JPS6242362B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a winding device that winds a wire supply member having a wire supply portion at its tip around a workpiece, and is particularly suitable for winding a stator of a motor. This invention relates to an automatic winding device.

Conventionally, in this type of automatic winding device, the wire feeding member simply moved along a predetermined axis trace within a fixed plane, so the wire was wound in a dumpling shape, resulting in high-density winding. It had unbearable flaws.

Therefore, the present invention has been made in order to eliminate the above-mentioned defects, and it is possible to apply winding wires with high winding density and well-aligned winding to the winding portion, and it is also possible to apply winding wires to workpieces with complicated shapes. Winding can be reliably performed without interfering with the workpiece. The object of the present invention is to provide an automatic winding device, and other objects will become clear from the description below.

The details will be explained below with reference to FIGS. 1 to 16, which show an embodiment of the present invention in a winding device for a stator S.

1 in the figure is the automatic winding device main body, fixed table 2
Its operation is controlled by an electric control device 3 which is fixed on the top of the table 2 and is arranged on the underside of the table 2 and has a control panel 3a on the front surface. Reference numeral 4 denotes a nozzle having a wire supply section at its tip, and the tip is bent into a hook shape so as to extend longer than the length in the extending direction from the base end of the inner protrusion S1 of the stator S, which will be described later, toward the open end. An oval movement is applied in a vertical plane by a winding movement applying means to be described later. Reference numeral 5 denotes a work holder device for holding the work, that is, the stator S, which is mounted on a movable table 6 so as to be rotatable in a horizontal plane, and uses a table driving pulse motor 7 as a drive source (not shown) together with the table 6. A ball screw mechanism allows the nozzle 4 to move in the horizontal direction perpendicularly across the winding movement plane. 8 is a main shaft driving pulse motor for imparting winding motion to the nozzle 4, and 9 is an amplitude adjusting pulse motor for controlling the amplitude of the winding motion in the horizontal direction. 10 is a tension adjustment device for applying tension to the wire W during winding motion;
An appropriate tension is always applied by a spring and an adjustment knob (not shown), and when the work holder device 5 is indexed or the table 6 is moved, the tension release solenoid 11 is operated to release the tension, and the tension is released from the wire W. The wire W is controlled so that the wire W does not interfere with the indexing operation of the work holder device 5 or the movement of the table 6 to ensure smooth supply. 13 is a bobbin for the wire W wound around the stator S. Reference numeral 14 denotes a support column screwed to the table 6, which has a rotating shaft at its upper end and an arm portion 14a projecting horizontally to the left. 15 is a template rotatably supported on a rotation shaft provided at the upper end of the support column 14;
When winding with this device, the arm portion 14 of the support column
It is held horizontally by a. Furthermore, template 1
As shown in FIG. 6, the open end of the stator S is provided with an opening 15a having a smaller diameter than the inner diameter of the inner protrusion (wound part) S1 of the stator S. is provided. 16
is a support member for supporting the nozzle 4, which includes a piping portion 16a of the nozzle and a pair of small holes 16b on the upper and lower sides.
The plate-shaped portion 16e has a plate-shaped portion 16e, and the plate-shaped portion 1
It consists of a plate part 16c fixed to 6e and a reinforcing part 16d therefor. Reference numerals 17 and 18 denote mounting pieces having pin-shaped portions 17a and 18a, respectively, which are screwed onto a rod 19 that moves up and down, and which connect the small hole 16b of the support member 16 to the pin-shaped portion 17.
It is rotatably held at a and 18a. The nozzle 4 is configured such that the tip of the nozzle 4 is approximately located on the rotational center line Z ₁ of the support member 16 (see FIG. 3). 20 and 21 are springs, and the rod 19
Spring support plate 22 that is screwed to and protrudes from side to side
and the upper end of the nozzle piping section 16a of the nozzle support member 16. Therefore, the nozzle 4 and the support member 16 are rotatably supported by a pair of small holes 16b in the nozzle support member 16, and the spring support plate 22 is
It is balanced so that it is perpendicular to the Reference numeral 23 has a groove 23a in the center of the front surface that vertically engages both side surfaces of the rod 19, and a through hole 23b extending horizontally in the lower end.
is a sliding member having a horizontally extending groove 23c at its upper end, and a convex portion 25a provided on the lower surface of the guide bar 24 that fits into the through hole 23b and the guideway 25 that engages with the groove 23c. It is supported so as to be slidable in the horizontal direction.
Further, a groove portion 23b is provided in the vertical direction on the back surface of the sliding member 23. Reference numerals 26 and 27 are brackets for fixing the guide bar 24 to the main body, and 28 and 29 are brackets for fixing the guideway 25 to the main body, respectively.

