JPWO2019207827A1 - Manufacturing method of tension adjusting device, winding device and rotary electric machine - Google Patents

Abstract

The tension adjusting device (3) guides the wire rod (11) sent from the bobbin (12) to the winding portion (2) and adjusts the tension of the wire rod (11). The tension adjusting device 3 includes a tension pulley portion (13), a dancer roller (14), a tension arm portion (15), and an urging portion (16). The tension pulley portion (13) applies tension to the wire rod (11) sent from the bobbin (12). The tension arm portion (15) rotatably supports the dancer roller (14) and defines the swing of the dancer roller (14) about the fulcrum (17). The urging portion (16) urges the tension arm portion (15) in the circumferential direction centered on the fulcrum (17) in the direction in which the dancer roller (14) moves away from the winding portion (2). The wire rod (11) leaving the dancer roller (14) goes straight from the dancer roller (14) to the winding portion (2).

Description

The present application relates to a tension adjusting device for adjusting the tension of the wire when winding the wire around a work, and a winding device including the tension adjusting device.

As a conventional technique of a device for winding a wire rod around a work such as a rotor or a stator, a bobbin arranged on the upstream side, a tension pulley for sending out a bobbin winding, and a winding arranged on the downstream side are used. A winding device including a pull-in flyer and a tension adjusting mechanism arranged between the tension pulley and the flyer is disclosed (see, for example, Patent Document 1). The tension adjusting mechanism of this winding device includes a first pulley arranged on the upstream side, a second pulley arranged on the downstream side, and a third pulley arranged between the first pulley and the second pulley. have. The first pulley and the second pulley are rotatably fixed and function as a fixed pulley, whereas the third pulley is configured to function as a swing pulley that swings around a support column. ing.

Japanese Unexamined Patent Publication No. 2010-118452

In the prior art disclosed in Patent Document 1, since the first pulley is arranged between the tension pulley and the swing pulley and the second pulley is arranged between the swing pulley and the flyer, there are many pulleys. There is a problem that the tension adjusting mechanism and the winding device become large in size. Further, since many pulleys for bending the wire are arranged on the path through which the wire passes, there is a problem that the wire is stretched by many pulleys and the winding quality of the coil is deteriorated.

The present application discloses a technique for solving the above-mentioned problems, and is a tension adjusting device and a winding device that can be made smaller than the conventional technique and can improve the winding quality. The purpose is to provide.

The tension adjusting device disclosed in the present application is a tension adjusting device that guides a wire sent from a bobbin to a winding portion that winds the wire around a work and adjusts the tension of the wire.
A tension pulley portion that applies tension to the wire rod sent from the bobbin, and
The wire rod sent out from the tension pulley portion is wound around the wire rod, and the wire rod is guided to the winding portion and is provided with a dancer roller that can swing.
A tension arm portion that rotatably supports the dancer roller and regulates the swing of the dancer roller around a fulcrum provided at a position different from the rotation axis of the dancer roller.
A biasing portion for urging the tension arm portion is provided in a circumferential direction centered on the fulcrum in a direction in which the dancer roller moves away from the winding portion.
The wire rod that has left the dancer roller goes straight from the dancer roller toward the winding portion.

Further, the winding device disclosed in the present application includes the tension adjusting device and the winding portion.

According to the tension adjusting device and the winding device disclosed in the present application, the size can be reduced and the winding quality can be improved.

It is a figure which shows the structure of the winding apparatus by Embodiment 1. FIG. It is a perspective view of the tension adjusting apparatus according to Embodiment 1. FIG. It is a perspective view of the tension pulley and the servomotor in Embodiment 1. FIG. It is a top view of the back tensioner in Embodiment 1. FIG. It is a side view which looked at the back tensioner in Embodiment 1 from the upstream side. It is a front view of the dancer roller in Embodiment 1. FIG. It is a front view of the flyer device in Embodiment 1. FIG. It is sectional drawing of the flyer device in Embodiment 1. FIG. It is sectional drawing which shows the position of the flyer nozzle when the wire rod is wound around the work | work in Embodiment 1. FIG. FIG. 5 is a diagram showing the relationship between the angle of the flyer arm portion with respect to the work and the linear acceleration of the wire rod sent from the flyer nozzle in the first embodiment. FIG. 5 is a diagram showing a state in which a tension pulley portion applies tension to a wire rod in the first embodiment. FIG. 5 is a diagram showing a state of a tension pulley and a dancer roller when the linear velocity does not increase sharply in the first embodiment. FIG. 5 is a diagram showing a state of a tension pulley and a dancer roller when the tension of a wire rod is increased due to a steep increase in linear velocity in the first embodiment. FIG. 5 is a diagram showing a positional relationship between a tension pulley, a dancer roller, a tension arm, and an urging portion when the linear acceleration is not increased in the modified example of the first embodiment. It is a figure which shows the positional relationship of a tension pulley, a dancer roller, a tension arm and an urging part when a linear acceleration increases in the modification of Embodiment 1. FIG. It is a figure which shows the structure of the winding apparatus by Embodiment 2. FIG. It is a figure which shows the structure of the winding apparatus by Embodiment 3. FIG. FIG. 5 is a diagram showing a work and a drive path of a nozzle driven along a side surface of the work in the winding device according to the third embodiment. It is a figure which shows the structure of the winding apparatus according to Embodiment 4.

Hereinafter, a plurality of embodiments will be described with reference to the drawings. In the following description, the same reference numerals may be added to the parts corresponding to the matters already described in the forms preceding each form, and duplicate explanations may be omitted. When only a part of the configuration is described, the other parts of the configuration are the same as those described above.

Embodiment 1.
FIG. 1 is a diagram showing the configuration of the winding device 1 according to the first embodiment. The winding device 1 includes a flyer device 2 as a winding portion and a tension adjusting device 3. The flyer device 2 includes a flyer arm portion 4 and a flyer rotating portion 5. The flyer arm portion 4 sends the wire rod 11 to the work 6. The flyer rotating portion 5 rotates the flyer arm portion 4.

The tension adjusting device 3 guides the wire rod 11 sent from the bobbin 12 to the winding portion and adjusts the tension of the wire rod 11. The winding portion winds the wire rod 11 around the work 6. The tension adjusting device 3 includes a tension pulley portion 13, a dancer roller 14, a tension arm portion 15, and a tension coil spring 16 as an urging portion. The tension pulley portion 13 applies tension to the wire rod 11 sent from the bobbin 12. The dancer roller 14 is provided so that the wire rod 11 sent from the tension pulley portion 13 is wound around the wire rod 11 to guide the wire rod 11 to the winding portion and swingably.

The tension arm portion 15 rotatably supports the dancer roller 14. Further, the tension arm portion 15 defines the swing of the dancer roller 14 around the fulcrum 17. The fulcrum 17 is provided at a position different from the rotation axis of the dancer roller 14. The swinging direction Dr in which the dancer roller 14 swings around the fulcrum 17 is approximately parallel to the direction Dr2 of the wire rod 11 from the dancer roller 14 to the winding portion, whereby the wire rod 11 separated from the dancer roller 14 is separated from the dancer roller 14. Straight toward the flyer device 2. The urging portion urges the tension arm portion 15 in a direction in which the dancer roller 14 moves away from the winding portion.

The direction of the wire rod 11 from the tension pulley portion 13 to the dancer roller 14 is perpendicular to the direction of the wire rod 11 from the dancer roller 14 to the winding portion. In the present embodiment, "vertical" does not necessarily mean only 90 degrees, and due to the swing of the dancer roller 14, the direction of the wire rod 11 from the tension pulley portion 13 to the dancer roller 14 and from the dancer roller 14 to the winding portion. The direction of the wire rod 11 to be directed may be changed around about 90 degrees. In the dancer roller 14, the wire rod 11 is wound around the dancer roller 14 around the rotation axis of the dancer roller 14.

