WO2022102022A1

WO2022102022A1 - Lacing apparatus

Info

Publication number: WO2022102022A1
Application number: PCT/JP2020/042118
Authority: WO
Inventors: 聖二細野; 洋二稲葉; 範男鈴木
Original assignee: E-Tec株式会社
Priority date: 2020-11-11
Filing date: 2020-11-11
Publication date: 2022-05-19
Also published as: JP6868318B1; CN114766077A; JPWO2022102022A1

Abstract

[Problem] The invention relates to a lacing apparatus capable of lacing each coil end bundle protruding from the upper side and lower side of a stator core with a thread into an arbitrary shape. The provided highly versatile lacing apparatus can be also applied to stator cores having different diameters, heights, etc. [Solution] In a lacing apparatus for lacing a coil end bundle of a stator core with a thread, lacing means on the upper side and lower side of the stator core are driven separately. Operation elements for moving back and forth, rotating, raising and lowering a hook needle that hooks the thread and operation elements that swing, raise and lower a nozzle that supplies the thread are driven by independent servomotors. Further, the lacing shape of the thread can be set separately by lacing shape setting means, and interlock control of an index rotation driving means of the stator core and each lacing means is performed by interlock driving means.

Description

Racing equipment

The present invention relates to a racing device for binding coil end bundles protruding from the end faces of a stator core forming an electric motor with a thread. Specifically, the binding shape (see FIGS. 4 and 8) in which each coil end bundle protruding from the upper side and the lower side of the stator core is bound with a thread can be made into an arbitrary shape, respectively. Regarding the device. Further, the present invention relates to a highly versatile racing device that can be applied to stator cores having different diameters, heights, and the like.

A coil wire is wound around the magnetic pole teeth of the stator core, and a curved coil bundle is projected from both end faces of the stator core to form a coil end bundle. The coil bundle is bound with cotton thread or insulating thread so that the aligned coil wires forming the coil end bundle are not disturbed by the influence of magnetic force. Since the coil end bundles are bundled and aligned, the insulation distance between each coil wire and the parts forming the motor is secured, and insulation defects are prevented from occurring in the coil wires themselves.

The thread is supplied to the internal space of the stator core through a nozzle for supplying the thread, and one end of the thread is gripped on the outside of the stator core to be in a temporarily fixed state. The hook needle that moves forward and backward from the side of the stator core catches the middle part of the thread, and the thread moves up and down and moves back and forth to bind the coil end bundle (see FIG. 6). First, the hook needle enters the lower or upper side of the adjacent coil end bundle from the lateral outside of the stator core, hooks the middle portion of the supplied thread, and pulls out the thread in a state of being folded back to the outside of the stator core. To leave.

After pulling out the thread, the nozzle and the hook needle move in the same direction, and the nozzle moves up or down with a larger amount of movement than the hook needle. Then, the hook needle is rotated in the folded thread, and only the hook needle is re-entered inside the stator core. The hook needle newly hooks the thread supplied from the nozzle raised and lowered in the same direction, exits through the folded thread left before the movement, and pulls the newly folded thread to the outside of the stator core. Pull it out.

The point of contact between the newly drawn thread and the folded part of the thread left before movement is the binding point of the thread. With the hook needle hooking the newly folded thread, the stator core is intermittently rotated by a predetermined angle, that is, index-rotated, and the tension applied to the folded thread left before the movement is the same as that of the thread passed afterwards. Will be done. The thread is tensioned by the tension, and the thread extends at equal intervals in three directions at the binding point, and the pattern formed by the binding point is a hexagonal pattern. (See FIG. 8).

The racing device interlocks the advance / retreat operation of the hook needle, the elevating operation, the rotating operation, the elevating operation of the nozzle, and the index rotation operation of the stator core, and repeats the operation to bind the coil end bundle with the thread. Conventionally, these hooks, nozzles, and stator cores have been operated by transmitting the driving force by a mechanical cam. Therefore, there is a problem that even if the height of the coil end bundle is changed, it cannot be applied without mechanical adjustment of the cam.

Patent Document 1 discloses a technique of a racing device that can partially change the amount of change in which the hook needle and the nozzle are integrally raised and lowered according to the height of the coil end bundle. According to the technique described in this document, the first drive device moves the hook needle and the nozzle up and down integrally, the second drive device rotates the hook needle, and the third drive device moves the hook needle forward and backward in the radial direction of the stator core. There is.

According to the technique described in Patent Document 1, these ascending / descending motions, rotational motions, and advancing / retreating motions are driven by servomotors that can independently control the angle of rotation. By doing so, only by numerically controlling the rotation angle of the servo motor for raising and lowering and driving it, the amount of change in raising and lowering the hook needle and the nozzle integrally is partially changed according to the height of the coil end bundle. It is said that it can be done.

However, according to the technique described in Patent Document 1, only one servomotor is provided in the entire racing device as the servomotor forming the third drive device for advancing and retreating the hook needle in the radial direction of the stator core. Therefore, the advancing / retreating operation of the hook needle is the same operation on the upper side and the lower side of the stator core, and there is a problem that the binding shape of the thread cannot be individually set on the upper side and the lower side of the stator core, respectively. ..

In conventional motors, the coil wire winding type often uses distributed windings, which have the advantages of high torque and low noise and vibration, and the coil end bundles are often bundled by hexagonal stitching. However, according to the distributed winding, there is a drawback that the coil end bundle becomes large, so that the motor becomes large and the coil wire is wasted. In recent years, electric motors have been adopted for driving automobiles, and it has become necessary to reduce the size of the electric motors, and the number of centralized winding electric motors in which the size of the coil end bundle can be easily reduced is increasing.

The basic type of centralized winding is a winding type in which a coil bundle is wound around one magnetic pole tooth, and two coil bundles are wound next to each other with an interphase insulating paper sandwiched in one slot. Since two coil bundles are wound in one slot, the slot becomes large, so that the coil end bundle that comes out of the slot enters the adjacent slot and the coil end bundle does not overlap with the other coil end bundles. Since it extends along the end face of the stator core in the state of two bundles, there is a problem that the position of the binding intersection slips in the horizontal direction and is easily displaced only by binding by turtle shell sewing.

Therefore, in order to bind the periphery of the central portion of the coil end bundle so that the bound central portion does not shift in the horizontal direction, a T-shaped stitch having a T-shaped side view or an inverted T-shaped stitch (FIG. 4). See) is adopted. In the case of T-shaped sewing, the hook needle is moved back and forth between the gap between the coil end bundle and the end face of the stator core and the space above the coil end bundle.

Specifically, after pulling out the thread from the inside of the stator core with the hook needle, the stator core is operated to rotate the index for one slot in the circumferential direction without changing the height of the hook needle, and the adjacent coil end bundle forms the above. The hook needle is positioned at the center position of the gap, and as will be described in detail later, the hook needle is advanced and retracted three times at the center position so as to perform T-shaped sewing having a binding intersection that does not shift.

However, in the conventional racing device, the driving force is transmitted to the hook needle, the nozzle, etc. by the mechanical cam, so that the binding type cannot be changed from the hexagonal stitch to the T-shaped stitch in one racing device, and the hexagonal stitch cannot be changed. When there was only a racing device, the T-shaped stitch was manually sewn by the worker. On the other hand, if a racing device that performs T-shaped sewing with a mechanical cam is adopted, it is not possible to use turtle shell sewing together, and it is highly versatile that it can handle both T-shaped sewing and turtle shell sewing, which have their respective advantages. The supply of racing equipment was an issue.

Patent Document 1: Japanese Unexamined Patent Publication No. 11-164531

The problem to be solved by the present invention is that the binding shape in which each coil end bundle protruding from the upper side and the lower side of the stator core is bound by a thread can be made into an arbitrary shape, respectively, and the diameter. It is to provide a highly versatile racing device that can be applied to stator cores having different heights.

In each of the racing means on the upper side and the lower side of the stator core, it was decided to drive the unit movements such as advancing / retreating / raising / lowering of the hook and nozzle by independent servomotors. Then, by driving the index rotation driving means in conjunction with the racing means on the upper side and the lower side, respectively, the binding of the coil end bundle can be made into an arbitrary binding shape.

