WO2019207827A1

WO2019207827A1 - Tension adjusting device and wire winding device

Info

Publication number: WO2019207827A1
Application number: PCT/JP2018/040298
Authority: WO
Inventors: 恭輔山口; 北野　修一
Original assignee: 三菱電機株式会社
Priority date: 2018-04-26
Filing date: 2018-10-30
Publication date: 2019-10-31
Also published as: JPWO2019207827A1; CN111971244A; TWI678714B; CN111971244B; TW201946079A; JP6906695B2

Abstract

A tension adjusting device (3) conducts a wire material (11), which is delivered from a bobbin (12), to a wire winding unit (2) and adjusts the tension of the wire material (11). The tension adjusting device 3 is provided with a tension pulley (13), a dancer roller (14), a tension arm (15), and a biasing unit (16). The tension pulley (13) applies tension to the wire material (11) delivered from the bobbin (12). The tension arm (15) rotatably supports the dancer roller (14) and defines the pivoting of the dancer roller (14) about a fulcrum (17). The biasing unit (16) biases the tension arm (15) in a circular direction about the fulcrum (17) so that the dancer roller (14) moves away from the wire winding unit (2). The wire material (11) leaving the dancer roller (14) moves rectilinearly toward the wire winding unit (2) from the dancer roller (14).

Description

Tension adjusting device and winding device

The present application relates to a tension adjusting device that adjusts the tension of a wire when the wire is wound around a workpiece, and a winding device including the tension adjusting device.

As a prior art of an apparatus for winding a wire around a work such as a rotor or a stator, a bobbin disposed on the upstream side, a tension pulley for sending the bobbin winding, and a winding disposed on the downstream side A winding device is disclosed that includes a flyer that pulls in, and a tension adjustment mechanism that is disposed between the tension pulley and the flyer (see, for example, Patent Document 1). The tension adjusting mechanism of the winding device includes a first pulley disposed on the upstream side, a second pulley disposed on the downstream side, and a third pulley disposed 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, while the third pulley is configured to function as a swinging pulley that swings around a column. ing.

JP 2010-118452 A

In the prior art disclosed in Patent Document 1, the first pulley is disposed between the tension pulley and the swing pulley, and the second pulley is disposed between the swing pulley and the flyer. There is a problem that the tension adjusting mechanism and the winding device are increased in size. In addition, since many pulleys that bend 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-described problems, and a tension adjusting device and a winding device that can be reduced in size and improve the winding quality as compared with the prior art. The purpose is to provide.

The tension adjusting device disclosed in the present application is a tension adjusting device that guides a wire rod fed from a bobbin to a winding portion that winds the wire rod around a workpiece, and adjusts the tension of the wire rod,
A tension pulley portion for applying tension to the wire rod fed from the bobbin;
The wire rod delivered from the tension pulley portion is wound, and the wire rod is guided to the winding portion, and a dancer roller is provided so as to be swingable.
A tension arm portion that rotatably supports the dancer roller, and defines a swing of the dancer roller around a fulcrum provided at a position different from a rotation axis of the dancer roller;
A biasing part that biases the tension arm part in a direction in which the dancer roller moves away from the winding part in a circumferential direction around the fulcrum;
The wire that has left the dancer roller is linearly directed from the dancer roller to the winding portion.

The winding device disclosed in the present application includes the tension adjusting device and the winding unit.

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.

1 is a diagram illustrating a configuration of a winding device according to a first embodiment. 1 is a perspective view of a tension adjusting device according to Embodiment 1. FIG. FIG. 2 is a perspective view of a tension pulley and a servo motor in the first embodiment. 2 is a plan view of a back tensioner according to Embodiment 1. FIG. FIG. 3 is a side view of the back tensioner according to Embodiment 1 as viewed from the upstream side. FIG. 3 is a front view of the dancer roller in the first embodiment. It is a front view of the fryer apparatus in Embodiment 1. FIG. It is sectional drawing of the fryer apparatus in Embodiment 1. FIG. FIG. 3 is a cross-sectional view showing the position of a flyer nozzle when a wire is wound around a workpiece in the first embodiment. In Embodiment 1, it is a figure showing the relationship between the angle of the flyer arm part with respect to a workpiece | work, and the linear acceleration of the wire rod sent from a flyer nozzle. In Embodiment 1, it is a figure showing a mode that a tension pulley part provides tension | tensile_strength to a wire. In Embodiment 1, it is a figure showing the mode of a tension pulley and a dancer roller when the linear velocity is not increasing steeply. In Embodiment 1, it is a figure showing the mode of a tension pulley and a dancer roller when the tension | tensile_strength of a wire is increasing by the steep increase of a linear velocity. In the modification of Embodiment 1, it is a figure showing the positional relationship of a tension pulley, a dancer roller, a tension arm, and an urging | biasing part when the linear acceleration is not increasing. In the modification of Embodiment 1, it is a figure showing the positional relationship of a tension pulley, a dancer roller, a tension arm, and an urging | biasing part when a linear acceleration increases. It is a figure showing the structure of the winding apparatus by Embodiment 2. FIG. FIG. 6 is a diagram illustrating a configuration of a winding device according to a third embodiment. FIG. 10 is a diagram illustrating a workpiece and a drive path of a nozzle driven along a side surface of the workpiece in the winding device according to the third embodiment. It is a figure showing the structure of the winding apparatus by Embodiment 4.

