV camera, etc., processes the image information, and drives and controls a drive motor 4 of a traverse mechanism 3 so that the lag angle theta falls within a certain range. Also, always detecting an incident angle of the wire material 1 being wound by means of a detector 13, driving an incident angle drive motor 12 by processing the incident angle information, incident angle of an incident angle setting table 5 is controlled via an incident angle drive part 10 to cope with the increase in the winding diameter. Thus, orderly winding can be made automatically and with high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a winding device for winding a wire such as an electric wire, and more particularly to an aligned winding device that performs aligned winding.

[Conventional technology]

A conventional wire winding device that winds wire rods by aligning them on the surface of a winding drum is known, for example, from Japanese Patent Laid-Open No. 56-1086.
It is disclosed in Publication No. 61. This is driven by a pulse motor and has a traverse mechanism that moves in parallel along the axial direction around the winding drum, detects the rotation of the winding drum during winding, and rotates the pulse motor according to the wire diameter of the wire. JP-A-60-9716, which is carried out using
There is also a device as disclosed in the above publication. This is T
A V-camera is used to detect the cross-sectional silhouette image of the winding wire being wound on a single winding drum, and this image information is processed and analyzed by a microprocessor to control the feed of the traverse mechanism and perform aligned winding. It is.

[Problem that the invention seeks to solve]

Among the above-mentioned conventional technologies, in the former type of device,
No consideration is given to cumulative errors during winding caused by variations in the wire diameter or bending of the wire, and if feed is applied to the traverse mechanism at a constant pitch, gaps may occur in the winding or damage may occur to adjacent wires. There was a possibility that a phenomenon such as running aground could occur.

Therefore, when performing high-precision aligned winding using such a device, the operator must constantly monitor the winding condition and guide the wire so that aligned winding is possible without human intervention. did not become.

In addition, it is practically difficult to obtain an image in the cross-sectional direction of the winding drum using a thin wire (for example, an electric aperture with a diameter of 1 m), as can be obtained with the latter device, and furthermore, when processing a circular image, image processing is required. Due to the large error, it was not sufficient to perform highly accurate aligned winding.

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

[Means for solving problems]

The arrangement of the aligned winding device of the present invention, which was adopted to solve the above-mentioned problems, includes a winding drum around which the wire is wound, and a winding drum on which the wire is wound. In the alignment winding device, a wire rod feeder that feeds the wire from the cutting line direction of the winding drum is movable relatively in the direction of the rotation center axis of the winding drum, wherein the wire rod feeder is movable during winding. a visual sensor that detects the delay angle of the wire, an image memory that temporarily stores image information detected by the visual sensor, and a delay angle of the wire within a certain range using the image information temporarily stored in the image memory. an image information processing unit that determines a relative movement amount between the winding drum and the wire rod feeder necessary for holding the wire rod; and controlling a relative movement amount between the winding drum and the wire rod feeder. The first feature is that it has a control unit that
an elevation angle drive unit that supplies the wire at a constant elevation angle; an elevation angle detector that detects the elevation angle in the winding; and an elevation angle information detected by the elevation angle detector to maintain the elevation angle of the wire within a certain range. and an elevation angle information processing section that controls the elevation angle driving section, and further,
a defect detection unit that detects a defect in the wire by differentially processing the image information in the image processing unit; and a winding abnormality that temporarily stops the first winding and generates an abnormal signal when the defect detection unit detects a defect. A third feature is that the device includes a signal generating section.

[Effect]

The aligned winding device of the present invention has a wire feeder made up of a visual sensor, an image memory, an image information processing section, and a control section, so that the delay angle of the wire in one winding is always 1.
Directly detected using a camera.

Based on the detection results, for example, a traverse mechanism can be designed, □
ゎ□－Oh. □8. . One thing 1o-Shiichiwo. Furthermore, since it has an elevation angle drive section, an elevation angle detector, and an elevation angle information processing section, the elevation angle of the wire rod in the winding is always detected and the elevation angle drive section is controlled based on the detection result to keep the elevation angle within a certain range. Keep in mind and work to combat weight gain.

Furthermore, one image processing section has a defect detection section and a winding abnormality signal generation section, and differentially processes the image information to detect defects in the wire, temporarily stop the winding, and generate an abnormality signal.

