Workpiece holding device, winding machine, winding processing method, and winding manufacturing method

Abstract

To enable positioning of an end line after a winding end with a simple configuration.SOLUTION: A workpiece holding device includes a plurality of chucks 14 which move in a radial direction of a workpiece 8 with respect to the workpiece 8 including a salient pole 8a (core) being the workpiece 8 in a state in which wire materials W1, W2, W3 fed out from nozzles N1, N2, N3 are wound around the salient pole 8a to hold the workpiece 8 by respectively coming into contact with the workpiece 8. First chucks 14C, 14D, 14E among the plurality of chucks 14 include holding parts for holding first parts of the wire materials W1, W2, W3 existing between the salient pole 8a and the nozzles N1, N2, N3, and the materials W1, W2, W3 are cut with the first parts held.SELECTED DRAWING: Figure 13

Description

Technical Field

[0001] The present invention relates to a work holding device for holding a work in a state where a wire rod fed out from a nozzle is wound, a winding machine provided with the work holding device, a winding processing method for processing a wire rod fed out from the nozzle and wound around the work, and a method for manufacturing a winding including the winding processing method.

Background Art

[0002] After the winding of the stator and rotor constituting the motor is completed, they are incorporated into the motor housing through a plurality of processing steps such as terminal attachment and connection steps to a terminal block or connector. Although various winding methods are known, for example, when performing winding of the type in which a wire rod fed out from a nozzle is wound around a stator core (work), when the winding process is completed, the wire rod between the wound core and the nozzle is cut by a cutter, and the stator core is carried to the next process. At this time, the wire rod remaining on the core side after cutting is called an end wire, a lead wire, or a finish wire, etc., and it is conceivable to attach this wire rod to a terminal in the next process. In this specification, this wire rod is called an "end wire", but when referring to Patent Document 1 described later, it is called a "lead wire".

[0003] Here, since the end wires are randomly bent or cross each other when the wire rod is cut, when there are a plurality of end wires, the order and position of the respective end portions are not constant. For this reason, when the stator core after winding is conveyed to the next process with the end wires in the state at the time of cutting, there is a problem that it is difficult to automatically recognize and accurately pick up the end wires in the next process. If the pickup cannot be performed accurately, it is considered that it may cause problems such as entrainment of the end wires or damage to the wire rod itself. For this reason, in order to automate the pickup of the wire rod in the next process, it is often the case that the end wires are manually wound around a fixing member such as a pin for positioning, and in this regard, it has been an obstacle to the automation of the entire motor manufacturing process.

[0004] In response to this, Patent Document 1 proposes a technology for automating the processing of end wires (lead wires). Patent Document 1 describes a method for inserting a coil with wire already wound around it into a stator core. It describes inserting the coil into a stator core attached to a pallet, then gripping the coil's lead wires with a chuck and pulling them out in the outer direction, positioning them by clamping and holding them between upper and lower annular members having V-shaped protrusions, and then transporting the pallet to the next process on a free-flow conveyor in that state.

[0005] Furthermore, in addition to the method using a pallet as described in Patent Document 1, a method is known for transporting the completed winding workpiece to the next process, in which a holding member having a chuck function is inserted into the stator and held, and the holding member is moved, as disclosed in Patent Document 2, for example. However, Patent Document 2 does not describe the processing of the end wires of the workpiece. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 8-98474 [Patent Document 2] Japanese Patent Application Publication No. 8-298755 [Overview of the project] [Problems that the invention aims to solve]

[0007] The lead wire processing device described in Patent Document 1 has three air cylinders for each chuck mechanism required for each lead wire, making the configuration large, complex, and costly. In addition to the chuck mechanism, upper and lower annular members are required to individually hold each lead wire on the outer circumference, which further contributes to the large size, complexity, and cost of the configuration. This type of problem occurs not only with stator cores but also when winding other workpieces such as rotor cores.

[0008] This invention was conceived in view of the current situation, and aims to enable the positioning of the end wire after winding is completed with a simple configuration. [Means for solving the problem]

[0009] The wire between the workpiece and the nozzle before cutting is neatly positioned and taut. If the wire is gripped in this pre-cut state, the configuration for handling the randomly bent end wires after cutting, as described in Patent Document 1, becomes unnecessary. Furthermore, if the end wire is positioned using a member for holding and transporting the workpiece, there is no need to provide a separate member for positioning, and a simplification of the configuration can be expected. This invention was conceived based on these ideas.

[0010] Specifically, in order to achieve the above objective, the workpiece holding device according to the present invention comprises a plurality of chucks that move in the radial direction of the workpiece and contact the workpiece, with the first chuck among the plurality of chucks being located between the core and the nozzle. Before cutting It is equipped with a holding part for holding the first portion of the above-mentioned wire.

[0011] In the workpiece holding device described above, it is preferable that the holding portion comprises a recess located on the nozzle side of the workpiece when the workpiece is being held, for accommodating the first portion of the wire, and a movable first pressing member for pressing the first portion accommodated in the recess against the inner surface of the recess to hold it.

[0012] Furthermore, in the workpiece holding device described above, it is more preferable to provide a biasing member in the first chuck that biases the first pressing member to contact the inner surface of the recess, and to further provide a first drive unit that drives the first pressing member in a direction away from the inner surface of the recess.

[0013] Furthermore, in the workpiece holding device described above, it is preferable that the first portion of the wire is housed in the recess by the relative rotation of the workpiece with respect to the nozzle, centered on the axis of the workpiece, while the first pressing member is separated from the inner surface of the recess by the first drive unit.

[0014] Furthermore, in the workpiece holding device described above, it is also preferable that the first portion of the wire is housed in the recess by the relative rotation of the workpiece with respect to the nozzle, with respect to the axis of the workpiece.

[0015] Furthermore, it is preferable to include a second pressing member in the workpiece holding device described above, which presses the wire between the core and the nozzle to move the wire in the radial direction of the workpiece, so that the radial position of the first portion and the opening of the recess of the workpiece aligns with the workpiece.

[0016] Furthermore, in the workpiece holding device described above, it is even more preferable that the second pressing member is provided so as to be able to move back and forth in the radial direction of the workpiece, and that the length of the tip of the second pressing member that contacts and presses against the wire is greater than the distance that the portion of the wire that contacts the tip moves with the relative rotation.

[0017] Furthermore, in the workpiece holding device described above, it is also preferable that the second pressing member, while the first chuck is holding the first portion of the wire, hooks the portion between the first portion of the wire and the nozzle onto the second surface of the tip, which is opposite to the first surface that was in contact with the wire when it was pressed, and pulls it outwards radially from the workpiece.

