Winding machine and winding method

Abstract

To provide a winding machine that can wind coils without being restricted by the winding method. [Solution] The nozzle drive device 2 comprises a coil end support mechanism 4 fixed to one end and the other end of the stator core 3 in the axial direction, and a workpiece rotation mechanism 12 that rotates the stator core 3 in the circumferential direction. The nozzle drive device 2 comprises a first drive mechanism 21 that rotates the orientation of the nozzle 20 radially outward from one end to the other in the axial direction, a second drive mechanism 22 that moves the first drive mechanism 21 in the axial direction, and a third drive mechanism 23 that moves the second drive mechanism 22 in the radial direction. The coil end support mechanism 4 comprises a guide portion 401 that extends in the axial direction away from the stator core 3, and a guide pin 40 that is detachably fixed to a base 43 at a circumferential position corresponding to a predetermined coil pitch.

Description

Technical Field

[0001] The present disclosure relates to a winding machine and a winding method.

Background Art

[0002] A stator core of a rotating electric machine includes an annular yoke and a plurality of teeth extending radially inward from an inner circumferential surface of the yoke. A space formed between adjacent teeth of a stator core is called a slot, and a coil is formed by inserting a wire into the slot. The coil comprises in-slot accommodating portions which are portions where the wire is inserted into the slots, and coil ends that connect one in-slot accommodating portion to another in-slot accommodating portion by causing the wire to protrude outward in the axial direction from both side end faces of the stator core in a U-shape.

[0003] As a wire winding machine for forming a coil, one provided with a nozzle that feeds out wire from a tip end has been proposed. In such a winding machine, the nozzle is held in a horizontal state, and a drive mechanism enables the wire fed out from the nozzle to be wound around the teeth. In a wire winding method using such a winding machine, a wire is wound around each tooth to form a coil (see, for example, Patent Document 1).

Prior Art Literature

Patent Literature

[0004]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0005] One method for winding coils in the stator core of a rotating electric machine is distributed winding, in which wire is wound to form coils in two slots separated by at least two slot pitches. To form a distributed winding coil, it is necessary to wind wire to form coil ends that connect two slots separated by a predetermined coil pitch. However, conventional winding machines have the problem that the coil winding method is limited because the wire is wound on each individual tooth covered by an insulator.

[0006] This disclosure discloses technology to solve the above-mentioned problems, and aims to provide a winding machine and winding method that can wind coils without being restricted by the winding method. [Means for solving the problem]

[0007] The winding machine of this disclosure is a winding machine for winding coil wire onto a stator core, comprising a frame device, a nozzle drive device, and a coil end support mechanism fixed to one end and the other end of the stator core in the axial direction, wherein the frame device comprises a work chuck mechanism for fixing the stator core and a work rotation mechanism for rotating the work chuck mechanism in the circumferential direction, and the nozzle drive device directs the direction of the nozzle for feeding out the wire radially outward within a 180-degree range from one end in the axial direction to the other end in the axial direction of the stator core fixed to the work chuck mechanism The coil end support mechanism comprises a first drive mechanism for rotation, a second drive mechanism for moving the first drive mechanism axially around the stator core fixed to the workpiece chuck mechanism, and a third drive mechanism for moving the second drive mechanism radially around the stator core fixed to the workpiece chuck mechanism. The coil end support mechanism includes a base fixed to the stator core and a guide portion extending axially away from the stator core, and a guide pin detachably fixed to the base at a circumferential position corresponding to a predetermined coil pitch when the base is fixed to the stator core. [Effects of the Invention]

[0008] The winding machine of this disclosure is a winding machine for winding coil wire onto a stator core, comprising a frame device, a nozzle drive device, and a coil end support mechanism fixed to one end and the other end of the stator core in the axial direction, wherein the frame device comprises a work chuck mechanism for fixing the stator core and a work rotation mechanism for rotating the work chuck mechanism in the circumferential direction, and the nozzle drive device comprises a first drive mechanism for rotating the direction of the nozzle for feeding out the wire radially outward within a range of 180 degrees from one end in the axial direction to the other end in the axial direction of the stator core fixed to the work chuck mechanism, and a second drive mechanism The coil end support mechanism includes a second drive mechanism that moves the first drive mechanism axially along the stator core fixed to the workpiece chuck mechanism, and a third drive mechanism that moves the second drive mechanism radially along the stator core fixed to the workpiece chuck mechanism. The coil end support mechanism includes a base fixed to the stator core and a guide portion extending axially away from the stator core. The coil end support mechanism includes a guide pin that is detachably fixed to the base at a circumferential position corresponding to a predetermined coil pitch when the base is fixed to the stator core, so that the winding method is not restricted when winding a coil. [Brief explanation of the drawing]

[0009] [Figure 1] This is a perspective view showing the schematic configuration of the winding machine according to Embodiment 1. [Figure 2] This is a front view of the winding machine according to Embodiment 1. [Figure 3] This is a right side view of the winding machine according to Embodiment 1. [Figure 4] This is a right side view of the winding machine frame device according to Embodiment 1. [Figure 5] This is a perspective view of the first drive mechanism in Embodiment 1. [Figure 6] This is a front view of the link mechanism in Embodiment 1. [Figure 7] This is a perspective view of the link mechanism in Embodiment 1. [Figure 8] This is a perspective view of the workpiece chuck mechanism in Embodiment 1. [Figure 9]It is a top view of the work chuck mechanism according to the first embodiment. [Figure 10] It is a perspective view of the stator core according to the first embodiment. [Figure 11] It is a perspective view of the coil end support mechanism according to the first embodiment. [Figure 12] It is a process diagram of the winding method according to the first embodiment. [Figure 13] It is a diagram for explaining the one-side coil end forming step in the winding method according to the first embodiment. [Figure 14] It is a diagram for explaining the one-side coil end forming step in the winding method according to the first embodiment. [Figure 15] It is a diagram for explaining the other-side coil end forming step in the winding method according to the first embodiment. [Figure 16] It is a diagram for explaining the other-side coil end forming step in the winding method according to the first embodiment. [Figure 17] It is a top view of a winding machine for explaining the in-slot winding step in the winding method according to the first embodiment. [Figure 18] It is a front view of a winding machine for explaining the in-slot winding step in the winding method according to the first embodiment. [Figure 19] It is an enlarged view of a winding machine for explaining the in-slot winding step in the winding method according to the first embodiment. [Figure 20] It is a top view showing the stator core, the coil end support mechanism, and the inner frame of the work chuck mechanism after completing winding of the coil according to the first embodiment. [Figure 21] It is a side view showing the stator core, the coil end support mechanism, and the inner frame of the work chuck mechanism after completing winding of the coil according to the first embodiment. [Figure 22] It is a side view showing the stator core around which the coil is wound according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a winding machine according to an embodiment will be described in detail with reference to the drawings. In each figure, the same reference numerals denote the same or corresponding parts. In the following description, when the stator core is fixed to the winding machine, the circumferential direction, axial direction, and radial direction of the stator core are referred to as circumferential direction Z, axial direction Y, and radial direction X, respectively. Further, the direction toward the radially outer side is referred to as direction X1, and the direction toward the radially inner side is referred to as direction X2. Regarding the axial direction Y, one side is defined as direction Y1, the other side is defined as direction Y2, the upward direction of the winding machine is defined as direction Y1, and the downward direction of the winding machine is defined as direction Y2. When it is not particularly necessary to distinguish between one side or the other side, only the axial direction Y is indicated.