In the present embodiment, the work 6 is a stator or a rotor of a rotary electric machine. The outer peripheral surface around which the wire rod 11 is wound in the work 6 has a rectangular shape instead of a circular shape. The wire rod 11 wound around the work 6 by the winding portion is supplied to the winding device 1 in a state of being wound around the bobbin 12. In the path through which the wire rod 11 passes, the one closer to the bobbin 12 may be referred to as the upstream side, and the one closer to the work 6 may be referred to as the downstream side.

As shown in FIG. 1, the wire rod 11 wound around the bobbin 12 is supplied to the tension pulley portion 13 of the tension adjusting device 3 via the first pulley 21. The tension pulley unit 13 includes a tension pulley 22, a back tensioner 23, and a control unit 7. The wire rod 11 supplied from the bobbin 12 to the winding device 1 via the first pulley 21 passes through the back tensioner 23, is wound around the tension pulley 22, and heads for the dancer roller 14. In the dancer roller 14, the wire rod 11 is wound around the outer peripheral surface of the dancer roller 14 having a central angle of about 270 degrees around the rotation axis of the dancer roller 14. In this way, the range in which the wire rod 11 is wound around the outer peripheral surface of the pulley and comes into contact with the pulley is represented by a central angle centered on the rotation axis of the pulley, and this is hereinafter referred to as a “winding angle”.

In the dancer roller 14, the wire rod 11 is wound at a winding angle of about 270 degrees, and then faces the flyer device 2 provided on the downstream side of the dancer roller 14. The flyer device 2 includes a flyer arm portion 4 and a flyer rotating portion 5. The flyer arm portion 4 is a portion for feeding out the wire rod 11 with respect to the work 6. Details of the flyer device 2 will be described later.

Next, the path of the wire rod 11 and the tension pulley portion 13 defined in the tension adjusting device 3 will be described with reference to FIGS. 2 and 3. FIG. 2 is a perspective view of the tension adjusting device 3 according to the first embodiment. FIG. 3 is a perspective view of the tension pulley 22 and the servomotor 25 according to the first embodiment. As shown in FIG. 2, the wire rod 11 wound around the bobbin 12 passes from the upstream side via the first eyelet 26, the first pulley 21, the second eyelet 31, the felt portion 32, and the back tensioner 23. It is wound around the tension pulley 22.

The first eyelet 26 protects the film covering the wire rod 11. The first pulley 21 bends the wire rod 11 from the first eyelet 26 toward the back tensioner 23. The second eyelet 31 adjusts the position of the wire rod 11 from the second pulley to the felt portion 32. The felt portion 32 adjusts the amount of wax on the surface of the wire rod 11 by sandwiching the wire rod 11 with felt. In the back tensioner 23, the wire rod 11 is sandwiched between a plurality of sapphire plates 33, and a dynamic friction force is applied to the passing wire rod 11 to press it from both sides. The back tensioner 23 will be described in detail later.

The wire rod 11 is wound around the tension pulley 22 located on the downstream side of the back tensioner 23 by a predetermined number of turns. As shown in FIG. 3, the rotation shaft of the tension pulley 22 is connected to the servomotor 25 and is rotationally driven by the servomotor 25 in a state of feedback control so that the rotation torque of the servomotor 25 becomes constant. The rotation shaft of the tension pulley 22 is rotatably supported by the tension pulley base 34. The servomotor 25 is fixed to the tension pulley base 34. The feedback control of the servomotor 25 is performed by the control unit 7 of the tension adjusting device 3.

Of the tension pulley 22, a pulley guide portion 35 with which the wire rod 11 comes into contact is formed on the outer peripheral surface located on the outer side of the rotation axis. The pulley guide portion 35 is formed of a material such as nitrile rubber or urethane resin that prevents the wire rod 11 from slipping. As a result, a static frictional force acts between the wire rod 11 and the outer peripheral surface of the tension pulley 22 in contact with the wire rod 11, and the wire rod 11 is sent from the upstream side to the downstream side by the rotation of the tension pulley 22. The dynamic friction force applied to the wire rod 11 in the back tensioner 23 is set to such a magnitude that the wire rod 11 does not slip in the tension pulley 22. The tension acting on the wire rod 11 while the wire rod 11 moves is mainly determined by the rotational torque of the tension pulley 22 and the magnitude of the static friction force.

The wire rod 11 separated from the tension pulley 22 is wound around the dancer roller 14 located on the downstream side of the tension pulley 22, and advances in contact with the outer peripheral surface of the dancer roller 14. The dancer roller 14 suppresses a change in the moving speed generated in the wire rod 11 by being wound around the work 6. The wire rod 11 leaving the dancer roller 14 goes to the flyer device 2 through the third eyelet 36.

Even if the wire rod 11 located on the upstream side of the dancer roller 14 and the wire rod 11 located on the downstream side of the dancer roller 14 may come into contact with each other, the winding quality is not adversely affected. Further, in order to prevent the wire rods 11 from coming into contact with each other on the upstream side and the downstream side of the dancer roller 14, the position of the third eyelet 36 may be shifted in a direction parallel to the rotation axis of the dancer roller 14.

Next, the configuration of the back tensioner 23 will be described with reference to FIGS. 4 and 5. FIG. 4 is a plan view of the back tensioner 23 according to the first embodiment. FIG. 5 is a side view of the back tensioner 23 according to the first embodiment as viewed from the upstream side. The back tensioner 23 includes a plurality of sapphire plates 33, a plurality of cylinders 41 for adjusting the pressing force of the plurality of sapphire plates 33 on the wire rod 11, and a rod 42 for transmitting power from each cylinder 41 to each sapphire plate 33. It has a plurality of pressing linear guides 43 that define the moving direction of each sapphire plate 33, and a back tensioner base 44 that fixes and supports housing portions of the plurality of cylinders 41 and the plurality of pressing linear guides 43.

The pair of sapphire plates 33 press the wire rods 11 from both sides in the horizontal direction, and three pairs of sapphire plates 33 are arranged side by side from the upstream side to the downstream side. On the upstream side of the three pairs of sapphire plates 33, a fourth eyelet 45 for positioning the wire rod 11 is fixedly provided on the back tensioner base 44.

The pressing linear guide 43 has a plurality of rails fixed to the back tensioner base 44, and a pair of sapphire plates 33 and a rod of a cylinder 41 are placed on each rail corresponding to each of the paired sapphire plates 33. 42 is connected. The housing portion of the cylinder 41 is fixed to the back tensioner base 44. The wire rod 11 is pressed when the rod 42 of each cylinder 41 is out of each cylinder 41, and the wire rod 42 is released while the rod 42 is retracted into each cylinder 41. Since the wire rod 11 is positioned by the fourth eyelet 45, it does not deviate from the path located between the three pairs of sapphire plates 33. In the present embodiment, the rod 42 of each cylinder 41 at the time of winding is in a state of being ejected from each cylinder 41, and presses the wire rod 11 with a pressing force of a constant magnitude.

Next, the dancer roller 14 will be described with reference to FIG. FIG. 6 is a front view of the dancer roller 14 according to the first embodiment. The dancer roller 14 is rotatably attached to one end 53 of the tension arm 15 via a first ball bearing 46. The tension arm portion 15 is rotatably attached to the dancer roller base 52 via a second ball bearing 51 at any one of the intermediate portions of the tension arm portion 15 except for both ends in the longitudinal direction. The point where the tension arm portion 15 is attached to the dancer roller base 52 serves as a fulcrum 17 regarding the swing of the dancer roller 14 and the tension arm portion 15.