The racing device of the first invention of the present invention is a racing device for binding the coil end bundles of the stator core with a thread, and includes a binding shape setting means, an interlocking drive control means, an index rotation drive means, and an upper side of the stator core. Each racing means comprises a hook needle driving means for driving a hook needle having a hook claw at the tip and a nozzle driving means for driving a nozzle for supplying a thread from the tip, including racing means driven respectively on the lower side. The hook needle driving means includes a first servomotor that advances and retracts the hook needle in the radial direction of the stator core, a second servomotor that rotates the hook needle, and a third servomotor that raises and lowers the hook needle in the height direction of the stator core. The nozzle driving means has a fourth servomotor that swings the nozzle in the circumferential direction, and a fifth servomotor that raises and lowers the nozzle in the height direction. The binding shape setting means makes it possible to set the binding shape of the thread on the upper side and the lower side, respectively, and the interlocking drive control means has the hook needle driving means and the nozzle on the upper side and the lower side. In addition to interlocking the drive means, the index rotation drive means was interlocked with the racing means on the upper side and the lower side, respectively, and set on the upper side and the lower side, respectively. It is characterized by binding the coil end bundle to the binding shape of the thread.

When the binding shape is the same on the upper side and the lower side by the racing device of the first invention, the hook needle driving means and the nozzle driving means are symmetrically controlled on the upper side and the lower side together with the index rotation. Just do it. On the other hand, when the upper binding shape and the lower binding shape are different, both racing means are driven separately in a process in which both racing means do not require index rotation.

Even if only one racing means requires index rotation, one racing means is stopped until the other racing means requires index rotation. At the timing when both index rotation driving means require index rotation, the index is rotated at the smaller rotation angle required for the upper or lower racing means. Then, the racing means that requires the smaller index rotation is driven. In this way, the index rotation drive is performed so that the binding shape of the yarn differs between the upper side and the lower side.

According to the first invention, the advance / retreat / rotation / elevating operation of the hook needle driving means and the swinging / elevating operation of the nozzle driving means are driven by independent servomotors on the upper side and the lower side of the stator core. .. As a result, not only the binding shape of the yarn on the upper side and the lower side can be made different, but also the binding shape can be made into an arbitrary shape by controlling the rotational operation of each servomotor. It has an advantageous effect that is not available.

According to a second aspect of the present invention, in the racing apparatus of the first invention, each of the first to fifth servomotors is provided with a replaceable speed reducer and motion transmission means, and the respective servomotors are provided. The rotational motion from the provided speed reducer is taken out as an operating element necessary for either advancing / retreating, rotating, or raising / lowering the hook needle by each motion transmitting means, and transmitted to the hook needle to swing or raise / lower the nozzle. It is characterized in that it is taken out as a necessary operating element and transmitted to the nozzle.

In the case of a conventional racing device, the moving elements of advancing / retreating, rotating, and raising / lowering the hook needle are combined, and the moving elements of raising / lowering / swinging the nozzle are combined so that the hook needle and the nozzle each perform a series of movements. A mechanical cam was used to transfer the power of the motor to the hook and nozzle. Therefore, if a problem occurs, it is necessary to disassemble the entire device including the mechanical cam, readjust the parts that make up some of the operating elements, and then reassemble them together, which takes time and effort. In addition, it is necessary to make fine adjustments to the parts again, and there is a problem that it is difficult to solve the problem.

On the other hand, according to the racing apparatus of the second invention, each servomotor is provided with a speed reducer and an operation transmission means, and each servomotor is operated with each operation transmission means to take out each operation element. It is transmitted to the hook needle or nozzle. As a result, it is only necessary to remove and replace or adjust the speed reducer and operation transmission means of the servo motor corresponding to each operating element in which the defect has occurred. It has the effect of being easy to do.

According to a third aspect of the present invention, in the racing apparatus of the first or second invention, the binding shape setting means does not provide an electronic cam shape setting means for rotationally driving each of the first to fifth servomotors. It is characterized by being.

Conventionally, a mechanical cam is used to execute a motion that integrates forward / backward, up / down, swing, etc. from the rotational motion of the servomotor, but according to the third invention, the conversion of this operating element is executed by the electronic cam. I'm letting you. The amount of movement, the direction of movement, and the speed of movement such as advancing / retreating, raising / lowering, and rocking are determined by the shape of the electronic cam. Since the shape of the electronic cam can be easily changed by the setting program, it is also easy to change the shape of the electronic cam to change the binding shape. Not only the binding shape on the upper side and the lower side is changed, but also the binding shape is changed. It has the effect that it is easy to change the partial binding shape of only a part of the shape.

According to a fourth aspect of the present invention, in the racing apparatus of the third invention, the binding shape setting means includes a storage means and a selection control means, and the storage means divides the binding shape into a plurality of portions. The target binding shape and the electronic cam shape corresponding to each of the partial binding shapes are stored, and the partial binding shape is selected and combined so that the selection control means forms a desired binding shape. Therefore, the electronic cam shapes corresponding to the combination are combined to form an electronic cam shape applied to a desired binding shape, and each of the first to fifth servomotors is rotationally driven. There is.

The binding shape called turtle shell sewing or T-shaped sewing is a combination of partial binding shapes that bind threads vertically, horizontally, or diagonally, and is made into each binding shape. The partial binding shape is not limited to vertical, horizontal or diagonal, and a part of the hexagonal stitch may be a partial binding shape, or a part of the T-shaped sewing may be a partial binding shape. Not done. It is preferable that the partially bound shape and the electronic cam shape are stored in advance in the storage means, but a new partially bound shape and the electronic cam shape may be added and combined by the input means.

According to the fourth invention, the partially bound shape divided into a plurality of pieces so as to form an arbitrary bound shape and the electronic cam shape corresponding to each of the partially bound shapes are associated with each other, that is, a string. It is attached and remembered. As a result, it is only necessary to select and combine the partially bound shape stored in the storage means and the electronic cam shape associated with the operation of the hook, nozzle, and index rotation driving means that realizes the partially bound shape. , It has an advantageous effect that it can easily correspond to any desired binding shape.

According to a fifth aspect of the present invention, in the racing apparatus of the first to fourth inventions, the hook needle driving means includes a height setting means, and the height setting means is the curved inner diameter side or the bending of the coil end bundle. The initial advance / retreat height of the hook needle is set on at least one of the outer diameter sides, and the interlocking drive control means raises and lowers the hook needle to a height corresponding to the initial advance / retreat height by a third servomotor. It is characterized in that the nozzle is moved up and down by a fifth servomotor with a change amount larger than that of the hook needle to be interlocked.

According to a fifth aspect of the invention, the hook needle driving means includes a height setting means, and the height setting means sets the initial advance / retreat height of the hook needle at least on either the curved inner diameter side or the curved outer diameter side of the coil end bundle. The height of the hook and the nozzle is also linked so that the height is corresponding to the height of the needle and the nozzle. This has the effect that even if the overall thickness of the coil end bundle, the bending ratio, etc. change, it can be easily dealt with.

In a sixth aspect of the present invention, in the racing apparatus of the first to fifth inventions, the hook needle driving means includes an initial position setting means, and the initial position setting means is an initial stage in the radial direction of the tip of the hook needle. The position is set, and the hook needle is moved to the initial position in advance and then moved back and forth.

According to the sixth invention, the hook needle driving means includes the initial position setting means, and the radial initial position of the tip of the hook needle is set. If the initial position of the hook needle is changed by setting the initial position and then the hook needle and the nozzle are driven, the radial dimension of the coil end bundle, that is, the width of the coil end bundle in a plan view is changed. Can also be applied. If the width has changed, it should be adapted to the largest width. This makes it possible to apply even when there are variations in the radial dimensions of each coil end, and it is possible to obtain a highly versatile racing device.

According to a seventh aspect of the present invention, in the racing apparatus of the first to sixth aspects, the index rotation driving means includes an axis setting means, and the axis setting means determines the position of the rotation axis of the stator core. It is characterized in that the initial separation distance between the rotation axis and the tip of the hook is set to a desired distance.

