WO2020027154A1

WO2020027154A1 - Wire aligning and winding device, learning system used for same, and data collecting and accumulating system

Info

Publication number: WO2020027154A1
Application number: PCT/JP2019/029895
Authority: WO
Inventors: 宮崎　浩一; 久太郎阿部; 樋口　一弘; 和也森木
Original assignee: 古河電気工業株式会社
Priority date: 2018-07-31
Filing date: 2019-07-30
Publication date: 2020-02-06
Also published as: EP3831754B1; JP7282092B2; EP3831754C0; JPWO2020027154A1; EP3831754A1; EP3831754A4

Abstract

A wire aligning and winding device comprising: a data collecting and accumulating system that collects at least data indicating manual operations of a guiding device for guiding the wire to a take-up drum and of a correcting device for correcting the winding position of a wire, data indicating states related to each of the wire, the guiding device, and the correcting device, and data indicating the success/failure of the target aligned winding of the wire, and that accumulates and associates the collected data according to the success and failure of the target aligned winding of the wire; and a learning device that, on the basis of the accumulated data, learns the manual operations of the guiding device and the correcting device for at least one of the success and the failure of the target aligned winding of the wire and sets up control rules to be able to automatically control the guiding device and the correcting device so that the wire is wound on the take-up drum in the target aligned winding.

Description

Wire aligning and winding device, learning system and data collection and storage system used for the device

The present invention relates to a wire rod aligning and winding device, a learning system used for the same, and a data collection and accumulation system.

Conventionally, there has been proposed a wire aligning and winding apparatus for winding a long wire such as a power cable or a communication cable around an winding drum in an aligned winding (for example, see Patent Document 1). In general, a wire rod aligning and winding apparatus rotates a winding drum in a predetermined direction, and sequentially winds a target wire rod by a winding drum while guiding the target wire rod to a winding drum side by guide means. At this time, the guide means horizontally moves the wire in the horizontal direction (direction of the rotation center) of the winding drum with the rotation of the winding drum, and separates the wire from each winding layer of the wire on the winding drum. The take-up drum is moved vertically in the height direction. In this way, the wire rod aligning and winding apparatus can wind the wire rod on the winding drum so as to form an aligned winding. The winding layer is a layer of a wire rod wound around a winding drum and aligned.

For example, in a wire aligning and winding apparatus described in Patent Document 1, a force sensor detects a force based on a displacement of a wire by a guide means, and based on a force detection signal from the force sensor, a control means moves up and down of the guide means. Automatically control the left and right positions. As a result, the wire is wound around the winding drum while maintaining a predetermined angle of incidence and a predetermined height position. As a result, the wire is wound around the winding drum in an aligned winding. Further, in this wire rod aligning and winding apparatus, the operator can remotely control the upper, lower, left and right positions of the guide means using the operation means.

As described above, the winding of the wire into the winding drum in the aligned winding means that the wire can be smoothly pulled out from the winding drum in the next process following the wire winding process, the quality of the wire after winding, and the winding drum. Important from the viewpoints of effective utilization of the winding space of the wire rods in the field, prevention of collapse of the wire rods from the winding drum during transportation, and appearance of the wire rods on the winding drum (clean appearance). It is.

JP-A-10-236728

However, in practice, since the outer diameter of the wire and the width of the winding drum (the distance between the flanges on both sides in the width direction) vary, it is necessary to wind the wire so that it is aligned and wound on the winding drum. After winding the wire in the aligned winding up to the halfway between the two flanges of the drum, when winding the wire near the flange of the winding drum, the operator uses a jig to determine the distance between the wires or between the wire and the flange. Manual intervention is needed to make manual adjustments. Therefore, in the above-described conventional technology, even if the upper, lower, left, and right positions of the guide unit are automatically controlled, if the above-described manual intervention is not performed when winding the wire near the flange of the winding drum, the wire is wound. It is difficult to wind the wire so as to be aligned on the winding drum, and the winding operation of the wire is troublesome.

The present invention has been made in view of the above circumstances, and reduces a manual intervention in a winding operation of a wire rod, and can easily wind the wire rod on a winding drum so as to form a winding line. An object of the present invention is to provide a winding device, a learning system used for the winding device, and a data collection and accumulation system.

In order to solve the above-described problem and achieve the object, a wire rod aligning and winding apparatus according to the present invention is a wire rod aligning and winding apparatus for winding a wire rod on a winding drum, and at least guides the wire rod to the winding drum. Data indicating each manual operation of the guide device and the correction device for correcting the winding position of the wire on the winding drum, data indicating each state of the wire, the guide device and the correction device, and the wire A data collection and accumulation system that collects data indicating the success or failure of the target aligned winding of the target, and stores these collected data as wire winding operation data in association with the success or failure of the target aligned winding of the wire. The guide device and the correction device for at least one of establishment and non-establishment of a target aligned winding of a wire based on the accumulated wire winding operation data. A learning device that learns each manual operation of and constructs a control law that can automatically control the guide device and the correction device so that the wire rod is wound around the winding drum in a target aligned winding. It is characterized by having.

Further, in the wire rod aligning and winding device according to the present invention, in the above invention, the data collection and accumulation system further collects data indicating each automatic control of the guide device and the correction device, and takes into account the further data. The wire winding operation data is updated by the learning device, based on the updated wire winding operation data, the guide device in at least one of establishment and non-establishment of a target aligned winding of the wire, Each automatic control of the correction device is learned, and the control rule is updated.

In addition, the wire rod aligning and winding apparatus according to the present invention, in the above invention, further comprises a success / failure determination unit that determines whether or not the target aligned winding of the wire is successful based on the data indicating the respective states. And

Further, the wire rod aligning and winding device according to the present invention, in the above invention, further includes an alarm unit that outputs an alarm when the success / failure determining unit determines that the target aligned winding of the wire is not established. Features.

Further, in the wire rod aligning and winding apparatus according to the present invention, in the wire rod aligning and winding apparatus for winding a wire rod on a winding drum, at least a guide device for guiding the wire rod to the winding drum and winding of the wire rod on the winding drum. Data indicating each manual operation of the correction device for correcting the take-up position, data indicating each state regarding each of the wire rod, the guide device and the correction device, and data indicating the success or failure of the target aligned winding of the wire rod. And a data collection and accumulation system that accumulates these collected data as wire winding operation data in association with the success or failure of the target aligned winding of the wire, and for automatically controlling the guide device and the correction device. Has a control law pre-established in the wire collecting operation data stored in the data collection and accumulation system, and forms a target aligned winding of the wire based on the wire winding operation data. A learning device that learns each manual operation of the guide device and the correction device in at least one of the failure and the failure, and updates the control law so that the wire is wound around the target winding on the winding drum. And the following.

The learning system according to the present invention is a learning system used for a wire rod aligning and winding device that winds a wire rod on a winding drum, and at least a guide device that guides the wire rod to the winding drum and the winding drum. Data indicating each manual operation of the correction device for correcting the winding position of the wire, data indicating each state of the wire, the guide device, and each of the correction devices, and whether or not a target aligned winding of the wire is successful. And a data collection and accumulation system that accumulates the collected data as wire rod winding operation data in association with the success or failure of the target aligned winding of the wire, and the accumulated wire rod winding operation. Based on the data, learn the manual operation of the guide device and the correction device in at least one of the establishment and non-establishment of the target winding of the wire rod. Te, characterized in that it comprises a learning unit for constructing a control law capable of automatically controlling the guide device and the correction device so that the wire material to the winding drum is wound on the aligned-winding a target.

In addition, the data collection and accumulation system according to the present invention includes a guide device that guides the wire to the winding drum of at least a wire aligning and winding device that winds the wire on a winding drum, and winding of the wire by the winding drum. Data indicating each manual operation of the correction device to correct the position, the wire, data indicating each state of each of the guide device and the correction device, and data indicating the success or failure of the target aligned winding of the wire. A data collection device for collecting the data is provided, and the collected data is accumulated in association with the success or failure of the target winding of the wire rod.

According to the present invention, it is possible to reduce the need for manual intervention in the winding operation of the wire rod and to easily wind the wire rod into the winding drum so as to be aligned.

FIG. 1 is a view showing one configuration example of a wire aligning and winding apparatus according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a configuration example of a wire winding device, a master-slave system, and a detection and measurement system according to the present embodiment. FIG. 3 is a diagram of the wire winding device, the master-slave system, and the detection and measurement system shown in FIG. 2 as viewed from above. FIG. 4 is a flowchart illustrating an example of the wire rod aligning and winding method according to the embodiment of the present invention. FIG. 5 is a diagram showing an example of wire winding operation data in the embodiment of the present invention. FIG. 6 is a flowchart illustrating an example of a wire winding operation performed by the wire aligning and winding apparatus according to the embodiment of the present invention.