Hereinafter, a plurality of embodiments will be described with reference to the drawings. In the following description, parts corresponding to items already described in the forms preceding each form may be denoted by the same reference numerals, and overlapping descriptions may be omitted. When only a part of the configuration is described, the other parts of the configuration are the same as those described in the preceding section.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a configuration of a 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 unit 4 and a flyer rotating unit 5. The flyer arm unit 4 sends the wire 11 to the workpiece 6. The flyer rotating unit 5 rotates the flyer arm unit 4.

The tension adjusting device 3 guides the wire 11 delivered from the bobbin 12 to the winding part and adjusts the tension of the wire 11. The winding part winds the wire 11 around the workpiece 6. The tension adjusting device 3 includes a tension pulley section 13, a dancer roller 14, a tension arm section 15, and a tension coil spring 16 as an urging section. The tension pulley unit 13 applies tension to the wire 11 delivered from the bobbin 12. The dancer roller 14 is provided so that the wire 11 delivered from the tension pulley portion 13 is wound around, and the wire 11 is guided to the winding portion and swingable.

The tension arm unit 15 supports the dancer roller 14 in a rotatable manner. The tension arm 15 regulates the swing of the dancer roller 14 around the fulcrum 17. The fulcrum 17 is provided at a position different from the rotational 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 11 from the dancer roller 14 toward the winding portion, whereby the wire 11 that has left the dancer roller 14 is moved to the dancer roller 14. To the flyer device 2 in a straight line. 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 11 from the tension pulley portion 13 toward the dancer roller 14 is perpendicular to the direction of the wire 11 from the dancer roller 14 toward the winding portion. In the present embodiment, “vertical” does not necessarily mean only 90 degrees, but the swing of the dancer roller 14 causes the direction of the wire 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 11 that heads may change about 90 degrees. In the dancer roller 14, the wire 11 is wound around the dancer roller 14 around the rotation axis of the dancer roller 14.

In the present embodiment, the workpiece 6 is a stator or a rotor of a rotating electric machine. The outer peripheral surface around which the wire 11 is wound in the workpiece 6 is not circular but rectangular. The wire 11 wound around the workpiece 6 by the winding portion is supplied to the winding device 1 while being wound around the bobbin 12. In the path through which the wire 11 passes, the side closer to the bobbin 12 may be referred to as the upstream side and the side closer to the workpiece 6 may be referred to as the downstream side.

As shown in FIG. 1, the wire 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 the control unit 7. The wire 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 travels toward the dancer roller 14. In the dancer roller 14, the wire 11 is wound around the outer peripheral surface of the dancer roller 14 having a central angle in the range of about 270 degrees around the rotation axis of the dancer roller 14. Thus, the range in which the wire 11 is wound around the outer peripheral surface of the pulley and is in contact with the pulley is represented by a central angle with the rotation axis of the pulley as the center, and this is hereinafter referred to as “winding angle”.

The wire 11 is wound around the dancer roller 14 at a winding angle of about 270 degrees, and then travels to the flyer device 2 provided on the downstream side of the dancer roller 14. The flyer device 2 includes a flyer arm unit 4 and a flyer rotating unit 5. The flyer arm portion 4 is a portion that feeds the wire 11 to the workpiece 6. Details of the fryer device 2 will be described later.

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

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

The wire 11 is wound around the tension pulley 22 positioned downstream 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 where feedback control is performed so that the rotational torque of the servomotor 25 is constant. The rotation shaft of the tension pulley 22 is rotatably supported by the tension pulley base 34. The servo motor 25 is fixed to the tension pulley base 34. Feedback control of the servo motor 25 is performed by the control unit 7 of the tension adjusting device 3.

The pulley guide part 35 which the wire 11 contacts is formed in the outer peripheral surface located outside the tension pulley 22 centering on the rotation axis. The pulley guide portion 35 is formed of a material such as nitrile rubber or urethane resin that the wire 11 is difficult to slip. As a result, a static frictional force acts between the wire 11 and the outer peripheral surface of the tension pulley 22 that contacts the wire 11, and the wire 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 11 in the back tensioner 23 is set to a magnitude that does not cause the wire 11 to slip in the tension pulley 22. While the wire 11 moves, the tension acting on the wire 11 is mainly determined by the rotational torque of the tension pulley 22 and the magnitude of the static friction force.

The wire 11 that has left 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 11 by being wound around the workpiece 6. The wire 11 that has left the dancer roller 14 passes through the third eyelet 36 toward the flyer device 2.