According to the seventh invention, the index rotation driving means for rotating the stator core includes the axis setting means. By the axis setting means, even if the diameter of the stator core is changed, the separation distance between the rotating shaft core and the tip of the hook can be set to a desired distance. As a result, it can be applied even if the diameter of the stator core changes, and a highly versatile racing device can be obtained.

According to the eighth aspect of the present invention, in the racing apparatus of the fourth invention, the storage means has a plurality of reference binding shapes applied to the reference coil end bundle forming the reference, and an electronic cam shape corresponding to each of the reference binding shapes. And are stored in advance, and the selection control means selects and combines a reference binding shape having a commonality with a part of the binding shape of the desired coil end bundle from the storage means, and the first servomotor Rotationally driven by a similar shaped electronic cam shape obtained by multiplying the value of the electronic cam shape corresponding to the selected reference binding shape by the ratio of the width of the desired coil end bundle to the width of the reference coil end bundle. The third and fifth servomotors have multiplied the value of the electronic cam shape corresponding to the selected reference binding shape by the ratio of the height of the desired coil end bundle to the height of the reference coil end bundle. , The second and fourth servomotors are rotationally driven by the electronic cam shape corresponding to the selected reference binding shape, and the index rotation driving means is driven upward by the electronic cam shape having a similar shape. It is characterized in that the yarn is bound to a desired coil end bundle in a desired binding shape by being driven in conjunction with the respective racing means on the side and the lower side.

The reference coil end bundle may be a coil end bundle that assumes a stator core having a size, outer diameter, and inner diameter that is frequently used. The reference binding shape may be a part of the binding shape to be bound to the reference coil end bundle, and a well-coordinated portion of hexagonal stitch or T-shaped stitch is preferable, but the reference binding shape is vertical, horizontal or diagonal. Well, not limited. The diagonal binding shape is such that the yarn is tensioned by the index rotation drive of the stator core.

If a part of the binding shape of the desired coil end bundle has something in common with a part of the standard binding shape, an electronic cam shape of a part of the standard binding shape can be applied to that part. The commonality of a part of the binding shape is not limited to, for example, a similar shape, and may be a commonality such as a T-shaped shape and a chevron shape. In the case of a chevron shape, when the chevron shape has a different ratio of the base to the height, the amount of movement of some of the moving elements of the electronic cam shape may be changed. When the binding shape is a similar shape, it is not necessary to change the mode of the rotation operation of the hook needle and the swing operation of the nozzle. However, even if the binding shape is similar, if the radial dimension of the coil end bundle or the height of the coil end bundle is different, it is necessary to change the advancing / retreating distance of the hook needle, the elevating distance, and the elevating distance of the nozzle. be.

According to the eighth invention, for the electronic cam shape in which the operating amount of the operating element needs to be changed, the ratio of the electronic cam shape corresponding to the reference binding shape to the value according to the increase / decrease in the width of the coil end bundle. The first servomotor is rotationally driven by an electronic cam shape having a similar shape multiplied by. For the electronic cam shape that needs to change the moving element of raising and lowering, the value of the electronic cam shape corresponding to the reference binding shape is multiplied by the ratio according to the increase or decrease in the height of the coil end bundle. Depending on the shape, the third and fifth servomotors are rotationally driven.

That is, a reference binding shape having a commonality with a part of the binding shape of the desired coil end bundle is selected from the storage means and combined, and the value of the electronic cam shape corresponding to the reference binding shape is used as it is or multiplied by a ratio. The hook or nozzle is operated to bind the thread to the coil end bundle. As a result, even if the outer diameter / inner diameter / height of the stator core and the curvature / radial dimensions of the coil end bundle change, it is possible to use an electronic cam shape that is stored in advance and corresponds to the frequently used reference binding shape. Therefore, it has an advantageous effect that it can be a highly versatile racing device.

-According to the first invention of the present invention, not only the binding shape of the yarn on the upper side and the lower side can be made different, but also the binding shape can be made arbitrary by controlling the rotational operation of each servomotor. It has an unprecedented advantageous effect of being able to have the shape of.
-According to the second invention of the present invention, it is sufficient to remove and replace or adjust only the speed reducer and the operation transmission means of the servomotor corresponding to each operating element in which the defect has occurred, and the number of disassembled / assembled parts is small. It is easy to deal with and has the effect of easily eliminating problems.

-According to the third aspect of the present invention, the shape of the electronic cam can be easily changed by the setting program, so that the shape of the electronic cam can be easily changed to easily change the binding shape, and the upper side and the lower side can be easily changed. Not only does it change the binding shape of the unit, but it also has the effect of making it easy to change the partial binding shape of only a part of the binding shape.
-According to the fourth invention of the present invention, it is possible to easily correspond to any desired binding shape only by selecting and combining the partially binding shape stored in the storage unit and the corresponding electronic cam shape. It has an advantageous effect.
-According to the fifth invention of the present invention, there is an effect that even if the total thickness, the bending ratio, etc. of the coil end bundle are changed, it can be easily dealt with.

-According to the sixth invention of the present invention, it can be applied even when there are variations in the radial dimensions of each coil end, and a highly versatile racing device can be obtained.
-According to the seventh invention of the present invention, it can be applied even if the diameter of the stator core is changed, and a highly versatile racing device can be obtained.
-According to the eighth invention of the present invention, even if the outer diameter / inner diameter / height of the stator core and the curvature / radial dimension of the coil end bundle change, the reference binding shape that is stored in advance and is frequently used is obtained. Since the corresponding electronic cam shape can be used, it has an advantageous effect that it can be a highly versatile racing device.

Explanatory drawing of the whole structure of a racing apparatus (Embodiment 1). The block diagram of the racing apparatus (Embodiment 1). Explanatory drawing of the operation element of the hook needle and the nozzle (Example 1). Explanatory drawing of the binding shape of T-shaped stitch (Embodiment 1). Explanatory drawing of the electronic cam shape of T-shaped stitch (Example 1). Explanatory drawing of operation example of hook needle and nozzle (Example 1). Explanatory drawing of initial position setting means, axis setting means (Embodiment 1). Explanatory drawing of the binding shape of the hexagonal sewn (Example 2). Explanatory drawing of the electronic cam shape of the hexagonal sewn (Example 2).

In the racing device that binds the coil end bundle of the stator core with a thread, the racing means on the upper side and the lower side of the stator core are driven separately. The moving / retreating / rotating / raising / lowering operation elements of the hook needle that hooks the thread and the swinging / raising / lowering operation elements of the nozzle that supplies the thread are driven by independent servomotors. Further, the binding shape setting means enables the binding shape of the yarn to be set separately, and the interlocking driving means controls the index rotation driving means of the stator core and the respective racing means in an interlocking manner.

In the first embodiment, the configuration of the racing device will be described with reference to FIGS. 1 and 2, and examples of the operation of the hook needle and the nozzle in the case of forming the binding shape of the T-shaped stitch will be referred to with reference to FIGS. 3 to 6. explain. FIG. 1 shows an explanatory diagram of an overall configuration of a racing device. 1 (A) shows a plan sectional view of the racing device at the AA position of FIG. 1 (B), and FIG. 1 (B) is a vertical view at the BB position of FIG. 1 (A). A cross-sectional view is shown.

FIG. 2 shows a block diagram of the racing device. FIG. 3 shows an explanatory diagram of the operating elements of the hook needle and the nozzle. FIG. 4 shows the binding shape of the T-shaped sewing, and FIG. 5 shows the electronic cam shape for forming the binding shape of the T-shaped sewing. FIG. 6 shows an explanatory diagram of the operation of the hook needle and the nozzle.

The racing device 1 interlocks the upper racing means 10 driven on the upper side of the stator core, the lower racing means 20 driven on the lower side, and the index rotation driving means 30 for rotationally driving the stator core. The processing means 40 including the interlocking drive control means for driving is provided (see FIGS. 1 and 2). The upper racing means 10 is arranged on the upper substrate 51 which is raised and lowered with respect to the fixed base 50, and the lower racing means 20 is arranged on the fixed base 52. Hereinafter, the drawings of the lower racing means having the same configuration as the upper racing means are designated by the same reference numerals as those of the upper racing means, and detailed description thereof is omitted.