Hereinafter, preferred embodiments of a wire rod aligning and winding apparatus according to the present invention, a learning system and a data collection and accumulation system used for the same will be described in detail with reference to the drawings. The present invention is not limited by the embodiment. Also, it should be noted that the drawings are schematic, and that the dimensional relationships of the elements, the ratios of the elements, and the like may be different from actual ones. Even in the drawings, there may be cases where portions having different dimensional relationships and ratios are included.

(Structure of wire rod aligning and winding device)
First, a configuration of a wire rod aligning and winding apparatus according to an embodiment of the present invention will be described. FIG. 1 is a view showing one configuration example of a wire aligning and winding apparatus according to an embodiment of the present invention. As shown in FIG. 1, this wire rod aligning and winding device 1 includes a wire winding device 2, a master / slave system 3, a detection and measurement system 7, a data collection and accumulation system 8, a learning device 11, a control device 12, Is provided. FIG. 2 is a diagram illustrating a configuration example of a wire winding device, a master-slave system, and a detection and measurement system according to the present embodiment. FIG. 2 shows the wire winding device 2, the master-slave system 3, and the detection and measurement system 7 as viewed from the width direction of the winding drum 15. FIG. 3 is a diagram of the wire winding device, the master-slave system, and the detection and measurement system shown in FIG. 2 as viewed from above.

In the present embodiment, for convenience of explanation, the directions of the X axis, Y axis, and Z axis of the three-axis rectangular coordinate system are set as shown in FIGS. For example, the depth direction of the winding drum 15 is the X-axis direction. The width direction of the winding drum 15 is the Y-axis direction. The direction perpendicular to the width direction of the winding drum 15 is a direction perpendicular to the width direction of the winding drum 15 when viewed from the depth direction (X-axis direction) of the winding drum 15, and is defined as the Z-axis direction. In particular, in the present embodiment, as shown in FIGS. 2 and 3, the Z-axis direction is a vertical direction, and the Y-axis direction is a horizontal direction. In this case, the width direction of the winding drum 15 is also referred to as a lateral direction of the winding drum 15. The direction perpendicular to the width direction of the winding drum 15 is also referred to as the height direction (vertical direction) of the winding drum 15.

The wire winding device 2 is a device for winding the target wire 16 around the winding drum 15. As shown in FIG. 2, the wire winding device 2 includes a winding driving unit 2a that rotatably supports the winding drum 15. As shown in FIG. 3, the winding drum 15 has

flanges

15a and 15b on both sides in the width direction of the drum body 15c. As shown in FIGS. 2 and 3, the wire winding device 2 uses the winding drive unit 2 a to rotate the winding drum 15 with the Y-axis direction being the direction of the rotation center of the winding drum 15. Is wound between the

flanges

15a and 15b of the winding drum 15. The wire 16 wound on the winding drum 15 is, for example, a long wire such as a power cable or a communication cable.

The master-slave system 3 includes a guide device 4, a correction device 5, and an operation device 6, as shown in FIG. The master-slave system 3 is a system for manually controlling the guide device 4 and the correction device 5 based on manual operation of the operation device 6 by an operator.

The guide device 4 moves the wire 16 in the width direction (Y-axis direction) of the winding drum 15 and a direction perpendicular to the width direction (Z-axis direction), and also moves the wire between the

flanges

15a and 15b of the winding drum 15. 16 is provided. In the present embodiment, as shown in FIGS. 2 and 3, the guide device 4 includes a width direction guide portion 41 and a vertical direction guide portion 42.

The width direction guide portion 41 includes a width direction drive portion 41a for moving along a rail 45 laid so as to extend in the Y axis direction, and a traverse roller pair including a pair of guide rollers arranged in the Y axis direction. 43. As shown in FIGS. 2 and 3, the traverse roller pair 43 is rotatably provided on the upper surface of the guide device 4 (specifically, the upper surface of the vertical guide portion 42). The traverse roller pair 43 is configured to rotate as the wire 16 is sent to the winding drum 15 while sandwiching the wire 16 on the pass line toward the winding drum 15 in the Y-axis direction. The width direction guide portion 41 is configured to guide the wire 16 in the Y-axis direction between the

flanges

15a and 15b of the winding drum 15 by the action of the width direction drive portion 41a and the pair of traverse rollers 43. .

The vertical guide section 42 includes a vertical drive section 42a for moving in the Z-axis direction, and a lower support roller 44 composed of a guide roller for supporting the wire 16 while rotating. As shown in FIGS. 2 and 3, the lower support roller 44 is rotatably provided on the upper surface of the vertical guide unit 42 in a manner having the Y-axis direction as a length. The lower support roller 44 is configured to rotate as the wire 16 is sent to the winding drum 15 while supporting the wire 16 on the pass line toward the winding drum 15 so as to be lifted from below. The vertical guide portion 42 is configured to guide the wire 16 in the Z-axis direction between the

flanges

15a and 15b of the winding drum 15 by the action of the vertical drive portion 42a and the lower support roller 44.

The correction device 5 is a device for correcting the winding position of the wire 16 on the winding drum 15. In the present embodiment, as shown in FIGS. 2 and 3, the correction device 5 includes a hitting arm 51 having a hitting portion 52 at a distal end, and an arm driving portion 53, and is provided in the guide device 4. The hitting arm 51 extends from the guide device 4 side to the winding drum 15 side on the wire winding device 2 and is rotatable around the Y-axis direction as a rotation center. It is configured to be able to reciprocate in the direction. The arm driving unit 53 is configured to rotate and reciprocate the hitting arm 51. The correcting device 5 is configured to hit the wire 16 with the hitting unit 52 in order to correct the winding position of the wire 16 on the winding drum 15 by the action of the hitting arm 51 and the arm driving unit 53.

The operation device 6 is a device for manually operating the guide device 4 and the correction device 5. In the present embodiment, as shown in FIGS. 2 and 3, the operation device 6 includes an operation lever 61, a display unit 62, an input unit 63, a start button 64, a stop button 65, a stop button 66, a mode switch And a warning unit 68.

The operation lever 61 is used when an operator manually operates the guide device 4 and the correction device 5. The display unit 62 displays various types of information necessary for manual operation of the guide device 4 and the correction device 5. Examples of the information displayed on the display unit 62 include information such as a winding state of the wire 16 wound on the winding drum 15. The input unit 63 is for inputting various information to the control device 12 in accordance with an input operation of an operator. The information input by the input unit 63 includes, for example, product information such as the distance between the two

flanges

15a and 15b of the winding drum 15, the outer diameter and the density of the wire rod 16, and the like.

The start button 64 is operated when automatic control of the guide device 4 and the correction device 5 by the control device 12 is started. The stop button 65 is operated when stopping the automatic control of the guide device 4 and the correction device 5 by the control device 12. The stop button 66 is operated when the automatic control of the guide device 4 and the correction device 5 by the control device 12 is stopped (emergency stop). The mode switching section 67 is operated when switching the control mode of the guide device 4 and the correction device 5 to either manual control by the operation device 6 or automatic control by the control device 12. The alarm unit 68 outputs an alarm for notifying an operator that a trouble has occurred when the wire 16 is wound on the winding drum 15.

The detection / measurement system 7 detects or measures the state related to the wire 16, the state related to the guide device 4, and the state related to the correction device 5. In the present embodiment, as shown in FIGS. 2 and 3, the detection and measurement system 7 includes

encoders

71 and 72 for detecting or measuring a state related to the guide device 4 and an

encoder

71 and 72 for detecting or measuring a state related to the correction device 5. It comprises

distance measuring units

77, 78 and an encoder 80, and counting

units

73, 74, 75,

distance measuring units

76, 79, and

image pickup devices

81, 82 for detecting or measuring a state relating to the wire rod 16. For example, examples of the state relating to the wire 16 include a physical quantity indicating a winding state of the wire 16 on the winding drum 15, a tension of the wire 16 toward the winding drum 15, and a physical quantity indicating a position of a pass line. Examples of the state relating to the guide device 4 include physical quantities indicating the respective states of the traverse roller pair 43 and the support roller 44. Examples of the state relating to the correction device 5 include a physical quantity indicating the positional relationship between the wire 16 and the hitting arm 51.