[0018] Furthermore, in the workpiece holding device described above, it is also preferable to provide a control unit that controls the radial drive of the plurality of chucks toward the workpiece, and brings the plurality of chucks toward the workpiece in one of two states, which can be selected from a first state in which the workpiece can rotate about the axis of the workpiece while sliding toward the plurality of chucks, and a second state in which the plurality of chucks are brought into contact with the workpiece with a stronger force than in the first state, and to perform the relative rotation of the workpiece in the state in which the plurality of chucks are in contact with the workpiece in the first state.

[0019] Furthermore, in the workpiece holding device described above, the workpiece comprises a plurality of cores, and the plurality of chucks hold the workpiece in a state in which wires fed out from a plurality of nozzles are wound around the cores corresponding to each nozzle, and it is also preferable that the plurality of chucks include a plurality of first chucks corresponding to each nozzle, and that each of the first chucks holds the wires that exist between the corresponding nozzle and the core.

[0020] Furthermore, the winding machine according to the present invention comprises any of the above-described workpiece holding devices, the nozzle, a cutter for cutting the portion of the wire between the first portion and the nozzle, the portion of which the first portion is held in the holding unit, and a movable arm equipped with a plurality of chucks. After the wire is cut by the cutter, the workpiece held by the plurality of chucks, with the first portion of the wire still held in the holding unit, is transported by the movable arm to a device or stage for performing the next step in winding the wire.

[0021] The wire winding processing method according to the present invention includes a first step of winding a wire rod fed out from a nozzle around a core provided in a workpiece, a second step of moving a plurality of chucks in the radial direction of the workpiece around which the wire rod is wound on the core and bringing them into contact with the workpiece to hold the workpiece, a third step of causing a first chuck among the plurality of chucks holding the workpiece to hold a first portion of the wire rod between the core and the nozzle, and a fourth step of cutting a portion of the wire rod between the first portion and the nozzle while the first portion is held by the first chuck.

[0022] Also, in the above wire winding processing method, the first chuck includes a concave portion for accommodating the first portion of the wire rod, which is located on the nozzle side of the workpiece in a state of holding the workpiece, and a movable first pressing member for pressing and holding the first portion accommodated in the concave portion against the inner surface of the concave portion. In the third step, it is preferable to accommodate the first portion of the wire rod in the concave portion by relatively rotating the workpiece around the axis of the workpiece with respect to the nozzle.

[0023] Also, in the above wire winding processing method, the first chuck includes a biasing member that biases the first pressing member to contact the inner surface of the concave portion. In the third step, while holding the first pressing member at a position separated from the inner surface of the concave portion against the biasing force of the biasing member, the first portion is accommodated in the concave portion, and then, by releasing the holding of the first pressing member, the first portion is pressed and held against the inner surface of the concave portion, which is more preferable.

[0024] Also, in the above wire winding processing method, it is further preferable that the third step includes a fifth step of pressing the wire rod with a second pressing member between the core and the nozzle so that the positions of the first portion and the opening of the concave portion in the radial direction of the workpiece coincide, and moving the wire rod in the radial direction of the workpiece.

[0025] Also, in the above-described winding process method, it is also preferable to include a sixth step of hooking the second pressing member at a position between the first portion of the wire and the nozzle after the third step and pulling it outward in the radial direction of the workpiece.

[0026] Also, in the above-described winding process method, the second step is a step of bringing the plurality of chucks into contact with the workpiece and holding the workpiece in a first state in which the workpiece can rotate about the axis of the workpiece while sliding with respect to the plurality of chucks, the third step is performed in a state where the plurality of chucks are in contact with the workpiece in the first state, and after the third step, a step of bringing the plurality of chucks into contact with the workpiece with a stronger force than the first state may be provided.

[0027] Also, in the above-described winding process method, the first step is a step of winding the wire fed out from the plurality of nozzles around the cores corresponding to the respective nozzles among the plurality of cores provided in the workpiece, the plurality of chucks include a plurality of first chucks corresponding to the respective nozzles, the third step is a step of causing each first chuck to hold a first portion of each wire existing between the corresponding nozzle and the core, and the fourth step is preferably a step of cutting a portion between the first portion and the nozzle of each wire whose first portion is held by the first chuck.

[0028] The method for manufacturing a winding according to the present invention includes each step of the above-described winding process method, and after cutting the wire in the fourth step, in a state where the first portion of the wire is held by the first chuck, a seventh step of transporting the workpiece held by the plurality of chucks to an apparatus or stage that executes the next step of winding the wire by a movable arm having the plurality of chucks.

Advantages of the Invention

[0029] According to the present invention, the positioning of the end wire after winding can be performed with a simple configuration.