[0011] Embodiment 1. FIG. 1 is a perspective view showing a schematic configuration of a winding machine 100 according to a first embodiment. In FIG. 1, the vertical direction is the axial direction Y, the upward direction is the Y1 direction, and the downward direction is the Y2 direction. FIG. 2 is a front view of the winding machine 100 according to the first embodiment. FIG. 3 is a right side view of the winding machine 100 according to the first embodiment. FIG. 4 is a right side view of a frame device 1 of the winding machine 100 according to the first embodiment. The winding machine 100 is an apparatus used for forming a coil by winding a wire around a stator core 3 of a rotating electrical machine.

[0012] As shown in FIG. 1, the winding machine 100 includes a frame device 1 and a nozzle driving device 2 fixed to the frame device 1. As shown in FIG. 4, the frame device 1 includes a work chuck mechanism 11 that fixes the stator core 3, and a work rotating mechanism 12 that rotates the work chuck mechanism 11 forward and backward in the circumferential direction Z.

[0013] The nozzle drive device 2 includes a nozzle 20 that feeds out wires forming the coils of the stator core 3; a first drive mechanism 21 that rotates the nozzle 20 radially outward in the X direction within a 180-degree range from one side of the axial direction Y to the other side of the axial direction Y, either from bottom to top or top to bottom; a second drive mechanism 22 that moves the first drive mechanism 21 in the axial direction of the stator core 3 fixed to the workpiece chuck mechanism 11; and a third drive mechanism 23 that moves the second drive mechanism 22 radially of the stator core 3 fixed to the workpiece chuck mechanism 11. Details of the first drive mechanism 21 will be described later.

[0014] The second drive mechanism 22 comprises a second drive source 220, which is a servo motor, and a ball screw 221. The second drive source 220 is connected to the screw shaft of the ball screw 221 via a pulley and belt, and the nut of the ball screw 221 is fixed to the first drive mechanism 21. By operating the second drive source 220, the first drive mechanism 21 can be moved axially relative to the stator core 3 fixed to the workpiece chuck mechanism 11. This allows the second drive mechanism 22 to axially position the nozzle 20 relative to the stator core 3 fixed to the workpiece chuck mechanism 11.

[0015] The third drive mechanism 23 comprises a third drive source 230, which is a servo motor, and a ball screw 231. The third drive source 230 is connected to the screw shaft of the ball screw 231 via a coupling, and the nut of the ball screw 231 is fixed to the second drive mechanism 22. By operating the third drive source 230, the second drive mechanism 22 can be moved radially around the stator core 3 fixed to the workpiece chuck mechanism 11, and as a result, the nozzle 20 can be moved radially around the stator core 3 fixed to the workpiece chuck mechanism 11. This allows the third drive mechanism 23 to radially position the nozzle 20 relative to the stator core 3 fixed to the workpiece chuck mechanism 11.

[0016] Figure 5 is a perspective view of the first drive mechanism 21 in Embodiment 1. Figure 6 is a front view of the link mechanism 210 of the first drive mechanism 21 in Embodiment 1. Figure 7 is a perspective view of the link mechanism 210 of the first drive mechanism 21 in Embodiment 1. The first drive mechanism 21 comprises a first drive source 217 which is a servo motor, a nozzle 20 for feeding out wire, a nozzle holder 219 for holding the nozzle 20, and a link mechanism 210 that transmits the driving force of the first drive source 217 to the nozzle holder 219 and rotates the nozzle holder 219 180 degrees around the nozzle holder rotation axis 219a. The link mechanism 210 consists of two elongated plate-shaped main plates 218 inserted axially inside the stator core 3, a first link 211, a second link 212, a third link 213, a fourth link 214, a fifth link 215, and a sixth link 216. The connection points of the main plates 218, the first link 211, the second link 212, the third link 213, the fourth link 214, the fifth link 215, and the sixth link 216 are rotatably connected. The nozzle holder rotation shaft 219a of the nozzle holder 219 is rotatably connected to the main plate 218 at the other axial end 218a of the two elongated plate-shaped main plates 218 inserted axially inside the stator core 3.

[0017] In order to wind the coil onto the stator core 3, which is long in the axial direction Y, the link mechanism 210 must be a tool that is long in the axial direction Y. Furthermore, the link mechanism 210 must be able to be inserted inside the stator core 3 without coming into contact with the stator core 3. In addition, when the nozzle holder 219 is rotated to change the orientation of the nozzle 20, the nozzle holder 219 and the nozzle 20 must be constructed so that they do not come into contact with the stator core 3 and the insulator attached to the stator core 3. For this reason, the second link 212 and the fourth link 214, which extend in the axial direction Y, are made from a single plate-shaped material with a large width and thickness to increase rigidity. The first link 211 and the third link 213 are short in length, so the first link 211 is made from two plate-shaped materials that sandwich the second link 212 from both sides, and the third link 213 is made from two plate-shaped materials that sandwich the second link 212 and the fourth link 214 from both sides. The fifth link 215 and the sixth link 216 are also short in length, so the fifth link 215 consists of two plate-shaped materials that sandwich the fourth link 214 from both sides, and the sixth link 216 consists of two plate-shaped materials that sandwich the fourth link 214 and the nozzle holder 219 from both sides.

[0018] The first link rotation axis 211a at one end of the first link 211 is rotatably connected to the main plate 218 on one side of the main plate 218 in the axial direction Y, and is fixed to the rotation axis of the first drive source 217. As a result, when the rotation axis of the first drive source 217 rotates, the first link 211 rotates around the first link rotation axis 211a. The second link 212 is rotatably connected at one end to the other end of the first link 211 at the joint 210a on the other end of the first link 211. The third link 213 is parallel to the first link 211, with one end of the third link 213 rotatably connected to the other end of the second link 212 at the joint 210b on one end of the third link 213, and the other end of the third link 213 rotatably connected to the main plate 218 at the joint 210c on the other end of the third link 213.

[0019] The fourth link 214 is rotatably connected at a joint 210d on one end of the fourth link 214 between the connection point of the third link 213 and the second link 212 and the connection point of the third link 213 and the main plate 218. The other end of the fourth link 214 is connected at a joint 210e on the other end of the fourth link 214 to one end of the fifth link 215 and one end of the sixth link 216.

[0020] The fifth link 215 is rotatably connected at joint 210f on the other end of the fifth link 215 between joint 210c, which is the connection point between the third link 213 and the main plate 218, and the nozzle holder rotation shaft 219a of the nozzle holder 219, which is the connection point between the nozzle holder 219 and the main plate 218. The sixth link 216 is rotatably connected at joint 210g on the other end of the sixth link 216 to the nozzle holder 219. The joint 210g on the other end of the sixth link 216 is located between the nozzle holder rotation shaft 219a of the nozzle holder 219 and the connection point of the nozzle 20 in the nozzle holder 219.