The data collection and accumulation system 8 is an example of the data collection and accumulation system according to the present invention. For example, the data collection and accumulation system 8 is a system that collects and accumulates data necessary for a learning process performed by the learning device 11. In the present embodiment, as shown in FIG. 1, the data collection / storage system 8 includes a data collection device 9 and a data storage device 10. The data collection device 9 includes an arithmetic processing unit that performs arithmetic processing necessary for data discrimination processing and the like, a memory that stores a program and data for performing the arithmetic processing, and an input / output that transmits and receives data and signals. Interface. The data collection device 9 includes at least data indicating the manual operation of the guide device 4 and the correction device 5 by the operation device 6 and the above-described respective states (the wire 16, the guide device 4, Data indicating each state of each of the correction devices 5) and data indicating the success or failure of the targeted aligned winding of the wire 16 are collected. In the data collection / storage system 8, the collected data is stored in association with the success or failure of the target aligned winding of the wire 16. More specifically, the data collection device 9 associates the collected data with the success or failure of the target aligned winding of the wire 16, for example, in chronological order. The data storage device 10 includes a memory for storing data in an updatable manner, and an input / output interface for transmitting and receiving data and signals. The data storage device 10 stores the data processed by the data collection device 9 as described above as wire winding operation data.

The learning device 11 performs machine learning such as reinforcement learning so that the control device 12 constructs a control rule 11a for controlling the guide device 4 and the correction device 5. For example, the learning device 11 includes an arithmetic processing unit that performs arithmetic processing necessary for machine learning, a memory that stores a program and data for performing the arithmetic processing, and an input / output interface that transmits and receives data and signals. Is provided. In the present embodiment, the learning device 11 performs at least one of establishment and non-establishment of the target aligned winding of the wire 16 based on the wire winding operation data accumulated by the data accumulation device 10 (in the present embodiment, Each manual operation of the guide device 4 and the correction device 5 in both the establishment and non-establishment of the aligned winding is learned. Thereby, the learning device 11 constructs a control rule 11a that can control the guide device 4 and the correction device 5 so that the wire 16 is wound into the target aligned winding between the both

flanges

15a and 15b of the winding drum 15. I do.

The control device 12 automatically controls the guide device 4 and the correction device 5 based on the control rule 11a established by the learning device 11. In addition, the control device 12 includes a success / failure determination unit 12a. The success / failure determination unit 12a determines the success / failure of the target aligned winding of the wire 16 based on the data indicating each of the above states detected or measured by the detection / measurement system 7. That is, the control device 12 is configured so that the success / failure determination unit 12a can automatically determine the success / failure of the aligned winding based on the data acquired from the detection and measurement system 7.

In the present embodiment, the detection / measurement system 7, the data collection / accumulation system 8, and the learning device 11 include the wire winding device 2, the master / slave system 3 (the guide device 4, the correction device 5, and the operation device 6), and the control device 12 described above. The learning system used for the wire rod aligning and winding device 1 including the following is configured.

(Wire material alignment winding method)
Next, a method for aligning and winding a wire according to an embodiment of the present invention will be described. FIG. 4 is a flowchart illustrating an example of the wire rod aligning and winding method according to the embodiment of the present invention. In this wire rod arranging and winding method, the wire rod arranging and winding apparatus 1 controls the winding drum 15 based on a manual operation performed by an operator using the operating device 6 or an automatic control performed by the controller 12 based on the control rule 11a. The wire 16 is wound up.

That is, as shown in FIG. 4, the wire aligning and winding device 1 first collects and accumulates the actual data of the winding of the wire 16 onto the winding drum 15 by the manual operation of the guide device 4 and the correction device 5. A collection and accumulation process is performed (step S101). The collected performance data is stored in the data collection and storage system 8 as wire winding operation data.

Subsequently, the wire aligning and winding device 1 learns each manual operation of the guide device 4 and the correction device 5 when the wire 16 is wound on the winding drum 15 based on the accumulated wire winding operation data. Then, a learning process for constructing the control rule 11a for winding the wire 16 into the aligned winding on the winding drum 15 is performed (step S102). In the wire sorting and winding device 1, the learning process is performed by the learning device 11.

Subsequently, the wire aligning and winding apparatus 1 performs a wire winding operation for automatically winding the wire 16 around the winding drum 15 by automatically controlling the guide device 4 and the correction device 5 based on the established control rule 11a ( Step S103). The automatic control of the guide device 4 and the correction device 5 is performed by the control device 12. In step S103, the guide device 4 and the correction device 5 are manually operated by the operation device 6 as necessary.

Thereafter, if the target wire 16 has not been wound on the winding drum 15, the wire aligning and winding apparatus 1 does not end the wire winding operation (No in Step S 104), returns to Step S 103, and returns to Step S 103. The subsequent processing is repeated. On the other hand, when the target wire 16 has been wound on the winding drum 15, the wire aligning and winding apparatus 1 ends the wire winding operation (Step S 104, Yes), and ends the processing.

(Data collection and accumulation processing)
Next, the data collection and accumulation process in step S101 described above will be described in detail. In this data collection and accumulation process, the operator manually operates the guide device 4 and the correction device 5 using the operation device 6 to collect the actual data obtained when the wire 16 is wound on the winding drum 15, and the wire winding is performed. It is stored as the operation data. As the collected performance data, for example,
(1) data obtained by the detection and measurement system 7 (hereinafter referred to as detection and measurement data as appropriate)
(2) data (hereinafter, appropriately referred to as manual operation data) indicating each manual operation of the guide device 4 and the correction device 5 by the operation device 6;
(3) data indicating the success or failure of the target aligned winding of the wire 16 (hereinafter, appropriately referred to as success or failure data);
Is mentioned.

In the data collection and accumulation process in step S101, the detection and measurement system 7 relates to the state of the guide device 4 and the correction device 5 when the guide device 4 and the correction device 5 are manually operated to wind the wire 16 around the winding drum 15. The state and the state related to the wire 16 are detected or measured.

状態 The state relating to the guide device 4 includes, for example, the position of the traverse roller pair 43 in the Y-axis direction and the position of the support roller 44 in the Z-axis direction. The position of the traverse roller pair 43 in the Y-axis direction is detected by an encoder 71 provided on the width direction drive unit 41a of the width direction guide unit 41 that moves integrally with the traverse roller pair 43 in the Y axis direction. The position of the lower support roller 44 in the Z-axis direction is detected by an encoder 72 provided in the vertical drive unit 42a of the vertical guide unit 42 that moves integrally with the lower support roller 44 in the Z-axis direction.

The states related to the correction device 5 include, for example, a physical quantity indicating a positional relationship between the hitting arm 51 and the wire 16, a physical quantity indicating a positional relationship between the hitting arm 51 and the

flanges

15 a and 15 b of the winding drum 15, and a hitting arm 51. Rotation position and longitudinal position. The physical quantity indicating the positional relationship between the hitting arm 51 and the wire 16 is measured by a distance measuring unit 77 provided in the hitting unit 52 of the hitting arm 51. Specifically, the distance measuring unit 77 measures each distance in the X-axis direction and the Y-axis direction from the hitting unit 52 to the wire 16 as the physical quantity. The physical quantity indicating the positional relationship between the hitting arm 51 and the

flanges

15a and 15b of the winding drum 15 is measured by a distance measuring unit 78 provided on the hitting arm 51. Specifically, the distance measuring unit 78 measures the distance in the Y-axis direction from the hitting arm 51 to the

flanges

15a and 15b as the physical quantity. The turning position and the longitudinal position of the hitting arm 51 are detected by an encoder 80 provided in the arm driving section 53 of the correction device 5.

The state regarding the wire 16 includes, for example, the sending speed (linear speed) of the wire 16 toward the winding drum 15, the number of turns and the number of layers of the wire 16 on the winding drum 15, and the flange 15 a of the winding drum 15. , 15b and the physical quantity indicating the positional relationship between the wire 16, the physical quantity indicating the tension of the wire 16, the appearance of winding the wire 16 on the winding drum 15, and the gap between the wires 16 wound on the winding drum 15. And the like.

線 The linear velocity of the wire 16 is measured by the counting unit 73 provided in the traverse roller pair 43. For example, the counting unit 73 counts the number of rotations of the pair of traverse rollers 43 accompanying the delivery of the wire 16 and measures the linear speed of the wire 16 through the counting of the number of rotations. The number of turns of the wire 16 on the winding drum 15 is measured by a counting unit 74 provided in the wire winding device 2. For example, the counting unit 74 counts the number of rotations of the winding drum 15, and counts the number of rotations of the winding material 15 so that winding of the wire 16 by one rotation of the winding drum 15 is a unit (one winding). Measure the number. The number of winding layers of the wire 16 on the winding drum 15 is the number of layers of the wire 16 wound around the drum main body 15c between the both

flanges

15a and 15b of the winding drum 15 and measured by the counting unit 75. . For example, the counting unit 75 counts the number of times that the guide device 4 has turned back between the both

flanges

15a and 15b of the winding drum 15 to the positive side or the negative side in the Y-axis direction, and the winding of the wire 16 through the count of the number. Measure the number of layers.