Even if there is a possibility that the wire 11 located on the upstream side of the dancer roller 14 and the wire 11 located on the downstream side of the dancer roller 14 may contact each other, the winding quality is not adversely affected. In order to prevent the wires 11 from contacting 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 Embodiment 1 as viewed from the upstream side. The back tensioner 23 includes a plurality of sapphire plates 33, a plurality of cylinders 41 that adjust the pressing force applied to the wire 11 by the plurality of sapphire plates 33, and a rod 42 that transmits power from each cylinder 41 to each sapphire plate 33. Each of the sapphire plates 33 includes a plurality of pressing linear guides 43 that define the moving direction of the sapphire plates 33, and a back tensioner base 44 that fixes and supports the 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 11 from both sides in the horizontal direction and are arranged side by side in three pairs from the upstream side to the downstream side. On the upstream side of the three pairs of sapphire plates 33, a fourth eyelet 45 that positions the wire 11 is fixed to 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 the cylinder 41 on each rail corresponding to each pair of sapphire plates 33. 42 is connected. The housing portion of the cylinder 41 is fixed to the back tensioner base 44. The wire 11 is pressed when the rod 42 of each cylinder 41 is out of each cylinder 41, and the wire 11 is released while the rod 42 is retracted into each cylinder 41. Since the wire 11 is positioned by the fourth eyelet 45, the wire 11 does not deviate from the path positioned between the three pairs of sapphire plates 33. In the present embodiment, the rods 42 of the respective cylinders 41 at the time of winding are in a state of coming out of the respective cylinders 41 and pressing the wire 11 with a certain amount of pressing force.

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 portion 53 of the tension arm portion 15 via a first ball bearing 46. The tension arm portion 15 is rotatably attached to the dancer roller base 52 via the second ball bearing 51 at any one of intermediate portions excluding both longitudinal ends of the tension arm portion 15. The point where the tension arm portion 15 is attached to the dancer roller base 52 is a fulcrum 17 related to the swinging 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 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 a self-aligning seat 55. The tension coil spring 16 expands and contracts by swinging the dancer roller 14 and the tension arm portion 15 about the fulcrum 17. The swinging direction Dr of the dancer roller 14, that is, the tangential direction at the position of the dancer roller 14 around the fulcrum 17 is set approximately parallel to the direction of the wire 11 from the dancer roller 14 toward the flyer device 2. As a result, the wire 11 that has left the dancer roller 14 is linearly directed from the dancer roller 14 to the fryer device 2. When the dancer roller 14 approaches the downstream flyer device 2, the tension coil spring 16 extends, 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 portion 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 is moved in a direction other than the expansion / contraction direction by 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 inclined according to the angle of the tension coil spring 16. Thereby, it is possible to prevent a force in a direction other than expansion and contraction from acting on the tension coil spring 16.

The angle of the tension arm 15 around the fulcrum 17 is measured by a laser displacement meter 57 as shown in FIG. The measurement result is sent to the control unit 7 and used for torque control of the servo motor 25 that rotates the tension pulley 22. The 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. FIG. 7 is a front view of the fryer apparatus 2 according to the first embodiment. FIG. 8 is a cross-sectional view of the fryer apparatus 2 according to the first embodiment. A work holding unit 56 that holds the work 6 is provided on the downstream side of the fryer apparatus 2. The workpiece 6 is held in a stationary state by the workpiece holding unit 56, and the wire 11 delivered from the flyer nozzle 24 is wound around the outer peripheral surface of the workpiece 6 by the rotation of the flyer arm unit 4. The fryer nozzle 24 is provided on the most downstream side in the fryer device 2.

The flyer device 2 includes a fixed portion 61 and a movable portion 62. The fixing unit 61 includes 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 the flyer arm portion 4, the rotation member 65, the shaft portion 66, the shaft bearing 71, the moving base 72, the mover 73, and the like. is doing. Hereinafter, a direction parallel to the rotational axis of the flyer arm portion 4 is referred to as a “first direction X”, and a downstream side of the first direction X, that is, a direction approaching the workpiece 6 is a “first direction one X1”, an upstream side. That is, the direction away from the workpiece 6 is referred to as “the other in the first direction X2”.

The moving table 72 is connected to the shaft bearing 71 and placed on the moving linear guide 64. A pair of moving linear guides 64 are provided in parallel with the first direction X on the upper surface of the base plate 63. The moving table 72 is driven by the linear motor 74 in the first direction X1 and the first direction other X2 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 movable element 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 movable element 73 are installed facing each other.

A linear position detector 75 is provided between the moving base 72 and the base plate 63 in order to detect the position in the first direction X with respect to the fixed part 61 of the movable part 62. The linear position detector 75 includes a slider 76 and a scale 81, and the slider 76 is attached to the moving base 72 and the scale 81 is attached to the base plate 63 to detect a change in the relative position of the slider 76 with respect to the scale 81. Thus, the position of the movable part 62 relative to the fixed part 61 is detected. A moving mechanism of the movable portion 62 relative to the fixed portion 61 is constituted by 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 movable table 72. The shaft bearing 71 supports the shaft portion 66, moves with the shaft portion 66 in the first direction X, and allows 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 rotational axis of the flyer arm portion 4. Further, the rotation axis of the flyer arm 4 coincides with the center axis of the workpiece 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 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 around the rotation axis of the spline outer cylinder 84. The center axis of the spline outer cylinder 84 coincides with the rotation axis of the flyer arm portion 4 and the center axis of the shaft bearing 71.