Each of the racing means 10 and 20 includes a hook needle driving means 11 (see FIG. 2) for driving a hook needle 60 having a claw at the tip, and a nozzle driving means 12 (see FIG. 2) for driving a nozzle 70 for supplying a thread. I have. Further, the height setting means 13 and the initial position setting means are added to the respective racing means 10 and 20 so that the outer diameter / inner diameter / height of the stator core and the width / height of the coil end bundle are different. 14 is provided with an axis rotation driving means 30 provided with an axis setting means 31 (see the broken line in FIG. 2).

The hook needle driving means 11 includes a first servomotor 15 that advances and retracts the hook needle 60 toward the axis of the stator core 100, a second servomotor 16 that rotates the hook needle, and a second servomotor that moves the hook needle up and down in the height direction of the stator core. It has 3 servomotors 17 (see FIGS. 1, 2, 3 (A), arrows a, b, c). The nozzle driving means 12 has a fourth servomotor 18 that swings the nozzle 70 in the circumferential direction of the stator core 100, and a fifth servomotor 19 that raises and lowers the nozzle (FIGS. 1, FIG. 2, and FIGS. 3 (A) See arrows d and e in the figure).

The first to

fifth servomotors

15, 16, 17, 18, and 19 each include

speed reducers

150, 160, 170, 180, 190 and motion transmission means (see FIG. 2). The rotational motion of each servomotor is converted into necessary motion elements by the speed reducer and motion transmission means, and the momentum and motion direction are determined based on the shape of the electronic cam (see FIGS. 5 and 9), and the vehicle advances and retreats. -Each motion element such as rotation and elevating is taken out, and the hook needle and the nozzle are driven so as to follow a desired trajectory while being interlocked by the interlocking drive control means.

Specifically, the first motion transmission means 151 (see FIG. 1 (A)) converts the rotational motion of each servomotor into an advancing / retreating motion element of the hook needle (see FIG. 3 (A) arrow a). , The second motion transmitting means 161 (see FIG. 1 (B)) transmits as a rotary motion of the hook needle (see FIG. 3 (A) arrow b), and the third motion transmitting means 171 (FIG. 1 (B). ) Is converted into an elevating motion element of the hook needle (see the arrow c in FIG. 3 (A)), and the hook needle is operated.

The first motion transmitting means 151 for advancing and retreating the hook needle 60 is a rotary disk 152 that is reciprocally rotated along a vertical surface by the rotational motion of a servomotor, and an motion element that converts the reciprocating rotation of the rotary disk into an advancing / retreating motion element of the hook needle. It has a convex portion 153 forming a conversion portion (see FIG. 1 (A)). When the rotary disk 152 is reciprocated by the first servomotor 15, the convex portion 153 projecting from the peripheral surface of the rotary disk is swung, and the crank shaft 154 mounted on the convex portion internally fits the hook needle. The advancing / retreating holding unit 155 is advanced / retreated.

The advancing / retreating holding portion 155 is provided in the middle portion of the shaft portion of the hook needle, and the annular convex portion formed on the peripheral surface is rotatably fitted inside (see FIG. 1 (B)). The advancing / retreating holding portion 155 has an annular recess on its inner surface and has a sliding member 156, so that the hook needle 60 can be rotated only in the circumferential direction. The hook is moved forward and backward integrally with the forward / backward holding portion in a state where rotation is allowed for the forward / backward holding portion (see FIG. 1 (B)).

Behind the mounting portion 61 on which the hook needle 60 is mounted, there is a tubular portion 62 that allows the hook needle to move forward and backward and is rotated integrally, and a second servomotor 16 that rotates each hook needle 60 and deceleration at the rear end. The machine 160 is arranged. The second servomotor 16 uses the speed reducer 160 and the second motion transmission means to rotate the cylinder portion 62 and the hook needle 60 in synchronization with each other to rotate the claw 63 at the tip of the hook needle (FIG. 1). (B) See figure). The second motion transmission means 161 is an endless band mounted on the second servomotor.

The third servomotor 17 for raising and lowering the hook needle, the speed reducer 170, and the third motion transmission means 171 are arranged on the upper board 51 for the upper racing means and on the base 52 for the lower side. (See FIG. 1). The third operation transmission means 171 is a rotary disk 172 mounted on the rotary drive unit of the third servomotor 17, a convex portion 173 projecting from the peripheral surface of the rotary disk, and a crank shaft 174. When the rotary disk 172 is reciprocated by the third servomotor 17, the convex portion 173 projecting from the peripheral surface of the rotary disk is swung, and the crank shaft 174 mounted on the convex portion becomes the mounting portion 61. The hook needle 60 is moved up and down integrally.

The fourth servomotor 18 and the fifth servomotor 19 that form the nozzle driving means also have

speed reducers

180 and 190 and motion transmission means 181,191, respectively (see FIG. 1). Similar to the hook needle driving means, the nozzle driving means also controls the rotational movement of each servomotor by the shape of the electronic cam (see FIGS. 5 and 9). Each motion transmission means converts the controlled rotational motion of the servomotor into swinging or elevating motion elements and takes them out, and the nozzle swings and moves up and down while the nozzle and hook needle are interlocked by the interlocking drive control means. Has been done.

The fourth motion transmitting means 181 provided in the fourth servomotor 18 converts the rotational motion of the fourth servomotor into a swinging motion element that swings in the circumferential direction, and swings the nozzle. (See arrow d in FIG. 3). The fifth motion transmission means 191 provided in the fifth servomotor 19 converts the rotational motion of the servomotor into an elevating motion element to move the nozzle up and down (see arrow e in FIG. 3A).

The fourth servomotor 18, the speed reducer 180, and the fourth operation transmission means 181 are arranged on the upper substrate 51 on the upper side and on the base 52 on the lower side (see FIG. 1 (B)). ). Although the figure is omitted, the fourth motion transmitting means 181 may have a convex portion and a crank shaft as in the first motion transmitting means. The rotary motion of the servomotor is converted into the swing motion of the nozzle by the convex portion and the crank shaft, and the thread is pressed against the claw to ensure that the thread is hooked on the claw.

The fifth servomotor 19, the speed reducer 19, and the fifth operation transmission means 191 are also arranged on the upper substrate 51 on the upper side and on the base 52 on the lower side (see FIG. 1 (B)). .. Although the figure is omitted, the fifth motion transmitting means 191 may also have a convex portion and a crank shaft as in the first motion transmitting means. The rotational movement of the servomotor is converted into an elevating motion element of the nozzle by the convex portion and the crank shaft, and the nozzle is moved up and down. The hook needle and the nozzle are interlocked and moved up and down by the interlocking drive control means.

The first to fifth motion transmission means have a simple structure in which the rotational motion of the servomotor is transmitted by a disk and a shaft or an endless band, and each motion element is transmitted to the hook needle 60 or the nozzle 70. I'm letting you. Since each is a simple motion transmission means, it is possible to control the motion elements transmitted from each servomotor and arbitrarily set the binding shape of the thread, and also the shapes of the stator core and coil end bundle of different sizes. It is possible to deal with differences.

Even if any of the servo motors, speed reducers, or motion transmission means fails, only the failed parts need to be replaced, there is no need to disassemble and assemble the entire racing means, and the replacement work of the failed parts is also adjusted after replacement. The work can be done easily and in a short time. The first to fifth motion transmission means are not limited to the above-described embodiment, and may be motion transmission means such as a ball screw.

The index rotation drive means 30 is interchangeable according to the outer diameters of the sixth servomotor 32 that drives the stator core 100 to rotate the index, the speed reducer 33, the gear 35 that forms the sixth operation transmission means 34, and the stator core. The disk 36 is provided and is arranged on the holding table 101 of the stator core 100 (see FIG. 1). The rotational movement of the sixth servomotor 32 is transmitted to the gear 35 by the speed reducer 33, and the disk 36 and the stator core 100 are integrally driven by intermittent rotation (see arrow f in FIG. 3B).