The physical quantity indicating the positional relationship between the

flanges

15a and 15b of the winding drum 15 and the wire 16 is measured by the distance measuring unit 76. Specifically, the distance measuring unit 76 measures, as the physical quantity, the distance in the Y-axis direction from the pass line of the wire 16 sent from the guide device 4 to the winding drum 15 to the

flanges

15a and 15b. The physical quantity indicating the tension of the wire 16 is measured by a distance measuring unit 79 provided on the upper surface of the guide device 4 (the upper surface of the vertical guide unit 42 in the present embodiment). Specifically, the distance measuring unit 79 measures the distance from the upper surface of the vertical guide unit 42 to the wire 16 as the physical quantity. Note that the tension of the wire 16 increases as the distance from the upper surface of the device to the wire 16 increases.

外観 The winding appearance of the wire 16 on the winding drum 15 is detected by the imaging device 81 as an image. For example, as shown in FIGS. 2 and 3, the imaging device 81 is disposed above so as to capture a drum main body 15 c (a part where the wire 16 is wound) between the both

flanges

15 a and 15 b of the winding drum 15 in a field of view. The imaging device 81 captures an image showing the winding appearance of the wire 16 on the winding drum 15. The gap between the wires 16 wound on the winding drum 15 is detected by the imaging device 82 arranged near the hitting arm 51 of the correction device 5. Specifically, the imaging device 82 captures an image of the wire 16 wound on the winding drum 15 and performs predetermined image processing on the obtained image, thereby removing a gap between the wires 16. To detect.

一覧 A list of detected measurement data (physical quantities and images) in the present embodiment is exemplified in Table 1 below.

Here, among the physical quantities and images (see Table 1) detected or measured by the detection and measurement system 7 as described above, the physical quantities indicating the positional relationship between the hitting arm 51 and the wire 16, the hitting arm 51 and the winding drum 15 The physical quantity indicating the positional relationship with the

flanges

15a and 15b, the rotational position and the longitudinal position of the hitting arm 51, and the gap between the wires 16 wound around the winding drum 15 This is useful information for appropriately hitting the wire 16 with the hitting portion 52 of the correction device 5 to correct the winding position. Further, the position of the traverse roller pair 43 in the Y-axis direction, the position of the support roller 44 in the Z-axis direction, the linear velocity of the wire 16, the number of windings, and the number of winding layers are determined by the number of the wires wound on the winding drum 15. It is useful information for appropriately moving (guiding) 16 in the Y-axis direction and the Z-axis direction by the guide device 4. The physical quantity indicating the positional relationship between the

flanges

15a and 15b of the winding drum 15 and the wire 16 is determined by the guide device 4 turning the

flange

15a and 15b of the winding drum 15 back to the positive side or the negative side in the Y-axis direction. This is useful information for detecting that Further, the physical quantity indicating the tension of the wire 16 is useful information for detecting an inappropriate running of the wires 16 on the winding drum 15. The winding appearance of the wire 16 on the winding drum 15 is useful information for judging the success or failure of the target aligned winding of the wire 16 wound on the winding drum 15.

In particular, a physical quantity indicating the positional relationship between the hitting arm 51 and the wire 16, a physical quantity indicating the positional relationship between the hitting arm 51 and the

flanges

15 a and 15 b of the winding drum 15, the position of the traverse roller pair 43 in the Y-axis direction, The position of the use roller 44 in the Z-axis direction, the gap between the wires 16 wound on the winding drum 15, and the appearance of the winding of the wires 16 on the winding drum 15 are targeted at the winding drum 15. Which part of the wire 16 should be hit to correct the winding position in order to wind the wire into the aligned winding, and move the pass line of the wire 16 guided to the winding drum 15 in either the Y-axis direction or the Z-axis direction. It is important to determine whether the winding state of the wire 16 has changed due to the correction of the winding position of the wire 16 and the movement of the pass line.

On the other hand, as data indicating each manual operation of the guide device 4 and the correction device 5 by the operation device 6, for example, the operation device 6 sends the data to the guide device 4 and the correction device 5 according to the operation of the operation lever 61 and the like by the operator. Each operation signal transmitted is mentioned.

The operation signal of the guide device 4 includes an operation signal of the width direction guide portion 41 and an operation signal of the vertical direction guide portion 42. The operation signal of the width direction guide portion 41 is data indicating what position in the Y-axis direction the manual operation for moving the width direction guide portion 41 has been performed. The operation signal of the vertical guide unit 42 is data indicating the position in the Z-axis direction in which the manual operation of moving the vertical guide unit 42 has been performed. The operation signal of the correction device 5 is data indicating what position in the three-axis orthogonal coordinate system of the X-axis, the Y-axis, and the Z-axis the manual operation of moving the hitting portion 52 of the hitting arm 51 has been performed.

一覧 A list of the respective manual operation data of the guide device 4 and the correction device 5 in the present embodiment is exemplified in Table 2 below.

On the other hand, the data indicating the success or failure of the target aligned winding of the wire 16 includes, for example, a stop signal output from the operating device 6 in response to the operation of the stop button 65 by the operator, and the operation of the interrupt button 66 by the operator. And an interruption signal output from the operating device 6 in response to the command. In the present embodiment, the stop button 65 is operated to stop the wire aligning and winding device 1 when the wire 16 has been wound around the winding drum 15 into the target aligned winding. A stop signal corresponding to the operation of the stop button 65 is data indicating that the target aligned winding of the wire 16 has been established on the winding drum 15. In the present embodiment, when the wire 16 is not wound around the target aligned winding by the winding drum 15, the interrupt button 66 is operated to interrupt the wire aligning and winding device 1. The interruption signal corresponding to the operation of the interruption button 66 is data indicating that the target aligned winding of the wire 16 is not established in the winding drum 15 (the target aligned winding is not established).

一覧 A list of the success / failure data of the target aligned winding of the wire rod 16 in the present embodiment is exemplified in Table 3 below.

In the present embodiment, as the success / failure data of the target aligned winding of the wire 16, in addition to the data illustrated in Table 3, the success / failure data automatically determined by the success / failure determination unit 12 a to determine the success / failure of the aligned winding Can be adopted. In this case, the success / failure determination unit 12a determines the success / failure of the aligned winding of the wire 16 at predetermined intervals based on the presence / absence of the above-described interruption signal. Thus, the above-described wire winding operation data is classified into data in a case where the aligned winding of the wire 16 is established and data in a case where the aligned winding of the wire 16 is not established at predetermined intervals. Can be. Specifically, among the wire rod winding operation data, data in each period in which the interruption signal is not input to the success / failure determination unit 12a can be classified into data indicating the establishment of the target aligned winding of the wire rod 16. Data in each period in which the interruption signal is input to the success / failure determination unit 12a can be classified into data indicating that the target winding of the wire 16 is not established. The predetermined period includes, for example, an acquisition cycle of the wire winding operation data, a period in which the wire 16 is wound around the entire circumference of the winding drum 15, and a layer in which the wire 16 is wound around the winding drum 15. For example, a period in which it is formed is given.

{Circle around (4)} It is preferable that the result data collected in the data collection and accumulation process in step S101 include data indicating the specifications of the target winding drum 15 and wire 16. The specifications of the winding drum 15 include, for example, a separation distance between both the

flanges

15a and 15b. The specifications of the wire 16 include, for example, the outer diameter and the density of the wire 16. In the present embodiment, the specifications of the winding drum 15 and the wire 16 are input as product information in response to an operation of the input unit 63 by an operator. Such product information is useful for handling a plurality of winding drums 15 and a plurality of wires 16 having different specifications.

In the data collection and accumulation process in step S101, the data collection device 9 includes the data obtained by the detection and measurement system 7 as described above, the data indicating each manual operation of the guide device 4 and the correction device 5 by the operation device 6, Data indicating the success or failure of the targeted aligned winding of the wire 16 and data indicating the specifications of the winding drum 15 and the wire 16 are collected. Next, the data collection device 9 associates these collected data with the success or failure of the target aligned winding of the wire 16. Specifically, the data collection device 9 associates the collected data with the success or failure of the aligned winding in a chronological order.

For example, the data collection device 9 includes a plurality of physical quantities and images by the detection and measurement system 7, respective operation signals of the guide device 4 and the correction device 5 by the operation device 6, the winding drum 15 and the wire rod input by the input unit 63. The 16 product information items are classified into those corresponding to the interruption signal by operating the interruption button 66 and those not corresponding to the interruption signal (such as those corresponding to the stop signal by operating the stop button 65). Then, the data collection device 9 converts the data classified into those that do not correspond to the interruption signal (for example, those corresponding to the stop signal) into a result data group ( In the following, the data will be referred to in a time-series manner as a group of record data of the success of the winding. Further, the data collection device 9 compares the data classified into the data corresponding to the interruption signal with a result data group in the case where the target aligned winding of the wire 16 is not established (hereinafter, the actual data in which the aligned winding is not established). (Referred to as a group as appropriate) along with the time series.

