Winding device

Abstract

The invention provides a small-sized winding device capable of simultaneously arranging and winding a lead wire on each of a plurality of teeth. A first moving mechanism of the moving device comprises a first rotating shaft, a second rotating shaft, a rotating mechanism, a first moving body, a first conversion mechanism, a second moving body and a second conversion mechanism. The rotating mechanism rotates the first rotating shaft and the second rotating shaft in linkage. The first moving body moves in a first radial direction in accordance with rotation of the first rotating shaft. The first conversion mechanism converts rotation of the first rotating shaft into linear motion along a first radial direction, and moves the first moving body in the first radial direction. The second moving body moves in the second radial direction in accordance with rotation of the second rotating shaft. The second conversion mechanism converts the rotation of the second rotating shaft into a linear motion in the second radial direction, and moves the second moving body in the second radial direction. The rotation mechanism rotates the first rotation shaft and the second rotation shaft in the same direction by the same amount. The first supporting member is arranged on the first moving body. The second supporting member is arranged on the second moving body.

Description

Technical Field

[0001] The present invention relates to a winding device for winding a conductor around teeth of a stator core of a stator of a rotating machine. Background Art

[0002] Patent Document 1 discloses a winding method and a winding device. The winding device includes a indexing mechanism, a nozzle, and a nozzle moving mechanism. The indexing mechanism rotates a stator about its central axis. The nozzle feeds out a wire. The nozzle moving mechanism moves the nozzle in three orthogonal axial directions. The winding device is placed on a base. The indexing mechanism includes a support table and a drive mechanism. The support table horizontally supports the stator. The drive mechanism rotationally drives the support table. By rotationally driving the support table with the drive mechanism, the stator supported by the support table rotates about the axis center.

[0003] The nozzle moving mechanism includes a pair of X-axis moving mechanisms, a Y-axis moving mechanism, and a Z-axis moving mechanism. The X-axis moving mechanism is supported by a column erected on the base and extends in the X-axis direction. The Y-axis moving mechanism is clamped between the pair of X-axis moving mechanisms and extends in the Y-axis direction. The Z-axis moving mechanism is connected to the Y-axis moving mechanism and extends in the Z-axis direction.

[0004] The X-axis moving mechanism includes a pair of housings (X), a drive motor (X), a ball screw (X), and a follower (X). The housing (X) is supported by the column. The drive motor (X) is disposed at an end of the housing (X). The ball screw (X) is connected to an output shaft of the drive motor (X) and extends in the X-axis direction. The follower (X) is screwed to the ball screw (X) and moves along the ball screw (X).

[0005] The Y-axis moving mechanism includes a housing (Y), a drive motor (Y), a ball screw (Y), and a follower (Y). Both end portions of the housing (Y) are coupled to the pair of followers (X), and the housing (Y) moves along the ball screw (X). The drive motor (Y) is disposed at an end of the housing (Y). The ball screw (Y) is connected to an output shaft of the drive motor (Y) and extends in the Y-axis direction. The follower (Y) is screwed to the ball screw (Y) and moves along the ball screw (Y).

[0006] The Z-axis moving mechanism includes a housing (Z), a drive motor (Z), a ball screw (Z), and a follower (Z). The housing (Z) is coupled to the follower (Y) and moves along the ball screw (Y). The drive motor (Z) is disposed at an end of the housing (Z). The ball screw (Z) is connected to an output shaft of the drive motor (Z) and extends in the Z-axis direction. The follower (Z) is screwed to the ball screw (Z) and moves along the ball screw (Z). A cylindrical nozzle holding member extending in the Z-axis direction is connected to the follower (Z) via a support member.