The disk 36 has a plurality of through holes 37 (see FIG. 1 (A)) for fitting the body of the stator core 100 in the center while the outer peripheral surface is meshed with the gear 35, and a plurality of discs that hook and support the lower surface of the stator core. It is provided with a support portion 38 (see FIG. 1 (B)). When the outer diameter of the stator core is changed, it is replaced with a disk having a through hole corresponding to the outer diameter. The height of the disk may be set so as not to protrude from the upper and lower end faces of the stator core so as not to hinder the advancement and retreat of the hook needle.

The gripping means 80 for gripping the end of the thread at the start of binding includes a stretchable shaft body 82 having a gripping portion 81 (see FIGS. 3 and 6) at the tip thereof, and the upper side is on the upper substrate 51 and the lower side is on the lower side. They are arranged on the base 52, respectively (see FIG. 1). By grasping the end of the thread 71 extended from the nozzle 70 at the start of binding of the thread (see FIG. 3A), the thread does not sag and the thread is securely hooked by the claw needle 60. At the same time, when the hook needle is retracted, the end of the thread does not slip through the claw 63. The grip on the end of the thread is released when several binding points are formed.

The cutting means 90 includes a shaft body 91 that has a cutting blade at its tip and can move forward and backward, and is arranged on the upper substrate 51 on the upper side and on the base 52 on the lower side (see FIG. 1 (B)). When the binding of the yarn is completed, the cutting means 90 advances and retreats the shaft body to cut the yarn with the cutting blade. It goes without saying that the shaft body forming the gripping means and the shaft body forming the cutting means may be used in combination.

The processing means 40, which also functions as an interlocking drive control means or a binding shape setting means, includes a control means 41, a storage means 42, an input means 43 for inputting information on the shape of the stator core, information on the shape of the binding shape of the yarn, and the like. It is provided with a display means 44 for displaying input information, an operating state, and the like (see FIG. 2).

The control means 41 functions as an interlocking drive control means, an electronic cam shape setting means forming a binding shape setting means, or a selection control means. The storage means 42 also functions as a partial binding shape storage means, an electronic cam shape storage means, or a partial binding shape storage means that forms a binding shape setting means. The partial binding shape may be divided into one binding shape such as diagonally binding the thread, vertically binding the thread, horizontally binding the thread, and the like. It may be a part.

The control means 41 is composed of a central processing unit, and the storage means 42 is composed of a storage device such as a hard disk. The display means 43 and the input means 44 may be a touch panel device in which the display means and the input means are integrated. Information entered on another computer may be captured. The control means 41, which functions as a binding shape setting means, allows the coil end bundle 200 on the upper side of the stator core and the coil end bundle 201 on the lower side of the stator core to separately set the binding shape for binding the yarn. (See Fig. 3 (A)).

In the electronic cam shape setting means (see FIG. 2), the electronic cam shape that determines the size, direction, and speed of the unit movement converted from the rotational movement of the servomotor to the unit movement required for advancing / retreating, raising / lowering, swinging, etc. The linear shape of (see FIG. 5) is set. The shape of the electronic cam is a linear shape showing the change over time of each moving element. The direction of movement of the element is shown, and the horizontal axis shows time. The linear shape of the electronic cam shape can be easily input / changed from the input means by using a setting program.

The selection control means selects and combines the partial binding shapes forming the desired binding shape from the plurality of partial binding shapes stored in the partial binding shape storage means. Then, from the electronic cam shapes stored in the electronic cam shape storage means, the electronic cam shapes associated with the partially bound shapes forming the desired bound shapes are selected and combined, and the continuous integrated electronic cams are combined. It is said to be a shape.

Using the stored partial binding shape, the integrated electronic cam shape with the desired binding shape is set separately for each of the upper and lower racing means by the binding shape setting means. Therefore, even with one racing device, the binding shape of the yarn can be arbitrarily set according to various forms of the coil end bundle.

Specifically, not only the upper side and the lower side of the stator core 100 are sewn in a T-shape (see FIG. 4) or a hexagonal sewn (see FIG. 8), but only the upper side from which the lead wire is pulled out is sewn in a T-shape. It is also possible to make the lower side sewn with a hexagonal shell. In addition, when the lead wire is bundled together along the top of the coil end bundle, the hook needle is raised and lowered and moved forward and backward multiple times only in the part where the lead wire is located, and the lead wire is firmly prevented from coming off. It can also be united. Further, on one side of the stator core, only a part of the stator core may be bound by T-shaped stitching, and the rest may be bound by hexagonal stitching.

When the upper side and the lower side are sewn differently, the upper side and the lower side racing means are driven by the respective electronic cam shapes. Regarding the index rotation operation, intermittent rotation drive is performed at the timing required by each of the upper and lower racing means, and at the timing when driving is required only by either the upper or lower racing means, the other. The drive of the racing means may be stopped.

Next, taking the binding shape of the T-shaped stitch as an example, the electronic cam shape and the corresponding advance / retreat / rotation / elevating operation of the hook needle, the swinging / elevating operation of the nozzle, and the index at the intermediate position where the T-shaped sewing is performed. Specific examples of the rotation operation will be described with reference to FIGS. 4 to 6. FIG. 4 shows the binding shape of the T-shaped stitch. The operation of the positions designated by the reference numerals (A) to (D) in FIG. 4 corresponds to the electronic cam shape shown in FIGS. 5 (A) to 5 (D). (A2) to (D2) in FIG. 4 indicate that the operations (A) to (D) are repeated.

FIG. 5 shows an electronic cam shape forming a binding shape of T-shaped stitching. FIG. 5 (A) shows the shape of the electronic cam until the hook needle pulls out the thread from the nozzle located inside the stator core and raises the hook needle and the nozzle (FIGS. 6 (A) to 6 (C)). ) See figure). FIG. 5B shows the shape of the electronic cam until the hook needle enters beyond the upper part of the coil end bundle, hooks the thread, exits, and descends to the bottom of the coil end bundle (FIG. 6 (B)). C) to FIG. 6 (E)).

FIG. 5 (C) shows the shape of the electronic cam at the position (C) of FIG. 4 from re-entering the folded thread and hooking the thread to exiting. FIG. 5 (D) shows an electronic cam shape corresponding to the index rotation operation shown in FIG. 4 (D). Further, in FIGS. 5 (A) and 5 (B), the main movements of the hook needle and the nozzle are designated by reference numerals. The yarn is tensioned by the index rotation operation and is bound so that the binding point is not loosened.

FIG. 6 shows a vertical cross-sectional view on the upper side of the stator core. The reference numerals of the arrows shown in each figure of FIG. 6 correspond to the reference numerals of FIGS. 5 (A) and 5 (B). FIG. 6A shows an operation in which the nozzle 70 is swung to swing the nozzle 70, press the thread 71 against the hook, hook it, and then eject the hook from the state where the hook 60 is inserted at the position below the coil end bundle 200. ing. FIG. 6B shows an operation in which the claw 60 is rotated so that the claws are directed upward, and the claw 60 and the nozzle 70 are interlocked and raised.

FIG. 6C shows an operation in which the hook needle is rotated in the thread 72 folded in half so as to reduce the resistance of the thread, and the hook needle 60 is inserted at a position above the coil end bundle 200. ing. FIG. 6 (D) shows a state in which the thread 72 folded in half is left on the base end side of the hook needle 60, the hook needle is inserted at a position above the coil end bundle 200, and the claw is rotated toward the front side in the figure. The operation of swinging the nozzle 70 to newly press the thread 73 against the hook needle to hook the nozzle 70 and retract the hook needle is shown. In FIG. 6 (E), the claws are turned downward so as not to be caught by the folded thread 72 left by the claws, and then exit through the thread 72, and newly placed on the outer side of the stator core. The operation of pulling out the thread 74 folded in half is shown.