(4) After that, the data storage device 10 acquires at least one of the result data group in which the alignment winding is established and the result data group in which the alignment winding is not established from the data collection device 9. The data storage device 10 stores the result data group acquired from the data collection device 9 as wire rod winding operation data.

FIG. 5 is a diagram showing an example of wire winding operation data in the embodiment of the present invention. In the wire winding operation data shown in FIG. 5, the detection measurement data by the detection and measurement system 7 and the manual operation data of the guide device 4 and the correction device 5 are time-sequentially determined according to the success or failure of the target aligned winding of the wire 16. Along.

For example, as shown in FIG. 5, the detection measurement data D11, D12, D13,..., D1n indicate a state resulting from each manual operation of the guide device 4 and the correction device 5, and the time T1 is set. They are associated in time series as starting points. These detection measurement data D11, D12, D13,..., D1n include the physical quantities and images shown in Table 1 described above. The manual operation data C11, C12, C13,..., C1n indicate the history (procedure) of each manual operation of the guide device 4 and the correction device 5 performed for winding the wire 16 around the winding drum 15. And are associated in time series from time T1. These manual operation data C11, C12, C13,..., C1n include an operation signal of the guide device 4 and an operation signal of the correction device 5. The detected measurement data D11, D12, D13,..., D1n and the manual operation data C11, C12, C13,. Are associated. That is, the detection measurement data D11, D12, D13,..., D1n indicate the state of each of the wire 16, the guide device 4, and the correction device 5 when the aligned winding is established. The manual operation data C11, C12, C13,..., C1n describe the correct procedure of each manual operation of the guide device 4 and the correction device 5 linked to such detected measurement data D11, D12, D13,. Is shown.

.., C2n and the meaning of the manual operation data C21, C22, C23,. Data D11, D12, D13,..., D1n and manual operation data C11, C12, C13,.

On the other hand, the detection measurement data Dm1, Dm2, Dm3, ..., Dmn and the manual operation data Cm1, Cm2, Cm3, ..., Cmn are associated in time series with the time Tm as a starting point, It is associated with the data “F” indicating that the targeted aligned winding of the wire 16 is not established. That is, the detected measurement data Dm1, Dm2, Dm3,..., Dmn indicate the state of each of the wire 16, the guide device 4, and the correction device 5 when the alignment winding is not established. The manual operation data Cm1, Cm2, Cm3,..., Cmn correspond to the manual operation procedures of the guide device 4 and the correction device 5 linked to the detected measurement data Dm1, Dm2, Dm3,. (A procedure in which the aligned winding is not established).

In the present embodiment, each time series starting from the times T1, T2,..., Tm corresponds to a period from the start of winding of the wire 16 to the operation of the stop button 65 or the interruption button 66, during the wire winding operation. This corresponds to a data acquisition cycle, a period in which the wire 16 is wound around the entire circumference of the winding drum 15, or a period in which a single layer of the wire 16 is formed on the winding drum 15.

When the wire winding operation data as shown in FIG. 5 is used as teacher data, detection measurement data associated with success / failure data “S”, such as detection measurement data D11, D12, D13,. The manual operation of the guide device 4 and the correction device 5 that leads to the state shown can be learned as the manual operation of the guide device 4 and the correction device 5 that can take up the wire 16 on the winding drum 15 into the aligned winding targeted. . Manual operation of the guide device 4 and the correction device 5 that leads to the state indicated by the detection measurement data associated with the success / failure data “F” such as the detection measurement data Dm1, Dm2, Dm3,. It can be learned as a manual operation of the guide device 4 and the correction device 5 in which the target aligned winding of the wire 16 is not established.

In the data collection and accumulation process in step S101, the data collection device 9 performs the process of collecting and associating the result data group in which the aligned winding is established and the result data group in which the aligned winding is not established as described above by a plurality of winding drums. 15 and a plurality of wires 16. In response to this, the data storage device 10 performs the above-described wire rod winding operation data storage processing on the plurality of winding drums 15 and the plurality of wires 16.

(Learning process)
Next, the learning process in step S102 will be described in detail. In the learning process, the learning device 11 performs at least one of establishment and non-establishment of a target aligned winding of the wire 16 based on the wire winding operation data accumulated by the data accumulation device 10 (both in the present embodiment). The manual operation of each of the guide device 4 and the correction device 5 in (1) is learned.

Specifically, the learning device 11 acquires the wire winding operation data from the data storage device 10. Next, the learning device 11 performs machine learning in accordance with a predetermined algorithm based on a group of actual data on the successful winding of the obtained wire winding operation data. Thereby, the learning device 11 learns each manual operation of the guide device 4 and the correction device 5 when the target aligned winding of the wire 16 is established. In addition, the learning device 11 performs machine learning according to a predetermined algorithm based on the actual data group in which the aligned winding is not established among the acquired wire winding operation data. Thereby, the learning device 11 learns each manual operation of the guide device 4 and the correction device 5 when the target aligned winding of the wire 16 is not established. As a result, the learning device 11 determines how to manually operate the guide device 4 and the correction device 5 in order to establish the target aligned winding of the wire 16, and the target aligned winding of the wire 16 is not established. In such a case, how to manually operate the guide device 4 and the correction device 5 to achieve the above-described alignment winding can be performed. Understand the operation method. These machine learnings are realized by applying a well-known algorithm such as reinforcement learning or imitation learning.

Thereafter, the learning device 11 winds the wire 16 into the target aligned winding between the

flanges

15a and 15b of the winding drum 15 based on the operation method of the guiding device 4 and the correcting device 5 grasped as described above. A control rule 11a capable of controlling the guide device 4 and the correction device 5 to be taken is constructed.

(Wire winding operation)
Next, the wire winding operation in step S103 will be described in detail. FIG. 6 is a flowchart illustrating an example of a wire winding operation performed by the wire aligning and winding apparatus according to the embodiment of the present invention. At the time of the wire winding operation in step S103 described above, the wire rod aligning and winding apparatus 1 appropriately executes each processing from step S201 to step S217 shown in FIG.

Specifically, as shown in FIG. 6, the wire aligning and winding apparatus 1 first obtains product information of the winding drum 15 and the wire 16 to be subjected to the wire winding operation (step S201). In step S201, the operation device 6 inputs the product information of the winding drum 15 and the wire 16 to the data collection device 9 and the control device 12 according to the operation of the input unit 63 by the operator. The data collection device 9 acquires the input product information as new performance data of the winding drum 15 and the wire 16. The control device 12 acquires the input product information as the product information of the winding drum 15 and the wire 16 that are the target in the current wire winding operation, and for example, both the flanges 15a of the winding drum 15, The distance between the wires 15b and the outer diameter and density of the wire 16 are grasped.

Subsequently, when the control mode of the guide device 4 and the correction device 5 is the automatic control (step S202, automatic control), the wire rod aligning and winding device 1 proceeds to step S203, and the control mode of the guide device 4 and the correction device 5 is changed to the control mode. If it is manual control (step S202, manual control), the process proceeds to step S213. For example, in the wire aligning and winding device 1, the control mode of the guide device 4 and the correction device 5 can be switched to automatic control or manual control by operating a mode switching unit 67 by an operator.

When the control mode is the automatic control, the wire rod aligning and winding apparatus 1 automatically controls the wire rod winding operation (Step S203). In step S203, the operating device 6 transmits a signal indicating that the control mode has been set to the automatic control by the mode switching unit 67, and indicates that the start of the wire winding operation has been instructed by the operation of the start button 64 by the operator. And transmits the signal to the control device 12. The control device 12 starts automatic control of the guide device 4 and the correction device 5 based on these input signals. In addition, the wire rod winding apparatus 1 starts the wire winding operation in response to the operation of the start button 64. In this case, regardless of the control mode, the wire winding device 2 starts winding the wire 16 around the winding drum 15 by rotating the winding drum 15 in a predetermined direction by the winding driving unit 2a. The display unit 62 of the operation device 6 displays an image captured by the imaging device 81.

The control device 12 controls the guide device 4 and the guide device 4 based on the control rule 11a established by the learning device 11 so that the wire 16 is wound into the target aligned winding between both the

flanges

15a and 15b of the winding drum 15. A control signal is transmitted to the correction device 5. In addition, the control device 12 acquires the state related to the guide device 4, the state related to the correction device 5, and the state related to the wire 16 detected or measured by the detection and measurement system 7. These states are obtained by the detection and measurement system 7 as in the case of the data collection and accumulation processing in step S101 described above.