[0007] At the end of the nozzle holding member, a nozzle is mounted in a manner that it can swing about an axis. By driving the X-axis movement mechanism, Y-axis movement mechanism, and Z-axis movement mechanism, the nozzle can move freely in three orthogonal axial directions. First pulleys and second pulleys are provided at both ends of the nozzle holding member. The first pulley and the second pulley rotate around the axis center respectively. A wire is supplied from a wire supply device. The wire is guided by the first pulley and guided into the hollow portion of the nozzle holding member, and then guided by the second pulley and guided to the nozzle, and is sent out from the front end of the nozzle. A prescribed tension is imparted to the wire by a tension device. A cylinder is disposed on the outer peripheral surface of the nozzle holding member. A piston rod that advances and retracts by means of compressed air is inserted into the cylinder, and the front end of the piston rod is connected to the rear end of the nozzle. By driving the cylinder, the nozzle swings about the axis. By controlling the operation of the cylinder, the orientation of the nozzle changes, and the angle of the wire sent out from the nozzle can be adjusted. The nozzle is formed in a flat plate shape in a manner that it can pass through the slots between teeth. The wire penetrates the nozzle in the Y-axis direction.

[0008] In the case of winding a wire around teeth, the indexing mechanism rotates the stator to oppose a desired tooth to be wound with the nozzle. The tooth to be wound is arranged coaxially (on the Y-axis) with the nozzle. With the front end of the wire sent out held by a chuck, the nozzle moves around the tooth while feeding the wire and moves in the reel direction (Y-axis direction) of the tooth by driving the nozzle movement mechanism. The X-axis movement mechanism and the Z-axis movement mechanism cause the nozzle to move around the tooth. Each time the nozzle moves around the tooth once, the Y-axis movement mechanism moves the nozzle in the reel direction (Y-axis direction) of the tooth by an amount corresponding to the wire diameter. On the tooth, the wire of the first layer is wound in an arrangement from the front end side toward the root side, and then, the wire of the second layer is wound in an arrangement from the root side toward the front end side, and the wire is wound in a prescribed number of layers in the same manner in sequence.

[0009] The winding device includes an upper guide and a lower guide. During the process of winding the wire around the tooth to be wound, the upper guide and the lower guide hold the wire sent out from the nozzle and position the held wire relative to the tooth. The upper guide is disposed to face the non-opposing front face of the tooth to be wound, and the lower guide is disposed to face the non-opposing back face on the opposite side of the non-opposing front face of the tooth to be wound. The non-opposing front face of the tooth to be wound does not face the adjacent tooth on the outer peripheral surface of the tooth to be wound.

[0010] The upper guide is composed of a pair of upper left guides and upper right guides arranged side by side in the winding direction (X-axis direction) of the wire. The upper left guide and the upper right guide each include a first guide and a second guide. The first guide is arranged parallel to the winding direction (X-axis direction) of the wire wound around the winding target tooth. The second guide is arranged parallel to the first guide with an interval corresponding to the wire diameter between the first guide and the second guide.

[0011] The lower guide is composed of a pair of lower left guides and lower right guides arranged side by side in the winding direction (X-axis direction) of the wire. The lower left guide and the lower right guide each include a first guide and a second guide. A pair of guide moving mechanisms for moving the pair of upper left guides and upper right guides along orthogonal three-axis directions are arranged on the base. The guide moving mechanism includes a reel direction moving mechanism, a winding direction moving mechanism, and a vertical direction moving mechanism. The reel direction moving mechanism moves the upper guide in the reel direction (Y-axis direction) of the winding target tooth. The winding direction moving mechanism moves the upper guide in the winding direction (X-axis direction) of the wire wound around the winding target tooth. The vertical direction moving mechanism moves the upper guide in the direction of approaching / separating from the winding target tooth (Z-axis direction).

[0012] The reel direction moving mechanism includes a first housing, a first drive motor, a first ball screw, and a first follower. The first housing is supported by a mounting table placed on the base. The first drive motor is arranged at the end of the first housing. The first ball screw is connected to the output shaft of the first drive motor and extends along the Y-axis direction. The first follower is threadedly engaged with the first ball screw and moves along the first ball screw.