The ball spline shaft 82 is formed with an inner hole penetrating in the first direction X along the central axis of the spline outer cylinder 84, and the wire 11 passes through the inner hole. The most downstream end of the ball spline shaft 82 and the most upstream end of the shaft portion 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 pulley 85 is attached to the upstream end of the spline holder 83 with the same rotational 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 pulley 85 rotates around the center 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 center axis of the shaft portion 66. . The ball spline side pulley 85 is a toothed pulley. In the present embodiment, the shaft portion 66 and the ball spline shaft 82 are connected to each other by the coupling member 86, but 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 cavity 91 inside the rotating member 65 is open on both sides in the axial direction of the cylindrical shape forming the rotating member 65. A communication hole 92 is formed along the central axis of the shaft portion 66 at a connection portion with the shaft portion 66 of the rotating member 65. Accordingly, the cavity 91 inside the rotating member 65 communicates with the inner hole of the shaft portion 66 along the central axis of the shaft portion 66.

The portion of the rotating member 65 opposite to the connecting portion with the shaft portion 66 in 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 66 together with the shaft 66, the flyer arm 4 rotates about the central axis of the workpiece 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 center axis of the shaft portion 66 and the axis of the rotation member 65.

The first guide roller 93 is disposed in the vicinity of one end portion of both end portions where the cavity 91 of the rotating member 65 is open. As a result, the first guide roller 93 is positioned closer to one end of the rotating member 65 than the extension of the central axis of the shaft portion 66. Hereinafter, a 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 a “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”. Called.

The wire 11 that has passed through the inner hole of the shaft portion 66 is guided by the first guide roller 93 in the cavity 91 of the rotating member 65, and from the opening 94 at the end of the rotating member 65 in the second direction one Y1. , Goes 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 4 coincides with the second direction Y. A swivel plate 96 is provided at the end of the flyer arm portion 4 in the second direction one Y1. The thickness direction of the swivel plate 96 coincides with the second direction Y. The second guide roller 95 is attached to the turning plate 96. The second guide roller 95 is rotatable around a rotation axis perpendicular to both the first direction X and the second direction Y. The wire 11 guided from the inside of the cavity 91 of the rotating member 65 to the first guide roller 93 and exiting from the opening portion 94 in the second direction one Y1 of the rotating member 65 is wound around the outer peripheral surface of the second guide roller 95, After that, it passes through the fryer nozzle 24 and proceeds to the other direction Y2 in the second direction, and is wound around the workpiece 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 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 unit 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-described ball spline side pulley 85, and the rotational force of the output shaft 97 of the motor 101 is applied to the motor side pulley 103, the toothed belt 104, and the ball spline side pulley. 85. These motor 101, motor side pulley 103, toothed belt 104, and ball spline side pulley 85 constitute a flyer rotating unit 5. The rotational driving force of the motor 101 is transmitted to the flyer arm unit 4 with the motor-side pulley 103 serving as a driving wheel. The moving mechanism of the movable part 62 with respect to the fixed part 61 described above 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, changes in the linear acceleration of the wire 11 delivered from the flyer nozzle 24 when the wire 11 is wound around the workpiece 6 will be described with reference to FIGS. 9 and 10. FIG. 9 is a cross-sectional view showing the position of the fryer nozzle 24 when the wire 11 is wound around the workpiece 6 in the first embodiment. FIG. 10 is a diagram illustrating the relationship between the angle of the flyer arm unit 4 with respect to the workpiece 6 and the linear acceleration of the wire 11 delivered from the flyer nozzle 24 in the first embodiment. Hereinafter, the angle of the flyer arm portion 4 is referred to as “flyer angle”. In FIG. 10, the angle of the flyer arm portion 4 is in the vertical direction, and the flyer angle when the flyer nozzle 24 is positioned directly above the workpiece 6 is expressed as zero degrees and 360 degrees.

First, the linear acceleration of the wire 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 positioned at the point P0, that is, before reaching the point P1, the wire 11 is in contact with the corners C and D of the workpiece 6, but the corner A is not touched. There is no contact. Therefore, the wire 11 is not in contact with the winding surface AD of the workpiece 6. At this time, the point where the wire 11 is in contact with the workpiece 6, in this case, the distance between the corner portion D and the flyer nozzle 24 is referred to as the “drawing length” of the wire 11. In FIG. 9, the drawing length of the wire 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 11 is in contact with the corner A of the workpiece 6, and is in contact with the winding surface AD of the workpiece 6. At this time, the drawing length of the wire 11 is the distance between the corner A and the flyer nozzle 24. A position at which the winding surface of the workpiece 6 in contact with the wire 11 is switched like this point P1 is referred to as a “switching position”. In FIG. 9, the drawing length of the wire 11 immediately after the flyer nozzle 24 passes the switching position P1 is represented by L1.