30 is a drive wheel fixed to the main shaft 8a with a set screw 31 in order to transmit the rotation of the main shaft pulse motor 8, and 32 is a timing pulley fixed to the left end of the drive wheel 30 with a screw. 3
Reference numeral 3 designates an upper shaft rotatably supported by the main body, and a timing pulley 33a is fixed to the left end of the upper shaft, and rotation of the main shaft 8a is transmitted from the timing pulley 32 via a timing belt 32a. Incidentally, a crank disk 34 is integrally formed at the right end of the upper shaft 33. The crank disk 34 has a long groove 3 extending in a direction perpendicular to the upper shaft 33.
4a, and a piece body 34c having a bearing part 34b is movably attached along the long groove 34a, so that the amount of eccentricity of the bearing part 34b with respect to the axis of the upper shaft 33 can be adjusted. There is. 35 is a balancer part of the crank disk, 36 is a rod rotatably supported by a screw 37 on the shaft bearing part 34b, and at its upper end there is a roller 3 at the tip for guiding the wire W to the nozzle conduit part 16a.
An arm 38 having a diameter 9 is screwed, and the rod 19 is rotatably supported at the lower end by a step screw 40. Accordingly, as the upper shaft 33 rotates, the rod 19 is moved up and down via the crank disk 34 and the rod 36.

41 is a roller attached to the right end of the drive wheel 30 with a step screw 42 and a nut 43. 4
Reference numerals 4 and 45 denote swing shafts rotatably supported by the main body 1, and an adapter disc 4 is provided at the rear left end of the main body 1.
6 and 47 are attached by screws 48 and 49. In addition, arm portions 44d and 45d provided at the right end of the swing shaft are provided with groove portions 44a and 45a that engage with the roller 41 and constitute a Geneva mechanism, and furthermore, the tips of the arm portions 44d and 45d are provided with groove portions 44a and 45a that engage with the roller 41 and constitute a Geneva mechanism. is equipped with gear parts 44b and 45b that mesh with each other. Further, the arm portion 45 of the swing shaft 45
The end opposite to the groove 45a (second
A groove portion 45c is provided on the right side of the groove 45c. 50
is a connecting shaft having a slider 50a that engages with the groove 45c of the swing shaft 45. Reference numeral 51 denotes a side plate for slidably holding the slider 50a of the connecting shaft 50 between the groove 45c and the swinging shaft 45.
A long hole 51a through which the connecting shaft 50 passes is provided in the center thereof. Reference numeral 52 denotes a ball bearing mounted on the right end of the connecting shaft 50, which engages with a groove 23d provided on the back surface of the sliding member 23 to control the rocking motion of the rocking shaft 45 horizontally. It is provided to convert the direction into reciprocating motion.

Reference numeral 53 denotes a connecting rod whose lower end is rotatably supported at the intermediate portion of the connecting shaft 50. Reference numeral 54 denotes a swing width adjustment lever whose one end is attached to the main body by a stepped screw 55, and a gear body 57 having a gear 57a is fixed to the other end. It is rotatably supported by. 5
A gear 8 meshes with the gear 57, and is fixed to one end of an adjustment shaft 59 rotatably supported by the main body. The other end of the adjustment shaft 59 is connected to a rotating shaft (not shown) of the swing width adjustment pulse motor 9 screwed to the main body. As the swing width adjusting pulse motor 9 rotates, the adjustment lever 54 is rotated about the stepped screw 55, and the crank-coupled connecting rod 53 is moved up and down, and the connecting shaft is rotated. 50 is moved up and down with respect to the axis of the swing shaft 45 along the groove 45c. As a result, the magnitude of the reciprocating motion transmitted to the sliding member 23 can be changed. That is, as is clear from FIGS. 3B and 3C, when the connecting shaft 50 is moved downward with respect to the arm portion 45d of the swinging shaft 45 that reciprocates within a certain rotation range, the connecting shaft 50 Since the movement of the connecting shaft 50 becomes smaller as it approaches the axis of the swing shaft 45, the amount of movement of the sliding member 23 becomes smaller. Further, when the connecting shaft 50 is moved upward, the connecting shaft 50
is moved away from the axis of the swing shaft 45 and the connecting shaft 50
Since the momentum of the sliding member 23 increases, the momentum of the sliding member 23 increases.