〔Example〕

Examples will be described below.

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

The TV camera 6 constitutes a visual sensor.

As shown in Figure 1, the axis of the optical system is arranged parallel to the X axis and the Y axis perpendicular to this, and a clear image of the electric wire 1 in the winding can be obtained with a delay angle θ. be able to do so. The TV camera 6 may be placed in other positions depending on space considerations, but the software for processing the images will be somewhat complicated. As the illumination light 97, a high frequency lighting fluorescent light was used to prevent flickering, and as the lens 8, a zoom lens was used.

The elevation setting table 5 is rotated in the elevation direction by an elevation drive motor 12 and an elevation drive section 10, with the center line of the electric wire 1 in the X-axis direction as the rotation center. That is, the elevation drive unit 10 has a gear 14 rotated by the elevation drive motor 12 and a gear 15 attached to the hollow shaft 11 that engages with the gear 14.
The angle of the elevation angle setting table 5 is changed by the rotation of the table. The elevation angle setting device 13 has 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 guide arm 17 that controls the movement of the electric wire 1 in the elevation angle direction.
Electric wire guide 18. It consists of an elevation angle setting table 5 and a magnetic potentiometer 19 rotatably attached to the guide arm 17. When the wire moves in the elevation direction due to thickening of the winding, etc., the guide arm 17 moves in accordance with the movement of the wire 1. , the detected value of the magnetic potentiometer 19 changes.

In this aligned winding device, electric current, t! 1 is a hollow shaft 11.1 operated by a delivery drum. 1 winding drum 2 passing through line pulley 9, elevation angle detector 13, and within the field of view of TV camera 6
It is wound up. At this time, the traverse mechanism 3 is moved in the X-axis direction (take-up drum 2
The winding drum 2 traverses in a direction parallel to the rotation center of the winding drum 2), but traverses so as to be slightly delayed from the winding position of the winding drum 2 to generate a delay angle θ. An elevation angle setting table 5 equipped with an elevation angle detector 13 is operated by an elevation angle drive motor 12 to rotate the elevation angle drive unit 10 using one point of the elevation angle drive unit 10 as a fulcrum.
Even when the winding drum 2 side is moved up and down and one roll thickens, the rotatable line pulley 9 that guides the electric wire 1 operates to prevent the electric wire 1 from derailing.

Next, the control device for the aligned winding device of this embodiment will be explained using FIG. In this figure, the same parts as in FIGS. 1 to 4 are given the same reference numerals.

20 is a winding drum drive motor, 21 is a feeding drum drive motor, 22 is a central control unit, 23 is a winding drum control section, 24 is a feeding drum drive motor, 25 is a traverse mechanism control section, 26 is an elevation angle control section, 27 is image memory, 28
Reference numeral 29 indicates an image information processing section, 29 an elevation angle information processing section, and 30 an operation information input section.

Image information obtained by the TV camera 6 is read out by a clock pulse given by a single image memory 27 and stored in the image memory 27 in a matrix form.

The image memory 27 is a random access memory (RAM).
).

The image information processing unit 28 detects the delay angle θ and defects in the electric wire from the contents stored in the image memory 27.

Control information is sent to the central control unit 22. The central control unit 22 controls the traverse mechanism control section 25 based on this information, and the 0-winding drum control section 23 and the feeding drum control section 24, which control the traverse mechanism drive motor 4, are each configured mainly with a servo amplifier. Central control unit 2
The take-up drum drive motor 20 and the feed-out drum drive motor 21 are rotationally driven by the commands from 2. Elevation angle information processing section 2
9 processes the information from the elevation angle detector 13 constituted by a magnetic potentiometer, and the central control unit 22
Output to as control information. The central control unit 22 is
Based on this control information, the elevation control section 26 is controlled to drive the elevation drive motor 12.

The operation information input section 30 includes operation switches, a keyboard, etc., and is used to input instructions from the operator.

As mentioned above, the central control unit 22 is for controlling all the parts, and in this embodiment, the central control unit 22 is a Hitachi newly manufactured 1.6
Using a bit single board computer.

Next, the operation of the aligned winding device of this embodiment will be explained. First, the delay angle θ will be explained. Generally, it is known that in order to perform aligned winding, it is good to give the wire a delay angle θ within a certain range.