[0013] The winding direction moving mechanism includes a second housing, a second drive motor, a second ball screw, and a second follower. The second housing is coupled to the first follower of the reel direction moving mechanism and moves along the first ball screw. The second drive motor is arranged at the end of the second housing. The second ball screw is connected to the output shaft of the second drive motor and extends along the X-axis direction. The second follower is threadedly engaged with the second ball screw and moves along the second ball screw. A rod extending in the X-axis direction is coupled to the second follower of the winding direction moving mechanism, and an L-shaped support body is coupled to the front end of the rod. The vertical direction moving mechanism is arranged on the first surface orthogonal to the X-axis direction and the second surface orthogonal to the Y-axis direction of the support body.

[0014] The vertical direction moving mechanism includes a first guide rail and a second guide rail, and a first moving body and a second moving body. The first guide rail and the second guide rail are respectively arranged on the first surface and the second surface of the support body and extend along the Z-axis direction. The first moving body and the second moving body are guided by the first guide rail and the second guide rail and can move along the first guide rail and the second guide rail.

[0015] A cylinder is housed within a support body. A piston that moves forward and backward by means of compressed air is inserted into the cylinder, and the piston is connected to a first moving body and a second moving body. By driving the cylinder, the first moving body and the second moving body move along a first guide rail and a second guide rail.

[0016] A first guide member is coupled to the first moving body, and a second guide member is coupled to the second moving body. By driving a reel direction moving mechanism, a winding direction moving mechanism, and a vertical direction moving mechanism, the first guide member and the second guide member can move freely in three orthogonal axial directions with respect to the non-opposing front surface of the toothed object to be wound. Since the guiding moving mechanism is provided separately for each of a pair of upper left guide members and upper right guide members, the pair of upper left guide members and upper right guide members can move freely in three orthogonal axial directions with respect to the non-opposing front surface of the toothed object to be wound independently of each other. The guiding moving mechanism is also provided separately for each of a pair of lower left guide members and lower right guide members among the lower guide members.

[0017] The operation of the winding device is automatically controlled by a controller. The indexing mechanism rotates the stator to oppose the toothed object to be wound to the nozzle. The nozzle moving mechanism causes the nozzle to orbit around the toothed object to be wound and arranges and winds the wire material sent from the nozzle with respect to the toothed object to be wound. That is, winding is performed by passing the nozzle through the slot.

[0018] As a result of winding the wire material around the toothed object to be wound for N layers (N is a natural number), the wire material is wound in the slot between the first wire material at the end of the Nth layer and the second wire material adjacent thereto. When starting to wind the (N + 1)th layer, by driving the guiding moving mechanism, a pair of first guide members among the upper guide members approach the toothed object to be wound and are arranged side by side in the winding direction (X-axis direction) of the wire material.

[0019] Next, by driving the nozzle moving mechanism, the nozzle located outside the slot moves in the X-axis direction along the non-opposing front surface of the toothed object to be wound, and the wire material sent from the nozzle abuts against the surfaces of the pair of first guide members. The wire material sent from the nozzle is guided to the Nth layer on the non-opposing front surface of the toothed object to be wound.

[0020] Next, by driving the guide member moving mechanism, a pair of second guide members among the upper guide members approach the toothed object to be wound. Since the distance between the opposing surfaces of the pair of first guide members and the pair of second guide members is the amount of the wire diameter of the wire material, the wire material sent from the nozzle is clamped and held by the opposing surfaces of the pair of first guide members and the pair of second guide members. The upper guide member positions the held wire material at a position opposing the slot between the first wire material and the second wire material in the Nth layer on the non-opposing front surface of the toothed object to be wound. The upper guide member holds the wire material and positions the held wire material with respect to the toothed object to be wound.