As described above, when the flyer nozzle 24 passes the switching position P1, the drawing length of the wire 11 is steeply shortened from L44 to L1, so that the linear acceleration at which the wire 11 is sent out sharply increases. Hereinafter, the speed relating to the movement of the wire 11 when the wire 11 is delivered from the flyer arm unit 4 is referred to as “linear velocity”, and the acceleration relating to the movement of the wire 11 is referred to as “linear acceleration”. In FIG. 9, when the fryer nozzle 24 is located at the point P6, the fryer angles are set to zero degrees and 360 degrees in FIG.

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

When the flyer nozzle 24 passes through the switching position P3, the drawing length of the wire 11 is steeply shortened from L22 to L3, so that the linear acceleration at which the wire 11 is sent out sharply increases. When the flyer nozzle 24 moves between the switching position P3 and the switching position P4, the drawing length of the wire 11 gradually extends from L3 to L33, and therefore the linear acceleration of the wire 11 gradually decreases. When the flyer nozzle 24 passes the switching position P4, the drawing length of the wire 11 is from L33 to L4. Therefore, when the flyer nozzle 24 passes through the switching position P4, the linear acceleration of the wire 11 increases steeply as compared with the time when the flyer nozzle 24 moves from the switching position P3 to the switching position P4.

When the flyer nozzle 24 passes from P4 to P1, the drawing length of the wire 11 gradually extends from L4 to L44. Therefore, the linear acceleration of the wire 11 turns negative, and the moving speed of the wire 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 change from the switching position P1 to the switching position P3 described above.

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

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

When a torque Q is applied to the tension pulley 22 using the servo motor 25, the tension for winding that is generated in the wire 11 is I, where the inertia moment of the tension pulley 22 is I and the winding radius of the tension pulley 22 is R2. 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 11 does not slide on the outer peripheral surface of the tension pulley 22. In feedback control in which the torque of the servo motor 25 is constant, control is performed while satisfying T2> Ts based on the conditional expressions shown in the expressions (2) and (3).

Next, with reference to FIG. 12 and FIG. 13, an operation for suppressing a variation in tension applied to the wire 11 will be described. As described above with reference to FIG. 10, when the wire 11 is wound around the workpiece 6, the linear acceleration of the wire 11 is twice in the positive direction while the flyer nozzle 24 makes one turn around the workpiece 6. It reaches a peak. In the winding device 1 configured to apply tension to the wire 11 by the back tensioner 23 and the tension pulley 22 between the bobbin 12 that supplies the wire 11 and the flyer device 2 that winds the wire 11 around the workpiece 6, A steep change in acceleration causes a winding failure.

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

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

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

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, the swing of the dancer roller 14 has almost no influence on the frictional force between the tension pulley 22 and the wire 11. do not do.

Further, the rotation axis of the fulcrum 17 is positioned 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 dancer roller 14 with respect to the fulcrum 17 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 contact the tension pulley 22.

As shown in FIG. 12, when the linear velocity of the wire 11 does not increase steeply, the swing direction Dr of the dancer roller 14 around the fulcrum 17 is completely the same as the direction Dr2 of the wire 11 moving away from the dancer roller 14. Does not match. However, the swinging direction Dr of the dancer roller 14 is approximately parallel to the direction Dr2 in which the wire 11 moving away from the dancer roller 14 travels, so that the dancer roller 14 can swing due to a sharp increase in the linear velocity of the wire 11. Accordingly, the dancer roller 14 feeds the wire 11 by swinging and suppresses the increase in the linear acceleration of the wire 11 from affecting the tension pulley 22.

As described above with reference to FIG. 9 and FIG. 10, when the wire 11 is wound around the workpiece 6, the length of the wire 11 varies, and when the linear acceleration sharply increases, the downstream of the dancer roller 14. The dancer roller 14 is swung by the tension of the wire 11 on the side, and is displaced to the flyer device 2 side. As a result, the wire 11 is abruptly sent to the fryer apparatus 2 within the range of the difference dL in the path length of the wire 11 shown in the above equation (4). The path length of the wire 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 Equation (3), {(d / dt) ^ 2} θ, is zero or close to zero. Can be a value. Therefore, the tension of the wire 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 rotational speed of the flyer nozzle 24. This is for the following reason. If the natural frequency of the swing of the dancer roller 14 is smaller than twice the number of rotations of the flyer nozzle 24, the dancer roller according to the fluctuation of the drawing length when the wire 11 is wound around the workpiece 6 described in FIG. This is because the swing of 14 is delayed and the change in linear acceleration cannot be absorbed by the swing of dancer roller 14.