The control section of this device is shown in Figures 4 to 5 below.
To explain with reference to the figure, 70 is a stored program type central processing unit (hereinafter referred to as CPU) having an interrupt function, and is equipped with an interrupt input terminal and an interrupt control output terminal, and each of these terminals is is connected to an interrupt input interface 71, and from the interrupt input interface 71 to the CPU 70.
The internal bus line of the CPU 70 is connected to an input/output bus line 72, and various data, addresses, etc. are calculated and transmitted. Reference numeral 73 denotes a read-only memory (hereinafter referred to as ROM) containing a control program for controlling the CPU 70, and is connected to the internal bus line of the CPU 70 via the input/output bus line 72. Reference numeral 74 denotes a working register for temporarily storing data during arithmetic processing by the CPU 70, which is constituted by a readable and writable storage device (hereinafter referred to as RAM), and is connected to the input/output bus line 72. Reference numeral 75 denotes a program register group for storing winding pattern programs created by the operator, and is composed of a non-volatile read-only memory. There are two storage areas connected to the input/output bus line 72. Reference numerals 76 and 77 denote an emergency stop switch and a clear key switch provided on the control panel 3a, respectively, which are connected to the interrupt input interface 71 and are activated when the interrupt interface control signal of the CPU 70 is enabled (ENABLE). When pressed, an interrupt is accepted. 78 is an input/output interface connected to the input/output bus line 72. Reference numeral 79 indicates a changeover switch provided to enable the device to select either a program mode or an operation mode, and 80 indicates which storage area of the program register group 75 is used in the program mode or operation mode. A changeover switch 81 is the mode changeover switch 7 for issuing the selection command.
Reference numeral 9 denotes a start switch for issuing an operation command in the operation mode, all of which are provided on the panel 3a and connected to the input/output interface 78. Reference numeral 82 denotes a keyboard device provided on the control panel 3a, which is composed of a function key switch group 82a and a data and code key switch group 82b. Key-in input is performed when specifying the content of the operation at the time. Reference numeral 83 denotes a display device provided on the control panel 3a, which includes a function display section 83a, a data display section 83b, and an error display section 83c.
It is composed of segment display elements. 84 indicates the function display section 8 in the program mode.
This is a switch that issues a storage command signal for storing the contents of the pattern winding program data displayed on the data display section 83b in the register corresponding to the address shown in 3a.
and is connected to the input/output bus line 72 via the input/output interface 78. 85
is a spindle winding motor drive circuit for driving the spindle drive pulse motor 8, and is connected to the input/output interface 78. Reference numeral 86 denotes a synchronizing signal generator that generates a synchronizing signal at one position of the rotation of the pulse motor 8, and its output is connected to the input/output bus line 72 via the input/output interface 78. 87 is a table drive motor drive circuit for driving the table drive pulse motor 7; 88 is the movable table 6;
Both of them are connected to the input/output bus line 72 via the input/output interface 78. Reference numeral 89 denotes a motor drive circuit for changing the winding motion locus for driving the pulse width adjustment pulse motor 9, and reference numeral 90 denotes an origin detector for detecting the origin position of the amplitude adjustment lever 54. It is connected to the input/output bus line 72 via an input/output interface 78 . 91 is a work holder index motor drive circuit for driving a work holder index pulse motor (not shown); 92;
is an origin detector for detecting the origin of the work holder, both of which are connected to the input/output bus line 72 via the input/output interface 78. 93 is a solenoid drive circuit for driving the tension release solenoid 11; 94;
96 is a solenoid drive circuit for driving the cutter operating solenoid 95, and 96 is a solenoid drive circuit for driving the work holder holding solenoid 97, which are connected to the input/output bus line 72 via the input/output interface 78. connected to.

Next, an example of programming when winding the stator S as shown in FIG. 6 using the apparatus configured as described above and the operation of the winding apparatus will be described below.

4A, 4B, and 4C indicated by two-dot chain lines in the figure are for indicating the relative positions of the tip of the nozzle 4 and the work holder device 5, respectively.
indicates the origin position of the table 6 on which the work holder device 5 is placed, 4B indicates the winding start position, 4C indicates that the work holder device 5 has completed the winding work for one pole of the stator S, It shows the retracted position of the table 6 when indexing to the next pole winding position. X1 is the moving distance between the nozzle tips indicated by 4A and 4B, and X2 is the moving distance between the nozzle tips indicated by 4A and 4C. N1, N2, N3 are each stator S
The number of windings per stage per pole, L
1, L2, L3 are the number of winding stages, n1, n2, n
3 is the length of the part that is not wound, which is expressed as the number of turns, and Y1, Y2, and Y3 are the lengths of the maximum swing width when winding the nozzle 4 (portions N1 to N3). represent. Line segment L1aL1b,
L2aL2b and L3aL3b are the above-mentioned L1 and L
2, represents the passage locus of the tip portion of the nozzle 4 when the portion indicated by L3 is wound. Line segments L2aL2b and L3aL3b are each line segment L2
What is inclined with respect to aL2c and L3aL3c is the inclination angle φ (sixth
This is to keep the value (see figure) small.