One end of the tension coil spring 16 is attached to the other end 54 of the tension arm portion 15 opposite to the one end 53 to which the dancer roller 14 is attached. The other end of the tension coil spring 16 is fixed to the dancer roller base 52 via the self-aligning seat 55. The tension coil spring 16 expands and contracts by swinging the dancer roller 14 and the tension arm portion 15 around the fulcrum 17. The swing direction Dr of the dancer roller 14, that is, the tangential direction at the position of the dancer roller 14 on the circumference centered on the fulcrum 17, is set to be substantially parallel to the direction of the wire rod 11 from the dancer roller 14 to the flyer device 2. As a result, the wire rod 11 that has left the dancer roller 14 goes straight from the dancer roller 14 to the flyer device 2. When the dancer roller 14 approaches the flyer device 2 on the downstream side, the tension coil spring 16 expands, and when the tension coil spring 16 returns to the natural state, the dancer roller 14 moves away from the flyer device 2.

Since the other end of the tension coil spring 16 is attached to the dancer roller base 52 via the self-aligning seat 55, the tension coil spring 16 moves in a direction other than the expansion / contraction direction due to the swing of the dancer roller 14 and the tension arm portion 15. Even if the angle is changed, the self-aligning seat 55 is tilted according to the change angle of the tension coil spring 16. As a result, it is possible to prevent the tension coil spring 16 from being subjected to a force in a direction other than expansion and contraction.

The angle of the tension arm portion 15 about the fulcrum 17 is measured by the laser displacement meter 57 as shown in FIG. This measurement result is sent to the control unit 7 and used for torque control of the servomotor 25 that rotates the tension pulley 22. Further, this measurement result may be used for adjusting the pressing force of the sapphire plate 33 by the plurality of cylinders 41 of the back tensioner 23.

Next, the flyer device 2 will be described with reference to FIGS. 7 and 8. FIG. 7 is a front view of the flyer device 2 according to the first embodiment. FIG. 8 is a cross-sectional view of the flyer device 2 according to the first embodiment. A work holding portion 56 for holding the work 6 is provided on the downstream side of the flyer device 2. The work 6 is held in a stationary state by the work holding portion 56, and the wire rod 11 sent from the flyer nozzle 24 is wound around the outer peripheral surface of the work 6 by the rotation of the flyer arm portion 4. The flyer nozzle 24 is provided on the most downstream side of the flyer device 2.

The flyer device 2 includes a fixed portion 61 and a movable portion 62. The fixing portion 61 has a base plate 63, a moving linear guide 64, and a linear stator 67. A movable portion 62 is placed above the base plate 63. The movable portion 62 is provided so as to be movable in a direction parallel to the rotation axis of the flyer arm portion 4, and includes a flyer arm portion 4, a rotating member 65, a shaft portion 66, a shaft bearing 71, a moving table 72, a mover 73, and the like. doing. Hereinafter, the direction parallel to the rotation axis of the flyer arm portion 4 is referred to as "first direction X", and among the first directions X, the downstream side, that is, the direction approaching the work 6 is "first direction one X1", the upstream side. That is, the direction away from the work 6 is referred to as "first direction and other X2".

The moving table 72 is connected to the shaft bearing 71 and is mounted on the moving linear guide 64. A pair of moving linear guides 64 are provided on the upper surface of the base plate 63 in parallel with the first direction X. The moving table 72 is driven by a linear motor 74 in one direction X1 and one direction X2 in the first direction with respect to the base plate 63 and the moving linear guide 64. The linear motor 74 is provided between the moving base 72 and the base plate 63, and has a linear stator 67 and a mover 73. The linear stator 67 is attached to the base plate 63, and the mover 73 is attached to the moving base 72. The linear stator 67 and the mover 73 are installed so as to face each other.

A linear position detector 75 is provided between the moving table 72 and the base plate 63 in order to detect the position of the movable portion 62 with respect to the fixed portion 61 in the first direction X. The linear position detector 75 has a slider 76 and a scale 81, and attaches the slider 76 to the moving table 72 and the scale 81 to the base plate 63 to detect a change in the position of the slider 76 relative to the scale 81. By doing so, the position of the movable portion 62 with respect to the fixed portion 61 is detected. The moving mechanism of the movable portion 62 with respect to the fixed portion 61 is composed of the base plate 63, the moving linear guide 64, the moving base 72, the linear motor 74, and the linear position detector 75.

The shaft bearing 71 is fixedly provided on the upper surface of the moving table 72. The shaft bearing 71 supports the shaft portion 66 and moves together with the shaft portion 66 in the first direction X, allowing the shaft portion 66 to rotate around the central axis of the shaft bearing 71. The central axis of the shaft bearing 71 coincides with the rotation axis of the flyer arm portion 4. The rotation axis of the flyer arm portion 4 coincides with the central axis of the work 6. The shaft portion 66 is formed with an internal hole penetrating in the first direction X along the central axis of the shaft bearing 71, and the wire rod 11 passes through the inside of the internal hole.

The flyer device 2 further includes a ball spline shaft 82, a spline holder 83, and a spline outer cylinder 84, of which the spline outer cylinder 84 is included in the fixing portion 61. The spline holder 83 and the spline outer cylinder 84 do not move in the first direction X. The spline outer cylinder 84 supports the spline holder 83 and allows the ball spline shaft 82 and the spline holder 83 to rotate about the rotation axis of the spline outer cylinder 84. The central axis of the spline outer cylinder 84 coincides with the rotation axis of the flyer arm portion 4 and the central axis of the shaft bearing 71.

The ball spline shaft 82 is formed with an internal hole penetrating in the first direction X along the central axis of the spline outer cylinder 84, and the wire rod 11 passes through the inside of the internal hole. The most downstream end of the ball spline shaft 82 and the most upstream end of the shaft 66 are connected by a coupling member 86. The shaft portion 66 and the ball spline shaft 82 move together in the first direction X and around each central axis. On the other hand, the spline outer cylinder 84 is fixed in the first direction X, and is also fixed around the central axis. Therefore, the shaft portion 66 and the ball spline shaft 82 can move in the first direction X with respect to the spline outer cylinder 84, and can rotate around the central axis.

A ball spline side pulley 85 is attached to the upstream end of the spline holder 83 with the same rotation axis. The spline holder 83 and the ball spline side pulley 85 are fixedly connected to each other. As a result, when the ball spline side pulley 85 rotates around the central axis of the ball spline, the spline holder 83, the ball spline shaft 82, the coupling member 86, and the shaft portion 66 rotate around the central axis of the shaft portion 66. .. The ball spline side pulley 85 is a toothed pulley. Although the shaft portion 66 and the ball spline shaft 82 are connected to each other by the coupling member 86 in the present embodiment, the shaft portion 66 and the ball spline shaft 82 may be integrally formed.

A rotating member 65 is connected to the downstream side of the shaft portion 66. The rotating member 65 is formed in a cylindrical shape having an axis perpendicular to the central axis of the shaft portion 66. The cavities 91 inside the rotating member 65 are open to both sides of the cylindrical shape forming the rotating member 65 in the axial direction. A communication hole 92 is formed in the connecting portion of the rotating member 65 with the shaft portion 66 along the central axis of the shaft portion 66. As a result, the cavity 91 inside the rotating member 65 communicates with the internal hole of the shaft portion 66 along the central axis of the shaft portion 66.