Brief Description of the Drawings

[0030] [Figure 1] This is a perspective view showing the main part of a winding machine equipped with a workpiece holding device according to one embodiment of the present invention. [Figure 2] Figure 1 is a perspective view showing the relationship between the workpiece and the nozzle in the winding machine after winding has been completed. [Figure 3] Figure 1 is a perspective view showing the state in which the workpiece holding device enters the workpiece holding position in the winding machine, Figure 3A shows the state before entry, and Figure 3B shows the state after entry. [Figure 4] Figure 4A shows the state of the winding machine shown in Figure 1 after the workpiece holding device has entered the workpiece holding position. Figure 4A is a perspective view of the state before the multiple chucks begin to open, seen from diagonally below Figure 1, and Figure 4B is a plan view of the workpiece and chucks seen from below Figure 1. [Figure 5] Figure 1 shows the workpiece holding device in the winding machine in a state where the workpiece is held. Figure 5A is an enlarged perspective view, and Figure 5B is an enlarged view of the area around frame line X in Figure 5A, showing the stroke amount for holding and releasing the wire. [Figure 6] Figure 1 shows a schematic cross-sectional view illustrating the operation of the holding part of the holding chuck in the workpiece holding device. Figure 6A shows the state before the wire is held, and Figure 6B shows the state after the wire is held. [Figure 7] This is a block diagram showing the configuration of the winding machine as shown in Figure 1. [Figure 8] Figure 8A shows the relative positions of the workpiece 8, chucks 14, nozzles N1-N3, and wires W1-W3 in the winding machine shown in Figure 1 after winding is complete and multiple chucks 14 have been inserted inside the workpiece 8. Figure 8B is a perspective view of these from the side, slightly towards the nozzle unit 6, and Figure 8B is a perspective view from a position closer to the nozzle unit 6. [Figure 9] Figures 9A and 9B are perspective views corresponding to Figures 8A and 8B, respectively, showing the state after rotating the workpiece 8 in the direction of arrow R1 from the state shown in Figure 8A. [Figure 10]This perspective view shows the state in which the multiple chucks 14 have transitioned from the state shown in Figures 9A and 9B to a weak holding state, with the view slightly closer to the workpiece 8 and chucks 14 than in Figure 9B. [Figure 11] Figure 11A is an enlarged side view showing the positional relationship between the recess 30 of the holding chuck 14E and the wire W2 in the state shown in Figure 10. Figure 11A shows the state in which the nozzle N2 is in the position during winding operation, and Figure 11B shows the state in which the nozzle N2 is housed inside the nozzle unit 6. [Figure 12] Figure 12A is a side view showing the state in which the nozzle N2 is partially housed within the nozzle unit 6 and the wire W2 is pressed by the pressing rod PR2, compared to the state in Figure 10. Figure 12B is a plan view schematically showing the movement of the wire W2 due to this pressing, along with the arrangement of each part as seen from above in Figure 12A in the axial direction of the wire. [Figure 13] Figure 13A is a perspective view showing the state in which the workpiece is rotated in the direction of arrow R2 from the state in Figure 12A to accommodate the wire in the recess. Figure 13A shows the state in which the workpiece has been rotated just enough to accommodate the wire in the recess. Figure 13B shows the state in which the workpiece has been further rotated from the state in Figure 13A to the original position of the index rotation. [Figure 14] This figure shows the positional relationship between each chuck 14 and each part of the workpiece 8 in the state shown in Figure 10, as viewed from the nozzle unit 6 side in the axial direction of the workpiece 8. [Figure 15] Figure 12 is a plan view showing the schematic configuration of the pressing rod. Figure 15A shows the positional relationship with the wire when it is pressed, as shown in Figure 12A. Figure 15B shows the positional relationship between the tip 46Aa and the handle 46A and the wire when it is rotated 90° from the state in Figure 15A, viewed from the same direction as Figure 15A. Figure 15C shows the positional relationship between the tip 46Aa and the handle 46A and the wire when the wire is pulled out as in Figure 16A, viewed from the same direction as Figure 15A. [Figure 16] Figure 13A is a perspective view showing the state after the wire has been pulled out with the pressing rod. Figure 16A shows the initial state of pulling out the wire, and Figure 16B shows the state after the wire has been pulled out to the position where it will be cut with the cutter. [Figure 17]This is a perspective view showing the state in which the workpiece 8 is held and transported by the workpiece holding device 16 after the wire has been cut. [Figure 18] Figure 18A is a schematic cross-sectional view of the retaining chuck 14D and its surrounding components to illustrate the operation of the retaining chuck 14D in the modified example of holding the wire W2. Figure 18A shows the state corresponding to Figures 4A and 4B, Figure 18B shows the state corresponding to Figure 10, and Figure 18C shows the state corresponding to Figure 13A. [Modes for carrying out the invention]

[0031] One embodiment of the present invention will be described below with reference to the diagram.

[0032] Figure 1 shows the main part of the winding machine 2 according to this embodiment, and Figure 2 shows the state in which wires W1 to W3 are wound around the workpiece 8 in the winding section 4 of the winding machine 2. As shown in Figure 2, the winding machine 2 drives a nozzle unit 6 equipped with three nozzles N1 to N3 in the vertical direction (direction of arrow A) by a drive source, and in synchronization with this, rotates the workpiece 8 horizontally by a predetermined angle at a predetermined timing (index rotation), so that the wires W1 to W3 fed out from the three nozzles N1 to N3 can be wound around three salient poles (cores) 8a of the workpiece 8 simultaneously. Each wire W1 to W3 can also be wound around multiple salient poles 8a in succession, forming a winding in which multiple salient poles 8a and corresponding windings are connected in series.

[0033] In this embodiment, as an example of a workpiece 8, a stator of a three-phase motor is shown, which has multiple salient poles 8a on the inner circumference side of a laminated iron core 8b. The wires W1 to W3 wound around each salient pole 8a form U-phase, V-phase, and W-phase coils, respectively (in no particular order). In Figure 2, the symbols R1 and R2 indicate the direction of rotation of the workpiece 8 around its axis, respectively. In the process of winding wires W1 to W3, the workpiece 8 is held on a cylindrical workpiece holder 10. The workpiece holder 10 is indexed and rotated by a servo motor 12 (see Figure 7), which causes the workpiece 8 to rotate in predetermined increments.

[0034] Figure 2 shows the state in which the wires W1 to W3 unwound from nozzles N1 to N3 are wound around the corresponding salient poles 8a, that is, the state in which the winding 8c on each salient pole 8a has been completed. The parts of the wires W1 to W3 between the salient poles 8a and nozzles N1 to N3, indicated by symbols W1a to W3a, are the parts that are cut by the cutter 18 (see Figure 7) when the workpiece 8 is removed from the winding section 4 and remain on the workpiece 8 side, and are called terminal wires, lead wires, or end wires. In this embodiment, this first part is called the "end wire". This embodiment has a distinctive feature in how the wire at the winding end, which forms the end line, is handled. For this reason, in order to make the end line easier to see, the winding start end of the wire is omitted from each figure.

[0035] As shown in Figure 1, the winding machine 2 includes a workpiece holding device 16 equipped with multiple chucks 14, and a movable arm 20 with the workpiece holding device 16 rotatably mounted at its tip. The movable arm 20 is a multi-joint robot arm. Furthermore, the winding machine 2 also includes the cutter 18 described above. After the winding of the wires W1 to W3 onto the salient poles 8a is complete, the cutter 18 cuts the portion of the wires W1 to W3 between the portion held by the first chuck (first portion) and the nozzles N1 to N3, while a portion of the wires W1 to W3 is held by the holding portion (described later) of the first chuck (holding chuck) among the multiple chucks 14.

[0036] After the winding machine 2 cuts the wires W1 to W3 with the cutter 18, the workpiece 8, held by multiple chucks 14 with the end wires W1a to W3a formed by the cutting held in the holding part of the holding chuck, is transported by the movable arm 20 to a device or stage that performs the next step in winding the wires W1 to W3. The next step could be, for example, connecting the end wires W1a to W3a to predetermined terminals. The workpiece holding device 16 has a generally cylindrical appearance and is equipped with multiple chucks 14 on its lower side in the figure, while holding an unwound wire supply workpiece 22 on its upper side.

[0037] When winding the workpiece 8 is complete, the winding machine 2 retracts the workpiece holder 24 of the winding section 4 in the direction of arrow B, as shown in Figure 3A, opening the upper side of the workpiece 8. As the workpiece holder 24 retracts, the control unit 100 (see Figure 7) controls the drive of the movable arm 20, and as shown in Figures 3B and 4A, the movable arm 20 inserts the workpiece holding device 16 into the center of the workpiece 8. Once the workpiece 8 is held by the multiple chucks 14 and the wires W1 to W3 are cut by the cutter 18, as described later, the control unit 100 controls the movable arm 20 to raise the workpiece holding device 16 and rotate the workpiece holding device 16 by 180° so that the supply workpiece 22 faces downwards in Figure 3A.