Next, referring to FIGS. 7 and 8, an explanation will be given according to programming operation examples. First, in the first step, the winding direction is specified (left-handed winding).
1 representing the left-hand rotation designation is stored in the memory address MD1F1 of the program register 75. When the number of poles is designated (4 poles) in the second step, 4 is stored in memory address MD1F2. When the index angle between poles is specified (90.0 degrees) in the third step, the memory address
900 is stored in MD1F3. When the diameter of the number of turns of the wire is specified (0.26 mm) in the fourth step, 26 is stored in the memory address MD1F4. After specifying the total number of turns per pole (250 times) in the fifth step, memory address MD1F5
250 is memorized. The sixth step specifies the distance indicated by X1 in Figure 6 (68.50
mm), the memory address MD1F6 is
6850 is memorized. The seventh step specifies the distance indicated by X2 in Figure 6 (30.00
mm), the memory address MD1F7 is
3000 is memorized. When the winding number offset is specified in the eighth step (n1=0 in FIG. 6 described above), 0 is stored in the memory address MD1P11. When the number of windings per stage is specified in the ninth step (N1=26 in FIG. 6 described above), 26 is stored in the memory address MD1P12. When the number of repetition stages is specified in step 10 (L1=4 in FIG. 6 described above), memory address MD1P13 is stored at 4. When the maximum swing width from the center of the nozzle tip is specified in step 11 (Y1=22.00 mm in FIG. 6 described above), 2200 is stored in memory address MD1P14. When the interpolation angle of the nozzle tip locus with respect to the workpiece movement direction is specified (0 in this example) in the 12th step, memory address MD1
0 is stored in P15. Hereinafter, from the 13th step to the 22nd step, the L shown in FIG.
After specifying the winding pattern data for each part of 2 and L3, each memory address (MD1P
21 to MD1P35), each data is stored.

Next, the operation of the present apparatus when winding the stator S described above will be explained according to the flowcharts shown in FIGS. 9 to 16.

First, when the power switch 99 is turned on,
The program starts from the start address 100 of the main flowchart and starts with routine 10, which performs interrupt processing.
1. Routine 102 for clearing the display device 83;
A routine 103 for clearing various input/output devices, a routine 104 for loading entry addresses of various subroutines, a routine 105 for clearing working registers, and a routine 106 for interrupt processing are passed to reach a routine 107 for determining a mode changeover switch. As a result, the display on the display device 83 of the control panel 3a is cleared, each light emitting diode is turned off, and each 7 segment display element displays zero. Here, assuming that the mode changeover switch 79 is switched to the program mode side, the program jumps to the PD address, and whether or not the key switches "F" and "P" of the function key 82a are pressed. The PC passes through routines 108 and 116 to determine whether
The loop returning to the address (various switch monitor loop in program mode) continues to run until the function key switch is pressed.

Here, when the key switch "F" is pressed in accordance with the first step of the key switch operation shown in FIG. . Next, when the data key switch "1" is pressed, the contents of the pressed data key switch are displayed on the display section 8.
After passing through a subroutine (FKDSUB) 110 that displays the data in the least significant bit of 3a and shifts the already displayed data by one digit, a routine 111 that determines whether or not the "=" key switch has been pressed
reach. Here, when the key switch "=" is pressed, the program reaches a routine for calculating the memory address (MD1F1 in this case) at which data is to be stored. As a result, the light emitting diode corresponding to the key switch "F" is turned on in the function display section 83a, and data "1" is displayed on the seven segment display element.

Next, when the data key switch "1" is pressed, the program displays the contents of the pressed data key switch in the least significant digit of the data display section 83b and shifts the data already displayed one digit higher. From the subroutine (DASUB) 113 returned by pressing the data entry key switch 84, a routine 114 for determining whether there is a data error or not, and the data display section 83
The data displayed in b is stored at the memory address calculated in the routine 112 (here MD1F).
1), through the routine 115 that stores the data into
Return to the PC address and continue going through the loop mentioned above (various switch monitor loop in program mode).

As a result, according to the programming operation of the first step in FIG.
Memory address calculated by (MD1F1)
The data "1" displayed on the data display section 83b is stored. Hereinafter, from the second step to the seventh step, each data is calculated by the routine 112 at the memory address (MD
1F2 to MD1F7).

Next, when the key switch "P" is pressed in accordance with the eighth step in FIG.
The routine reaches routine 117, which lights up the light emitting diode corresponding to the pressed key switch 3.
Next, when the data key switch "1" is pressed twice, the program passes through subroutines (FKDSUB) 118 and 119 similar to those described above, and reaches a routine 120 in which it is determined whether the key switch "=" has been pressed. Here, when the key switch "=" is pressed, the program will further move to the memory address where the data will be stored (in this case, MD1P1
The process starts from the routine 121 that performs the calculation of 1) to the subroutine (DASUB) 113 described above.

As a result, the light emitting diode corresponding to the above-mentioned key switch "P" is lit on the function display section 83a, and the data "11" is displayed on the seven segment display section.

Here, when the data key switch "0" is pressed, the program goes through the subroutine (DASUB), so the pressed data (0 in this case) is displayed on the display section 83b, and furthermore, the program goes through the routine 114. , 115, and travels along the same route as in the first step described above, and the data in the data display section 83b is stored in the memory address (MD1P11). Then, the program returns to the PC address again and continues the loop described above (various switch monitor loop in program mode). As a result, data "0" is stored in the memory address (MD1P11) according to the programming operation in step 8 of FIG.