The portion of the rotating member 65 on the side opposite to the connecting portion with the shaft portion 66 with respect to the first direction X is connected to the flyer arm portion 4. As a result, when the rotating member 65 rotates around the central axis of the shaft portion 66 together with the shaft portion 66, the flyer arm portion 4 rotates around the central axis of the work 6. A first guide roller 93 is provided inside the cavity 91 of the rotating member 65. The rotation axis of the first guide roller 93 is set perpendicular to both the central axis of the shaft portion 66 and the axis of the rotating member 65.

The first guide roller 93 is arranged in the vicinity of one end of both ends of the opening of the cavity 91 of the rotating member 65. As a result, the first guide roller 93 is located closer to one end of the rotating member 65 than the extension of the central axis of the shaft portion 66. Hereinafter, the direction perpendicular to the central axis of the shaft portion 66 and parallel to the cylindrical axis forming the rotating member 65 is referred to as "second direction Y". Of the second directions, the direction from the central axis of the shaft portion 66 toward the first guide roller 93 is referred to as "second direction one Y1", and the direction opposite to the second direction one Y1 is referred to as "second direction other Y2". Refer to.

The wire rod 11 that has passed through the internal hole of the shaft portion 66 is guided by the first guide roller 93 in the cavity 91 of the rotating member 65, and is guided from the opening 94 at the end of Y1 in the second direction of the rotating member 65. , Go out of the rotating member 65. Since the first guide roller 93 is provided on the rotating member 65, when the rotating member 65 rotates around the central axis of the shaft, the first guide roller 93 moves around the central axis of the shaft together with the rotating member 65. Therefore, when the rotating member 65 rotates around the central axis of the shaft, the second direction Y rotates with respect to the fixed portion 61 of the flyer device 2.

The longitudinal direction of the flyer arm portion 4 coincides with the second direction Y. A swivel plate 96 is provided at the end of Y1 in the second direction of the flyer arm portion 4. The thickness direction of the swivel plate 96 coincides with the second direction Y. The second guide roller 95 is attached to the swivel plate 96. The second guide roller 95 is rotatable about a rotation axis perpendicular to both the first direction X and the second direction Y. The wire rod 11 guided by the first guide roller 93 from the cavity 91 of the rotating member 65 and exiting from the opening 94 of Y1 in the second direction of the rotating member 65 is wound around the outer peripheral surface of the second guide roller 95. After that, it advances to the other Y2 in the second direction through the flyer nozzle 24 and is wound around the work 6.

Flyer nozzle 24, swivel plate 96, second guide roller 95, flyer arm portion 4, rotating member 65, first guide roller 93, shaft portion 66, ball spline shaft 82, spline holder 83, coupling member 86, and ball. The spline side pulley 85 is rotationally driven by the motor 101. The motor 101 is provided on the motor stand 102, and the motor stand 102 is fixed to the base plate 63 of the fixing portion 61. A motor-side pulley 103 is attached to the output shaft 97 that outputs the rotational force of the motor 101 with the same rotational axis. The motor side pulley 103 is a toothed pulley.

A toothed belt 104 is wound around the motor side pulley 103 and the above-mentioned ball spline side pulley 85, and the rotational force of the output shaft 97 of the motor 101 is the motor side pulley 103, the toothed belt 104, and the ball spline side pulley. It is transmitted to 85. The motor 101, the motor-side pulley 103, the toothed belt 104, and the ball spline-side pulley 85 form the flyer rotating portion 5. The rotational driving force of the motor 101 is transmitted to the flyer arm portion 4 by the motor-side pulley 103 as a driving wheel. The moving mechanism of the movable portion 62 with respect to the fixed portion 61 can be driven in the first direction X independently of the rotational drive while the rotational driving force from the motor 101 is transmitted.

Next, with reference to FIGS. 9 and 10, changes in the linear acceleration of the wire rod 11 sent from the flyer nozzle 24 when the wire rod 11 is wound around the work 6 will be described. FIG. 9 is a cross-sectional view showing the position of the flyer nozzle 24 when the wire rod 11 is wound around the work 6 in the first embodiment. FIG. 10 is a diagram showing the relationship between the angle of the flyer arm portion 4 with respect to the work 6 and the linear acceleration of the wire rod 11 sent from the flyer nozzle 24 in the first embodiment. Hereinafter, the angle of the flyer arm portion 4 will be referred to as a “flyer angle”. In FIG. 10, the angle of the flyer arm portion 4 is in the vertical direction, and the flyer angles when the flyer nozzle 24 is located directly above the work 6 are represented as zero degrees and 360 degrees.

First, the linear acceleration of the wire rod 11 before and after the flyer nozzle 24 passes through the position of the point P1 shown in FIG. 9 will be described. In FIG. 9, the direction in which the flyer nozzle 24 rotates is indicated by an arrow U. When the flyer nozzle 24 is located at the point P0, that is, before reaching the point P1, the wire rod 11 is in contact with the corner C and the corner D of the work 6, but at the corner A. Not in contact. Therefore, the wire rod 11 is not in contact with the winding surface AD of the work 6. At this time, the point where the wire rod 11 is in contact with the work 6, in this case, the distance between the corner portion D and the flyer nozzle 24 is referred to as the "wielding length" of the wire rod 11. In FIG. 9, the routing length of the wire rod 11 immediately before the flyer nozzle 24 passes through the point P1 is represented by L44.

After the flyer nozzle 24 has passed the point P1, the wire rod 11 comes into contact with the corner portion A of the work 6, and thus comes into contact with the winding surface AD of the work 6. At this time, the routing length of the wire rod 11 is the distance between the corner portion A and the flyer nozzle 24. The position where the winding surface of the work 6 in contact with the wire rod 11 is switched like this point P1 is referred to as a “switching position”. In FIG. 9, the routing length of the wire rod 11 immediately after the flyer nozzle 24 has passed the switching position P1 is represented by L1.

In this way, when the flyer nozzle 24 passes through the switching position P1, the routing length of the wire rod 11 is sharply shortened from L44 to L1, so that the linear acceleration at which the wire rod 11 is delivered increases sharply. Hereinafter, the speed related to the movement of the wire rod 11 when the wire rod 11 is sent out from the flyer arm portion 4 is referred to as “linear velocity”, and the acceleration related to the movement of the wire rod 11 is referred to as “linear acceleration”. When the flyer nozzle 24 is located at the point P6 in FIG. 9, the flyer angles are set to zero degrees and 360 degrees in FIG.

When the flyer nozzle 24 moves between the switching position P1 and the switching position P2, the routing length of the wire rod 11 gradually extends from L1 to L11 as shown in FIG. 9, so that the linear acceleration of the wire rod 11 is gentle. Decreases to. When the flyer nozzle 24 passes through the switching position P2, the wire rod 11 comes into contact with the corner portion B of the work 6, so that the routing length of the wire rod 11 changes from L11 to L2 as shown in FIG. Therefore, when the flyer nozzle 24 passes through the switching position P2, it becomes sharply shorter than when it moves between the switching position P1 and the switching position P2, so that the linear acceleration of the wire rod 11 increases sharply. When the flyer nozzle 24 passes from the switching position P2 to the switching position P3, the routing length of the wire rod 11 gently extends from L2 to L22 shown in FIG. 9, so that the linear acceleration of the wire rod 11 turns negative and gently. The moving speed of the wire rod 11 decreases.