At the start of thread bundling, the end of the thread 71 extended from the nozzle 70 is first gripped by the grip 81 on the outside of the stator core, and the thread 71 is held between the tip of the nozzle 70 and the grip 81. Tension (see Figure 6 (A)). Next, the initial height of the nozzle 70 is interlocked drive controlled according to the initial advance / retreat height of the hook needle 60, and the height of the hook needle 60 is set in the gap 102 formed between the coil end bundle 200 and the upper end surface of the stator core 100. .. Hereinafter, the drive control of the hook needle at the intermediate position of the binding shape will be described.

According to the positive gradient of the movement of the hook needle in the shape of the electronic cam (see FIG. 5A), the hook needle 60 is advanced to the position of the nozzle 70 from the outer side of the stator core 100 (position (A) in FIG. 4, FIG. 6). (A) See figure). At this time, the nozzle 70 is swung so as to separate the tip from the claw 63 according to the negative gradient of the shape of the electronic cam (see FIG. 5A and FIG. B). Further, the hook needle is reciprocally rotated by the positive / negative reciprocating gradient of the electronic cam shape (see FIG. 5 (A) and c) in accordance with the approaching motion of the hook needle 60, and the resistance with the thread is reduced.

When the hook needle 60 is advanced to the position of the nozzle 70, the nozzle is swung toward the claw 63 according to the positive gradient of the electronic cam shape (see FIG. 5 (A) and FIG. D), and the thread is pressed against the hook needle (FIG. 6). (A) See arrow d in the figure). Next, the hook needle is rotated while the hook needle 60 is retracted according to the negative gradient of the electronic cam shape (see FIG. 5 (A)) (see FIG. 6 (A) arrow e) (FIG. 5 (A)). (See FIG. f) The thread 71 is hooked on the hook needle to retract the hook needle, and the thread folded in half is pulled out of the stator core (see the arrow e in FIG. 6A).

The hook needle 60 and the nozzle 70 are interlocked and raised according to the positive gradient of each electronic cam shape (see FIGS. 5 (A) g and h) (see FIGS. 6 (B) arrows g and h). The hook needle and the nozzle reach the upper side of the coil end bundle 200 (see the position (B) in FIG. 4).

Next, the hook needle 60 is made to enter the inner side of the stator core 100 according to the positive gradient of the electronic cam shape (see FIG. 5B) (see arrow i in FIG. 6C). While the hook needle 60 is inserted, the hook needle is reciprocated and rotated according to the negative and positive reciprocating gradient of the electronic cam shape (see FIG. 5B and j), and the claw 63 is laterally rotated (see the arrow j in FIG. 6C). (See FIG. 6 (D) arrow L). Due to the reciprocating rotation of the hook needle, the claw 63 is slid in the folded thread 72, and the folded thread 72 is left behind on the base end side of the hook needle 60 (see FIG. 6 (D)). ..

When the hook needle 60 is advanced to the position of the nozzle 70, the nozzle is swung in the circumferential direction toward the claw 63 according to the positive gradient of the electronic cam shape (see FIG. 5B and k) to newly thread the thread. Hook (see arrow k in FIG. 6 (D)). The claw 60 is rotated according to the negative gradient of the electronic cam shape (see FIG. 5B and L) to reduce the frictional resistance so that the claw 63 is not caught by the thread 72 folded in half with the claw 63 facing downward. (See FIG. 6 (D) arrow L), retract the claw according to the negative gradient of the electronic cam shape (see FIG. 5 (B) m) (see FIG. 6 (D) arrow m, FIG. 6 (E)). See figure).

Then, the hook needle 60 and the nozzle 70 are interlocked and lowered to the lower side of the coil end bundle 200 according to the negative gradient of the electronic cam shape (see FIGS. n and o in FIG. 5 (B)) (FIG. 6 (E)). See arrows n, o). The thread is tensioned by lowering the hook needle and nozzle, and the part where the previously folded thread and the newly folded thread are in contact descends from above to below the coil end bundle, and the thread is bound. It is set to point 75 (see FIG. 4).

Even at the position where the hook needle 60 and the nozzle 70 are vertically lowered (see the position (C) in FIG. 4), the hook needle is operated according to the shape of the electronic cam in the same manner as described above, and the newly hooked and folded thread 74 is inserted. , It is retracted through the thread 72 that has been folded back, and the

threads

72 and 74 that have been folded in two are brought into contact with each other (see FIG. 6E). Then, when the index rotation drive for one slot is performed without driving the hook needle 60 and the nozzle 70 (see (D) in FIG. 4 and p in FIG. 5 (D)), the hook is first folded in half. The thread 72 is tightened to form a binding point 75.

By cutting out and combining a part of the hook needle and nozzle operation according to the binding shape that binds the thread and linking it with the index rotation operation, the binding shape of the thread can be set to an arbitrary shape for each racing means. (See FIGS. 4 and 8).

Next, the height setting means of the hook needle driving means will be described with reference to FIGS. 1 and 2. The height setting means 13 (see FIG. 2) sets the initial advancing / retreating height of the hook needle 60 at least on either the curved inner diameter side or the curved outer diameter side of the coil end bundle. Of course, the height may be set on both the curved inner diameter side and the curved outer diameter side of the coil end bundle.

Specifically, the desired initial advance / retreat height may be set only by the electronic cam shape (see FIG. 5) that raises and lowers the hook needle 60. Further, when the height of the stator core or the coil end bundle is significantly changed, the upper substrate 51 fixing the racing means 10 on the upper side is moved up and down by the motor 301 forming the elevating means 300 and the screw shaft 302. First, one of the curved inner diameter side and the curved outer diameter side may be set, and the other may be finely adjusted by the electronic cam. The initial height of the nozzle may be set in conjunction with the initial advance / retreat height of the hook needle.

The initial advance / retreat height of the hook needle may be roughly changed by the elevating means 300 and finely adjusted by the electronic cam. Since the position of the lower end surface of the stator core 100 does not change depending on the height of the stator core, the elevating means 300 is not required for the lower racing means, and only the height of the coil end bundle is obtained only by the electronic cam. The initial advance / retreat height of the hook needle may be set according to the above.

Next, in order to facilitate understanding of an example in which the binding shape setting means is applied to a stator core having a different shape, a second coil having a similar shape to the reference coil end bundle 210 serving as a reference and having a different size is used. The case where the thread is bound to the end bundle 220 will be described as an example. The reference binding shape to be selected by the selection control means, the initial position setting means, and the axis setting means will be specifically described with reference to FIGS. 1, 2, and 7. FIG. 7A shows a plan view of the stator core 100 around which the reference coil end bundle 210 is wound, and FIG. 7B is a second stator core around which the second coil end bundle 220 is wound. The plan view of 110 is shown. In FIG. 7, the coil end bundle is shown in only one place for ease of understanding, and the others are omitted.

The width and height of the second coil end bundle 220 are similar to those of the reference coil end bundle 210 (see FIG. 7). The second stator core 110 around which the second coil end bundle 220 is wound also has a similar shape with an outer diameter and an inner diameter of 60%.

Even if the size of the coil end bundle changes, the electronic cam shape of the rotation operation of the hook needle 60 for hooking the thread and the swing operation of the nozzle 70 for pressing against the thread may be the same. Since the number of slots of the stator core is the same and the timing and angular velocity of the intermittent rotation drive are the same, the electronic cam shape of the index rotation operation (see arrow A in FIG. 7B) may be the same. Therefore, the electronic cam shape that drives and controls the second servomotor that rotates the hook needle, the fourth servomotor that swings the nozzle, and the sixth servomotor that rotates the stator core by index is the same electronic cam shape. And it is sufficient. Since the width and height of the coil end bundle have changed, the electronic cam shape is changed and applied to the advancing / retreating distance / elevating distance of the hook needle and the elevating distance of the nozzle accordingly.

The storage means 42 forming the processing means also functions as a reference binding shape storage means so that the electronic cam can be utilized with the reference coil end bundle 210 as a reference. The reference binding shape may be any binding shape that binds to the reference coil end bundle, may be a part of hexagonal stitch or T-shaped stitch, and may be a vertical, horizontal, or diagonal binding shape. Subdivided crochet hook and nozzle movements, such as a series of crochet hook and nozzle movements in which the crochet hook hooks the thread, crochet hook movements that catch the thread, and crochet hook movements such as horizontal movement of the crochet hook and nozzle. The electronic cam shape with each of the set of the rotating / raising / lowering electronic cam shape and the set of the nozzle swinging / raising / lowering electronic cam shape as a unit is associated with the reference binding shape and stored in the storage means 42.