[0038] In this state, the movable arm 20 re-enters the workpiece holding device 16 into the winding section 4 and places the supply workpiece 22 on the workpiece holding table 10. The movable arm 20 then raises the workpiece holding device 16 again, which is still holding the workpiece 8, and transports the wound workpiece 8 to the device or stage that will perform the next process. After the workpiece 8 has been delivered to the device or stage, the workpiece holding device 16 receives a new supply workpiece 22 and is returned to the winding standby position shown in Figure 1 by the movable arm 20. The above is a series of operations in the winding machine 2 from winding the workpiece 8 to transporting it to the next process. When winding multiple workpieces 8, the winding machine 2 repeats the above operations.

[0039] Next, the configuration and operation related to the holding of wires W1 to W3 by the holding chuck described above will be explained. As shown in Figures 4A and 4B, the multiple chucks 14 hold the workpiece 8 by moving radially outward from the workpiece 8 and contacting it, with the wires W1 to W3, each fed out from the multiple nozzles N1 to N3, wound around the salient poles 8a corresponding to each nozzle N1 to N3. The multiple chucks 14 simultaneously move radially outward from the workpiece 8 and contact the salient poles 8a of the workpiece 8 to hold it. In other words, the multiple chucks 14 are electric chucks of the expanding and closing type. A flange portion 8d is formed at the radially inner end of each salient pole 8a to restrict the position of the end of the winding 8c and to receive contact from the chuck 14. Figure 4B is a view of the workpiece 8 from below Figure 4A.

[0040] As shown in Figure 4B, the multiple chucks 14 include two standard type chucks 14A and 14B that simply contact the workpiece 8, and three holding chucks 14C, 14D, and 14E that have the function of holding the wires W1, W2, and W3, respectively. That is, the multiple chucks 14 include multiple holding chucks 14C, 14D, and 14E corresponding to each nozzle N1, N2, and N3, and each of these holding chucks 14C, 14D, and 14E holds the wires W1, W2, and W3 that are located between the corresponding nozzles N1, N2, and N3 and the salient poles 8a.

[0041] As shown in Figures 4B and 5A, each of the multiple chucks 14 has a chuck body 25, 26 that contacts the workpiece 8 when holding the workpiece 8, a guide member that guides the chuck bodies 25, 26 in the radial direction of the workpiece 8, and a common chuck opening / closing drive source 28 that drives the chuck bodies 25, 26 to open and close. The chuck body 25 is the body of a normal type chuck, and the chuck body 26 is the body of the holding chuck described above. Driven by the chuck opening / closing drive source 28, multiple (five in this case) chucks 14 move radially around the workpiece 8 and open and close simultaneously. As the chuck opening / closing drive source 28, a known mechanism including, for example, an air cylinder, motor, solenoid can be appropriately adopted.

[0042] The following describes the configuration and operation of the retaining chuck, using retaining chuck 14D as a representative example. Retaining chucks 14C and 14E have the same configuration and operation as retaining chuck 14D. The chuck body 26 of the holding chuck 14D is formed as a single unit from the base, which is driven by the chuck opening / closing drive source 28, to the tip, which is inserted into the workpiece 8 and contacts the flange portion 8d. Furthermore, as shown in Figure 6A, the chuck body 26 is provided with a holding portion 27 at the end facing the insertion direction into the workpiece 8 for holding the wire W2. The holding portion 27 is located closer to the nozzle N2 than the workpiece 8 when the workpiece 8 is being held, and includes a hook-shaped recess 30 for accommodating the wire W2, and a movable first pressing member 32 for pressing and holding the wire W2 accommodated in the recess 30 against the inner surface 30a of the recess 30.

[0043] The first pressing member 32 is rotatably mounted on the chuck body 26, with its upper end supported by a pivot shaft 34, and has a lower projection 32b on its lower end that protrudes radially from the workpiece 8 as shown in Figure 6A. This lower projection 32b applies pressure to the wire W2. The chuck body 26 includes a spring 35 and a first drive unit 36. The spring 35 is a biasing member that biases the first pressing member 32 so that its lower convex portion 32b contacts the inner surface 30a of a recess 30 that extends in the circumferential direction of the workpiece 8. The first drive unit 36 ​​drives the first pressing member 32 in a direction that moves its lower convex portion 32b away from the inner surface 30a of the recess 30, against the biasing force of the spring 35. Furthermore, the first pressing member 32 also has an upper protrusion 32a on its upper end side, which is approximately the same length as the lower protrusion 32b, so as to protrude radially from the workpiece 8 as shown in Figure 6A.

[0044] The first drive unit 36 ​​comprises a slide member 38, a movable member 40, and a holding chuck pressing drive source 42 (see Figure 5). The sliding member 38 is mounted on the chuck body 26 so as to be slidable in the vertical direction as shown in Figure 6A, and contacts the upper surface of the upper protrusion 32a of the first pressing member 32. The movable member 40 is mounted on the chuck body 26 so as to be vertically movable, and has a pressing piece 40a that contacts the upper end of the sliding member 38. The holding chuck pressing drive source 42 drives the movable member 40. The holding chuck pressing drive source 42 is a common drive source for multiple holding chucks 14C, 14D, and 14E. For example, an air cylinder, motor, solenoid, etc., can be used as the holding chuck pressing drive source 42.

[0045] Before the wire W2 is placed in the recess 30 of the chuck body 26, as shown in Figure 6A, the holding chuck pressing drive source 42 operates to move the movable member 40 downward (in the direction of arrow C), and as a result, the sliding member 38 that abuts against the upper protrusion 32a is also pressed downward. Therefore, the first pressing member 32 is driven in a clockwise direction, and its lower protrusion 32b is separated from the inner surface 30a of the recess 30.

[0046] From this state, when the holding chuck pressing drive source 42 operates and raises the movable member 40 as indicated by arrow D, as shown in Figure 6B, the biasing force of the spring 35 causes the first pressing member 32 to rotate counterclockwise (in the direction of arrow E), and the lower protrusion 32b presses the wire W2 against the inner surface 30a of each recess 30. As a result, a portion of the wire W2 is held within the recess 30. In Figure 6A, reference numeral 30b indicates the opening (wire housing opening) of the recess 30. When holding the wire, the biasing force of the spring 35 presses the wire W2, so the wire W2 can be held stably with an appropriate force, and it is possible to prevent the pressing force from being too strong and damaging the coating layer of the wire W2.