When the flyer nozzle 24 passes through the switching position P3, the routing length of the wire rod 11 is sharply shortened from L22 to L3, so that the linear acceleration at which the wire rod 11 is delivered increases sharply. When the flyer nozzle 24 moves from the switching position P3 to the switching position P4, the routing length of the wire rod 11 gradually extends from L3 to L33, so that the linear acceleration of the wire rod 11 gradually decreases. When the flyer nozzle 24 passes through the switching position P4, the routing length of the wire rod 11 changes from L33 to L4. Therefore, when the flyer nozzle 24 passes through the switching position P4, it becomes sharply shorter than when it moves between the switching position P3 and the switching position P4, so that the linear acceleration of the wire rod 11 increases sharply.

When the flyer nozzle 24 passes from P4 to P1, the routing length of the wire rod 11 gradually extends from L4 to L44, so that the linear acceleration of the wire rod 11 turns negative and the moving speed of the wire rod 11 gradually decreases. .. As shown in FIG. 10, the change from the switching position P3 to the switching position P1 is the same as the above-mentioned change from the switching position P1 to the switching position P3.

Next, with reference to FIG. 11, the principle of applying tension to the wire rod 11 by the tension pulley portion 13 will be described. FIG. 11 is a diagram showing how the tension pulley portion 13 applies tension to the wire rod 11 in the first embodiment. In the back tensioner 23, when the wire rod 11 is pressed by the sapphire plate 33 with a pressing force P, if the coefficient of dynamic friction between the wire rod 11 and the sapphire plate 33 is μ1, the wire rod 11 on the downstream side of the back tensioner 23 by the back tensioner 23. The tension T1 applied to is then expressed by the equation (1).
T1 = P × μ1 ・ ・ ・ (1)

When the wire rod 11 is wound around the tension pulley 22 at a winding angle θ1, if the coefficient of dynamic friction between the wire rod 11 and the outer peripheral surface of the tension pulley 22 is μ2, the slip tension Ts is as follows according to Euler's belt theory. It is expressed by the equation (2) of.
Ts = T1 × e ^ (μ2 × θ1) ・ ・ ・ (2)

When torque Q is applied to the tension pulley 22 using the servomotor 25, assuming that the moment of inertia of the tension pulley 22 is I and the winding radius of the tension pulley 22 is R2, the tension for winding generated in the wire rod 11 T2 is represented by the following equation (3).

In the above equation (3), {(d / dt) ^ 2} θ is the rotational angular acceleration of the tension pulley 22. Here, if T2> Ts, the wire rod 11 does not slide on the outer peripheral surface of the tension pulley 22. In the feedback control in which the torque of the servomotor 25 is constant, the control is performed while satisfying T2> Ts based on the conditional equations shown in the equation (2) and the equation (3).

Next, an operation of suppressing fluctuations in tension applied to the wire rod 11 will be described with reference to FIGS. 12 and 13. As described above with reference to FIG. 10, when the wire rod 11 is wound around the work 6, the linear acceleration of the wire rod 11 is twice in the positive direction while the flyer nozzle 24 makes one round around the work 6. It reaches its peak. In the winding device 1 having a configuration in which tension is applied to the wire rod 11 by the back tensioner 23 and the tension pulley 22 between the bobbin 12 that supplies the wire rod 11 and the flyer device 2 that winds the wire rod 11 around the work 6. Sudden changes in acceleration cause winding defects.

FIG. 12 is a diagram showing the state of the tension pulley 22 and the dancer roller 14 when the linear velocity does not increase sharply in the first embodiment. FIG. 13 is a diagram showing a state of the tension pulley 22 and the dancer roller 14 when the tension of the wire rod 11 is increased due to a steep increase in the linear velocity in the first embodiment. When the wire acceleration increases while the wire rod 11 is wound around the work 6, the tension of the wire rod 11 on the downstream side of the dancer roller 14 increases, which causes the dancer roller 14 to swing toward the flyer device 2. Along with this, the tension coil spring 16 is extended.

As shown in FIG. 12, the distance between the most downstream contact of the tension pulley 22 and the wire 11 and the most upstream contact of the dancer roller 14 and the wire 11 when the linear velocity of the wire 11 does not increase sharply. Let La1 be. Further, the distance between the most downstream contact point of the dancer roller 14 and the wire rod 11 at this time and the third eyelet 36 is Lb1. As shown in FIG. 13, when the linear velocity of the wire rod 11 increases sharply and the tension of the wire rod 11 on the downstream side of the dancer roller 14 increases, the tension pulley 22 and the most downstream contact point of the wire rod 11 The distance between the dancer roller 14 and the wire rod 11 on the most upstream side is La2. Further, the distance between the most downstream contact point of the dancer roller 14 and the wire rod 11 at this time and the third eyelet 36 is Lb2.

The path length of the wire 11 from the bobbin 12 to the flyer nozzle 24 when the tension is not increased in the wire 11 downstream of the dancer roller 14, and the tension is increased in the wire 11 downstream of the dancer roller 14. The difference dL from the path length of the wire rod 11 from the bobbin 12 to the flyer nozzle 24 at the time is expressed by the following equation (4).
dL = (La1 + Lb1)-(La2 + Lb2) ... (4)

Further, the radius of the dancer roller 14 is R1, the radius of the tension pulley 22 is R2, the distance from the fulcrum 17 to the rotation axis of the tension pulley 22 is Lc, and the distance from the fulcrum 17 to the rotation axis of the dancer roller 14 is Ld. The radius of the tension pulley 22 is larger than the radius of the dancer roller 14 (R2> R1). Since the radius of the tension pulley 22 is set sufficiently large to secure the frictional force between the tension pulley 22 and the wire rod, the swing of the dancer roller 14 has almost an effect on the frictional force between the tension pulley 22 and the wire rod 11. do not do.

The rotation axis of the fulcrum 17 is located below the rotation axis of the tension pulley 22 in the vertical direction. The dancer roller 14 swings at a position between the tension pulley 22 and the fulcrum 17. The connection point between the tension coil spring 16 and the tension arm portion 15 is located on the opposite side of the fulcrum 17 from the dancer roller 14, and swings further downward in the vertical direction of the fulcrum 17. This connection point swings in a direction opposite to the direction in which the dancer roller 14 swings. The distance from the fulcrum 17 to the rotation axis of the tension pulley 22 is set to be larger than the sum of the radius of the tension pulley 22, the radius of the dancer roller 14, and the distance from the fulcrum 17 to the rotation axis of the dancer roller 14 (Lc> Ld + R1 + R2). Therefore, even if the dancer roller 14 swings below the tension pulley 22, the dancer roller 14 does not come into contact with the tension pulley 22.

As shown in FIG. 12, when the linear velocity of the wire rod 11 does not increase sharply, the swing direction Dr of the dancer roller 14 centered on the fulcrum 17 is completely the same as the traveling direction Dr2 of the wire rod 11 away from the dancer roller 14. Does not match. However, since the swing direction Dr of the dancer roller 14 is substantially parallel to the direction Dr2 in which the wire rod 11 away from the dancer roller 14 advances, the dancer roller 14 can swing due to a steep increase in the linear velocity of the wire rod 11. Therefore, the dancer roller 14 pays out the wire rod 11 by swinging, and suppresses the increase in the linear acceleration of the wire rod 11 from affecting the tension pulley 22.