When the position at which the t11 wire 1 is fed out by the traverse mechanism 3 is slightly delayed from the winding position of the winding drum 2.

It is possible to prevent the generation of a force that presses the wire uA1 that has already been wound onto the next wire 1 and the generation of a gap. The angle between the feeding position and the winding position that occurs due to this delay is called the delay angle θ, ff1
Overlapping of the fil can be prevented by the 17131 strands naturally slipping down due to the force of one winding, and aligned winding becomes possible.

It is known that the delay angle θ that is possible with this aligned winding is given by 0.25θo<D<3.5 no (1). Here, θo=tan
−Eng (d/πD) (2) d: Den ml
Diameter D: Diameter π of the winding drum 2: Pi.

FIG. 6 shows an explanatory diagram of an example of an image during winding.

The image in this example was a 2flI image in consideration of the time required for image processing. The number of pixels is 256 vertically and horizontally.
The number of pixels is 256 pixels. In FIG.

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, O).

The image of the electric wire 1 is shown in black as shown in FIG. Next, calculate the slope on the B side.

In general, one image often has disturbances due to the influence of ambient light, etc., so we use a well-known statistical method to derive the average slope of the zero-order A side and B side. The average value of the inclinations is determined to derive the delay angle θ in the winding, which is sent as control information to the central control unit 22.

Furthermore, differential values are calculated for each of the A side of the electric wire 1 and the B side of the electric wire 1 for detecting flaws in the electric wire 1 (for example, part 0 in FIG. 6), and the differential values are determined according to the electric wire 1. If the value is greater than the threshold, the winding is temporarily stopped and the operator is notified of the abnormality. The software for processing this image can be simplified if the image obtained by the TV camera 6 is clear because it does not require averaging processing, but if noise is mixed in one image, processing such as noise removal is required. Further, ゛Image information is taken in at regular intervals in consideration of the image processing time, but in this embodiment, it was taken in every 50 m5.

Next, a method of controlling the aligned winding device of this embodiment will be explained. When a start command is given from the operation information input section 30, the winding drum drive motor 20 and the payout drum drive motor 21 rotate to start winding. When the starting command and the diameter d2 of the wire 1 and the diameter of the winding drum are given, the central control unit 22 calculates the delay angle θ necessary for the aligned winding from equations (1) and (2). Inside, the delay angle O is constantly monitored by the TV camera 6, and the current delay angle O is (1).
The traverse mechanism control unit 2
5, the traverse mechanism 3 is traversed to an appropriate position to perform aligned winding.6 Furthermore, if an abnormality in the electric wire 1 is detected during monitoring, the winding is temporarily stopped.

The elevation angle detector 13 monitors the elevation angle during the winding, and sends the detected value of the elevation angle to the central control unit 22 via the elevation angle information processing section 29 . The central control unit 22 drives the elevation drive motor 12 based on this information.

As a result, even if winding becomes thick due to multiple turns of winding, the elevation angle setting table 5 operates, so that the electric wire 1 is always wound stably without being derailed from the line pulley 9.

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 is used. 4 can be made small in capacity, which has the effect of improving controllability.

In this embodiment, the TV camera 6 is mounted on the elevation angle drive unit 1o on the traverse mechanism 3, but if the 5-volume thickening is not so large, it may be mounted on the traverse mechanism 3.

Further, in this embodiment, the winding drum 2 is fixed and the elevation drive unit 10 is configured to traverse.

The winding drum may be configured to traverse, and the T:V camera may be mounted on the traverse mechanism on which the winding drum is mounted.

Further, in this embodiment, the TV camera 6 was installed at a position slightly away from the winding drum 2, but the TV camera may be arranged so as to obtain an image of the state immediately before being wound around the first winding drum.

Furthermore, although a TV camera was used as the visual sensor in this embodiment, other two-dimensional image detection elements may be used, and the elevation angle detector is not limited to a magnetic potentiometer, but may also be any other non-contact detection element. However, other illumination elements such as incandescent lamps may be used instead of high-frequency fluorescent lamps.

As explained above, according to the aligned winding devices of these embodiments, the winding is performed while monitoring the delay angle θ using a visual sensor, and the elevation angle is controlled within a certain range, so that the winding is always stable. Aligned winding can be done automatically.