Specifically, the control device 12 transmits a control signal to the width direction guide portion 41 of the guide device 4 in accordance with the control rule 11a while taking into account the acquired states. Thereby, the control device 12 controls the width direction guide portion 41 to move in the Y-axis direction according to the rotation of the winding drum 15. Further, every time the winding material 15 is wound around the winding drum 15 by one winding layer, the control device 12 moves from one end of the winding drum 15 (for example, the flange 15a) to the other end of the winding drum 15 (for example, the flange 15b). The width direction guide part 41 is controlled so as to be folded back and moved to the side) the required number of times. Further, the control device 12 transmits a control signal to the vertical direction guide section 42 of the guide device 4 according to the control rule 11a, while taking into account the acquired states. Accordingly, the control device 12 moves in the Z-axis direction by a predetermined distance (for example, a distance corresponding to an outer diameter of the wire 16) every time the wire 16 of one winding layer is wound on the winding drum 15. The control unit controls the vertical guide unit.

Also, the control device 12 sends a control signal to the correction device 5 according to the control rule 11a while taking into account each acquired state (for example, the appearance of winding the wire 16 obtained by the

imaging devices

81 and 82, the gap between the wires 16 and the like). Send Accordingly, the control device 12 uses the wire rods 52 of the beating arm 51 to correct the gap between the wires 16 wound around the drum body 15c between the two

flanges

15a and 15b of the winding drum 15 and the inappropriate riding. The correction device 5 is controlled so that 16 is hit from the X-axis direction, the Y-axis direction, or the Z-axis direction. In addition, when the wire 16 is wound around a portion of the drum main body 15c of the winding drum 15 near the flange (near the flange 15a or the flange 15b), the control device 12 determines whether or not the wires 16 are in contact with each other or between the wire 16 and the flange. The correction device 5 is controlled so that the hitting portion 52 of the hitting arm 51 hits the wire 16 from the X-axis direction, the Y-axis direction, or the Z-axis direction in order to adjust the interval appropriately.

Subsequently, the wire rod aligning and winding apparatus 1 collects data during automatic control of the wire rod winding operation (Step S204). In step S204, the data collection device 9 detects the state related to the guide device 4, the state related to the correction device 5, and the state related to the wire 16 when the control device 12 automatically controls the guide device 4 and the correction device 5, and detects the measurement system 7 To collect from. These states are obtained by the detection and measurement system 7 as in the case of the data collection and accumulation processing in step S101 described above. Further, the data collection device 9 further collects data indicating each automatic control of the guide device 4 and the correction device 5 by the control device 12. For example, the data collection device 9 collects, from the control device 12, control signals at the time of each automatic control of the guide device 4 and the correction device 5 as data indicating the respective automatic controls.

(4) Subsequently, the wire rod aligning and winding apparatus 1 determines whether or not the target aligned winding of the wire rod 16 wound on the winding drum 15 is successful (Step S205). In step S205, the determination of the success or failure of the target aligned winding of the wire 16 is performed by the success or failure determination unit 12a of the control device 12. More specifically, the control device 12 acquires an image showing the winding appearance of the wire 16 on the winding drum 15 from the imaging device 81 of the detection and measurement system 7. The success / failure determination unit 12a determines success / failure of the target aligned winding of the wire 16 on the winding drum 15 based on the acquired image. For example, if the winding appearance of the wire 16 shown in this image is acceptable as the target aligned winding, the success / failure determination unit 12a determines that the aligned winding is established. On the other hand, if the winding appearance of the wire 16 shown in this image deviates from the target aligned winding, the success / failure determination unit 12a determines that the aligned winding is not established. The control device 12 transmits the result of the success / failure determination to the data collection device 9 as data indicating the success / failure of the target lined winding of the wire 16. That is, when the guide device 4 and the correction device 5 are automatically controlled by the control device 12, the data collection device 9 collects data indicating the success or failure of the target aligned winding of the wire 16 from the control device 12.

(4) As a result of the success / failure determination in Step S205, when it is determined that the target aligned winding of the wire 16 on the winding drum 15 is not established (Step S206, No), the wire rod aligning and winding apparatus 1 proceeds to Step S207. In step S207, the alarm unit 68 outputs an alarm for notifying the operator that the target aligned winding of the wire 16 has not been established. The alarm output by the alarm unit 68 may be audibly notified, may be visually notified, or may be a combination thereof.

Next, the wire rod aligning and winding apparatus 1 determines whether or not an instruction to interrupt automatic control has been given for the wire rod winding operation in which the target aligned winding of the wire rod 16 has failed (Step S208). In step S208, when the control device 12 has not received the interruption signal corresponding to the operation of the interruption button 66 of the operation device 6, the control device 12 determines that there is no automatic control interruption instruction (step S208, No), and proceeds to step S207. Then, the process from step S207 is repeated.

On the other hand, in step S208, when the control device 12 receives the interruption signal corresponding to the operation of the interruption button 66 of the operation device 6, it determines that there is an instruction to interrupt the automatic control (step S208, Yes), and proceeds to step S209. . In step S209, the control device 12 stops the output of the alarm by the alarm unit 68 and interrupts the transmission of the control signal to the guide device 4 and the correction device 5 based on the interruption instruction by the interruption signal. Accordingly, the control device 12 interrupts the operations of the guide device 4 and the correction device 5 to interrupt the automatic control of the wire winding operation.

Subsequently, the wire rod aligning and winding device 1 switches the control mode of the guide device 4 and the correction device 5 from automatic control to manual control (Step S210). In step S210, the control device 12 may switch the control mode to manual control with the interruption of the automatic control in step S209 as a trigger, or the control mode is switched to manual control by the mode switching unit 67 of the operation device 6. The control mode may be switched to manual control using the fact (a signal indicating this) as a trigger.

Next, the wire rod aligning and winding apparatus 1 accumulates the data indicating that the alignment winding has failed (Step S211), and then proceeds to Step S216. In step S211, the data collection device 9 chronologically converts the data collected in steps S204 and S205 as actual data when the target aligned winding of the wire 16 is not established, that is, aligned winding unsatisfied data. Map along. The data storage device 10 updates the above-described wire rod winding operation data in consideration of the alignment winding failure data. At this time, the data storage device 10 adds the alignment winding failure data as a part of the already accumulated alignment winding failure result data group, thereby updating the wire winding operation data.

On the other hand, when it is determined in the above-described step S206 that the target aligned winding of the wire 16 on the winding drum 15 has been established (step S206, Yes), the wire rod aligning and winding apparatus 1 accumulates aligned winding establishment data (step S206). (Step S212) Then, the process proceeds to step S216. In step S212, the data collection device 9 converts the data collected in steps S204 and S205 into time-series data as actual data when the target aligned winding of the wire 16 is established, that is, aligned winding establishment data. Correspond. The data storage device 10 updates the wire winding operation data described above in consideration of the aligned winding formation data. At this time, the data storage device 10 adds the aligned winding establishment data as a part of the already accumulated aligned winding establishment result data group, thereby updating the wire winding operation data.

Then, the wire aligning and winding device 1 determines whether the winding of the wire 16 on the winding drum 15 is completed (Step S216). In step S216, if the control device 12 does not receive, for example, a stop signal corresponding to the operation of the stop button 65 of the operation device 6, the wire winding operation of winding the wire 16 on the winding drum 15 has been completed. Judge that there is no. Alternatively, if the number of winding layers of the wire 16 obtained from the detection and measurement system 7 does not reach the required number of target products, the controller 12 determines that the wire winding operation has not been completed. When the wire winding operation has not been completed (Step S216, No), the wire aligning and winding apparatus 1 returns to Step S202 described above and repeats the processing from Step S202.

On the other hand, in step S202 described above, when the control mode of the guide device 4 and the correction device 5 is manual control (step S202, manual control), the wire aligning and winding device 1 manually controls the wire winding operation (step S213). ). In step S213, the operating device 6 transmits to the control device 12 a signal indicating that the start of the wire winding operation by manual control has been instructed by the operator operating the start button 64 or the like. The control device 12 does not transmit a control signal to the guide device 4 and the correction device 5 based on the input signal. That is, the guide device 4 and the correction device 5 are in a state where they can be manually controlled (also referred to as a manual operation) based on an operation signal from the operation device 6.

Specifically, in step S213, the operator visually recognizes information such as an image displayed on the display unit 62 of the operation device 6, and moves the guide device 4 with the state of the wire 16 wound on the winding drum 15. The state of the pass line of the wire 16 and the state of the hitting arm 51 of the correction device 5 are grasped. While grasping these conditions, the operator manually operates the guide device 4 and the correction device 5 using the operation lever 61 in order to wind the wire 16 on the winding drum 15 into the target aligned winding. In response to the operation of the operation lever 61 by the operator, the operation device 6 transmits an operation signal for moving the width direction guide portion 41 in the Y axis direction and an operation signal for moving the vertical direction guide portion 42 in the Z axis direction. An operation signal for transmitting to the guide device 4 and operating the hitting arm 51 is transmitted to the correction device 5.