As described above with reference to FIGS. 9 and 10, when the wire rod 11 is wound around the work 6, the routing length of the wire rod 11 fluctuates, and when the linear acceleration increases sharply due to this, it is downstream from the dancer roller 14. The dancer roller 14 swings due to the tension of the wire rod 11 on the side, and is displaced toward the flyer device 2. As a result, the wire rod 11 is steeply delivered to the flyer device 2 within the range of the difference dL of the path lengths of the wire rod 11 represented by the above formula (4). The path length of the wire rod 11 from the bobbin 12 to the tension pulley 22 does not change, and the rotational angular acceleration of the tension pulley 22 shown in the above equation (3), {(d / dt) ^ 2} θ, is zero or close to zero. Can be a value. Therefore, the tension of the wire rod 11 in the tension pulley portion 13 can be made constant or close to constant.

The natural frequency related to the swing of the dancer roller 14 and the tension arm portion 15 is set to be twice or more the rotation speed of the flyer nozzle 24. This is for the following reasons. If the natural frequency of the swing of the dancer roller 14 is smaller than twice the rotation speed of the flyer nozzle 24, the dancer roller corresponds to the fluctuation of the routing length when the wire rod 11 is wound around the work 6 described with reference to FIG. This is because the swing of the dancer 14 is delayed and the change in linear acceleration cannot be absorbed by the swing of the dancer roller 14.

According to the first embodiment, since the wire rod 11 sent from the tension pulley portion 13 is wound around the dancer roller 14 and guides the wire rod 11 to the winding portion, a pulley is placed between the tension pulley portion 13 and the dancer roller 14. It is not necessary, and no pulley is required between the dancer roller 14 and the winding portion. Therefore, the tension adjusting device 3 can be miniaturized. Further, since it is not necessary to bend the wire rod 11 at many points by many pulleys, the wire rod 11 does not stretch and the winding quality can be improved. Further, since the direction in which the dancer roller 14 swings around the fulcrum 17 is parallel to the direction of the wire rod 11 from the dancer roller 14 to the winding portion, the dancer roller 14 swings when the linear acceleration of the wire rod 11 increases sharply. The wire rod 11 can be sent out according to the linear acceleration by the motion.

Further, according to the first embodiment, since the direction of the wire rod 11 from the tension pulley portion 13 to the dancer roller 14 is perpendicular to the direction of the wire rod 11 from the dancer roller 14 to the winding portion, the dancer roller 14 is wound by swinging. Even if the wire rod 11 is sent out by approaching the portion, the influence of the swing of the dancer roller 14 on the tension pulley portion 13 can be suppressed.

Further, according to the first embodiment, in the dancer roller 14, the wire rod 11 is wound around the dancer roller 14 over half a circumference or more around the rotation axis of the dancer roller 14, so that the wire rod 11 is wound on the dancer roller 14 as compared with the case where the winding angle in the dancer roller 14 is small. The frictional force with the wire rod 11 can be kept large. Therefore, the influence of the tension of the wire rod 11 on the tension pulley portion 13 can be reduced.

Further, according to the first embodiment, the number of pulleys on the route used for the tension adjusting device 3 can be reduced, so that the winding device 1 can be miniaturized. Further, since the number of times the wire rod 11 is bent by the pulley can be reduced, the winding quality can be improved.

Further, according to the first embodiment, since the natural frequency related to the swing of the dancer roller 14 is more than twice the rotation speed of the flyer arm portion 4, it follows the change in the linear acceleration that occurs when the wire rod 11 is wound around the work 6. As a result, the dancer roller 14 can swing, and the swing of the dancer roller 14 can absorb a steep increase in linear acceleration.

Further, according to the first embodiment, when the dancer roller 14 swings, the path length of the wire rod 11 from the dancer roller 14 to the winding portion becomes short, so that the change in the linear acceleration of the wire rod 11 generated in the winding portion can be detected by the dancer roller. It can be absorbed by the swing of 14.

The specifications of the back tensioner 23 in the first embodiment are not limited. Any configuration such as a spring type or an electromagnetic brake type may be used as long as the tension can be applied to the wire rod 11 to the extent that the wire rod 11 does not slip on the outer peripheral surface of the tension pulley 22.

Further, in the first embodiment, the linear motor 74, the ball spline shaft 82, the toothed belt 104, and the like are used as the moving mechanism, but the configuration is not limited to this.

Further, in the first embodiment, the arrangement of the tension pulley 22, the dancer roller 14, the tension arm portion 15 and the urging portion has been described as the positional relationship as shown in FIGS. 12 and 13, but the present invention is not limited to this. For example, the arrangement as shown in FIGS. 14 and 15 may be used. FIG. 14 is a diagram showing the positional relationship between the tension pulley 22, the dancer roller 14, the tension arm portion 15, and the urging portion when the linear acceleration is not increased in the modified example of the first embodiment. FIG. 15 is a diagram showing the positional relationship between the tension pulley 22, the dancer roller 14, the tension arm portion 15, and the urging portion when the linear acceleration is increased in the modified example of the first embodiment.

In the modified example shown in FIGS. 14 and 15, the fulcrum 17 is located below the rotation axis of the tension pulley 22 in the vertical direction. The dancer roller 14 swings further downward in the vertical direction of the fulcrum 17. The connection point between the compression coil spring 105, which is the urging portion, and the tension arm portion 15 is located on the side opposite to the dancer roller 14 with respect to the fulcrum 17, and swings between the fulcrum 17 and the tension pulley 22. This connection point swings in a direction opposite to the direction in which the dancer roller 14 swings.

In the first embodiment, the urging portion for urging the tension arm portion 15 in one of the circumferential directions centered on the fulcrum 17 is a tension coil spring 16, but the tension arm portion 15 is urged by elasticity. If possible, it is not limited to the tension coil spring 16. For example, as shown in FIGS. 14 and 15, the urging portion may be realized by a compression coil spring 105.

As described above, the swing direction Dr of the dancer roller 14 about the fulcrum 17 may be substantially parallel to the direction Dr2 of the wire rod 11 from the dancer roller 14 to the flyer device 2. The position of the tension pulley 22 may be such that the direction of the wire rod 11 from the tension pulley 22 toward the dancer roller 14 is perpendicular to the swing direction Dr of the dancer roller 14. Further, the positional relationship between the tension pulley 22 and the flyer device 2 with respect to the dancer roller 14 may be such that the winding angle of the tension pulley 22 and the flyer device 2 is 180 degrees or more, ideally 270 degrees.

Embodiment 2.
Next, the winding device 1B according to the second embodiment will be described below with reference to the drawings. The second embodiment is similar to the first embodiment described above, and the differences between the first and second embodiments will be mainly described below. FIG. 16 is a diagram showing the configuration of the winding device 1B according to the second embodiment. As shown in FIG. 16, the work 6 in the second embodiment is rotated by the spindle device 106. The winding portion has a spindle nozzle 107, and the wire rod 11 is sent out from the spindle nozzle 107 toward the work 6. The spindle device 106 aligns the spindle axis with the central axis of the work 6 and rotates the work 6 about the spindle axis.

The wire rod 11 sent from the spindle nozzle 107 is wound around the rotating work 6. Also in this case, since the outer peripheral surface of the work 6 around which the wire rod 11 is wound is not circular around the central axis of the work 6, the linear acceleration of the wire rod 11 is generated, and the tension of the wire rod 11 sent from the spindle nozzle 107 is increased. Changes occur. The dancer roller 14 and the tension arm portion 15 swing as the tension of the wire rod 11 increases, as in the first embodiment. The frictional force between the dancer roller 14 and the wire rod 11 and the deformation energy of the urging portion suppress the influence of the increase in tension of the wire rod 11 on the tension pulley portion 13.

Not only when the winding portion is the flyer device 2, but also when the spindle nozzle 107 is provided as in the second embodiment, the pulley at the intermediate position from the tension pulley 22 to the dancer roller 14 and the dancer roller 14 The pulley at the intermediate position up to the winding portion can be omitted, and the influence of the linear acceleration of the wire rod 11 due to the winding of the wire rod 11 around the work 6 can be suppressed from being applied to the tension pulley portion 13.