Furthermore, since the image processed in the present invention is an image composed of straight lines, the accuracy of single image processing is high, and the image processing speed can be increased.

Furthermore, if there is a flaw in the electric wire or the like, this flaw can be detected and the winding can be temporarily stopped, making unmanned operation possible.

Incidentally, as a modification of this embodiment, if the per-roll thickening does not occur much, a configuration may be adopted in which the elevation angle drive section is not required, and in that case, a control device such as an elevation angle detector and an elevation angle information processing section is also unnecessary. be.

Also, if the wire is considered to be free from damage or if it is being wound at high speed, l! It is also possible to speed up image processing by excluding software that detects line flaws.

〔Effect of the invention〕

The present invention makes it possible to provide an alignment winding device suitable for automatically performing highly accurate alignment winding when winding wire materials such as electric wires, and has great industrial effects. It is something.

[Brief explanation 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 as seen from direction P in FIG. 1, and FIGS. FIG. 5 is an explanatory diagram of the 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. DESCRIPTION OF SYMBOLS 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, 10...Elevation angle drive section, 12...Elevation angle drive motor, 13 (and 1 other person) 1st Figure 4-) Kube°-Also P lever! PF dispatch U insect case L-ta 5---
Let's spit it out to Iq.TV77meu13--Ige ζ11? =I L;, 622 Figure 312] Figure 5

Claims (1)

[Scope of Claims] 1. A winding drum around which a wire is wound, and a wire rod feeder that supplies the wire to the winding drum from the cutting line direction of the winding drum, the winding drum being connected to the central axis of rotation of the winding drum. In an aligned winding device that is relatively movable in a direction, the wire feeder includes a visual sensor that detects a delay angle of the wire during winding, and temporarily stores image information detected by the visual sensor. The image memory and the image information temporarily stored in the image memory are used to maintain the delay angle of the wire within a certain range.
The method includes an image information processing section that calculates a relative movement amount between the winding drum and the wire rod feeder, and a control section that controls the relative movement amount between the winding drum and the wire rod feeder. An aligned winding device characterized by: 2. The visual sensor is fixed to the wire feeder that moves 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 the visual sensor is fixed to the wire feeder that moves from a fixed point on the wire feeder to the winding drum. Claim 1, which is a television camera that takes an image of the wire wound on a take-up drum.
The aligned winding device described in . 3. A winding drum around which the wire is wound and a wire feeder that supplies the wire to the winding drum from the cutting line direction of the winding drum are relatively moved in the direction of the central axis of rotation of the winding drum. In a possible aligned winding device, the wire feeder
a visual sensor that detects the delay angle of the wire rod in the winding; an image memory that temporarily stores image information detected by the visual sensor; and a visual sensor that detects the delay angle of the wire rod during winding; an image information processing unit that calculates a relative movement amount between the winding drum and the wire rod feeder necessary to maintain the angle within a certain range; a control unit that controls relative movement amount; an elevation drive unit that supplies the wire at a constant elevation angle; an elevation angle detector that detects the elevation angle in the winding; and an elevation angle detected by the elevation angle detector. An alignment winding device comprising: an elevation angle information processing section that controls the elevation angle driving section so as to maintain the elevation angle of the wire rod within a certain range using information. 4. A winding drum around which the wire is wound and a wire feeder that supplies the wire to the winding drum from the cutting line direction of the winding drum are relatively moved in the direction of the central axis of rotation of the winding drum. In a possible aligned winding device, the wire feeder includes a visual sensor for detecting a delay angle of the wire being wound, an image memory for temporarily storing image information detected by the visual sensor, and the image memory. necessary to maintain the delay angle of the wire within a certain range using the image information temporarily stored in the
an image information processing unit that determines the relative movement amount between the winding drum and the wire rod feeder; a control unit that controls the relative movement amount between the winding drum and the wire rod feeder; an elevation angle drive unit that supplies the wire at a constant elevation angle; an elevation angle detector that detects the elevation angle in the winding; and maintaining the elevation angle of the wire within a certain range using the elevation angle information detected by the elevation angle detector. an elevation angle information processing section that controls the elevation angle driving section so as to perform a differential processing on the image information in the image processing section to detect a defect in the wire; and a winding abnormality signal generating section that temporarily stops the winding and generates an abnormal signal.