[0021] The fifth link 215, when the nozzle 20 is facing downwards, which is the other side in the axial direction, extends from joint 210e, which is the connection point with the fourth link 214, toward joint 210f, which is the connection point with the main plate 218, in the left direction in Figure 6, which is the radially outward direction, and then curves downwards, which is the other side in the axial direction, as shown in Figure 6. The sixth link 216, when the nozzle 20 is facing downwards, which is the other side in the axial direction, extends from joint 210e, which is the connection point with the fourth link 214, toward joint 210g, which is the connection point with the nozzle holder 219, in the downward direction, which is the other side in the axial direction, and then curves lefts, which is the radially outward direction, as shown in Figure 6.

[0022] The power source for the rotational motion of the nozzle 20 is the first drive source 217. The rotating shaft of the first drive source 217 is connected to the first link rotating shaft 211a of the first link 211 via a coupling through a reduction gear. The driving force of the first drive source 217 is transmitted from the first link rotating shaft 211a to the nozzle holder 219 via the first link 211, second link 212, third link 213, fourth link 214, fifth link 215 and sixth link 216, causing the nozzle holder 219 and the nozzle 20 attached to the nozzle holder 219 to rotate around the nozzle holder rotating shaft 219a, thereby changing the angle of the nozzle 20. As a result, the nozzle 20 can rotate within a range of 180 degrees, from facing in the Y1 direction on one side of the axial direction Y, to facing in the X1 direction on the outside of the radial direction X, and further to facing in the Y2 direction on the other side of the axial direction Y.

[0023] As shown in Figure 4, the workpiece rotation mechanism 12 of the frame device 1 comprises a workpiece rotation drive source 120, which is a servo motor, a reduction gear 121, and a shaft 122, and rotates the workpiece chuck mechanism 11 in the circumferential direction of the stator core fixed to the workpiece chuck mechanism 11. The workpiece rotation drive source 120 is connected to the shaft 122 by a coupling via the reduction gear 121. The workpiece chuck mechanism 11 is fixed to the top surface of the shaft 122 by a screw 123. In this way, the rotational motion of the workpiece rotation drive source 120 is transmitted to the workpiece chuck mechanism 11. By controlling the rotational motion of the workpiece rotation drive source 120, the rotation angle of the stator core when forming coil ends, which differ depending on the shape, size, or winding type of the stator core, can be set to any angle. Therefore, the winding machine 100 can form coils by winding wire into predetermined slots of the stator core without being limited by the type of stator core or the winding configuration.

[0024] Figure 8 is a perspective view of the work chuck mechanism 11 in Embodiment 1, showing the work chuck mechanism 11 when the stator core 3 is fixed. Figure 9 is a top view of the work chuck mechanism 11 in Embodiment 1, showing the work chuck mechanism 11 when the stator core 3 is fixed. The work chuck mechanism 11 comprises a cylindrical inner frame 110 into which the stator core 3 is fixed, and an outer frame 111 into which the inner frame 110 is fixed. The inner frame 110 comprises an inner frame inner surface 110a, which is the cylindrical inner surface into which the stator core 3 is inserted, at least three inner frame outer circumferential curved surfaces 110b along the outer frame inner surface 111a, which is the inner surface of the outer frame 111, and at least three inner frame outer circumferential flat surfaces 110c formed between two of the inner frame outer circumferential curved surfaces 110b. The stator core 3 is fixed to the inner frame 110 by an inner frame fixing device 112 that penetrates the inner frame 110 from the outer peripheral flat portion 110c toward the inner peripheral surface 110a of the inner frame. For example, the inner frame fixing device 112 is a bolt that penetrates the inner frame 110 to fix the stator core 3, and then is fixed to the inner frame 110 by a nut. The inner frame 110 is fixed to the outer frame 111 by an outer frame fixing device 113 that penetrates the outer frame 111 from the outside toward the outer peripheral curved portion 110b of the inner frame. For example, the outer frame fixing device 113 is a bolt that penetrates the outer frame 111, contacts the outer peripheral curved portion 110b of the inner frame to fix the inner frame 110, and then is fixed to the outer frame 111 by a nut.

[0025] Figure 10 is a perspective view of the stator core 3 in Embodiment 1. The stator core 3 comprises an annular yoke 30 and a plurality of teeth 31 that protrude radially inward from the inner circumferential surface of the yoke 30. The space between adjacent teeth 31 of the stator core 3 is called a slot 32. A coil is formed by winding and inserting wire into the slot 32. A slot-internal storage portion, which is part of the coil formed by inserting wire into one slot 32, and a slot-internal storage portion, which is part of the coil formed by inserting wire into another slot 32, are connected by parts of the coil that protrude from both end faces in the axial direction Y of the stator core 3, for example, by U-shaped coil ends. The number and shape of the teeth 31 of the stator core 3 differ depending on the specifications of the stator core 3. Therefore, the pitch of the coil ends connecting the slot-internal storage portions housed in two different slots 32, that is, how far apart two slots 32 are circumferentially separated, to connect the coil wire differs depending on the shape of the stator core 3. In the winding machine 100 according to Embodiment 1, the circumferential rotation angle of the work chuck mechanism 11 to which the stator core 3 is fixed can be arbitrarily determined, so that a coil can be formed by winding wire onto the stator core 3 without being limited by the shape of the stator core 3.

[0026] As shown in Figures 8 and 9, a coil end support mechanism 4a is fixed to one end of the stator core 3 in the axial direction Y, and although not shown, a coil end support mechanism 4b is fixed to the other end of the stator core 3 in the axial direction Y. When referring to the coil end support mechanisms 4a and 4b collectively, they will be described as the coil end support mechanism 4. The coil end support mechanism 4 is used to guide the wire when forming the coil end of the coil.

[0027] Figure 11 is a perspective view of the coil end support mechanism 4 in Embodiment 1. The coil end support mechanism 4 has an annular base 43 to which a plurality of guide pin support mounting plates 42 are attached, a plurality of guide pin support parts 41 are attached to each guide pin support mounting plate 42, and a guide pin 40 is detachably attached to each guide pin support part 41. As a result, the guide pin 40 is detachably fixed to the base 43. The end of the stator core 3 is inserted into the coil end support mechanism 4 such that the outer circumference of the end of the stator core 3 follows the inner circumference of the coil end support mechanism 4, and the coil end support mechanism 4 is fixed to the stator core 3 by a coil end support mechanism fixing device 44. The coil end support mechanism fixing device 44 is, for example, a bolt, which penetrates the base 43 to fix the stator core 3, and then is fixed to the base 43 by a nut. Since the guide pin 40 is detachably fixed to the base 43, when removing the coil end support mechanism fixing device 44 from the stator core 3 after the coil has been formed, the guide pin 40 is first removed from the guide pin support part 41, and then the base 43 is removed from the stator core 3, thereby allowing the coil end support mechanism fixing device 44 to be removed from the stator core 3 without putting any load on the formed coil.