Therefore, the number of pulleys provided in the tension adjusting device 3 can be reduced as compared with the conventional technique, and the tension adjusting device 3 can be miniaturized. For the same reason, the winding device 1B including the tension adjusting device 3 can be miniaturized. Further, by reducing the number of pulleys, the number of times the wire rod 11 is bent from the bobbin 12 to the work 6 can be reduced. Therefore, it is possible to prevent the winding quality from deteriorating. Further, even if a linear acceleration occurs in the wire 11 when the wire 11 is wound around the work 6, the fluctuation of the tension is suppressed by the swing of the dancer roller 14, so that the winding failure occurs due to the fluctuation of the tension of the wire 11. Can be prevented.

Embodiment 3.
Next, the winding device 1C according to the third embodiment will be described below with reference to the drawings. The third embodiment is similar to the first embodiment described above, and the differences between the first and third embodiments will be mainly described below. FIG. 17 is a diagram showing a configuration of a winding device according to the third embodiment. FIG. 18 is a diagram showing the work 6 and the drive path of the nozzle portion 108 driven along the side surface of the work 6 in the winding device according to the third embodiment. The winding device 1C shown in FIGS. 17 and 18 is a type of winding device called a nozzle winding machine to which the work 6 is fixed.

As shown in FIG. 18, the work 6 is formed in a rectangular shape when viewed from the tension adjusting device 3 side. The nozzle portion 108 moves along the side surface of the work 6 around the central axis toward the tension adjusting device 3 from the work 6. The nozzle unit 108 is driven by the nozzle drive unit 109 and moves around the work 6. Along with this movement, the wire rod 11 is sent out from the nozzle portion 108, and the sent out wire rod 11 is wound around the rectangular work 6.

Since the shape of the work 6 is not circular but rectangular when viewed from the tension adjusting device 3 side, when the nozzle portion 108 moves at a constant speed when winding the wire rod 11 around the work 6, it is sent out from the nozzle portion 108. A linear acceleration is generated in the wire rod 11 to be formed. However, in the third embodiment, since the nozzle portion 108 moves along the side surface of the work 6, it is compared with the first embodiment in which the flyer nozzle 24 is rotated and the second embodiment in which the work 6 is rotated by the spindle device 106. For example, the linear acceleration generated in the third embodiment is small.

In the winding device 1C of the third embodiment, linear acceleration is generated although it is smaller than that of the first embodiment and the second embodiment. In the third embodiment, the linear acceleration generated during winding is absorbed by the swing of the dancer roller 14 and the tension arm portion 15. In the third embodiment, the dancer roller 14 and the tension arm portion 15 swing in response to an increase in the linear acceleration of the wire rod 11 as in the first embodiment, and the wire rod 11 is unwound by this swing. As a result, fluctuations in tension generated in the wire rod 11 are suppressed. Further, the friction between the dancer roller 14 and the wire rod 11 and the deformation of the tension coil spring 16 suppress the influence of the increase in the tension of the wire rod 11 on the tension pulley portion 13.

Not only when the winding portion is the flyer device 2, but also when the nozzle portion 108 in the winding device of the type called a nozzle winding machine is provided as in the third embodiment, the tension pulley 22 is connected to the dancer roller 14. It is possible to omit the pulley on the way to the pulley and the pulley at the position on the way from the dancer roller 14 to the winding part, and the influence of the linear acceleration of the wire rod 11 due to the winding of the wire rod 11 around the work 6 is the tension pulley part. It is possible to suppress the addition to 13. Since the number of pulleys provided in the tension adjusting device 3 can be reduced as compared with the conventional technique, the tension adjusting device 3 can be made smaller than the conventional one. Therefore, the winding device 1C provided with the tension adjusting device 3 can also be miniaturized.

Further, by reducing the number of pulleys between the tension pulley portion 13 and the flyer device 2, the number of times the wire rod 11 is bent from the bobbin 12 to the work 6 can be reduced. Therefore, deterioration of winding quality can be prevented. Further, even if a linear acceleration occurs in the wire 11 when the wire 11 is wound around the work 6, the fluctuation of the tension is suppressed by the swing of the dancer roller 14, so that the winding failure occurs due to the fluctuation of the tension of the wire 11. Can be prevented.

Embodiment 4.
Next, the winding device 1D according to the fourth embodiment will be described below with reference to the drawings. The fourth embodiment is similar to the first embodiment described above, and the differences between the first and fourth embodiments will be mainly described below. FIG. 19 is a diagram showing the configuration of the winding device 1D according to the fourth embodiment.

In the tension adjusting device 3 shown in the first embodiment, the servomotor 25 is feedback-controlled, and a constant torque is generated in the tension pulley 22 by this feedback control. In the above equation (3), when the torque Q is constantly applied, if the rotational angular acceleration {(d / dt) ^ 2} θ of the tension pulley 22 can be made zero, the tension for winding generated in the wire rod 11 T2 is constant. However, the rotational angular acceleration {(d / dt) ^ 2} θ of the tension pulley 22 is liable to fluctuate and may not be set to zero.

In the fourth embodiment, in order to constantly control the tension T2 for winding generated in the wire rod 11, the measurement unit 110 installed in the servomotor 25 is used to accelerate the rotational angular acceleration of the tension pulley 22 {( d / dt) ^ 2} θ is measured. The measuring unit 110 can be realized by at least one of an encoder and an acceleration pickup. The current torque Q2 is expressed by the following equation (5) as a value obtained by multiplying the measurement result of the rotational angular acceleration {(d / dt) ^ 2} θ by the moment of inertia I.
Q2 = I {(d / dt) ^ 2} θ ... (5)

Assuming that the target value of the torque to be generated in the tension pulley 22 is Q *, the torque Q3 actually applied to the servomotor 25 is then expressed by the equation (6).
Q3 = Q * -Q2 = Q * -I {(d / dt) ^ 2} θ ... (6)
The control unit 7 controls the servomotor 25 based on the equation (6).

If the angular acceleration {(d / dt) ^ 2} θ is calculated and the angular data measured by an encoder or the like is differentiated twice, if the calculation speed of the control unit 7 is slow, the winding device 1D It may be difficult to obtain the rotational angular acceleration in real time during the operation of. In this way, when the control frequency is slow and the feedback control cannot catch up, the rotational angular acceleration {(d / dt) ^ 2} θ is set as a function of the rotational position ψ of the flyer nozzle 24 prior to the operation of the winding device 1C. Of the torque Q3 represented by the above equation (6), the term I {(d / dt) ^ 2} θ may be given by feedforward control.

The torque control of the servomotor 25, in which the function of the rotational angular acceleration is obtained in advance and the feed forward control is performed based on this function, is the nozzle winding machine of the third embodiment and the fourth embodiment. It is applicable to both winding device 1D. When the nozzle winding machine is used as in the third embodiment, the rotational angular acceleration {(d / dt) ^ 2} θ is obtained in advance as a function of the rotational position ψ of the nozzle portion 108. The rotation position ψ is a value indicating which position of the flyer nozzle 24 or the nozzle portion 108 is in 360 degrees with respect to the rotation of the flyer nozzle 24 or the nozzle portion 108.