[0021] Next, by driving the nozzle moving mechanism, the nozzle located outside the groove is moved along the first opening portion of the groove that opens to the front surface of the stator in the reel direction (Y-axis direction) of the winding target tooth, away from the winding target tooth. The upper guide member maintains the state of holding the wire. The wire held by the upper guide member is held in the positioned winding position. The winding position is the position where the wire should be wound when winding the wire around the winding target tooth.

[0022] Next, by driving the nozzle moving mechanism, the nozzle located outside the groove is moved in the axial direction of the stator along the second opening portion of the groove that opens to the inner circumference of the stator, and the wire sent out from the nozzle is inserted into the groove. The nozzle operates in such a way that the sent-out wire is inserted into the groove without passing through the inside of the groove. The upper guide member maintains the state of holding the wire. The wire held by the upper guide member is held in the positioned winding position.

[0023] Next, by driving the nozzle moving mechanism, the nozzle located outside the groove is moved in the reel direction (Y-axis direction) of the winding target tooth along the third opening portion of the groove that opens to the back surface of the stator. The nozzle is stopped in a state where the groove is opposed to the state between the first wire and the second wire of the Nth layer in one side surface of the sent-out wire and the winding target tooth.

[0024] In a state where the wire is held by the upper guide member, the nozzle is moved outside the groove along the first opening portion, the second opening portion, and the third opening portion of the groove, and the sent-out wire is inserted into the groove. Thus, the wire sent out from the nozzle can be guided to the winding position on one side surface of the winding target tooth. Even when the nozzle cannot pass through the inside of the groove, the wire can be wound around the winding target tooth.

[0025] In a state where the wire sent out from the nozzle is guided to the winding position on one side surface of the winding target tooth, the upper guide member is moved away from the winding target tooth to release the holding of the wire by the upper guide member. At the same time, a pair of first guide members in the lower guide member are moved closer to the winding target tooth and arranged side by side in the winding direction (X-axis direction) of the wire.

[0026] Next, by driving the nozzle moving mechanism, the nozzle located outside the groove is moved in the X-axis direction along the non-opposed back surface of the winding target tooth, and the wire sent out from the nozzle is brought into contact with the surfaces of the pair of first guide members. The wire sent out from the nozzle is guided to the Nth layer on the non-opposed back surface of the winding target tooth. The wire released from the holding of the upper guide member is wound around the winding position of the Nth layer on the non-opposed front surface of the winding target tooth, and the wire inserted into the groove is wound around the winding position of the Nth layer on one side surface of the winding target tooth. The movement of the nozzle in the X-axis direction can also be performed by driving the indexing mechanism and rotating the stator around the axis center.

[0027] Next, by driving the guide member moving mechanism, a pair of second guide members in the lower guide member are moved closer to the winding target teeth. The wire material sent out from the nozzle is clamped and held by the opposing surfaces of the pair of first guide members and the pair of second guide members, and is positioned at a position opposing the winding position on the non-opposing back surface of the winding target teeth.

[0028] Next, while the wire material is held by the lower guide member, the nozzle is moved outside the groove along the fourth opening, the fifth opening, and the sixth opening of the groove, and the sent-out wire material is inserted into the groove. The wire material sent out from the nozzle is guided to the winding position on the other side surface of the winding target teeth. The lower guide member is moved away from the winding target teeth, and the holding of the wire material by the lower guide member is released.

[0029] After that, every time the wire material is wound around the winding target teeth for one turn, the nozzle is moved in the reel direction (Y-axis direction) of the winding target teeth by an amount corresponding to the wire diameter of the wire material, and the upper guide member and the lower guide member are also moved in the Y-axis direction by an amount corresponding to the wire diameter of the wire material. By repeating the above steps, the winding of the (N + 1)-th layer is performed. After the (N + 1)-th layer, the winding is ended when the width of the groove is smaller than the diameter of the wire material.