Hereinafter, from the 9th step to the 22nd step, the memory addresses (MD1P11 to MD1P11 to MD
1P35).

If the operator presses the clear key switch 77 during execution of each of the programming steps described above by mistake, the program executes the next command from the clear switch interrupt routine 123. It reaches the PA address through the routine 124 for interrupting the process, and through the routines 102, 103, 104, and 105, it reaches the aforementioned loop (various switch monitor loop in program mode). As a result, the display section 83
a, 83b, working register 74, etc. are all cleared, so the operator can correct data caused by erroneous key operations by performing the programming operation from the beginning of the step.

Also, when the operator programs incorrect data (for example, when the wire diameter data of the wire W specifies a value larger than a predetermined value),
The program starts from the routine 114 to the routine 12 that lights up the error display light emitting diode 83c.
2 and return to PB address. As a result, since the error display light emitting diode 83c is lit,
Since self-diagnosis is performed during the programming operation, the operator can easily discover operational errors.

Next, the stator S is set using this device based on each data specified by the above programming operation.
The operation for winding the wire and its operation will be explained.

First, the operator selects the mode changeover switch 7.
9 is switched to the operation mode, the program jumps from routine 107 of the loop described above (various switch monitor loop in program mode) to address PE, and starts routine 125 for determining whether key switch "M" has been pressed. A loop (various switch monitor loop in operation mode) that returns to the PC address through a routine 136 for determining whether or not a switch has been pressed continues to run until the key switch "M" or the start switch is pressed.

Here, the operator specifies an M (auxiliary) function (for example, specifies a routine for returning to the origin M1).
0) is operated in the order of operation key switches "M", "1", and "0", the program moves from the loop routine 125 described above to a routine 126 for lighting up the light emitting diode of the display section 83a corresponding to the key switch "M". , the subroutines (FKDSUB) 127 and 128 similar to those described above are reached. As a result, "M10" is displayed on the display section 83a of the control panel 3a. The program further includes a routine 129 for determining whether or not the start switch has been pressed, and a routine 1 for determining whether or not the key switch "=" has been pressed.
30 and returns to the routine 129 (start switch press determination loop) continues to run until the start switch 81 or the key switch "=" is pressed.

Here, when the start switch 81 is pressed, the program executes a jump command from the error check routine 134 to the subroutine (M10 in this case) displayed on the display section 83a, as shown in FIG. Jump to the subroutine (M10) shown below. Thus, the program includes a routine 143B that specifies the address of the origin sensor of a predetermined axis from the entry address 143A of the subroutine (M10), and a routine 14 that determines the presence or absence of the origin signal of the specified origin sensor.
3C, a loop returns to the routine 143C through a routine 143D which outputs a pulse for driving a predetermined axis toward the origin to a predetermined drive circuit. When the origin detection signal is issued, the routine 143C
After passing through the routine 143E that determines whether or not all axes have been returned to their origin, if there is an axis that has not been returned to their origin yet, the process returns to the routine 143.
Return to B again, and when all axes have returned to their origin, the program returns to the PC address of the main routine.

As a result, drive pulses are applied to the table drive motor drive circuit 87 until the origin detection signal is issued from the origin detector 88, so the table 6 is driven to the right end, and the table 6 is rotatable. The fixed work holder device 5
is driven to a position where an origin detection signal is issued from the origin detector 92. Next, drive pulses are applied to the spindle winding motor drive circuit 85 until the synchronization signal generator 86 reaches a position where a synchronization signal is generated, so that the spindle drive wheel 30 is moved as shown in FIG. A roller 41 rotatably supported at its right end by a step screw is stopped at the uppermost position with respect to the horizontal rotation axis of the drive wheel 30.
As a result, the swing shafts 44, 45 also have arm portions 44d extending in a curved manner from the shaft portions, as shown in the figure.
Grooves 44a and 45a provided at 45d are positioned to face each other in the vertical direction. Therefore, the groove portion 45 provided in the arm portion 45d of the swing shaft 45
A connecting shaft 50 having a slider 50a that engages with c.
The sliding member 23, which is arranged so as to be able to reciprocate in the horizontal direction, is stopped at its center position, and the rod 19 is positioned by a groove provided on the front surface of the sliding member 23, and the rod 19 is screwed into the rod 19. Pin-shaped parts 1 of fixed mounting pieces 17 and 18
The nozzle 4 and the nozzle support member 16, which are rotatably supported by 7a and 18a, are also stopped at the center position within the horizontal movable range. Further, since a drive pulse is applied to the motor drive circuit 89 until the origin detection signal is issued from the origin detector 92, the adjustment lever 54 is stopped at the origin position.
Since the connecting rod 53 is also stopped at a predetermined position, the connecting shaft 50 having a slider 50a for adjusting the swing width is also stopped at a predetermined position.

Therefore, the positional relationship between the nozzle 4 and the stator S set in the work holder device 5 at this point is as shown by the solid line in FIG.
and a nozzle 4A indicated by a two-dot chain line.