Specifically, when obtaining the function of the rotational angular acceleration in advance, the rotational angular acceleration of the servomotor of the tension device {(d / dt) ^ 2} θ with only the torque to be generated in the tension pulley applied. Is a function of the rotation position ψ of the flyer nozzle 24 or the rotation position ψ of the nozzle portion 108, and continuous data is acquired. At this time, the time derivative of the rotation position ψ is kept constant. During operation, the rotation position ψ of the flyer nozzle 24 or the rotation position ψ of the nozzle portion 108 is detected, and the rotation is performed based on the function of the rotational angular acceleration acquired in advance according to the detected value of the rotation position ψ. The angular acceleration {(d / dt) ^ 2} θ is obtained, and the torque Q3 to be applied is obtained based on the equation (6). If the rotational angular acceleration can be detected in real time using an acceleration pickup or the like, or if the calculation speed of the control unit 7 is sufficiently high and the rotational angular acceleration can be measured in real time while the winding device 1D is in operation. Using the rotational angular acceleration {(d / dt) ^ 2} θ detected or measured in real time, feedback control based on Eq. (6) is better based on the function of the rotational angular acceleration obtained in advance. This is preferable because it enables control with higher accuracy.

According to the fourth embodiment, the rotational angular acceleration of the tension pulley 22 is measured by the measuring unit 110, and the torque applied to the tension pulley 22 from the servomotor 25 is controlled based on the measurement result of the measuring unit 110. Fluctuations in tension generated in the wire rod 11 can be suppressed, and the occurrence of winding defects can be prevented.

Although the shape of the work 6 is assumed to be rectangular when viewed along the central axis, the shape of the work 6 is not limited to a rectangle. If the shape of the work 6 when viewed along the central axis is polygonal, the linear acceleration of the wire rod 11 will fluctuate, and the fluctuation can be suppressed by the swing of the dancer roller 14, causing winding defects. Can be prevented.

Although the present application describes various exemplary embodiments and examples, the various features, embodiments, and functions described in one or more embodiments are applications of a particular embodiment. It is not limited to, but can be applied to embodiments alone or in various combinations. Therefore, innumerable variations not illustrated are envisioned within the scope of the techniques disclosed in the present application. For example, it is assumed that at least one component is modified, added or omitted, and further, at least one component is extracted and combined with the components of other embodiments.

1,1B, 1C, 1D winding device, 2 flyer device, 3 tension adjustment device, 4 flyer arm section, 5 flyer rotation section, 6 workpieces, 7 control section, 11 wire rod, 12 bobbin, 13 tension pulley section, 14 dancer roller , 15 tension arm part, 16 tension coil spring, 17 fulcrum, 21 first pulley, 22 tension pulley, 23 back tensioner, 24 flyer nozzle, 25 servo motor, 26 first eyelet, 31 second eyelet, 32 bearing part, 33 Sapphire plate, 34 tension pulley stand, 35 pulley guide, 36 3rd eyelet, 41 cylinder, 42 rod, 43 pressing linear guide, 44 back tensioner stand, 45 4th eyelet, 46 1st ball bearing, 51 2nd ball bearing , 52 Dancer roller stand, 53 One end of tension arm, 54 The other end of tension arm, 55 Self-aligning seat, 56 Work holding part, 57 Laser displacement meter, 61 Fixed part, 62 Movable part, 63 Base plate, 64 moving linear guide, 65 rotating member, 66 shaft part, 67 linear stator, 71 shaft bearing, 72 moving table, 73 mover, 74 linear motor, 75 linear position detector, 76 slider, 81 scale, 82 ball spline shaft , 83 spline holder, 84 spline outer cylinder, 85 ball spline side pulley, 86 coupling member, 91 cavity, 92 communication hole, 93 first guide roller, 94 opening, 95 second guide roller, 96 swivel plate, 97 Output shaft, 101 motor, 102 motor stand, 103 motor side pulley, 104 toothed belt, 105 compression coil spring, 106 spindle device, 107 spindle nozzle, 108 nozzle part, 109 nozzle drive part, 110 measuring part.

The present application relates to a method for manufacturing a tension adjusting device , a winding device and a rotary electric machine.

The tension adjusting device disclosed in the present application is a tension adjusting device that guides a wire sent from a bobbin to a winding portion that winds the wire around a work and adjusts the tension of the wire.
A tension pulley portion having a tension pulley that applies tension to the wire rod sent from the bobbin, and
The wire rod sent out from the tension pulley portion is wound around the wire rod, and the wire rod is guided to the winding portion and is provided with a dancer roller that can swing.
A tension arm portion that rotatably supports the dancer roller and regulates the swing of the dancer roller around a fulcrum provided at a position different from the rotation axis of the dancer roller.
A biasing portion for urging the tension arm portion is provided in a circumferential direction centered on the fulcrum in a direction in which the dancer roller moves away from the winding portion.
Wire away the dancer roller is not suited to linearly the winding unit from said dancer roller,
The urging portion urges the tension arm portion on the side opposite to the dancer roller with respect to the fulcrum.

Further, the winding device disclosed in the present application includes the tension adjusting device and the winding portion.
Further, in the method for manufacturing a rotary electric machine disclosed in the present application, the rotary electric machine is manufactured by winding the wire rod using the stator or rotor of the rotary electric machine as the work by using the winding device.

Claims (9)

A tension adjusting device that guides a wire sent from a bobbin to a winding portion that winds the wire around a work and adjusts the tension of the wire.
A tension pulley portion that applies tension to the wire rod sent from the bobbin, and
The wire rod sent out from the tension pulley portion is wound around the wire rod, and the wire rod is guided to the winding portion and is provided with a dancer roller that can swing.
A tension arm portion that rotatably supports the dancer roller and regulates the swing of the dancer roller around a fulcrum provided at a position different from the rotation axis of the dancer roller.
A biasing portion for urging the tension arm portion is provided in a circumferential direction centered on the fulcrum in a direction in which the dancer roller moves away from the winding portion.
The wire rod separated from the dancer roller is a tension adjusting device linearly directed from the dancer roller toward the winding portion. The tension adjusting device according to claim 1, wherein the direction of the wire rod from the tension pulley portion to the dancer roller is perpendicular to the direction of the wire rod from the dancer roller to the winding portion. The tension adjusting device according to claim 1 or 2, wherein in the dancer roller, the wire rod is wound around the dancer roller around a rotation axis of the dancer roller. A rotary drive unit that applies rotational torque to the tension pulley of the tension pulley unit,
A measuring unit that measures the rotational angular acceleration of the tension pulley,
The tension adjusting device according to any one of claims 1 to 3, further comprising a control unit that controls the rotational torque applied to the tension pulley by the rotation driving unit based on the measurement result of the measuring unit. .. A winding device including the tension adjusting device according to any one of claims 1 to 4 and the winding portion. The winding portion includes a flyer arm portion that delivers a wire rod to the work and a flyer arm portion.
A flyer rotating portion for rotating the flyer arm portion with respect to the work is provided.
The winding device according to claim 5, wherein the natural frequency related to the swing of the dancer roller is at least twice the rotation speed of the flyer arm portion. The work is rotated by a spindle device and
The winding device according to claim 5, wherein the winding portion includes a spindle nozzle that defines a path of the wire rod to be delivered toward the work. The work is fixed
The winding portion includes a nozzle portion for delivering a wire rod to the work and a nozzle portion.
The winding device according to claim 5, further comprising a nozzle driving unit that drives the nozzle unit along the side surface of the work. When the winding portion winds the wire rod around the work, when the linear acceleration of the wire rod increases with respect to the delivery speed of the wire rod in the winding portion, the swing of the dancer roller causes the winding from the dancer roller. The winding device according to any one of claims 5 to 8, wherein the path length of the wire rod to the wire portion is shortened.