[0030] Patent Document 2 discloses a winding device. The winding device has a wire guiding cylinder. The wire guiding cylinder is coaxially arranged at the center of the stator core. A wire is introduced into the wire guiding cylinder from the lower end. The wire guiding cylinder is supported by bearings provided on the frame so as to be axially movable and rotatable. A driving mechanism is arranged below the frame. The driving mechanism swings (reciprocally rotates) the wire guiding cylinder at a specified angle and reciprocally moves it in the axial direction, so as to wind around the corresponding inner teeth of the stator core.

[0031] A cylindrical head is installed at the upper end of the wire guiding cylinder. The head has a groove extending in the radial direction. The nozzle is installed in the groove so as to be slidable in the radial direction. The nozzle protrudes outward in the radial direction from three circumferential positions of the head, and simultaneously winds three specified inner teeth of the stator core.

[0032] The lower surface of the groove of the head is open, and an annular cam plate is installed thereon rotatably. On the cam plate, three spiral cam grooves are formed corresponding to the respective grooves. At the base end of each nozzle, a cam follower composed of a roller that engages with the corresponding cam groove is installed. When the cam plate rotates, the nozzle makes a reciprocating movement in the radial direction via the cam follower that engages with the spiral cam groove, and the winding position relative to the inner teeth of the stator core can be gradually moved.

[0033] The cam plate is connected to the upper end face of the sleeve that surrounds the upper outer periphery of the wire introduction cylinder and rotates integrally with the sleeve. The sleeve is inserted through the upper rotating cylinder, and the upper rotating cylinder is rotatably held by the first bearing block. The upper rotating cylinder allows the axial movement of the sleeve through the spline teeth that engage with the spline groove formed on the lower outer periphery of the sleeve and rotates integrally with the sleeve. A pulley for cam plate rotation is mounted on the outer periphery of the upper rotating cylinder.

[0034] A second bearing block is arranged opposite to the first bearing block, and they are connected via a connecting plate. A support plate is connected in a manner crossing the connecting plate, and a plurality of legs mounted on the lower surface of the support plate are fixed to the upper surface of the frame.

[0035] A lower rotating cylinder is rotatably held by a bearing fixed to the frame. The wire introduction cylinder is inserted through the lower rotating cylinder and supported. A spline groove is formed on the lower outer periphery of the wire introduction cylinder, and the spline teeth formed on the lower rotating cylinder engage with the spline groove. The wire introduction cylinder and the lower rotating cylinder are supported by the bearing and rotate integrally. A drive pulley is mounted on the outer periphery of the lower rotating cylinder.

[0036] The lower part of the sleeve connected to the cam plate is also inserted into the interior of the lower rotating cylinder. However, the sleeve is not engaged with the lower rotating cylinder in the rotational direction and can rotate freely relative to the lower rotating cylinder.

[0037] A rotating shaft is inserted through and supported by the second bearing block, and a driven pulley is mounted at the lower end of the rotating shaft. A first synchronous belt is stretched between the drive pulley and the driven pulley. The rotating shaft rotates synchronously with the wire introduction cylinder via the drive pulley, the first synchronous belt, and the driven pulley as the lower rotating cylinder that rotates integrally with the wire introduction cylinder rotates. A driving pulley is mounted at the upper end of the rotating shaft.

[0038] A first plate and a second plate are mounted in parallel at both ends of the support plate. A pair of first guide rods and second guide rods are arranged in parallel between the first plate and the second plate. A sliding plate is arranged above the support plate, and the first guide rods and the second guide rods are inserted through a plurality of first blocks mounted on the lower surface of the sliding plate. The sliding plate can move along the first guide rods and the second guide rods.

[0039] A third bearing block and a fourth bearing block are provided on the support plate. A ball screw is inserted through and supported by the third bearing block and the fourth bearing block. The ball screw is arranged parallel to the first guide rods and the second guide rods. A motor capable of controlling rotation such as a stepper motor is mounted on the second plate, and the drive shaft of the motor is connected to the ball screw via a coupling.