According to the first embodiment, the dancer roller 14 is wound with the wire 11 delivered from the tension pulley portion 13 and guides the wire 11 to the winding portion, so that the pulley is interposed between the tension pulley portion 13 and the dancer roller 14. No pulley is required between the dancer roller 14 and the winding portion. Therefore, the tension adjusting device 3 can be miniaturized. Moreover, since it is not necessary to bend the wire 11 in many places with many pulleys, elongation does not arise in the wire 11 and winding quality can be improved. Further, the direction in which the dancer roller 14 swings around the fulcrum 17 is parallel to the direction of the wire 11 from the dancer roller 14 toward the winding portion. Therefore, when the linear acceleration of the wire 11 sharply increases, the dancer roller 14 swings. The wire 11 can be sent out according to the linear acceleration by movement.

Further, according to the first embodiment, the direction of the wire 11 from the tension pulley portion 13 toward the dancer roller 14 is perpendicular to the direction of the wire 11 from the dancer roller 14 toward the winding portion. Even if the wire 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 11 is wound around the dancer roller 14 over a half circumference around the rotation axis of the dancer roller 14, so that the dancer roller 14 and the dancer roller 14 have a smaller winding angle than the dancer roller 14. The frictional force with the wire 11 can be kept large. Therefore, the influence which the tension | tensile_strength of the wire 11 has on the tension pulley part 13 can be reduced.

Further, according to the first embodiment, since the number of pulleys on the path used for the tension adjusting device 3 can be reduced, the winding device 1 can be miniaturized. Moreover, since the frequency | count that the wire 11 is bent by a pulley can be reduced, winding quality can be improved.

Further, according to the first embodiment, the natural frequency related to the swing of the dancer roller 14 is more than twice the number of rotations of the flyer arm portion 4, and therefore follows the change in linear acceleration that occurs when the wire 11 is wound around the workpiece 6. Thus, the dancer roller 14 can be swung, and the steep increase in linear acceleration can be absorbed by the swing of the dancer roller 14.

Further, according to the first embodiment, when the dancer roller 14 swings, the path length of the wire 11 from the dancer roller 14 to the winding portion is shortened. Therefore, the change in the linear acceleration of the wire 11 generated in the winding portion is reduced. 14 can be absorbed.

There is no limitation on the specification of the back tensioner 23 in the first embodiment. Any structure that can apply tension to the wire 11 to the extent that the wire 11 does not slip on the outer peripheral surface of the tension pulley 22 such as a spring type or an electromagnetic brake type may be used.

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. However, the present invention is not limited to such a configuration.

In the first embodiment, the arrangement of the tension pulley 22, the dancer roller 14, the tension arm portion 15, and the urging portion is described as a positional relationship as shown in FIGS. 12 and 13, but is not limited to this. For example, the arrangement shown in FIGS. 14 and 15 may be used. FIG. 14 is a diagram illustrating a positional relationship among the tension pulley 22, the dancer roller 14, the tension arm unit 15, and the urging unit when the linear acceleration is not increased in the modification of the first embodiment. FIG. 15 is a diagram illustrating a positional relationship among the tension pulley 22, the dancer roller 14, the tension arm unit 15, and the urging unit when the linear acceleration increases in the modification of the first embodiment.

14 and 15, the fulcrum 17 is positioned below the rotation axis of the tension pulley 22 in the vertical direction. The dancer roller 14 swings further vertically below the fulcrum 17. The connection point between the compression coil spring 105 that is the urging portion and the tension arm portion 15 is located on the opposite side of 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 that urges the tension arm portion 15 in one of the circumferential directions around the fulcrum 17 is the 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 biasing portion may be realized by a compression coil spring 105.

Thus, the swing direction Dr of the dancer roller 14 around the fulcrum 17 may be approximately parallel to the direction Dr2 of the wire 11 from the dancer roller 14 toward the flyer device 2. The tension pulley 22 may be positioned so long as the direction of the wire 11 from the tension pulley 22 toward the dancer roller 14 is perpendicular to the swinging 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 any arrangement as long as the winding angle of the dancer roller 14 is 180 degrees or more, ideally 270 degrees.

Embodiment 2. FIG.
Next, the winding device 1B according to the second embodiment will be described with reference to the drawings. The second embodiment is similar to the first embodiment described above, and the description below will focus on the differences of the second embodiment from the first embodiment. FIG. 16 is a diagram illustrating a configuration of a winding device 1B according to the second embodiment. As shown in FIG. 16, the workpiece 6 in the second embodiment is rotated by the spindle device 106. The winding part has a spindle nozzle 107, and sends the wire 11 from the spindle nozzle 107 toward the workpiece 6. The spindle device 106 aligns the spindle axis line with the center axis line of the workpiece 6 and rotates the workpiece 6 around the spindle axis line.

The wire 11 delivered from the spindle nozzle 107 is wound around the rotating workpiece 6. Also in this case, since the outer peripheral surface of the work 6 around which the wire 11 is wound is not circular around the center axis of the work 6, linear acceleration of the wire 11 occurs, and the tension of the wire 11 delivered from the spindle nozzle 107 is reduced. Change occurs. The dancer roller 14 and the tension arm portion 15 swing as the tension of the wire 11 increases as in the first embodiment. The influence of the increase in the tension of the wire 11 on the tension pulley 13 is suppressed by the frictional force between the dancer roller 14 and the wire 11 and the deformation energy of the urging portion.