Subsequently, the wire rod aligning and winding apparatus 1 collects data at the time of manual control of the wire rod winding operation (Step S214). In step S 214, the data collection device 9 detects the state of the guide device 4, the state of the correction device 5, and the state of the wire 16 when the guide device 4 and the correction device 5 are manually operated by the operation device 6. To collect from. These states are obtained by the detection and measurement system 7 as in the case of the data collection and accumulation processing in step S101 described above. The data collection device 9 further collects data indicating each manual operation of the guide device 4 and the correction device 5 by the operation device 6. For example, the data collection device 9 collects each operation signal of the guide device 4 and the correction device 5 from the operation device 6 as data indicating each manual operation. In addition, when the target winding of the wire 16 is established by manual operation of the guide device 4 and the correction device 5, the data collection device 9 operates the operation device 6 such as the operation lever 61 or the input unit 63 by the operator. In response to the above operation, a signal indicating the establishment of the aligned winding is collected from the operation device 6. On the other hand, when the target aligned winding of the wire 16 is not established by the manual operation of the guide device 4 and the correction device 5, the data collection device 9 operates the operation device 6 such as the interrupt button 66 or the input unit 63 by the operator. In response to the above operation, a signal indicating that the aligned winding is not established is collected from the operation device 6. That is, when the guide device 4 and the correction device 5 are manually operated by the operation device 6, the data collection device 9 collects data indicating the success or failure of the target aligned winding of the wire 16 from the operation device 6.

Subsequently, the wire-arrangement winding device 1 accumulates data at the time of manual control of the wire winding operation (step S215), and then proceeds to step S216. In step S215, the data collection device 9 associates the respective data collected in step S214 with the success or failure of the target aligned winding of the wire 16 in chronological order. The data storage device 10 updates the above-described wire rod winding operation data in consideration of each data processed by the data collection device 9 as described above.

On the other hand, in step S216, for example, if a stop signal corresponding to operation of the stop button 65 of the operation device 6 has been received, the control device 12 completes the wire winding operation of winding the wire 16 around the winding drum 15. Judge that you have done. Alternatively, if the number of winding layers of the wire 16 obtained from the detection and measurement system 7 has reached the required number of target products, the controller 12 determines that the wire winding operation has been completed. When the wire rod winding operation is completed (Step S216, Yes), the wire rod aligning and winding apparatus 1 updates the control rule 11a used for automatic control of the wire rod winding operation (Step S217), and proceeds to Step S103 shown in FIG. Return to

In step S217, the learning device 11 determines whether or not the target aligned winding of the wire 16 has been established based on the wire winding operation data updated by the data storage device 10 in step S211 or step S212 described above. The automatic control of the guide device 4 and the correction device 5 in at least one of the two is learned, and the control law 11a is updated. In addition, the learning device 11 uses the wire rod winding operation data updated by the data storage device 10 in step S215 described above to determine whether the target aligned winding is not established in the automatic control of the wire rod winding operation. The manual operation of the guide device 4 and the correction device 5 that can correct the winding state of No. 16 to the state where the aligned winding is established is learned, and the control rule 11a is updated.

制御 The control rule 11a updated by the learning device 11 is reset in the control device 12. In the next step S203, the control device 12 automatically controls the guide device 4 and the correction device 5 based on the updated control rule 11a.

(Modification)
Next, a modified example of the wire aligning and winding apparatus 1 according to the embodiment of the present invention will be described with reference to FIG. In the wire rod aligning and winding device 1 according to this modification, the learning device 11 has a control rule 11a constructed in advance for automatically controlling the guide device 4 and the correction device 5. For example, the control rule 11a simulates a wire winding operation or the like, and performs an operation assumed to be necessary to wind the wire 16 around the winding drum 15 into a target aligned winding by the guide device 4 and the correction device. 5 is constructed to be a control law.

Further, in the data collection and accumulation system 8 of this modified example, the data collection device 9 performs the data collection (manual operation of the wire winding operation) in step S214 during the actual wire winding operation in step S103 described above. Data collection during control). Accordingly, the data collection device 9 at least includes data indicating each manual operation of the guide device 4 and the correction device 5 by the operation device 6, data obtained by the detection and measurement system 7, and a target aligned winding of the wire 16. And data indicating the success or failure of. The data collection device 9 performs data collection (data collection at the time of automatic control of the wire rod winding operation) in steps S204 and S205, whereby the automatic control of the guide device 4 and the correction device 5 by the control device 12 is performed. , The data obtained by the detection and measurement system 7, and data indicating the success or failure of the targeted aligned winding of the wire 16. The data collection device 9 associates the collected data with the success or failure of the target winding of the wire, for example, in a time series. The data storage device 10 stores the data processed by the data collection device 9 as wire rod winding operation data. In addition, the data storage device 10 adds the data further processed by the data collection device 9 to the wire winding operation data, and updates the wire winding operation data.

Here, in this modified example, the learning device 11 performs at least one of establishment and non-establishment of the target aligned winding of the wire 16 based on the wire winding operation data stored in the data storage device 10 as described above. Each manual operation of the guide device 4 and the correction device 5 on one side (both in this modification) is learned. Accordingly, the learning device 11 updates the control rule 11a so that the wire 16 is wound into the target aligned winding between the both

flanges

15a and 15b of the winding drum 15. The control device 12 automatically controls the guide device 4 and the correction device 5 based on a control rule 11a constructed in advance in the learning device 11. Thereafter, when the control rule 11a is updated as described above, the control device 12 automatically controls the guide device 4 and the correction device 5 based on the updated control rule 11a.

Other configurations of the wire rod aligning and winding device 1 in this modification are the same as those in the above-described embodiment. For example, each configuration of the wire rod winding device 2, the guide device 4, the correction device 5, the operation device 6, and the detection and measurement system 7 in this modification is the same as in the above-described embodiment.

As described above, in the embodiment and the modified example of the present invention, at least data indicating each manual operation of the guide device 4 and the correction device 5 by the operation device 6 and each data obtained by the detection and measurement system 7 , Data indicating the success or failure of the target aligned winding of the wire 16 is collected, and the collected data is associated with the success or failure of the target aligned winding of the wire 16 in a time-series manner, for example. The manual operation of the guide device 4 and the correction device 5 in at least one of the establishment and non-establishment of the target aligned winding of the wire 16 is learned based on the accumulated wire winding operation data. Then, the control rule 11a is constructed or updated so that the guide device 4 and the correction device 5 can be controlled to wind the wire 16 on the winding drum 15 into the target aligned winding, and the constructed or updated rule is established. Based on your law 11a, it is automatically controlled guide unit 4 and correction unit 5.

For this reason, not only the manual operation of the guide device 4 for winding the wire 16 so as to be arranged at a predetermined pitch between both the

flanges

15a, 15b of the winding drum 15, but also the winding around the drum body 15c of the winding drum 15. The manual operation of the correcting device 5 for correcting the gap between the wires 16, and the pass line of the wire 16 is folded (reciprocated) between the two

flanges

15 a and 15 b of the winding drum 15 without inappropriate climbing and dropping of the wires 16. In order to properly adjust the distance between the wires 16 or between the wires 16 and the

flanges

15a and 15b, the manual operation of the correction device 5, and the state where the winding of the wires 16 on the winding drum 15 is not established with respect to the target. For example, manual operation of the guide device 4 and the correction device 5 for restoring the established state, such as manual operation of the guide device 4 and the correction device 5 toward the establishment of the target aligned winding of the wire 16. Can learn the dynamic operation, it is possible to take advantage of this learning result in the construction and updating the control law 11a. Thereby, the manual operation of the guide device 4 conventionally performed by the operator by operating the operation lever 61 or the like, and the operator can determine the distance between the wires 16 on the winding drum 15 or the flange 15a of the winding drum 15, The manual operation during the wire winding operation including the manual operation performed using the jig to adjust the distance between the wire 15b and the wire 16 is transferred to the guide device 4 and the correction device 5 by automatic control based on the control law 11a. Can be reproduced. As a result, while reducing manual intervention in the winding operation of the wire 16, the wire 16 can be simply wound around the winding drum 15 so as to be aligned and wound, and labor saving during the wire winding operation can be achieved. Can be.

According to the learning system of the present invention, the manual operation of the guide device 4 and the correction device 5 described above is learned, and the manual operation at the time of the wire winding operation for establishing the target aligned winding of the wire 16 is performed. Can be constructed and updated by the guide device 4 and the correction device 5. Further, according to the data collection / accumulation system according to the present invention, at least data indicating each manual operation of the guide device 4 and the correction device 5 by the operation device 6, each data obtained by the detection and measurement system 7, and the wire 16 And the data indicating the success or failure of the target aligned winding of the wire 16 is collected, and the collected data can be accumulated as wire winding operation data in association with the success or failure of the target aligned winding of the wire 16. The wire winding operation data thus accumulated can be used for machine learning for constructing and updating the control rule 11a.