[0028] The guide pin 40 is equipped with a guide portion 401 that extends axially away from the stator core 3. Furthermore, the guide pin 40 is fixed to the base 43 at a circumferential position corresponding to a predetermined coil pitch when the base 43 is fixed to the stator core 3. This allows for the formation of coil ends with a predetermined coil pitch by aligning the windings with the guide pin 40 when forming a distributed winding coil.

[0029] Next, a specific coil winding process using the winding machine 100 according to Embodiment 1 will be described. Figure 12 is a process diagram of the winding method using the winding machine 100 according to Embodiment 1. Figures 13 and 14 are diagrams illustrating the one-side coil end formation process in the winding method using the winding machine 100 according to Embodiment 1, showing the state in which the wire is wound around the coil end support mechanism 4a attached to one side in the axial direction of the stator core 3 to form the coil end. Figures 15 and 16 are diagrams illustrating the other-side coil end formation process in the winding method using the winding machine 100 according to Embodiment 1, showing the state in which the wire is wound around the coil end support mechanism 4b attached to the other side in the axial direction of the stator core 3 to form the coil end. In Figures 13 to 16, for the stator core 3, inner frame 110, and coil end support mechanism 4, only the rear half of Figure 2 is shown as viewed from the front in Figure 2, in order to make it easier to see how the wire 5 is wound. Figure 17 is a diagram illustrating the in-slot winding process in the winding method using the winding machine 100 according to Embodiment 1, and is a top view showing the state in which the wire is routed into the slot 32 of the stator core 3 to form the in-slot storage section. In Figure 17, only the stator core 3, coil end support mechanism 4a, inner frame 110 of the work chuck mechanism 11, nozzle 20, link mechanism 210, and wire 5 are shown. Figure 18 is a diagram illustrating the in-slot winding process in the winding method using the winding machine 100 according to Embodiment 1, and is a front view showing the state in which the wire is routed into the slot 32 of the stator core 3 to form the in-slot storage section. Figure 19 is a diagram illustrating the in-slot winding process in the winding method using the winding machine 100 according to Embodiment 1, and is an enlarged view of the main part showing the state in which the wire 5 is routed into the slot 32 of the stator core 3 to form the in-slot storage section. In the winding method using the winding machine 100, the first drive mechanism 21, the second drive mechanism 22, and the third drive mechanism 23 are driven to change the position and orientation of the nozzle 20, and the wire is fed out from the nozzle while rotating the workpiece chuck mechanism 11 as needed.

[0030] Next, the details of each step in the process diagram shown in Figure 12 will be explained. In step S01, the wire fixing step, the end of the wire is fixed to a terminal wire locking part (not shown) provided on the work chuck mechanism 11, and the process proceeds to step S02.

[0031] Step S02, the first in-slot winding process, is the process of moving the first drive mechanism 21 in the Y2 direction on the other side of the axial Y. In the first in-slot winding process, if necessary, first rotate the work chuck mechanism 11 so that the slot 32 into which the wire is inserted is on the leftmost side in Figure 2. Next, activate the second drive mechanism 22 to move the first drive mechanism 21 of the nozzle drive device 2 to a position where the tip of the nozzle 20 is above the Y1 direction end on one side of the axial Y of the coil end support mechanism 4a. Next, while feeding out the wire, move the first drive mechanism 21 to a position radially X inward from the teeth 31 of the stator core 3, introducing the winding into the slot 32 by passing the wire between adjacent guide pins 40. When the first drive mechanism 21 is moving inward in the radial direction X, or after the first drive mechanism 21 has moved inward in the radial direction X, the first drive mechanism 21 is activated to rotate the nozzle 20 by 90 degrees so that the tip of the nozzle 20 faces outward in the radial direction X1. Next, as shown in Figures 17, 18, and 19, with the tip of the nozzle 20 facing outward in the radial direction X, the first drive mechanism 21 including the nozzle 20 is moved in the Y2 direction on the other side of the axial direction Y inside the stator core 3, inserting the main plate 218 and the fourth link 214 of the first drive mechanism 21 into the stator core 3, while inserting the wire into the slot 32, thereby installing the wire that forms the coil's slot housing. Once the wire has been inserted to the other end of the stator core 3 in the axial direction Y, and the nozzle holder 219 has moved downward to the other side of the other end of the coil end support mechanism 4b in the axial direction Y, the process proceeds to step S03.

[0032] As shown in Figure 19, when the wire 5 is routed through the slot 32 of the stator core 3, that is, when the wire 5 is inserted into the slot 32 of the stator core 3, the tip of the nozzle 20 is located radially inward of the stator core 3 beyond the slot opening 320, rather than inside the slot 32. The workpiece rotation drive source 120 of the workpiece rotation mechanism 12 is controlled to position the winding start position so that the wire 5 is inserted into the slot 32 so as not to touch the tips of the adjacent teeth 31 through the gap between the tips of the teeth 31. Subsequently, the first drive mechanism 21 equipped with the nozzle 20 is moved in the Y2 direction on the other side of the axial direction Y while the wire 5 is fed out so as to drop the wire 5 radially outward of the stator core 3.

[0033] By dropping the wires 5 into the slots 32 in this way, it becomes possible to position the coil's internal storage portion within the slots 32, even in the narrow gap of the slot opening 320, thereby increasing the coil packing efficiency, which indicates the proportion of the slots 32 that are filled with wires 5. Furthermore, the wires 5 can be dropped one by one into the slots 32 of the stator core 3 without causing twisting. If the wires 5 twist, a gap will form in the slots 32, reducing the packing efficiency. However, by dropping the wires 5 one by one into the slots 32 from the tip of the nozzle 20 to prevent twisting, the packing efficiency can be increased.

[0034] Although the circumferential width Z of the slot opening 320 is narrower than the circumferential width inside the slot 32, when dropping the wire 5 fed out from the tip of the nozzle 20 into the gap of the slot opening 320, the circumferential position of the work chuck mechanism 11 to which the stator core 3 is fixed is precisely controlled by the work rotation drive source 120 of the work rotation mechanism 12, thereby allowing the wire 5 to be dropped into the slot 32 without contacting the teeth 31.

[0035] In the other coil end formation step S03, first, with the link mechanism 210 inserted inside the stator core 3 and the nozzle holder 219 located on the other side of the end of the coil end support mechanism 4b in the Y2 direction on the other side of the axial Y, the third drive mechanism 23 moves the first drive mechanism 21, including the link mechanism 210, outward in the X1 direction in the radial X direction. Then, the first drive mechanism 21 rotates the nozzle holder 219 by 90 degrees through the link mechanism 210 so that the tip of the nozzle 20 is facing in the Y1 direction in the axial Y direction. With the tip of the nozzle 20 facing in the Y1 direction in the axial Y direction, the first drive mechanism 21 and the second drive mechanism 22 move the tip of the nozzle 20 to a position radially outward in the X direction from the guide portion 401 of the guide pin 40 of the coil end support mechanism 4b, as shown in Figure 15 or Figure 16. Next, while maintaining the position and orientation of the nozzle 20, the workpiece chuck mechanism 11 is rotated forward by a predetermined slot pitch, causing the wire 5 to be pulled out from the nozzle 20 and wound around the guide portion 401 of the guide pin 40, thereby forming a coil end. By adjusting the amount of circumferential rotation of the workpiece chuck mechanism 11 to correspond to a predetermined coil pitch for distributed winding, a coil end for distributed winding can be formed.