Next, when the operator specifies the automatic winding subroutine (M90) during the M (auxiliary) function and then presses the start switch 81, the program returns to the home return subroutine (M10) described above. The program jumps to the subroutine (M90) shown in FIG. 14 through the same flowchart route as when jumping. Thus, the program reaches the preparation routine 141 of the subroutine (M90) from the entry address 140 of the automatic winding subroutine (M90).

As a result, the initial values of various working registers can be set (for example, the number of poles data is preset to the repetition counter, etc.) from each data stored in the register area designated by the model pattern changeover switch 80 of the panel 3a. And the data display section 83b is cleared.

Further, the program includes a routine 14 for giving a drive command to the work holder holding solenoid 97.
2 to the home return subroutine (M10) 14
3. Routine 1 for clamping and cutting the wire end (not shown) after passing through the routine 144 for determining whether or not to clamp the wire end (not shown).
Reach 45. As a result, the stator S is clamped, and the wire W is cut and held.

Next, the program starts at entry address 146 of pattern winding subroutine (PWISUB) 146.
A jumps to the preparation routine 146B of the pattern winding subroutine. As a result, the model pattern changeover switch 8 of the panel 3a
Various calculations (e.g., table movement distance (preset to the working register, etc.) is performed.

Thereafter, the program starts with a table drive motor drive command routine 146C, a winding motion locus change motor drive command routine 146D, and a spindle winding motion imparting motor drive start command routine 146.
E. Routine 146 for determining presence/absence of spindle rotation synchronization signal
F and does not exit the routine 146F until a synchronization signal is issued.

As a result, a drive pulse (corresponding to X1 in FIG. 6) for starting winding the nozzle 4 and driving it to the position is emitted to the table drive motor drive circuit 87, and the work holder between the nozzle 4 and the table 6 is The relative position with respect to the stator S clamped on the device 5 is the position shown at 4B in FIG. Next, since a drive pulse is also output to the motor drive circuit 89, the amplitude adjustment lever 54, which was at the original position as described above, is moved to a predetermined position, and the linking rod 53 is rotated. The supported connecting shaft 50 is moved in the vertical direction, and the length of the right end arm of the swing shaft 45 to an eccentric position with respect to the swing motion axis changes. Further, the routine 146E provides a drive pulse to the spindle winding motion motor drive circuit 85, so that the motor 8 begins to rotate in the left direction. Therefore, the driving wheel 30 fixed to the main shaft of the motor 8 also starts rotating, and the roller 4 rotatably fixed to the eccentric position of the driving wheel by the step screw 42
1 engages with the groove 44a provided in the right end arm 44d of the swing shaft 44, so that the swing shaft 44
begins its rotation. Further, since the gear portion 44b provided at the tip of the arm portion 44d meshes with the gear portion of the swing shaft 44, the swing shaft 45 also begins to rotate to the left. Thus, the arm portion 45 of the swing shaft 45
d The connecting shaft 50, which has a slider 50a on the left end that engages with the groove 45c provided in the front, begins to rotate, and the sliding member engages with the ball bearing 52 mounted on the right end of the connecting shaft 50. 23 also starts moving to the left.

On the other hand, a timing pulley 32 screwed to the drive wheel 30 of the main shaft of the motor 8 and the upper shaft 33
When the upper shaft 33 returns to its origin, the piece 34C, which is located at the highest position (as shown in FIG. 3), begins to rotate to the left due to the timing belt 32a, which is placed between the upper shaft 33 and the timing belt 32a. For this reason, the rod 36, whose approximately middle portion is rotatably supported by the shaft bearing portion 34b of the piece body 34c and whose lower end is rotatably supported by the rod 19, starts to move downward.

Therefore, the groove portion 23a on the front surface of the sliding member 23
The rod 19, which is vertically movably engaged with the rod 19, the support member 16 of the nozzle 4 screwed to the rod, and the nozzle 4 move horizontally to the left and vertically as the motor 8 rotates. It will start descending.

Next, the rotation of the main shaft drive motor 8 progresses,
When the roller 41 is disengaged from the groove 44a of the swing shaft 44 (when rotated by 60 degrees), the movement of the swing shaft 44 stops, so the above-mentioned horizontal movement stops, and the upper Since the shaft 33 continues to rotate, the nozzle 4 is only moved downward in the vertical direction.

Note that when the roller 41 comes off the groove 44a of the swing shaft 44, the left side of the pair of magnets ML and MR disposed opposite the arm 44d of the swing shaft 44 within the rotation range of the arm 44d. The arm portion 44d of the swing shaft 44 is attracted by the magnet ML, and the arm portion 4
4d etc. are held so that they do not rotate freely.