[0047] The amount of drive of the holding chuck pressing drive source 42 for holding the wire W2, that is, the amount of upward movement t of the movable member 40 indicated by arrow V, can be small compared to the diameter of the workpiece 8, for example, as shown in Figure 5B. As shown in Figure 6A, because the distance from the pivot shaft 34 to the point of application of the slide member 38 to the upper protrusion 32a is short compared to the distance from the pivot shaft 34 to the lower protrusion 32b, pressing and releasing the end line W2a is possible with a small amount of stroke in the vertical direction.

[0048] As shown in Figure 5A, between the workpiece 8 and the nozzle unit 6, there are two pressing members, pressing rods PR1 to PR3, which press the wires W1 to W3 at a position between the salient poles 8a and nozzles N1 to N3, so that the radial positions of the wires W1 to W3 and the openings 30b of the recesses 30 of the holding chucks 14C to 14E of the workpiece 8 are aligned, causing the wires W1 to W3 to move radially in the workpiece 8. The pressing rods PR1 to PR3 are provided corresponding to the wires W1 to W3, and can be considered as components of the workpiece holding device 16. As shown in Figure 7, each pressing rod PR1 to PR3 is driven to move forward and backward and rotated by its corresponding rod drive source 44A to 44C. This will be discussed later.

[0049] Figure 7 shows the configuration of the winding machine 2 as a block diagram. The control unit 100 is a microcomputer that includes a CPU and ROM, RAM, I / O interface section, etc., connected to the CPU by a bus line. It detects operator operations and signals from sensors in each part as needed, and controls the operation of each drive source based on pre-stored operating parameters while referring to these.

[0050] Next, a winding process using the winding machine 2 and a method for manufacturing windings, including each step of this winding process, will be described.

[0051] The winding process according to this embodiment comprises the following first to fourth steps. Each of these steps can be executed by the control unit 100 shown in Figure 7, which controls the operation of each drive source of the winding machine 2. (a) The first step involves winding the wires W1 to W3, which are unwound from nozzles N1 to N3 in the winding section 4, onto the salient poles 8a provided by the workpiece 8. (b) A second step in which a plurality of chucks 14 are moved in the radial direction of the workpiece 8 in which the wires W1 to W3 are wound around salient poles 8a, and each chuck 14 is brought into contact with the workpiece 8 to hold the workpiece 8 (weak holding: first state). (c) A third step in which a portion of the wire W1 to W3 located between the salient pole 8a and the nozzles N1 to N3 is held by the holding chucks 14C to 14E, which are among the multiple chucks 14 that hold the workpiece 8. (d) A fourth step in which the wires W1 to W3, which are held in the holding chucks 14C to 14E in the third step, are cut at the point between the holding point and the nozzles N1 to N3.

[0052] Figure 8B is a view of the workpiece 8 from Figure 8A, seen from below, after the winding of wires W1 to W3 (first process) has been completed in the winding section 4 and multiple chucks 14 have been inserted inside. Components located in front of the nozzle unit 6 in the figure, such as the drive mechanism for the nozzle unit 6, are not shown. Figures 8A and 8B show the workpiece 8 in its original position for index rotation (the position at the end of winding). As is clear from Figure 8B, in this state, the wires W1 to W3 are positioned circumferentially offset from the recesses 30 of the holding chucks 14C to 14E. Also, the multiple chucks 14, including the holding chucks 14C to 14E, are not yet in contact with the workpiece 8 (specifically, the flange portion 8d of the salient pole 8a).

[0053] In this state, the workpiece 8 can rotate freely, so it is indexed and rotated around its axis to roughly align the circumferential position of the workpiece 8 with the recesses 30 of the holding chucks 14C to 14E and the wires W1 to W3. The rotation of the workpiece 8 can be performed by the workpiece holder 10 and servo motor 12, which were used to drive the rotation of the workpiece 8 in the first step, including as will be explained in later figures.

[0054] In the example described here, the direction of rotation is assumed to be the direction of arrow R1 in Figures 9A and 9B. As shown in Figures 9A and 9B, the wires W1 to W3 are stopped slightly past the recesses 30 of the holding chucks 14C to 14E when viewed in the direction of arrow R1. This positions the wires W1 to W3 towards the opening 30b of the corresponding recess 30. The specific rotation angle can be determined by pre-measuring the average positional relationship between the wires W1 to W3 and the recesses 30 at the end of winding. For example, when using the 9-pole workpiece described here, a rotation angle of approximately 20 degrees, which is half of 1 / 9 of a full rotation, can be considered.

[0055] In the state shown in Figures 9A and 9B, the positions of the recesses 30 of the holding chucks 14C to 14E and the wires W1 to W3 are significantly misaligned when viewed in the radial direction of the workpiece 8. From this state, the control unit 100 operates the chuck opening / closing drive source 28 to move the multiple chucks 14 toward the radially outward direction of the workpiece 8 and bring them into contact with the workpiece 8 (specifically, the flange portion 8d of the salient pole 8a). This corresponds to the second step.

[0056] Figure 10 shows a contact state in which multiple chucks 14 have moved radially outward, as indicated by arrow F. Figure 14 shows the positional relationship between each chuck 14 and each part of the workpiece 8 in this state, as viewed from the axial direction of the workpiece 8, from the bottom side (nozzle unit 6 side) in Figure 10. Looking at the radial direction of the workpiece 8, this position is where the wires W1 to W3 are housed in the recesses 30 of the holding chucks 14C to 14E. Furthermore, if the positions of the recesses 30 of the holding chucks 14C to 14E and the wires W1 to W3 are aligned radially with the workpiece 8 at this point of contact, the wires W1 to W3 can be housed inside the recesses 30 of the holding chucks 14C to 14E by rotating the workpiece 8 in the opposite direction to arrow R1 (third step).

[0057] In the state shown in Figure 10 (first state), in order to enable the rotation of the workpiece 8, the multiple chucks 14 are brought into contact with the workpiece 8 with a relatively weak force so that the workpiece 8 can rotate while sliding against the multiple chucks 14. This contact is performed not so much for holding the workpiece 8, but rather for positioning the holding chucks 14C to 14E.

[0058] Incidentally, depending on the configuration of the winding machine 2, it may be possible to align the positions of the recesses 30 of the holding chucks 14C to 14E and the wires W1 to W3 in the radial direction of the workpiece 8, as seen in Figure 10, by moving the nozzles N1 to N3 radially relative to the nozzle unit 6 to change the amount of protrusion, or even without changing the amount of protrusion. However, it is not always possible to align the positions by moving the nozzles N1 to N3 alone.

[0059] For example, when winding the wire W2, the nozzle N2, which protrudes from the nozzle unit 6 to the extent shown in Figure 11A, can be retracted into the nozzle unit 6 to the position shown in Figure 11B, as indicated by arrow G, thereby moving the position of the wire W2 after winding towards the center of the workpiece 8. However, as shown in Figure 11B, even with this movement, it is possible that the radial position of the wire W2 relative to the workpiece 8 cannot be aligned with the recess 30 of the holding chuck 14E. Even if the workpiece 8 is rotated in the opposite direction to arrow R1 in this state, the wire W2 cannot be accommodated inside the recess 30. The same applies to the relationship between the other holding chucks 14C and 14E and the wires W1 and W3.