[0036] When winding the wire 5 around the guide portion 401 of the guide pin 40 of the coil end support mechanism 4b in the Y2 direction, which is the other side of the axial direction Y, the nozzle holder 219 can be rotated radially outward so that the nozzle 20 is positioned radially outward from the main plate 218 inserted inside the stator core 3, with the tip of the nozzle 20 facing in one direction of the axial direction. This allows the distributed winding coil to be wound onto the stator core 3 via the guide portion 401 of the guide pin 40 of the coil end support mechanism 4b. Furthermore, when rotating the work chuck mechanism 11 to form the coil end on the other side of the axial direction, the nozzle 20 does not come into contact with the coil end support mechanism 4b. Furthermore, when the nozzle 20 is facing the other axial direction, the fifth link 215 extends radially outward from the connection point with the fourth link 214 towards the connection point with the main plate 218, and then curves toward the other axial direction. Similarly, when the nozzle 20 is facing the other axial direction, the sixth link 216 extends radially outward from the connection point with the fourth link 214 towards the connection point with the nozzle holder 219, and then curves toward the other axial direction. As a result, until the tip of the nozzle 20 is oriented in one axial direction, the fifth link 215 does not contact the nozzle holder 219, and the sixth link 216 does not contact the main plate 218. This allows the orientation of the nozzle 20 held by the nozzle holder 219 to be changed within a 180-degree range from one axial direction to the other. Once the coil end is formed, proceed to step S04.

[0037] Step S04, the second in-slot winding step, is the in-slot winding step, which is the step of moving the first drive mechanism 21 in the Y1 direction on one side of the axial Y. In the second in-slot winding step, first, the second drive mechanism 22 is activated to move the first drive mechanism 21 of the nozzle drive device 2 to a position where the tip of the nozzle 20 is below the end of the coil end support mechanism 4b in the Y2 direction on the other side of the axial Y. Next, while feeding out the wire, the first drive mechanism 21 is moved to a position radially inward X from the teeth 31 of the stator core 3, and the winding is introduced into the inside of the stator core 3 by passing the wire between adjacent guide pins 40. While the first drive mechanism 21 is moving radially inward X, or after the first drive mechanism 21 has moved radially inward X, the first drive mechanism 21 is activated to rotate the nozzle 20 by 90 degrees so that the tip of the nozzle 20 is facing radially outward X1. Next, as shown in Figures 17, 18, and 19, with the tip of the nozzle 20 facing radially outward, the first drive mechanism 21, including the nozzle 20, is moved radially inside the stator core 3 in the Y1 direction on one side of the axial Y. The main plate 218 and the fourth link 214 of the first drive mechanism 21 are withdrawn from the inside of the stator core 3, and the wire is inserted into the slot 32, thereby installing the wire that forms the coil's slotted storage portion. Once the wire has been inserted to one end of the stator core 3 in the axial Y direction, and the nozzle holder 219 has moved upward to one side of the end of the coil end support mechanism 4a in the axial Y direction, the process proceeds to step S03. The method for inserting the wire 5 into the slot 32 of the stator core 3 in the second slotted winding step is the same as in the first slotted winding step.

[0038] In the one-sided coil end formation step S05, first, with the link mechanism 210 outside the stator core 3 and the nozzle holder 219 on one side of the end in the Y1 direction, which is one side of the axial Y of the coil end support mechanism 4a, the third drive mechanism 23 moves the first drive mechanism 21, including the link mechanism 210, outward in the radial X direction X1. Then, the first drive mechanism 21 rotates the nozzle holder 219 by 90 degrees through the link mechanism 210 so that the tip of the nozzle 20 is facing in the Y2 direction, which is the other side of the axial Y. With the tip of the nozzle 20 facing in the Y2 direction, the first drive mechanism 21 and the second drive mechanism 22 move the tip of the nozzle 20 to a position radially outward in the X direction from the guide portion 401 of the guide pin 40 of the coil end support mechanism 4a, as shown in Figure 13 or Figure 14.

[0039] While maintaining the position and orientation of the nozzle 20, the workpiece chuck mechanism 11 is rotated in the reverse direction by a predetermined slot pitch, causing the wire 5 to be pulled out from the nozzle 20 and wound around the guide portion 401 of the guide pin 40, thereby forming a coil end. By adjusting the amount of circumferential rotation of the workpiece chuck mechanism 11 to correspond to the predetermined coil pitch of the distributed winding, the coil end of the distributed winding can be formed. These steps from step S02 to step S05 constitute winding one turn of the coil. After step S05, the process proceeds to step S06. In the verification step S06, if all coils have been wound, the process proceeds to step S07; otherwise, the process proceeds to step S02.

[0040] For example, if the process proceeds from the first step S05 to the second step S02, the workpiece chuck mechanism 11 is rotated 90 degrees at the beginning of the second step S02, steps S02 through S05 are executed to wind one turn of the second coil, then the workpiece chuck mechanism 11 is rotated 90 degrees at the beginning of the third step S02, steps S02 through S05 are executed to wind one turn of the third coil, and then the workpiece chuck mechanism 11 is rotated 90 degrees at the beginning of the fourth step S02, steps S02 through S05 are executed to wind one turn of the fourth coil, the first layer of coil ends will be formed on both sides of the stator core 3 in the axial direction Y. The formation of the second layer of coil ends is similar, but the winding method varies depending on the specifications.

[0041] When the other-side coil end formation process of step S03 is performed multiple times, the operation of the second drive mechanism 22 is controlled by the second drive source 220 when winding the wire 5 that will form the coil end around the guide portion 401 of the guide pin 40 in the other-side coil end formation process of step S03. By shifting the axial Y position of the tip of the nozzle 20 by a distance corresponding to the diameter of the wire 5 in each other-side coil end formation process, the wires of the coil end can be aligned with higher precision, as shown in Figure 15. Furthermore, as shown in Figure 16, after aligning the wires of the coil end by a predetermined axial width, the wires of the coil end can be aligned with even higher precision by aligning them by a predetermined axial width in the direction away from the coil end in the axial direction.

[0042] Similarly, when the one-side coil end formation step S05 is performed multiple times, when the wire 5 that will form the coil end is wound around the guide portion 401 of the guide pin 40 in the one-side coil end formation step S05, the operation of the second drive mechanism 22 is controlled by the second drive source 220, and in each other-side coil end formation step, the axial Y position of the tip of the nozzle 20 is shifted by a distance corresponding to the diameter of the wire 5, thereby enabling the coil end wires to be aligned with higher precision, as shown in Figure 13. Furthermore, as shown in Figure 14, after aligning the coil end wires by a predetermined axial width, the coil end wires can be aligned by a predetermined axial width in the direction away from the coil end in the axial direction, thereby enabling the coil end wires to be aligned with even higher precision.