Not only in the case where the winding part is the flyer device 2 but also in the case where the spindle nozzle 107 is provided as in the second embodiment, the pulley at the midpoint from the tension pulley 22 to the dancer roller 14 and the dancer roller 14 A pulley at an intermediate position up to the winding portion can be omitted, and the influence of the linear acceleration of the wire 11 due to the winding of the wire 11 around the workpiece 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 prior art, and the tension adjusting device 3 can be downsized. For the same reason, the winding device 1B including the tension adjusting device 3 can be downsized. Moreover, the number of times of bending the wire 11 from the bobbin 12 to the workpiece 6 can be reduced by reducing the number of pulleys. Therefore, it is possible to prevent the winding quality from deteriorating. Furthermore, even if linear acceleration occurs in the wire 11 when the wire 11 is wound around the workpiece 6, fluctuations in tension are suppressed by the swing of the dancer roller 14, so that winding defects due to fluctuations in the tension of the wire 11 are prevented. Can be prevented.

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

As shown in FIG. 18, the workpiece 6 is formed in a rectangular shape as viewed from the tension adjusting device 3 side. The nozzle part 108 moves along the side surface of the workpiece 6 around the central axis line from the workpiece 6 toward the tension adjusting device 3. The nozzle unit 108 is driven by the nozzle driving unit 109 and moves around the workpiece 6. Along with this movement, the wire 11 is delivered from the nozzle portion 108, and the delivered wire 11 is wound around the rectangular workpiece 6.

Since the shape of the workpiece 6 is not circular but rectangular when viewed from the tension adjusting device 3 side, if the nozzle portion 108 moves at a constant speed when the wire 11 is wound around the workpiece 6, the workpiece 6 is sent out from the nozzle portion 108. A linear acceleration is generated in the wire 11 to be applied. However, since the nozzle portion 108 moves along the side surface of the workpiece 6 in the third embodiment, it is different from the first embodiment in which the flyer nozzle 24 is rotated and the second embodiment in which the workpiece 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 according to the third embodiment, linear acceleration is generated although it is small as compared with the first and second embodiments. 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 according to the increase in the linear acceleration of the wire 11 as in the first embodiment, and the wire 11 is fed out by this swing. Thereby, the fluctuation | variation of the tension | tensile_strength which generate | occur | produces in the wire 11 is suppressed. Further, the friction between the dancer roller 14 and the wire 11 and the deformation of the tension coil spring 16 suppress the influence of the increase in the tension of the wire 11 on the tension pulley portion 13.

Not only when the winding part is the flyer apparatus 2 but also when the nozzle part 108 in the type of winding apparatus called a nozzle winding machine is provided as in the third embodiment, the tension pulley 22 is connected to the dancer roller 14. The pulley on the way to the end and the pulley on the way from the dancer roller 14 to the winding portion can be omitted, and the influence of the linear acceleration of the wire 11 due to the winding of the wire 11 around the work 6 is affected by the tension pulley portion. 13 can be suppressed. Since the number of pulleys provided in the tension adjusting device 3 can be reduced as compared with the prior art, the tension adjusting device 3 can be made smaller than before. Therefore, the winding device 1C including the tension adjusting device 3 can also be reduced in size.

Further, by reducing the number of pulleys between the tension pulley section 13 and the flyer device 2, the number of times the wire 11 is bent from the bobbin 12 to the workpiece 6 can be reduced. Therefore, it is possible to prevent a decrease in winding quality. Furthermore, even if linear acceleration occurs in the wire 11 when the wire 11 is wound around the workpiece 6, fluctuations in tension are suppressed by the swing of the dancer roller 14, so that winding defects due to fluctuations in the tension of the wire 11 are prevented. Can be prevented.

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

In the tension adjusting device 3 shown in the first embodiment, the servo motor 25 is feedback controlled, and a constant torque is generated in the tension pulley 22 by this feedback control. In the above formula (3), when the torque Q is constant, 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 11 T2 is constant. However, the rotational angular acceleration {(d / dt) ^ 2} θ of the tension pulley 22 is likely to fluctuate and may not be zero.

In the fourth embodiment, in order to control the tension T2 for winding generated in the wire 11 to be constant, the rotational angular acceleration {( d / dt) ^ 2} θ is measured. The measurement 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 that is actually applied to the servo motor 25 is expressed by the following equation (6).
Q3 = Q * −Q2 = Q * −I {(d / dt) ^ 2} θ (6)
The control of the servo motor 25 based on the equation (6) is performed by the control unit 7.

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

Such a torque control of the servo motor 25 that obtains a function of rotational angular acceleration in advance and performs feedforward control based on this function is performed by the nozzle winding machine of the third embodiment and the fourth embodiment. The present invention can be applied to both the 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 unit 108. The rotational position ψ is a value indicating which position of the flyer nozzle 24 or the nozzle unit 108 is 360 degrees with respect to the rotation of the flyer nozzle 24 or the nozzle unit 108.