Further, the rotation of the main shaft driving motor 8 progresses, and the roller 41 moves to the arm portion 45d at the right end of the swing shaft 45.
When the arm 44d of the swing shaft 44 starts to engage with the groove 45c provided in the magnet ML (when rotated by 120 degrees), the nozzle 4 is again moved in the horizontal direction. In this case, the horizontal movement direction of the nozzle 4 changes to the right, which is opposite to the previous direction, and the vertical movement direction moves downward as before.

As the rotation progresses further and the step screw 37 fixed at the eccentric position of the upper shaft reaches the lowest end after the motor 8 starts rotating, the direction of movement of the rod 36 changes (when rotated by 180 degrees). changes from falling to rising. Therefore, from now on, the vertical movement direction of the nozzle 4 changes from downward to upward, and
The horizontal movement continues to the right as before.

As the rotation of the motor 8 further progresses, the roller 41 comes off from the groove of the swing shaft 45 (when rotated by 240 degrees). At this time, the arm portion 44d of the swing shaft 44 is attracted by the magnet MR. When the main shaft drive motor 8 continues to rotate further, the swing shaft 4
After the arm portion 44d of the swing shaft 44 is released from the magnet MR, the roller 41 returns to the winding start position (origin position).
Go back to.

Therefore, the movement direction of the nozzle 4 during one rotation after the motor 8 starts rotating changes from "downward movement with leftward movement" at the beginning of winding to "downward movement" to "rightward movement". After passing through ``downward movement with accompanying movement'', ``upward movement with rightward movement'', ``ascending movement'', and ``ascending movement with leftward movement'', it will perform a small movement that returns to the initial state. .

That is, the nozzle 4 makes the above-mentioned oval movement and returns to the initial position, and makes one winding movement (winding) to the winding portion of the stator S, and the synchronizing signal generator 86 causes the main shaft to be When the synchronization signal is issued, the program exits the routine 146F, and goes through a routine 146G for displaying the current number of windings on the data display section 83b, a routine 146H for determining whether the remaining number of windings is 1, and a remaining winding number. The routine returns to the routine 146F through a routine 146I that determines whether the number of times is 0 or not, a routine 146J that calculates the interpolated movement amount of the nozzle tip trajectory during the next winding with respect to the current winding position, and issues a drive command for the same. Continue to rotate the loop (winding loop) until the remaining number of turns becomes 1 or 0.

As a result, each time the routine 146J generates a synchronization signal that synchronizes with one turn of the nozzle 4, the table drive motor drive circuit 8
7 or the winding trajectory changing motor 89 and its output, the stator S fixed on the table 6 via the work holder device 5 has a predetermined value programmed in advance by the operator. Winding work is performed along the winding pattern.

In this state, the winding work on the stator S by this device progresses, and when the remaining number of windings becomes 1 (the number of windings displayed becomes 249), the program returns to the loop (winding loop) routine 146H described above.
A routine 146 that issues a deceleration command to the spindle winding motor so that it can be stopped immediately after the synchronization signal (origin signal) is generated, and also prepares for stopping.
K, the process returns to the loop (winding loop) again, and this time, from the routine 146I, the routine gives the driving circuit 87 a pulse for driving the table 6 to the position where the work holder device 5 is indexed. 146L, the process returns to the automatic winding (M90) subroutine.

Therefore, when the spindle motor 8 has been wound the number of windings (250 times) programmed in the fifth step of programming described above, both the motor 8 and the motor 7 are stopped, and the nozzle 4 is turned off. After stopping at the top end of the winding motion plane passing through one point on the line segments L ₃ a and L ₃ b of swing width Y ₃ , the table is moved and returned to the winding starting position. Then, the distance X ₁ − calculated in the routine 146B
_Since pulses corresponding to is driven up to. Incidentally, when the table is moved, the solenoid 11 of the tension device 10 is given a drive output to the solenoid drive circuit 93, and the tension applied to the wire W during winding is released, and the wire W is moved by the movement of the table 6. prevents interference with

Next, the program that returns to the automatic winding subroutine (M90) starts from the routine 147 for determining whether or not the first pattern winding subroutine has ended (whether or not the winding work for the first pole has ended). Only at the end of the pattern winding subroutine, a routine 148 issues a wire unclamp command to the cutter and wire holder device 12, and a predetermined drive pulse ( 90.0°);
After passing through the routine 150 for determining whether or not the winding work for the required number of poles has been completed, the process returns to the routine 1.
The routine returning to step 46 (all-pole completion loop) is repeated until the winding work for the required number of poles is completed.

As a result, in this embodiment, the work of indexing the work holder device 5 by 90.0 degrees each time the winding work for one pole is completed is repeated four times, the stator S is subjected to the required winding work, and the work is The stator S set in the holder device 5 is returned to the winding start position.

Furthermore, the program passes through a routine 151 that issues a command to cut the end of the wire W and a home return subroutine (M10) 152, returns to the PC address of the main routine, and goes through the aforementioned loop (start switch determination loop) again. continue.