[0043] By aligning the wires at the coil ends with greater precision, the coil ends can be made smaller. When the coil ends are made smaller, the current flowing through the coil and the resulting magnetic field increase when a voltage is applied to the coil formed on the stator core 3. Therefore, aligning the wires at the coil ends with greater precision can reduce the circumference of the coil formed on the stator core 3, thereby increasing the magnetic field flowing through the stator core 3.

[0044] If it is determined in step S06 that all the coils have been wound, the process proceeds to step S07. In the wire cutting step of step S07, the wire 5 is cut at the tip of the nozzle 20, and the coil winding process is completed.

[0045] Figure 20 is a top view showing the stator core 3, coil end support mechanism 4a, and inner frame 110 of the workpiece chuck mechanism 11 after the coil winding is complete in Embodiment 1. Figure 21 is a side view showing the stator core 3, coil end support mechanism 4a, coil end support mechanism 4b, and inner frame 110 of the workpiece chuck mechanism 11 after the coil winding is complete in Embodiment 1. As shown in Figures 20 and 21, in the stator core 3, coil end support mechanism 4a, and coil end support mechanism 4b after the coil winding is complete, the coil ends are formed by wire 5 that is aligned and wound around the guide portion 401 of the guide pin 40. In the state shown in Figures 20 and 21, after removing all the guide pins 40 from the coil end support mechanism 4a and coil end support mechanism 4b, the coil end support mechanism 4a and coil end support mechanism 4b are removed from the stator core 3, and the inner frame 110 of the workpiece chuck mechanism 11 is removed from the stator core 3, thereby allowing the stator core 3 with the wound coil to be removed. Figure 22 is a side view showing the stator core 3 with the coil wound around it after it has been removed from the inner frame 110 of the workpiece chuck mechanism 11, with coil ends formed on both sides of the stator core 3 in the axial direction.

[0046] As described above, the winding machine 100 according to Embodiment 1 is a winding machine 100 for winding coil wire 5 onto a stator core 3, comprising a frame device 1, a nozzle drive device 2, and a coil end support mechanism 4 fixed to one end and the other end of the stator core 3 in the axial direction, the frame device 1 comprising a work chuck mechanism 11 for fixing the stator core 3 and a work rotation mechanism 12 for rotating the work chuck mechanism 11 in the circumferential direction, and the nozzle drive device 2 comprising a first drive mechanism 2 for rotating the direction of the nozzle 20 for feeding out the wire 5 radially outward within a range of 180 degrees from one end in the axial direction to the other end in the axial direction of the stator core 3 fixed to the work chuck mechanism 11 The coil end support mechanism 4 comprises a base 43 fixed to the stator core 3, a second drive mechanism 22 that moves the first drive mechanism 21 in the axial direction of the stator core 3 fixed to the work chuck mechanism 11, and a third drive mechanism 23 that moves the second drive mechanism 22 in the radial direction of the stator core 3 fixed to the work chuck mechanism 11. The coil end support mechanism 4 comprises a base 43 fixed to the stator core 3, a guide portion 401 extending in the axial direction away from the stator core 3, and a guide pin 40 detachably fixed to the base 43 at a circumferential position corresponding to a predetermined coil pitch when the base 43 is fixed to the stator core 3. As a result, the coil can be wound without being restricted by the coil winding method. Furthermore, the winding machine 100 according to Embodiment 1 can wind coils without being restricted by the type of stator core.

[0047] The winding machine 100 according to Embodiment 1 can accommodate various types of stator cores 3 and various types of winding methods by changing the position where the guide pins 40 are fixed to the base 43, and by changing the circumferential positional relationship between the slots 32 of the stator core 3 and the guide pins 40, in accordance with the position of the slots 32 of the stator core 3 and the coil winding method. Furthermore, it can increase productivity compared to forming coils manually. Moreover, it can achieve a higher space utilization rate compared to a method called the inserter method, which has high productivity but a lower space utilization rate. Since the winding machine 100 according to Embodiment 1 can wind coils without an insulator, the insulator molding and insulator assembly, which can be pre-processes for winding stator coils, are unnecessary.

[0048] The winding machine 100 according to Embodiment 1 includes a first drive mechanism 21 comprising a first drive source 217, a nozzle 20, a nozzle holder 219 for holding the nozzle 20, and a link mechanism 210 for transmitting the driving force of the first drive source 217 to the nozzle holder 219. The link mechanism 210 is composed of a main plate 218 and a plurality of links. The nozzle holder 219 is rotatably connected to the other axial end of the main plate 218. Therefore, the nozzle holder 219 and the link mechanism 210 can be inserted inside the stator core 3 to form the coil end on the other axial side of the stator core 3.

[0049] The winding machine 100 according to Embodiment 1 has a link mechanism 210 which comprises links: a first link 211, a second link 212, a third link 213, a fourth link 214, a fifth link 215, and a sixth link 216. The first link rotation shaft 211a at one end of the first link 211 is rotatably connected to the main plate 218 on one axial side of the main plate 218 and is fixed to the rotation shaft of the first drive source 217. The second link 212 has one end connected to the first link 21 The third link 213 is rotatably connected to the other end of the first link 211, with one end rotatably connected to the other end of the second link 212 and the other end rotatably connected to the main plate 218, and is parallel to the first link 211. The fourth link 214 is rotatably connected at one end between the connection point of the third link 213 and the second link 212 and the connection point of the third link 213 and the main plate 218, with the other end connected to one end of the fifth link 215 and the sixth link The fifth link 215 is connected to one end of link 216, and the other end of the fifth link 215 is rotatably connected between the connection between the third link 213 and the main plate 218 on the main plate 218 and the connection between the nozzle holder 219 and the main plate 218. The sixth link 216 is rotatably connected to the nozzle holder 219 at the other end. The fifth link 215 extends radially outward from the connection with the fourth link 214 toward the connection with the main plate 218 when the nozzle 20 is facing the other side in the axial direction, and the sixth link 216 extends radially outward from the connection with the fourth link 214 toward the connection with the nozzle holder 219 when the nozzle 20 is facing the other side in the axial direction, so that the orientation of the nozzle 20 held by the nozzle holder 219 can be changed within a range of 180 degrees from one side to the other in the axial direction.

[0050] The winding machine 100 according to Embodiment 1 comprises an inner frame 110 and an outer frame 111 to which the inner frame 110 is fixed to the inside, the inner frame 110 comprises an inner frame inner surface 110a which is a cylindrical inner surface into which the stator core 3 is inserted, at least three inner frame outer curved surface portions 110b which are the inner surface of the outer frame 111a, and at least three inner frame outer flat portions 110c formed between the inner frame outer curved surface portions 110b, The stator core 3 is fixed to the inner frame 110 by an inner frame fixing device 112 that penetrates the inner frame 110 from the outer peripheral flat portion 110c toward the inner peripheral surface 110a of the inner frame, and the inner frame 110 is fixed to the outer frame 111 by an outer frame fixing device 113 that penetrates the outer frame 111 from the outside of the outer frame toward the outer peripheral curved portion 110b of the inner frame. As a result, the stator core and inner frame can be easily replaced, and the stator core and inner frame can be replaced in a short amount of time.