The selection control means selects a desired reference binding shape from the reference binding shapes stored in the storage means 42, and forms an electronic cam shape associated with the desired reference binding shape. For the electronic cam shape that needs to be changed, multiply the similarity ratio between the reference coil end bundle 210 and the second coil end bundle 220 by the amount of change on the vertical axis of the electronic cam shape to obtain the second coil end bundle. An electronic cam shape suitable for 220 can be obtained.

Specifically, in the case of the second coil end bundle 220, among the electronic cam shapes adapted to the reference coil end bundle 210, the electronic cam shapes for hook advance / retreat, hook needle elevating, and nozzle elevating correspond to time. Without changing the ratio on the horizontal axis, only the amount of change on the vertical axis corresponding to the amount of change in the operating element may be multiplied by the ratio of 60%.

Further, since the inner and outer diameters of the second stator core 110 are also changed, the separation distance between the tip of the hook needle and the nozzle and the axial position of the index rotation drive of the second stator core 110 are changed according to the ratio. ing. Specifically, the initial position of the hook needle tip 64 is moved to the nozzle 70 side by the initial position setting means 14 (see FIG. 2) (see the arrow α in FIG. 7), and the separation distance between the nozzle 70 and the hook needle tip 64 is used as a reference. In the case of the stator core 100, the separation distance B is multiplied by 60% of the above ratio to obtain the separation distance b, which is adapted to the second stator core 110.

An example of the initial position setting means provided in the hook needle driving means 11 will be described. The first aspect of the initial position setting means may be an electronic cam shape for initial position setting in which the initial position of the hook tip 64 is moved toward the nozzle 70 by a distance α (arrow α in FIG. 7B). .. If this initial position setting electronic cam shape is combined before the electronic cam shape that is set to form a binding shape, the radial initial position of the tip of the hook needle is easily adapted to the second stator core 110. be able to.

The second aspect of the initial position setting means is to move the entire first servomotor 15, the speed reducer 150, and the first motion transmission means 151 (see FIG. 1A) together with the hook needle 60 to move the initial position. The advancing / retreating means 400 may be used. Specifically, if the advancing / retreating means is provided with an air cylinder 401, the shaft 402 of the air cylinder is expanded and contracted in the axial direction of the hook needle 60, and the initial position in the radial direction of the tip of the hook needle is set. good. If the hook needle is moved together with the servomotor by the air cylinder, it is easy to move the initial position of the hook needle significantly.

Further, the axial center setting means moves the axial center position of the stator core to the nozzle side (FIG. 7B, arrow β in FIG. 7), and uses the distance between the nozzle 70 and the axial center position of the stator core as a reference for the stator core 100. In the case of the above case, the separation distance C is obtained by multiplying the separation distance C by 60% of the above ratio, and is adapted to the second stator core 110. The axis setting means 31 (see FIGS. 1 and 2) includes a rail 310 on which the holding table 101 is slidably placed, a screw shaft 311 extending along the rail, and a motor 312 for rotating the screw shaft. It consists of a moving piece 313 that is moved in the advancing / retreating direction of the hook needle by the rotation of the screw shaft (see FIG. 1).

The holding base 101 of the stator core is integrated with the moving piece 313 and is horizontally moved along the rail 310 along the advancing / retreating direction of the hook needle 60 by a distance β (FIGS. 1 (A) and 7 (FIG. 1). B) Refer to the figure), the axial center position of the stator core mounted on the holding table is set. As a result, the electronic cam for index rotation in the reference coil end bundle 210 is adapted to the second coil end bundle 220 (see arrow A in FIG. 7).

The selection control means determines the advance / retreat distance and elevating distance of the hook needle 60, the elevating distance of the nozzle 70, the initial position setting means determines the separation distance between the hook needle 60 and the nozzle 70, and the axial center setting means determines the axial center position of the stator core. It is adapted to the coil end bundle 220 of 2. As a result, even if the outer diameter / inner diameter / height of the stator core and the curvature / shape of the coil end bundle change due to the change in the standard of the stator core, it is linked to the reference binding shape stored in advance in the reference binding shape storage means. It can be easily handled by using the shape of the electronic cam, and it can be a highly versatile racing device.

In the second embodiment, the binding shape of the hexagonal sewn pattern will be briefly described with reference to FIGS. 8 and 9. FIG. 8 shows the binding shape of the hexagonal stitch. 8 (A) to (D) show the operation corresponding to the electronic cam shape shown in FIGS. 9 (A) to 9 (D). FIG. 9 shows an electronic cam shape in which the hexagonal pattern is sewn together. FIG. 9A shows the advance / retreat operation of the hook needle and the swinging operation of the nozzle at the position (A) of FIG. FIG. 9B shows the index rotation operation shown in FIG. 8B.

9 (C) shows the raising and lowering motion of the hook needle and the nozzle from the position (A) to the position (C) of FIG. 8, the moving and retreating motion of the hook needle and the swinging motion of the nozzle at the position of FIG. 8 (C), FIG. It shows the raising and lowering operation of the hook needle and the nozzle from the position (C) to the same height as the position (A2). FIG. 9 (D) shows the index rotation operation shown in FIG. 8 (D). Since the operation of the electronic cam shape of FIG. 9 is the same as that of FIGS. 4 to 5 described in the T-shaped sewing, the same reference numerals as those of the electronic cam shape shown in FIG. 8 are given in the following description in detail. The explanation is omitted.

The characteristic of the electronic cam shape of the hexagonal stitch is that the index rotation operation is performed once for each advance / retreat of the hook needle, which is different from the T-shaped stitch (FIGS. 8 and 9 (A), FIG. 9 (B)). In the case of T-shaped stitching, the index rotation operation is performed once every time the hook needle moves forward and backward three times (see FIGS. 4, 5 (A) to 5 (D)). In addition, the size of the operating element in one index rotation operation is also 0.5 slots in the case of hexagonal stitching, and the amount of change in the positive direction in the electronic cam shape related to the index rotation is 0.5 times. Has been done. (See FIG. 9 (B) and FIG. 9 (D) q).

Therefore, in hexagonal sewing, the stator core 120 is index-rotated by 0.5 slots while the hook needle is hooked on the folded thread (see FIG. 8 (A) and FIG. 9 (A)). 8 (B), 9 (B), see FIG. q). Then, the hook needle and the nozzle are interlocked in the same direction with a larger change amount than the hook needle, and are raised to the upper position of the coil end bundle 210 (position (C) in FIG. 8 and FIG. 9 (C)). See r, s).

When the hook needle and nozzle are raised to a predetermined position, the hook needle is advanced and retracted, and the newly folded thread is pulled out into the thread previously folded in half (Fig. 9 (C) Fig. I, m). reference). Then, the hook needle and the nozzle are lowered to the lower position of the coil end bundle (FIG. 9 (C)), and the index is rotated (see FIGS. 8 (D) and 9 (D) q). The thread folded in half is tightened to form a binding point 76 (see FIG. 8). Therefore, the tension applied to the thread folded in half first and the thread pulled out later are substantially the same, and at the binding point 76, the threads extend at equal intervals in three directions, and the pattern formed by the binding points forms a hexagonal pattern. ..

Here, a specific case will be described in which a T-shaped stitch is performed on the upper side of the stator core to advance and retract the hook needle three times at one position, and a hexagonal stitch is performed on the lower side to advance and retract the hook needle once at one position. Based on the middle position of the slot, the turtle shell stitch advances and retracts the hook needle once while the hook needle advances and retreats three times in the T-shaped stitch. During the second to third advancement and retreat of the T-shaped stitch, the hexagonal hook is stopped. After the advance and retreat of the upper and lower hooks at that position, the stator core is index-rotated by 0.5 slot so as to be the advance / retreat position of the hook needle next to the hexagonal stitch.