[0060] Therefore, in the state shown in Figure 10 (or Figure 11B), as indicated by arrow H in Figures 12A and 12B, the wire W2 is pressed radially inward by the pressing rod PR2, and the wire W2 is pushed out to the same position as the opening 30b of the recess 30 when viewed radially in the workpiece 8, and aligned. The radial position of the wire W2 may also be adjusted by combining the pressing by the pressing rod PR2 and the advancement and retraction of the nozzle N2. The other wires W1 and W3 are aligned in the same way using their corresponding pressing rods PR1 and PR3. This process is the fifth step. Note that in Figure 12A, the wire W2 and pressing rod PR2 are shown as representative examples, and the other wires and pressing rods are not shown.

[0061] In this state, by rotating the workpiece 8 in the direction of arrow R2 (opposite direction to arrow R1), the wires W1 to W3 can be accommodated inside the recesses 30 of the holding chucks 14C to 14E, as shown in Figure 13A. In any case, with the wires W1 to W3 housed in this manner, the movable member 40 is raised to release the pressure on the first pressing member 32, causing the lower protrusion 32b of the first pressing member 32 to press and hold a portion of the wires W1 to W3 against the inner surface 30a of each recess 30 due to the biasing force of the spring 35. This completes the third step.

[0062] At this time, the workpiece 8 may be returned to the original position of the index rotation shown in Figure 13B, beyond the position where the wires W1 to W3 are housed in the recesses 30 of the holding chucks 14C to 14E, as shown in Figure 13A. This is to enable continuous operation for multiple cycles by returning each part to its original rotational position at the end of one cycle. Another advantage of returning the workpiece 8 to its original position is that each wire W1 to W3 can be held in the same circumferential position as at the end of winding.

[0063] Furthermore, regarding the pressing rods PR1 to PR3, taking pressing rod PR1 as a representative example, as shown in Figure 15A, the tip portion 46Aa that contacts and presses against the wire W1 is bent at approximately a right angle to the handle portion 46A, forming an L-shape, and the base of the handle portion 46A is provided with a connecting portion 46B for connecting to the rod drive source 44A (see Figure 7). The arrow H in Figure 15A corresponds to the pressing direction arrow H shown in Figures 12A and 12B.

[0064] It is preferable that the circumferential length h of the workpiece 8 be longer than the distance the wire W1 moves due to the rotation of the workpiece 8 from the state shown in Figure 10 to the state shown in Figure 13A (or Figure 13B), so that the pressing on the wire W1 can be continued without moving the pressing rod PR1. However, it is also possible to configure the workpiece 8 to rotate and the pressing rod PR1 moves in the circumferential direction of the workpiece 8 in order to continue pressing on the wire W1. The pressing rods PR2 and PR3 have the same configuration as pressing rod PR1. Furthermore, these pressing rods PR1 to PR3 can individually move back and forth in the radial direction of the workpiece 8 by rod drive sources 44A to 44C.

[0065] As described above, after holding the wires W1 to W3 within the recess 30, the chuck opening / closing drive source 28 drives the multiple chucks 14 from the first state of weak holding to the radially outward side of the workpiece 8, transitioning to a normal holding state (strong holding state: second state) in which the multiple chucks 14 firmly hold the workpiece 8 with a stronger force than in the first state.

[0066] In this state, as the fourth step, the portion of the wire W1 to W3 held within the recess 30 (first portion) and the portion between the nozzles N1 to N3 are cut by the cutter 18, so that the winded workpiece 8 can be transported to the next step with each end wire W1a to W3a held in the holding chucks 14C to 14E. Since the position and arrangement order of the ends of each end wire W1a to W3a held in the holding chucks 14C to 14E are fixed, the equipment for the next step can automatically and easily grasp each end wire W1a to W3a and perform the processing of that step, such as connecting to terminals.

[0067] At this time, it is preferable to cut as close as possible to the part held within the recess 30, as this shortens the length of the end lines W1a to W3a that can move freely. It is also preferable to equip the cutter 18 with a clamp and hold the nozzle N1 to N3 side of the cutting position with the clamp, which makes it easier to supply the wire W1 to W3 to the winding start position for winding the next workpiece 8. At the winding start position, it is preferable to connect the wire to a designated terminal, insert it into a slit, or wrap it around a pin so that the position of the wire end can be easily determined in the next process.

[0068] By the way, in the state shown in Figure 13A or Figure 13B, the workpiece 8 and the pressing rods PR1 to PR3 obstruct the path for the cutter 18 to reach the cutting position of the wire W1 to W3. This may necessitate a complex drive mechanism or result in a longer cutting time. In this embodiment, to address this point, after the third step described above, a sixth step is performed in which the pressing rods PR1 to PR3 are hooked onto the portion of the wire W1 to W3 held by the recess 30 and the nozzles N1 to N3, respectively, and the wire W1 to W3 are pulled out radially outward from the workpiece 8. In this way, the cutting position of the wire W1 to W3 can be moved to a position that is less likely to interfere with other members, making it easier for the cutter 18 to access the cutting position and enabling rapid cutting using a relatively simple drive mechanism.

[0069] More specifically, using the pressing rod PR1 as a representative example, with the recess 30 of the holding chuck 14C holding the wire W1, the portion between the holding point of the wire W1 and the nozzle N1 is hooked onto the second surface 46Aa-2 (pulling surface) of the tip portion 46Aa, which is opposite to the first surface 46Aa-1 (pressing surface) that was in contact with the wire W1 when the wire W1 was pressed as described in Figure 12A, and the portion is pulled out radially outward from the workpiece 8.

[0070] Once the wire W1 is held in the recess 30, pressing the wire W1 by the pressing rod PR1 is no longer necessary, so the pressing is released and the pulling operation described above proceeds. For example, with the pressing rod PR1 retracted, rotate it to an angle that allows it to pass through the wire W1 without interfering (90° in this case, so that the tip 46Aa faces perpendicular to the plane of the paper), as shown in Figure 15B. Then, move the pressing rod PR1 radially inward (in the direction of arrow I) so that the tip 46Aa is radially inside the workpiece 8 relative to the wire W1. After that, return the pressing rod PR1 to its original orientation as shown in Figure 15C, and then move the pressing rod PR1 radially outward (in the direction of arrow J). This allows the wire W1 to be pulled out radially outward from the workpiece 8 at the second surface 46Aa-2.