[0051] The winding method according to Embodiment 1 is a winding method for winding coil wire 5 onto a stator core 3 using a winding machine 100 according to Embodiment 1, comprising: a slot winding step in which the tip of the nozzle 20 is pointed radially outward, and the nozzle 20 is moved axially within the radially inward side of the stator core 3 to wind the inside of the slot 32 of the stator core 3; and a step in which the tip of the nozzle 20 is pointed axially to the other side, the link mechanism 210 of the first drive mechanism 21 is outside the stator core 3, and the tip of the nozzle 20 is positioned radially outward from the guide portion 401 of the guide pin 40 on one side in the axial direction. The process includes a one-side coil end forming step, in which the workpiece chuck mechanism 11 is rotated circumferentially to form one coil end in the axial direction, and a other-side coil end forming step, in which the tip of the nozzle 20 is pointed towards one side in the axial direction, the link mechanism 210 of the first drive mechanism 21 is inside the stator core 3, and the tip of the nozzle 20 is positioned radially outward from the guide portion 401 of the other-side guide pin 40 in the axial direction, and the workpiece chuck mechanism 11 is rotated circumferentially to form the other coil end in the axial direction. Therefore, the winding method is not restricted and the coil can be wound.

[0052] In the winding method according to Embodiment 1, during the in-slot winding process, the circumferential position of the stator core 3 is controlled by the workpiece rotation drive source 120 of the workpiece rotation mechanism 12, and the wire material 5 fed from the nozzle 20 is introduced into the slot 32 of the stator core 3 without touching the tip of the teeth 31 of the stator core 3. As a result, a high packing efficiency can be achieved in the in-slot storage portion inside the slot 32 of the coil.

[0053] In the winding method according to Embodiment 1, the workpiece chuck mechanism 11 is rotated circumferentially by an amount equal to a predetermined coil pitch of the distributed winding during the one-side coil end formation step and the other-side coil end formation step, thereby enabling the formation of a distributed winding coil.

[0054] While this disclosure describes exemplary embodiments, the various features, aspects, and functions described in the embodiments are not limited to the application of any particular embodiment, but can be applied individually or in various combinations to the embodiments. Accordingly, countless variations not illustrated are conceivable within the scope of the art disclosed in this specification. These include, for example, modifications, additions, or omissions of at least one component.

[0055] Although preferred embodiments have been described in detail above, the invention is not limited to the embodiments described above, and various modifications and substitutions can be made to the embodiments described above without departing from the scope of the claims.

[0056] The various aspects of this disclosure are summarized below as an appendix.

[0057] (Note 1) A winding machine for winding coil wire onto a stator core, The system comprises a mounting device, a nozzle drive device, and a coil end support mechanism fixed to one end and the other end of the stator core in the axial direction. The aforementioned mounting device is A workpiece chuck mechanism for fixing the stator core, The workpiece chuck mechanism is further equipped with a workpiece rotation mechanism that rotates the workpiece chuck mechanism in the circumferential direction. The nozzle drive device is A first drive mechanism rotates the nozzle for feeding out the wire material radially outward within a 180-degree range from one axial side to the other axial side of the stator core fixed to the workpiece chuck mechanism, A second drive mechanism moves the first drive mechanism in the axial direction of the stator core, which is fixed to the workpiece chuck mechanism. The second drive mechanism is further equipped with a third drive mechanism that moves the stator core, which is fixed to the workpiece chuck mechanism, in the radial direction. The coil end support mechanism is, A base fixed to the stator core, A winding machine characterized by comprising a guide portion extending in the axial direction away from the stator core, and a guide pin detachably fixed to the base at a circumferential position corresponding to a predetermined coil pitch when the base is fixed to the stator core. (Note 2) The first drive mechanism is, The system comprises a first drive source, the nozzle, a nozzle holder for holding the nozzle, and a link mechanism for transmitting the driving force of the first drive source to the nozzle holder. The aforementioned link mechanism consists of a main plate and a plurality of links. The winding machine according to Appendix 1, characterized in that the nozzle holder is rotatably connected to the other axial end of the main plate. (Note 3) The link mechanism comprises the links, namely the first link, second link, third link, fourth link, fifth link, and sixth link. The first link rotation shaft at one end of the first link is rotatably connected to the main plate on one side of the main plate in the axial direction and is fixed to the rotation shaft of the first drive source. The second link is rotatably connected at one end to the other end of the first link. The third link is rotatably connected at one end to the other end of the second link, and at the other end to the main plate, and is parallel to the first link. The fourth link mentioned above is, One end is rotatably connected between the connection portion of the third link and the second link and the connection portion of the third link and the main plate in the third link. The other end is connected to one end of the fifth link and one end of the sixth link, The other end of the fifth link is rotatably connected to the connection between the third link and the main plate and the connection between the nozzle holder and the main plate on the main plate. The other end of the six links is rotatably connected to the nozzle holder. The fifth link, when the nozzle is facing the other side in the axial direction, extends radially outward from the connection point with the fourth link toward the connection point with the main plate, and then curves toward the other side in the axial direction. The winding machine according to Appendix 2, characterized in that, when the nozzle is facing the other side in the axial direction, the sixth link extends from the connection point with the fourth link toward the connection point with the nozzle holder, then curves radially outward. (Note 4) The workpiece chuck mechanism comprises an inner frame and an outer frame to which the inner frame is fixed internally. The aforementioned inner frame is The inner circumferential surface of the inner frame is a cylindrical inner surface into which the stator core is inserted, At least three inner frame outer circumferential curved surfaces are provided along the inner circumferential surface of the outer frame, It comprises at least three flat portions on the outer periphery of the inner frame formed between the curved outer periphery portions of the inner frame, The stator core is fixed to the inner frame by an inner frame fixing device that penetrates the inner frame from the outer circumferential planar portion of the inner frame toward the inner circumferential surface of the inner frame, The winding machine according to any one of the appendices 1 to 3, characterized in that the inner frame is fixed to the outer frame by an outer frame fixing device that penetrates the outer frame from the outside of the outer frame toward the outer curved surface portion of the inner frame. (Note 5) A winding method for winding the wire material of the coil onto the stator core using a winding machine described in Appendix 2 or 3, The tip of the nozzle is directed radially outward, The nozzle is moved axially on the radially inner side of the stator core. The process includes winding the inside of the slots of the stator core, The tip of the nozzle is pointed towards the other side in the axial direction, The link mechanism of the first drive mechanism is located outside the stator core. With the tip of the nozzle positioned radially outward from the guide portion of the guide pin on one side in the axial direction, The workpiece chuck mechanism is rotated in the circumferential direction. A one-side coil end forming step, which forms one coil end in the axial direction, The tip of the nozzle is directed towards one side in the axial direction, The link mechanism of the first drive mechanism is located inside the stator core. With the tip of the nozzle positioned radially outward from the guide portion of the other guide pin in the axial direction, The workpiece chuck mechanism is rotated in the circumferential direction. A winding method comprising a step of forming another coil end, which involves forming the other coil end in the axial direction. (Note 6) In the aforementioned slot winding process, The circumferential position of the stator core is controlled by the workpiece rotation drive source of the workpiece rotation mechanism. The winding method according to Appendix 5, characterized in that the wire material fed out from the nozzle is introduced into the slots of the stator core without touching the tips of the teeth of the stator core. (Note 6) The winding method according to Appendix 5 or 6, characterized in that, in the one-side coil end forming step and the other-side coil end forming step, the workpiece chuck mechanism is rotated circumferentially by an amount equal to a predetermined coil pitch of the distributed winding. [Explanation of Symbols]