And the hook needle is moved back and forth once on the lower side, but during that time, the hook needle is stopped in the middle of the index rotation on the upper side. After advancing and retreating the hook on the lower side, the stator core is rotationally driven by 0.5 slot. Then, the middle position of the slot is reached, and at the next advance / retreat position of the hook needle, the lower turtle shell stitch advances / retracts the hook needle once while the upper T-shaped stitch advances / retracts the hook needle three times. During the second to third advancement and retreat of the crochet hook, the crochet hook is stopped. This is repeated, and a T-shaped stitch is sewn on the upper side and a hexagonal sewn is sewn on the lower side.

(others)
-The electronic cam shape shown in the examples is merely an example, and it goes without saying that the shape is not limited to this. The partial binding shape is explained using the repeating unit for T-shaped sewing and hexagonal stitching as an example, but the partial binding shape is not limited to the repeating unit, and the movement of the thread in the horizontal direction and the thread in the vertical direction are not limited to the repeating unit. It goes without saying that movement and the like may be used as a unit.
-In Example 1, the binding to the coil end bundle having a similar shape has been described, but it goes without saying that the binding is not limited to the similar shape. When the number of slots of the stator core increases or decreases, the rotation angle by the index rotation drive may be changed and the repetition unit may be increased or decreased.
-The embodiments disclosed this time should be considered to be exemplary in all respects and not restrictive. The technical scope of the present invention is shown by the scope of claims, not limited to the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 ... Racing equipment,
10 ... upper racing means, 20 ... lower racing means,
30 ... Index rotation drive means, 40 ... Processing means, 50 ... Base,
60 ... Crochet hook, 70 ... Nozzle, 100 ... Stator core,
11 ... Crochet drive means, 12 ... Nozzle drive means,
13 ... Height setting means, 14 ... Initial position setting means,
15 ... 1st servo motor, 150 ... reducer,
151 ... 1st motion transmitting means, 152 ... Rotating disk, 153 ... Convex part,
154 ... Crank shaft, 155 ... Advance / retreat holding part, 156 ... Sliding member,
16 ... second servo motor, 160 ... reducer,
161 ... Second motion transmission means, 17 ... Third servomotor,
170 ... reducer, 171 ... third motion transmission means,
172 ... Turntable, 173 ... Convex, 174 ... Crank shaft,
18 ... 4th servo motor, 180 ... reducer,
181 ... 4th motion transmission means, 19 ... 5th servomotor,
190 ... Reducer, 191 ... Fifth motion transmission means,
31 ... Axial center setting means, 32 ... 6th servo motor, 33 ... Reducer,
34 ... 6th motion transmission means, 35 ... gears,
36 ... disk, 37 ... through hole, 38 ... support,
310 ... rail, 311 ... screw shaft, 312 ... motor, 313 ... moving piece,
41 ... control means, 42 ... storage means, 43 ... display means, 44 ... input means,
51 ... upper board, 52 ... board,
61 ... mounting part, 62 ... cylinder part, 63 ... claw, 64 ... hook needle tip,
71,73 ... thread, 72,74 ... folded thread, 75,76 ... binding point,
80 ... gripping means, 81 ... gripping portion, 82 ... shaft body, 90 ... cutting means,
91 ... shaft body, 101 ... holding base, 102 ... gap,
110 ... second stator core, 120 ... stator core,
200 ... Coil end bundle, 201 ... Lower coil end bundle,
210 ... Reference coil end bundle, 220 ... Second coil end bundle,
300 ... Elevating means, 301 ... Motor, 302 ... Screw shaft,
400 ... means of advancing and retreating, 401 ... air cylinder, 402 ... shaft of air cylinder

Claims

In a racing device that binds the coil end bundles of the stator core with threads.
The bundle shape setting means, the interlocking drive control means, the index rotation drive means, and the racing means driven on the upper side and the lower side of the stator core, respectively, are included.
Each racing means includes a hook needle driving means for driving a claw having a claw at the tip and a nozzle driving means for driving a nozzle for supplying a thread from the tip.
The hook needle driving means includes a first servomotor that advances and retracts the hook needle in the radial direction of the stator core, a second servomotor that rotates the hook needle, and a third servomotor that raises and lowers the hook needle in the height direction of the stator core. With a servo motor,
The nozzle driving means includes a fourth servomotor that swings the nozzle in the circumferential direction, and a fifth servomotor that raises and lowers the nozzle in the height direction.
The binding shape setting means makes it possible to set the binding shape of the yarn on the upper side and the lower side, respectively.
The interlocking drive control means not only drives the hook needle driving means and the nozzle driving means in an interlocking manner on the upper side and the lower side, but also causes the index rotation driving means on the upper side and the lower side, respectively. Driven in conjunction with the racing means of
On each of the upper side and the lower side, the coil end bundle is bound to the set binding shape of the thread.
A racing device that features that.
Each of the first to fifth servomotors is provided with a replaceable speed reducer and motion transmission means.
The rotary motion from the speed reducer provided in each servomotor is taken out by each motion transmission means as an motion element necessary for either advancing / retreating, rotating or raising / lowering the hook needle, and transmitted to the hook needle to be transmitted to the nozzle. Taken out as an operating element necessary for rocking or raising and lowering, and transmitted to the nozzle.
The racing apparatus according to claim 1.
The binding shape setting means serves as an electronic cam shape setting means for rotationally driving each of the first to fifth servomotors.
The racing apparatus according to claim 1 or 2, wherein the racing apparatus is characterized in that.
The binding shape setting means includes a storage means and a selection control means.
The storage means stores a plurality of partially bound shapes obtained by dividing the bound shape and an electronic cam shape corresponding to each of the partially bound shapes.
By selecting and combining the partial binding shapes so that the selection control means forms a desired binding shape, the electronic cam shapes corresponding to the combination are combined and applied to the desired binding shape. Each of the first to fifth servomotors is rotationally driven in the shape of an electronic cam.
The racing apparatus according to claim 3.
The crochet drive means includes a height setting means.
The height setting means causes the initial advance / retreat height of the hook needle to be set at least on either the curved inner diameter side or the curved outer diameter side of the coil end bundle.
The interlocking drive control means raises and lowers the hook needle by a third servomotor to a height corresponding to the initial advance / retreat height, and raises and lowers the nozzle by a fifth servomotor with a larger change amount than the hook needle. Link with
The racing apparatus according to any one of claims 1 to 4, wherein the racing apparatus is characterized in that.
The hook hook driving means includes an initial position setting means.
The initial position setting means causes the initial position of the tip of the hook needle to be set in the radial direction.
The hook needle is moved to the initial position in advance and then moved back and forth.
The racing apparatus according to any one of claims 1 to 5, wherein the racing apparatus is characterized in that.
The index rotation driving means includes an axis setting means.
The axis setting means changes the position of the rotation axis of the stator core to set the initial separation distance between the rotation axis and the tip of the hook to a desired distance.
The racing apparatus according to any one of claims 1 to 6, wherein the racing apparatus is characterized in that.
The storage means stores in advance a plurality of reference binding shapes applied to the reference coil end bundles that form a reference, and electronic cam shapes corresponding to the respective reference binding shapes.
The selection control means selects and combines a reference binding shape having a commonality with a part of the binding shape of the desired coil end bundle from the storage means.
The first servomotor has an electron of similar shape obtained by multiplying the value of the electronic cam shape corresponding to the selected reference binding shape by the ratio of the width of the desired coil end bundle to the width of the reference coil end bundle. Rotated by the cam shape,
The third and fifth servomotors have multiplied the value of the electronic cam shape corresponding to the selected reference binding shape by the ratio of the height of the desired coil end bundle to the height of the reference coil end bundle. , Rotated by a similar electronic cam shape,
The second and fourth servomotors are rotationally driven by the electronic cam shape corresponding to the selected reference bundling shape.
The index rotation driving means is interlocked with the racing means on the upper side and the lower side, respectively.
The yarn is bound to the desired coil end bundle in the desired binding shape.
The racing apparatus according to claim 4.