[0040] A second block is fixed to the center of the lower surface of the sliding plate, and a nut fixed to the second block is screwed onto the ball screw. When the motor operates and the ball screw rotates, the sliding plate moves along the first guide rod and the second guide rod via the nut screwed onto the ball screw. As a driving mechanism for the sliding plate, a driving mechanism using a rack and a pinion can also be adopted.

[0041] On the upper surface of the sliding plate, a pair of first movable pulleys and second movable pulleys are installed at a specified interval. The second movable pulley is mounted on a movable plate fixed to the sliding plate by threading, and by staggering the position of the movable plate, the interval between the first movable pulley and the second movable pulley can be adjusted.

[0042] A substantially triangular first support plate and second support plate are mounted on the first bearing block and the second bearing block, and first idler pulleys to fourth idler pulleys are provided on the first support plate and the second support plate.

[0043] A second synchronous belt is stretched over a series of pulley sets composed of a driving pulley, a first idler pulley, a second movable pulley, a second idler pulley, a pulley for cam plate rotation, a third idler pulley, a first movable pulley, and a fourth idler pulley. The second synchronous belt is stretched outside the driving pulley, the second movable pulley, the pulley for cam plate rotation, and the first movable pulley, and inside the first idler pulley to the fourth idler pulley, presenting an overall cross shape.

[0044] The belt portions a, b, c, d stretched between the first movable pulley and the second movable pulley and the first idler pulley to the fourth idler pulley are parallel to the moving direction of the sliding plate. When the sliding plate moves in the direction D, the belt portions a, b become shorter, but the belt portions c, d become longer by the same length. When the sliding plate moves in the direction E, the belt portions a, b become longer, but the belt portions c, d become shorter by the same length. The path length of the belt surrounding the above pulley sets always remains unchanged. Even if the first movable pulley and the second movable pulley move in the direction D or the direction E along with the movement of the sliding plate, the second synchronous belt can rotate without stretching or slackening.

[0045] In the wire winding device, the wire guiding cylinder swings (reciprocally rotates) at a specified angle through a driving mechanism and reciprocally moves in the axial direction. Thus, the wire passing through the inside of the wire guiding cylinder and sent out from the front end of the nozzle is wound around the corresponding inner teeth of the stator core via each nozzle mounted on the upper end portion of the wire guiding cylinder.

[0046] When the wire introduction cylinder swings, the lower rotating cylinder engaged with the spline groove of the wire introduction cylinder via spline teeth rotates integrally. When the lower rotating cylinder rotates, the rotating shaft rotates via the driving pulley, the first synchronous belt, and the driven pulley. The upper rotating cylinder rotates via the second synchronous belt stretched over a series of pulley sets composed of the driving pulley, the first idle pulley, the second movable pulley, the second idle pulley, the pulley for cam plate rotation, the third idle pulley, the first movable pulley, and the fourth idle pulley. The sleeve also rotates integrally due to the engagement between the spline teeth of the upper rotating cylinder and the spline. In a state where the sliding plate stops and the first movable pulley and the second movable pulley do not move, the sleeve connected to the cam plate rotates synchronously with the wire introduction cylinder, and no relative rotation occurs between the cam plate, the wire introduction cylinder, and the head. Therefore, the nozzle maintains a state of protruding a predetermined length in the radial direction.

[0047] When the motor operates according to a preset program and the sliding plate moves in direction D or direction E via the ball screw, the nut, and the second block, relative rotation is generated between the cam plate, the wire introduction cylinder, and the head by the following action. Let the path of the driving pulley → the first idle pulley → the second movable pulley → the second idle pulley → the pulley for cam plate rotation be path I. Let the path of the pulley for cam plate rotation → the third idle pulley → the first movable pulley → the fourth idle pulley → the driving pulley be path II.