Therefore, after the winding work for the four poles of the stator S is completed, the wire W is cut (not shown), and then each axis is returned to its origin,
Since the supply of drive pulses to the drive circuit 96 for driving the work holder holding solenoid 97 is cut off, the operator removes the stator S on which all the winding work has been performed from the work holder device 5 and performs the next operation. It can be provided for the stator windings.

Incidentally, during the winding movement of this device, the support member 1 of the nozzle 4 is attached to the opening protrusion 15b provided at the tip of the template 15, as shown in FIG.
The plate portion 16C of No. 6 is brought into contact with the plate portion 16C. For this reason, the support member 16 including the nozzle 4, which is rotatably supported by the vertically moving rod 19 via mounting pieces 17 and 18, is at an angle of φ with respect to the X axis, as shown in FIG. The hook-shaped tip of the nozzle 4 does not come into contact with not only the pole during the winding operation on the stator S but also the winding part of other poles, and the wire supply part of the nozzle tip does not come into contact with the winding part of the other pole. rotation center line Z ₁
(See FIG. 3) Since it is placed above, the predetermined position control can be performed without changing its position coordinates. That is, since the amount of horizontal movement of the sliding member 23 and the amount of horizontal movement of the wire supply section at the tip of the nozzle match, the movement can be controlled extremely easily.

In this embodiment, as described above, the template 15 is arranged so as to come into contact with the plate portion 16c of the support member of the nozzle 4, and the inclination angle of the hooked tip of the nozzle 4 with respect to the X axis is controlled. Although the winding work was performed so that the nozzle 4 and the stator S did not come into contact with each other, the nozzle conduit portion 16a of the nozzle support member was moved in response to the displacement of the tip of the nozzle 4 accompanying the winding movement. By controlling the swing width (Ya in FIG. 6) by other means, it is possible to provide a winding device in which the nozzle and the workpiece do not come into contact during the winding motion.

As described in detail above, the present invention has a wire rod supply member rotatably supported around an axis perpendicular to the extending direction of the winding portion of the workpiece, and a hook-shaped wire rod supply member provided in the wire rod supply portion. The rotational position of the nozzle is configured to be changed and controlled according to the relative position of the wire rod supply nozzle with respect to the winding section, thereby allowing the wire rod supply nozzle to be controlled without interfering with parts other than the winding section. Since the wire can be wound closer to the winding part, the winding density is high, and the wire can be wound in an aligned manner, and the rotational position of the wire supply nozzle can be changed and controlled according to the shape of the workpiece. This makes it possible to wind even complex-shaped workpieces without colliding with the workpiece.

[Brief explanation of the drawing]

Fig. 1 is a front view showing the external appearance of this device, Fig. 2 is a perspective view showing the main parts of this device, Fig. 2A is a right side view of this device, and Fig. 2B is a line BB in Fig. 2A. A sectional view, FIG. 2C is a sectional view taken along the line C-C of FIG. 2A, and FIG. 3 is a sectional view showing the main parts of the device,
The figure is a sectional view taken along the line A-A in Fig. 3, Fig. 3B is a sectional view taken along the line B-B in Fig. 3, Fig. 3C is a sectional view taken along the line C-C in Fig. 3, and Fig. 4 is a sectional view taken along the line C-C in Fig. 3. A block diagram showing the control section, FIG. 5 is a diagram showing the panel of the control section of this device, FIG. 6 is a diagram for explaining the winding pattern of the winding work on the stator S by this device, and FIG. 7 Figure 8 shows the key switch operation during programming in an example of winding work using this device.
The figure is a diagram showing the contents of programming of this device, and FIGS. 9 to 16 are flowcharts showing control operations of this device.

Claims (1)

[Claims] 1. A winding device for winding a workpiece having a winding portion with at least one end open, comprising: a workpiece holder provided on a frame for holding the workpiece; and a workpiece holder provided on the frame. It is supported by the frame so as to be rotatable around one axis substantially perpendicular to the extending direction from the proximal end of the supported workpiece toward the open end, and is longer than the length of the wound portion in the extending direction. a wire rod supplying member having a long hook-shaped wire rod supply nozzle; and a second wire rod supplying member for relatively moving the wire rod supplying member and the work holder so that the wire rod supply nozzle winds around the winding portion. a second drive means for relatively moving the wire rod supply member and the work holder so that the wire rod supply nozzle is relatively moved along the extending direction of the winding portion; a driving means; and the wire supply nozzle is wound around the winding part and relatively moved along the extending direction of the winding part by the first and second driving means. an automatic wire winding device comprising: a control means for changing and controlling the rotational position of the wire rod supply nozzle; 2. The automatic wire winding device according to claim 1, wherein the wire supply member has a tip end portion of the wire supply nozzle disposed near the uniaxial line. 3. The control means changes and controls the rotational position of the wire rod supply nozzle according to the relative position of the wire rod supply nozzle with respect to the extending direction of the winding portion and the number of winding stages. Range 1
The automatic winding device described in section.