[0058] 1. Standing device, 2. Nozzle drive device, 3. Stator core, 4, 4a, 4b. Coil end support mechanism, 5. Wire, 11. Work chuck mechanism, 12. Work rotation mechanism, 20. Nozzle, 21. First drive mechanism, 22. Second drive mechanism, 23. Third drive mechanism, 30. Yoke, 31. Teeth, 32. Slot, 40. Guide pin, 41. Guide pin support part, 42. Guide pin support part mounting plate, 43. Base, 44. Coil end support mechanism fixing device, 100. Winding machine, 110. Inner frame, 110a. Inner circumferential surface of inner frame, 110b. Outer circumferential curved surface of inner frame, 110c. Outer circumferential flat surface of inner frame, 111. Outer frame, 111a. Inner circumferential surface of outer frame, 112. Inner frame fixing device, 113. Outer frame fixing device, 120. Work rotation drive source, 121. Reducer, 122. Shaft, 123. Screw, 210 Link mechanism, 210a, 210b, 210c, 210d, 210e, 210f, 210g Joint, 211 First link, 211a First link rotation axis, 212 Second link, 213 Third link, 214 Fourth link, 215 Fifth link, 216 Sixth link, 217 First drive source, 218 Main plate, 218a End, 219 Nozzle holder, 219a Nozzle holder rotation axis, 220 Second drive source, 221 Ball screw, 230 Third drive source, 231 Ball screw, 320 Slot opening, 401 Guide section.

Claims

1. A winding machine for winding coil wire onto a stator core, The system comprises a mounting device, a nozzle drive device, and a coil end support mechanism fixed to one end and the other end of the stator core in the axial direction. The aforementioned mounting device is A workpiece chuck mechanism for fixing the stator core, The workpiece chuck mechanism is further equipped with a workpiece rotation mechanism that rotates the workpiece chuck mechanism in the circumferential direction. The nozzle drive device is A first drive mechanism rotates the direction of the nozzle that feeds out the wire material radially outward within a 180-degree range from one axial side to the other axial side of the stator core fixed to the workpiece chuck mechanism, A second drive mechanism moves the first drive mechanism in the axial direction of the stator core, which is fixed to the workpiece chuck mechanism. The second drive mechanism is further equipped with a third drive mechanism that moves the stator core, which is fixed to the workpiece chuck mechanism, in the radial direction. The coil end support mechanism is, A base fixed to the stator core, A winding machine characterized by comprising a guide portion extending in the axial direction away from the stator core, and a guide pin detachably fixed to the base at a circumferential position corresponding to a predetermined coil pitch when the base is fixed to the stator core.

2. The first drive mechanism is, The system comprises a first drive source, the nozzle, a nozzle holder for holding the nozzle, and a link mechanism for transmitting the driving force of the first drive source to the nozzle holder. The aforementioned link mechanism consists of a main plate and a plurality of links. The winding machine according to claim 1, characterized in that the nozzle holder is rotatably connected to the other axial end of the main plate.

3. The link mechanism comprises the links, namely the first link, second link, third link, fourth link, fifth link, and sixth link. The first link rotation shaft at one end of the first link is rotatably connected to the main plate on one side of the main plate in the axial direction and is fixed to the rotation shaft of the first drive source. The second link is rotatably connected at one end to the other end of the first link. The third link is rotatably connected at one end to the other end of the second link, and at the other end to the main plate, and is parallel to the first link. The fourth link mentioned above is, One end is rotatably connected between the connection portion of the third link and the second link and the connection portion of the third link and the main plate in the third link. The other end is connected to one end of the fifth link and one end of the sixth link, The other end of the fifth link is rotatably connected to the connection between the third link and the main plate and the connection between the nozzle holder and the main plate on the main plate. The other end of the six links is rotatably connected to the nozzle holder. The fifth link, when the nozzle is facing the other side in the axial direction, extends radially outward from the connection point with the fourth link toward the connection point with the main plate, and then curves toward the other side in the axial direction. The winding machine according to claim 2, characterized in that the sixth link, when the nozzle is facing the other side in the axial direction, extends from the connection point with the fourth link toward the connection point with the nozzle holder, then curves radially outward.

4. The workpiece chuck mechanism comprises an inner frame and an outer frame to which the inner frame is fixed internally. The aforementioned inner frame is The inner circumferential surface of the inner frame is a cylindrical inner surface into which the stator core is inserted, At least three inner frame outer circumferential curved surfaces are provided along the inner circumferential surface of the outer frame, It comprises at least three flat portions on the outer periphery of the inner frame formed between the curved portions on the outer periphery of the inner frame, The stator core is fixed to the inner frame by an inner frame fixing device that penetrates the inner frame from the outer circumferential planar portion of the inner frame toward the inner circumferential surface of the inner frame, The winding machine according to any one of claims 1 to 3, characterized in that the inner frame is fixed to the outer frame by an outer frame fixing device that penetrates the outer frame from the outside of the outer frame toward the outer curved surface portion of the inner frame.

5. A winding method for winding the wire material of the coil onto the stator core using the winding machine described in claim 2 or 3, The tip of the nozzle is directed radially outward, The nozzle is moved axially on the radially inner side of the stator core. The process includes winding the inside of the slots of the stator core, The tip of the nozzle is pointed towards the other side in the axial direction, The link mechanism of the first drive mechanism is located outside the stator core. With the tip of the nozzle positioned radially outward from the guide portion of the guide pin on one side in the axial direction, The workpiece chuck mechanism is rotated in the circumferential direction. A one-side coil end forming step, which forms one coil end in the axial direction, The tip of the nozzle is directed towards one side in the axial direction, The link mechanism of the first drive mechanism is located inside the stator core. With the tip of the nozzle positioned radially outward from the guide portion of the other guide pin in the axial direction, The workpiece chuck mechanism is rotated in the circumferential direction. A winding method comprising a step of forming another coil end, which involves forming the other coil end in the axial direction.

6. In the aforementioned slot winding process, The circumferential position of the stator core is controlled by the workpiece rotation drive source of the workpiece rotation mechanism. The winding method according to claim 5, characterized in that the wire material fed out from the nozzle is introduced into the slots of the stator core without touching the tips of the teeth of the stator core.

7. The winding method according to claim 5, characterized in that, in the one-side coil end forming step and the other-side coil end forming step, the workpiece chuck mechanism is rotated circumferentially by an amount equal to a predetermined coil pitch of the distributed winding.

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