[0071] The pressing rods PR2 and PR3 perform similar operations, and the forward and backward movement and rotation of the pressing rods PR1 to PR3 are controlled by the control unit 100, which drives the rod drive sources 44A to 44C. Instead of rotating the pressing rods PR1 to PR3, they may be moved parallel to the right in the diagram from the state shown in Figure 15A, thereby moving the tip portion 46Aa radially inward while avoiding the wire W1.

[0072] Figure 16A shows the state in which the second surface 46Aa-2 of the tip 46Aa of each pressing rod PR1 to PR3 is in contact with the wires W1 to W3 and slightly pulled out, and Figure 16B shows the state in which the wires W1 to W3 are pulled out even further from that position. In the configuration shown in Figure 16B, cutters 18 can be individually positioned for each wire W1, W2, and W3, or a single common cutter 18 can be moved to cut the cutting points CP of each wire W1 to W3. In this configuration, the cutter 18 can access wires W1 to W3 with a wide range of movement paths, providing a high degree of design flexibility.

[0073] Once the wires W1 to W3 are cut by the cutter 18, the end wires W1a, W2a, and W3a are neatly held in the respective holding chucks 14C to 14E, as shown in Figure 17. In this state, the movable arm 20 is driven to raise the workpiece holding device 16 from inside the winding machine 2, and the workpiece 8 with the winding 8E formed can be transported to the device or stage for the next process (seventh process).

[0074] By appropriately carrying out the next step and subsequent steps, windings constituting rotating electric machines such as motors can be manufactured. The method, which includes holding the end wire and transporting it to the next step as described above, as well as each step until the winding is completed, is an embodiment of the winding manufacturing method of this invention. Furthermore, the device that carries out the next step and subsequent steps, as well as the device that carries out the steps prior to those handled by winding machine 2, can also be configured as a single winding machine or winding processing system.

[0075] As described above, in this embodiment, before cutting the wires W1 to W3 between the workpiece 8 and nozzles N1 to N3, that is, while the wires W1 to W3 are neatly positioned and taut, the portion that will become the end lines W1a to W3a is held by the workpiece holding device 16, and then the wires W1 to W3 are cut.

[0076] Therefore, compared to fixing and positioning the end lines W1a to W3a somewhere after cutting the wires W1 to W3, the positioning of the end lines W1a to W3a can be made easier. Moreover, since the mechanism for holding the end lines W1a to W3a is added to the chuck mechanism for holding and transporting the workpiece 8, it is possible to suppress the complexity of the mechanism for holding the end lines W1a to W3a and the increase in the number of parts.

[0077] By using the workpiece holder 10 and servo motor 12 used for winding to rotate the workpiece 8 while holding the end wires W1a to W3a, the complexity of the mechanism and the increase in the number of parts can be suppressed. Furthermore, since the mechanism for holding the workpiece 8 necessary for transport to the next process is used to hold the end lines W1a to W3a, the additional time required for the holding operation of the end lines W1a to W3a can also be reduced.

[0078] Although preferred embodiments of the present invention have been described above, the present invention is not limited to these specific embodiments, and various modifications and changes are possible. For example, in the embodiment described above, an example was given in which the stator of a three-phase motor is used as the workpiece 8, but the workpiece 8 may also be a rotor.

[0079] Figures 18A to 18C illustrate the operation of the holding chuck holding the workpiece 8 while its holding portion 27 holds the wire, when the workpiece 8 is a rotor, with a representative example showing the location where the holding chuck 14D holds the wire W2. These figures schematically represent a cross-section of the holding chuck 14D, along with surrounding components, in order to clearly show the positional relationship between the holding chuck 14D and the workpiece 8. The cross-section is shown in a plane that passes through the center of the workpiece 8 as viewed in the circumferential direction and includes the central axes of the multiple chucks 14. For the workpiece 8, only the end face in this cross-section is shown. In these figures, common reference numerals are used for components that are common to or correspond to the embodiments described above.

[0080] The workpiece 8 used in this example has multiple salient poles 8a arranged radially on the outer circumference of a hollow cylindrical laminated iron core 8b. The wires W1 to W3 wound around each salient pole 8a form U-phase, V-phase, and W-phase coils 8c, respectively (in no particular order). Even when the workpiece 8 is a rotor, the winding of the wires W1 to W3 can be done in the same way as in the case of a stator. Then, as shown in Figures 18A and 18B, multiple chucks 14 are inserted so as to penetrate the hollow portion of the laminated iron core 8b, and the chuck bodies 25 and 26 of each chuck are moved radially in the radial direction of the workpiece 8 to contact the inner circumferential surface 8f of the workpiece 9, thereby holding it in the same way as in the case of a stator. In Figure 18B, the left chuck body 25 is not in contact with the inner circumferential surface 8f of the laminated iron core 8b, but it is in contact at a position different from the illustrated cross-section.

[0081] Figure 18A corresponds to the state in Figures 4A and 4B, and Figure 18B corresponds to the state in Figure 10. That is, between these, rotational movement of the workpiece 8 may also be included, similar to the embodiment described above. Figure 18C corresponds to the state in Figure 13A, and shows the state in which the wire W2 has been housed in the recess 30 and is held between the lower convex portion 32b of the first pressing member 32 and the inner surface 30a of the recess 30. In this example as well, the wire W2 can be held by the holding portion 27 of the holding chuck 14D as shown in Figure 18C by following the same procedure as in the embodiment described above. After this, each wire held in each holding portion can be cut by following the same procedure as in the embodiment described above, and the workpiece 8 can be transported to the next process. As in the embodiment described above, it is not necessary to align the wires W1 to W3 by pressing them using the pressing rods PR1 to PR3.

[0082] In addition to the above, although the above embodiment illustrates a configuration for processing three end lines W1a, W2a, and W3a, the same can be implemented for processing two or fewer end lines, or four or more end lines. Furthermore, the embodiments and modified configurations of the present invention described above can be implemented in part, and the modifications described above can be arbitrarily combined and applied as long as they do not contradict each other. The effects described in the embodiments of the present invention are merely examples of the most preferred effects that can result from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention. [Explanation of symbols]

[0083] 2: Winding machine, 6: Nozzle unit, 8a: Salient pole (core), 8: Workpiece, 14: Chuck, 14C, 14D, 14E: Holding chuck, 16: Workpiece holding device, 18: Cutter, 20: Movable arm, 27: Holding part, 30: Recess, 30a: Inner surface, 32: First pressing member, 35: Spring (biasing member), 36: First drive unit, 46Aa: Tip part, 46Aa-1: First surface, 46Aa-2: Second surface, N1~N3: Nozzle, PR1~PR3: Pressing rod (second pressing member), W1~W3: Wire material, W1a~W3a: End line

Claims

1. A workpiece having a core, in which a wire material fed from a nozzle is wound around the core, is provided with a plurality of chucks that move in the radial direction of the workpiece and contact the workpiece to hold it, A workpiece holding device characterized in that the first chuck among the plurality of chucks is provided with a holding portion for holding the first portion of the wire before cutting, which is located between the core and the nozzle.