In the above-described embodiment and modified examples, the learning device 11 is provided in one wire aligning and winding device 1; however, the present invention is not limited to this. For example, the learning device 11 may be configured as a cloud, and the learning device 11 shared by the plurality of wire rod aligning and winding devices 1 may be configured.

In the above-described embodiment and modified examples, the manual operation of the guide device 4 and the correction device 5 in both the establishment and non-establishment of the target aligned winding of the wire 16 is learned, and the control rule 11a described above is constructed or Although updated, the present invention is not limited to this. For example, the learning device 11 of the present invention may learn or manually construct the control rule 11a by manual operation of the guide device 4 and the correction device 5 when the alignment winding is established, or may perform the control rule 11a when the alignment winding is not established. The control rule 11a may be constructed or updated by learning each manual operation of the guide device 4 and the correction device 5.

In the embodiments and the modifications described above, the width direction of the winding drum 15 is set to the horizontal direction (horizontal direction), but the present invention is not limited to this. For example, the width direction (direction of the rotation center) of the winding drum may be a direction parallel to the vertical direction or a direction inclined.

Further, in the above-described embodiment and modified examples, the wire 16 is horizontally moved with respect to the winding drum 15 and wound, but the present invention is not limited to this. For example, instead of the width direction guide portion 41 moving the wire 16 or in addition to the movement of the wire 16 by the width direction guide 41, the winding drum 15 itself may move horizontally to wind up the wire 16. .

In the above-described embodiment and the modified example, when the guide device 4 and the correction device 5 are automatically controlled, the winding state of the wire 16 on the winding drum 15 deviates from the target aligned winding (the target winding state). If the aligned winding is not established), an alarm is output by the alarm unit 68, but the present invention is not limited to this. For example, when there is a problem in the physical quantity or image obtained by the detection / measurement system 7 (an unexpected value, an image with remarkable noise, or the like), some trouble has occurred in the detection / measurement system 7. And an alarm may be output by the alarm unit 68.

In the above-described embodiment and the modification, the distance from the upper surface of the vertical guide portion 42 to the wire 16 is measured as the physical quantity indicating the tension of the wire 16, but the present invention is not limited to this. Not something. For example, as a physical quantity indicating the tension of the wire 16, a height from a reference position (for example, a floor surface) of a pulley (not shown) for feeding the wire 16 toward the winding drum 15 may be measured. A load cell such as a load cell may be provided on the roller for use 44, and the load applied to the roller for support 44 may be measured by the load meter.

In the above-described embodiment and the modified example, the gap between the wires 16 wound on the winding drum 15 is detected by performing predetermined image processing on an image obtained by the imaging device 82. However, the present invention is not limited to this. For example, the gap between the wires 16 may be measured by an optical displacement measuring device such as a light cutting type shape measuring device or a TOF (TIME OF FLIGHT) camera, or the measurement by these measuring devices and the image pickup device 82. (Measurement (detection)) by a method in which image processing of the image is combined.

Further, in the above-described modification, the learning rule 11 updates the control rule 11a constructed in advance by learning the manual operation of the guide device 4 and the correction device 5, but the present invention is not limited to this. Not something. For example, the learning rule 11 may update the previously established control rule 11a by learning each automatic control of the guide device 4 and the correction device 5. In this case, the operation device 6 may not have a function for manually operating the guide device 4 and the correction device 5.

In the above-described embodiment and the modified example, in the data collection and accumulation system 8, the data collection device 9 associates the collected data with the success or failure of the target winding of the wire 16 in the aligned winding. However, the present invention is not limited to this. For example, in the data collection and accumulation system 8, the data collected by the data collection device 9 may be stored in the data storage device 10 in association with the success or failure of the target aligned winding of the wire 16.

The present invention is not limited by the above-described embodiments and modified examples, but includes any combination of the above-described components as appropriate. In addition, other embodiments, examples, operation techniques, and the like performed by those skilled in the art based on the above-described embodiments and modified examples are all included in the scope of the present invention.

As described above, the wire rod aligning and winding apparatus according to the present invention, the learning system and the data collection and storage system used for the same reduce the manual intervention in the wire winding operation and easily align and wind the wire on the winding drum. It is suitable for a wire rod aligning and winding device that can be wound as much as possible, a learning system and a data collection and accumulation system used therein.

REFERENCE SIGNS LIST 1 wire rod aligning and winding device 2 wire rod winding device 2 a winding drive unit 3 master slave system 4 guide device 5 correction device 6 operating device 7 detection and measurement system 8 data collection and accumulation system 9 data collection device 10 data storage device 11 learning device 11 a control Rule 12 Control device 12a Success / failure determination unit 15

Winding drum

15a, 15b Flange 15c Drum body 16 Wire rod 41 Width guide unit 41a Width drive unit 42 Vertical guide unit 42a Vertical drive unit 43 Traverse roller pair 44 Lower support roller 45 rail 51 hitting arm 52 hitting unit 53 arm driving unit 61 operating lever 62 display unit 63 input unit 64 start button 65 stop button 66 interrupt button 67 mode switching unit 68

alarm unit

71, 72

encoder

73, 74, 75

counting unit

76, 77, 78, 7 Distance measuring unit 80 encoder 81 imaging device

Claims

In a wire alignment winding device for winding a wire on a winding drum,
At least data indicating manual operation of a guide device for guiding the wire to the winding drum and a correction device for correcting a winding position of the wire on the winding drum, and the wire, the guide device, and the correction device. Of each wire and data indicating the success or failure of the target aligned winding of the wire is collected, and the collected data is associated with the success or failure of the target aligned winding of the wire in association with the wire winding. A data collection and accumulation system that accumulates as operation data,
Based on the accumulated wire winding operation data, the manual operation of the guide device and the correction device in at least one of establishment and non-establishment of a target aligned winding of the wire is learned, and the winding drum is learned. A learning device for constructing a control law capable of automatically controlling the guide device and the correction device so that the wire is wound into a target aligned winding;
A wire aligning and winding device comprising:
The data collection and accumulation system further collects data indicating each automatic control of the guide device and the correction device, updates the wire winding operation data in consideration of the further data,
The learning device learns each automatic control of the guide device and the correction device in at least one of establishment and non-establishment of the target aligned winding of the wire based on the updated wire winding operation data. Updating the control law,
2. The wire aligning and winding apparatus according to claim 1, wherein:
The apparatus further includes a success / failure determination unit that determines success / failure of the aligned winding as a target of the wire based on the data indicating each state,
3. The wire rod aligning and winding device according to claim 1, wherein:
The apparatus further includes an alarm unit that outputs an alarm when it is determined that the target aligned winding of the wire is not established by the success / failure determination unit.
The wire aligning and winding apparatus according to claim 3, wherein:
In a wire alignment winding device that winds a wire around a winding drum,
At least data indicating manual operation of a guide device for guiding the wire to the winding drum and a correction device for correcting a winding position of the wire on the winding drum, and the wire, the guide device, and the correction device. Of each wire and data indicating the success or failure of the target aligned winding of the wire is collected, and the collected data is associated with the success or failure of the target aligned winding of the wire in association with the wire winding. A data collection and accumulation system that accumulates as operation data,
It has a control rule pre-established for automatically controlling the guide device and the correction device, and based on the wire winding operation data stored in the data collection and accumulation system, a target aligned winding of the wire. Learning the manual operation of the guide device and the correction device in at least one of the establishment and non-establishment of, and updates the control law so that the winding material is wound on the winding drum in the target aligned winding. A learning device,
A wire aligning and winding device comprising:
A learning system used for a wire alignment winding device that winds a wire around a winding drum,
At least data indicating manual operation of a guide device for guiding the wire to the winding drum and a correction device for correcting a winding position of the wire on the winding drum, and the wire, the guide device, and the correction device. Of each wire and data indicating the success or failure of the target aligned winding of the wire is collected, and the collected data is associated with the success or failure of the target aligned winding of the wire in association with the wire winding. A data collection and accumulation system that accumulates as operation data,
Based on the accumulated wire winding operation data, the manual operation of the guide device and the correction device in at least one of establishment and non-establishment of a target aligned winding of the wire is learned, and the winding drum is learned. A learning device for constructing a control law capable of automatically controlling the guide device and the correction device so that the wire is wound into a target aligned winding;
A learning system comprising:
At least each manual operation of a guide device for guiding the wire to the winding drum and a correction device for correcting the winding position of the wire on the winding drum of the wire rod aligning and winding device for winding the wire on the winding drum is shown. A data collection device that collects data, data indicating the state of each of the wire, the guide device and the correction device, and data indicating the success or failure of a target aligned winding of the wire,
The collected data is accumulated in association with the success or failure of the target aligned winding of the wire rod,
A data collection and accumulation system characterized by the following.