Specifically, when the function of the rotational angular acceleration is obtained in advance, the rotational angular acceleration {(d / dt) ^ 2} θ of the servo motor of the tension device is given with only the torque to be generated on the tension pulley. Is obtained as a function of the rotational position ψ of the flyer nozzle 24 or the rotational position ψ of the nozzle unit 108. At this time, the time derivative of the rotational position ψ is kept constant. During operation, the rotational position ψ of the flyer nozzle 24 or the rotational position ψ of the nozzle unit 108 is detected, and the rotation is performed based on the rotation angular acceleration function acquired in advance according to the detected rotational 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). When the rotational angular acceleration can be detected in real time using an acceleration pickup or the like, and when the calculation speed of the control unit 7 is sufficiently fast 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 the equation (6) is performed based on the rotational angular acceleration function obtained in advance. This is preferable because control can be performed with higher accuracy.

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

Although the shape of the workpiece 6 is a rectangle when viewed along the central axis, the shape of the workpiece 6 is not limited to a rectangle. If the shape of the workpiece 6 when viewed along the central axis is a polygon, the linear acceleration of the wire 11 varies, and the variation can be suppressed by the swing of the dancer roller 14 to prevent the occurrence of winding defects. Can be prevented.

Although this application describes various exemplary embodiments and examples, various features, aspects, and functions described in one or more embodiments may be applied to particular embodiments. The present invention is not limited to this, and can be applied to the embodiments alone or in various combinations. Accordingly, innumerable modifications not illustrated are envisaged within the scope of the technology disclosed in the present application. For example, the case where at least one component is deformed, the case where the component is added or omitted, the case where the at least one component is extracted and combined with the component of another embodiment are included.

1, 1B, 1C, 1D Winding device, 2 flyer device, 3 tension adjusting device, 4 flyer arm unit, 5 flyer rotating unit, 6 work, 7 control unit, 11 wire rod, 12 bobbin, 13 tension pulley unit, 14 dancer roller , 15 tension arm, 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 felt part, 33 Sapphire plate, 34 tension pulley base, 35 pulley guide section, 36 third eyelet, 41 cylinder, 42 rod, 43 pressing linear guide, 44 back tensioner base, 45 fourth eyelet, 46 first ball bearing, 51 second Bearing, 52 dancer roller base, 53 one end of tension arm, 54 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 base, 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 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 a spindle device 107 spindle nozzles, 108 nozzles unit, 109 a nozzle driving unit 110 measuring unit.

Claims

A wire tensioning device that guides a wire rod fed from a bobbin to a winding portion that winds the wire rod around a workpiece, and adjusts the tension of the wire rod,
A tension pulley portion for applying tension to the wire rod fed from the bobbin;
The wire rod delivered from the tension pulley portion is wound, and the wire rod is guided to the winding portion, and a dancer roller is provided so as to be swingable.
A tension arm portion that rotatably supports the dancer roller, and defines a swing of the dancer roller around a fulcrum provided at a position different from a rotation axis of the dancer roller;
A biasing part that biases the tension arm part in a direction in which the dancer roller moves away from the winding part in a circumferential direction around the fulcrum;
The wire rod that has left the dancer roller is a tension adjusting device that linearly moves from the dancer roller toward the winding portion.
The tension adjusting device according to claim 1, wherein the direction of the wire from the tension pulley portion toward the dancer roller is perpendicular to the direction of the wire from the dancer roller toward the winding portion.
3. The tension adjusting device according to claim 1, wherein the wire rod is wound around the dancer roller around a rotation shaft of the dancer roller.
A rotation drive unit that applies a rotational torque to the tension pulley of the tension pulley unit;
A measurement unit for measuring 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 a rotational torque applied to the tension pulley by the rotation driving unit based on a measurement result of the measuring unit. .
A winding device comprising the tension adjusting device according to any one of claims 1 to 4 and the winding portion.
The winding portion is a flyer arm portion for sending a wire to the workpiece,
A flyer rotating unit that rotates the flyer arm unit with respect to the workpiece;
The winding device according to claim 5, wherein a natural frequency related to the swing of the dancer roller is at least twice the number of rotations of the flyer arm portion.
The workpiece is rotated by a spindle device,
The winding device according to claim 5, wherein the winding unit includes a spindle nozzle that defines a path of the wire rod fed toward the workpiece.
The workpiece is fixed,
The winding part is a nozzle part for sending a wire to the workpiece;
The winding device according to claim 5, further comprising a nozzle driving unit that drives the nozzle unit along a side surface of the workpiece.
When the wire portion winds the wire around the workpiece, if the linear acceleration of the wire increases with respect to the feeding speed of the wire in the winding portion, the winding of the dancer roller causes the winding from the dancer roller. The winding device according to any one of claims 5 to 8, wherein a path length of the wire to the wire portion is shortened.