2. A workpiece holding device according to claim 1, The workpiece holding device is characterized in that the holding portion comprises a recess located on the nozzle side of the workpiece when the workpiece is being held, for accommodating the first portion of the wire, and a movable first pressing member for pressing the first portion accommodated in the recess against the inner surface of the recess to hold it.

3. A workpiece holding device according to claim 2, The first chuck is provided with a biasing member that biases the first pressing member to contact the inner surface of the recess, Furthermore, the workpiece holding device is characterized by comprising a first drive unit that drives the first pressing member in a direction away from the inner surface of the recess.

4. A workpiece holding device according to claim 3, A workpiece holding device characterized in that, with the first pressing member separated from the inner surface of the recess by the first drive unit, the first portion of the wire is housed in the recess by the relative rotation of the workpiece with respect to the nozzle, centered on the axis of the workpiece.

5. A workpiece holding device according to claim 2, A workpiece holding device characterized in that the first portion of the wire is housed in the recess by the relative rotation of the workpiece with respect to the nozzle, with respect to the axis of the workpiece.

6. A workpiece holding device according to claim 5, A workpiece holding device comprising a second pressing member that presses the wire between the core and the nozzle to move the wire radially in the workpiece so that the radial position of the workpiece aligns with the first portion and the opening of the recess.

7. A workpiece holding device according to claim 6, A workpiece holding device characterized in that the second pressing member is provided so as to be able to move back and forth in the radial direction of the workpiece, and the length of the tip of the second pressing member that contacts and presses against the wire is greater than the distance that the portion of the wire that contacts the tip moves with the relative rotation.

8. A workpiece holding device according to claim 7, The workpiece holding device is characterized in that, while the first chuck holds the first portion of the wire, the second pressing member hooks the portion between the first portion of the wire and the nozzle onto the second surface of the tip of the wire, which is opposite to the first surface that was in contact with the wire when the wire was pressed, and pulls the wire outward in the radial direction of the workpiece.

9. A workpiece holding device according to claim 5, The control unit controls the radial drive of the plurality of chucks toward the workpiece, and brings the plurality of chucks toward the workpiece in one of two states, selected from a first state in which the workpiece can rotate about the axis of the workpiece while sliding toward the plurality of chucks, and a second state in which the plurality of chucks are brought into contact with the workpiece with a stronger force than in the first state. A workpiece holding device characterized in that the relative rotation of the workpiece is performed while the plurality of chucks are in contact with the workpiece in the first state.

10. A workpiece holding device according to any one of claims 1 to 9, The aforementioned workpiece comprises a plurality of the aforementioned cores, The plurality of chucks hold the workpiece in which the wire material fed out from each of the plurality of nozzles is wound around the core corresponding to each nozzle, A workpiece holding device characterized in that the plurality of chucks include a plurality of first chucks corresponding to each nozzle, and each first chuck holds each wire present between the corresponding nozzle and the core.

11. A workpiece holding device according to any one of claims 1 to 9, The nozzle and, A cutter for cutting the portion of the wire, the portion of which the first portion is held by the holding part, between the first portion and the nozzle, A movable arm equipped with the aforementioned multiple chucks, Equipped with, A winding machine characterized in that, after cutting the wire with the cutter, the first portion of the wire is held in the holding section, and the workpiece held by the plurality of chucks is transported by the movable arm to a device or stage that performs the next step of winding the wire.

12. The first step involves winding the wire material, which is fed out from the nozzle, onto the core of the workpiece. A second step involves moving multiple chucks in the radial direction of the workpiece in which the wire is wound around the core, and bringing each chuck into contact with the workpiece to hold it in place. A third step involves having the first chuck, one of the plurality of chucks holding the workpiece, hold the first portion of the wire located between the core and the nozzle. A winding method characterized by comprising a fourth step of cutting the portion of the wire between the first portion and the nozzle, the portion of which the first portion is held in the first chuck.

13. A winding process method according to claim 12, The first chuck comprises a recess located on the nozzle side of the workpiece while holding the workpiece, for accommodating a first portion of the wire, and a movable first pressing member for pressing and holding the first portion accommodated in the recess against the inner surface of the recess. A winding method characterized in that, in the third step, the workpiece is rotated relative to the nozzle with respect to the axis of the workpiece, thereby housing the first portion of the wire in the recess.

14. A winding processing method according to claim 13, The first chuck includes a biasing member that biases the first pressing member to contact the inner surface of the recess, A winding method characterized in that, in the third step, the first portion is housed in the recess while the first pressing member is held away from the inner surface of the recess against the biasing force of the biasing member, and then the first portion is pressed against the inner surface of the recess and held in place by releasing the hold of the first pressing member.

15. A winding processing method according to claim 13, A winding method characterized in that the third step includes a fifth step of pressing the wire between the core and the nozzle with a second pressing member to move the wire in the radial direction of the workpiece so that the radial positions of the first portion and the opening of the recess of the workpiece align.

16. A winding processing method according to claim 15, A winding method characterized by including a sixth step after the third step, in which the second pressing member is hooked onto the portion of the wire between the first portion and the nozzle and pulled out toward the radially outward direction of the workpiece.

17. A winding processing method according to claim 13, The second step is to hold the workpiece by bringing the plurality of chucks into contact with the workpiece in a first state in which the workpiece slides against the plurality of chucks and can rotate about the axis of the workpiece, The third step is performed with the plurality of chucks in contact with the workpiece in the first state. A winding process method characterized by comprising a step after the third step of bringing the plurality of chucks into contact with the workpiece with a force stronger than that of the first state.

18. A winding processing method according to any one of claims 12 to 17, The first step is to wind the wire material unwound from the plurality of nozzles onto the cores of the workpiece that correspond to each of the nozzles, The plurality of chucks include a plurality of first chucks corresponding to each of the nozzles, The third step is to have each of the first chucks hold the first portion of each wire that is located between the corresponding nozzle and the core. The winding method is characterized in that the fourth step is a step of cutting the portion between the first portion and the nozzle of each wire, the portion of which the first portion is held in the first chuck.

19. Each step of the winding process method according to any one of claims 12 to 17, A method for manufacturing a winding, characterized by comprising: a seventh step, after cutting the wire in the fourth step, transporting the workpiece held by the plurality of chucks to an apparatus or stage for performing the next step of winding the wire, using a movable arm equipped with the plurality of chucks, while the first portion of the wire is held in the first chuck.

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