[0048] When the sliding plate moves in direction D, the belt portions a, b that form part of path I become shorter, and correspondingly, the belt portions c, d that form part of path II become longer. The second synchronous belt moves this length of amount from the path I side to the path II side, causing the pulley for cam plate rotation to rotate in direction D'.

[0049] When the sliding plate moves in direction E, the belt portions a, b that form part of path I become longer, and correspondingly, the belt portions c, d that form part of path II become shorter. The second synchronous belt moves this length of amount from the path II side to the path I side, causing the pulley for cam plate rotation to rotate in direction E'.

[0050] By additionally performing the above rotation on the rotation synchronized with the wire introduction cylinder, the pulley for cam plate rotation rotates relative to the wire introduction cylinder. As a result, the cam plate rotates relative to the wire introduction cylinder and the head via the upper rotating cylinder and the sleeve. As a result, the position of the cam groove engaged with the cam follower installed at the base of the nozzle changes, and the nozzle moves in the radial direction. Since the rotation angle of the cam plate can be freely adjusted according to the movement amount of the sliding plate, the movement of the nozzle in the radial direction can be performed at a specified timing and with a specified movement amount in linkage with the winding operation by controlling the motor.

[0051] The winding device gradually changes the amount of radial projection of the nozzle as the winding operation is performed on the internal teeth of the stator core, and winds the wire while arranging the wire along the length direction of the internal teeth. The winding can be performed in a manner that maximizes the space factor in the slot.

[0052] Prior art literature

[0053] Patent Literature

[0054] Patent Document 1: Japanese Patent Application Publication No. 2009-22133

[0055] Patent Document 2: Japanese Patent Application Publication No. 2000-245121

[0056] In a rotating machine, high efficiency and miniaturization can be achieved by increasing the space factor of the coil. The space factor of the coil can be increased by arranging and winding the wire on the teeth. The inventor believes that the winding method and winding device of Patent Document 1 are effective technologies in realizing the arrangement and winding of the wire. However, the inventor believes that in a winding method in which the nozzle provided in the winding device is set to one and the wire is wound around one tooth using the one nozzle, the operation time required for winding becomes longer. Since the operation time required for winding becomes longer, the productivity of the stator is reduced.

[0057] The inventors have studied the following winding method using the technology of Patent Document 1. This winding method is similar to Patent Document 2, in which a plurality of nozzles are provided in a winding device, and a conductor is wound around a plurality of teeth at the same time using the plurality of nozzles. In this description, a first nozzle and a second nozzle are cited as examples of a plurality of nozzles, and a first tooth and a second tooth are cited as examples of a plurality of teeth. The radial direction in which the first tooth protrudes is referred to as the "first radial direction", and the radial direction in which the second tooth protrudes is referred to as the "second radial direction". The conductor fed from the first nozzle is referred to as the "first conductor", and the conductor fed from the second nozzle is referred to as the "second conductor". The first conductor fed from the first nozzle is wound around the first tooth. The second conductor fed from the second nozzle is wound around the second tooth. The portion of the first conductor fed from the first nozzle to the end surface of the first tooth in the stacking direction is referred to as the "first traversing portion", and the portion of the second conductor fed from the second nozzle to the end surface of the second tooth in the stacking direction is referred to as the "second traversing portion". Steel plates forming the stator core are stacked in the stacking direction. In the winding method, the winding device moves the first support member and the second support member in a radial direction in a linked manner. The first support member supports the first traversing portion in the middle of winding the first wire to the first tooth. Accordingly, the position of the first traversing portion in the first radial direction is restricted. The second support member supports the second traversing portion in the middle of winding the second wire to the second tooth. Accordingly, the position of the second traversing portion in the second radial direction is restricted.

[0058] The inventor believes that when the first support member and the second support member are moved radially by separate and independent moving mechanisms, the winding device becomes large-sized. That is, in this case, it is necessary to provide two moving mechanisms for radial movement in the winding device corresponding to the two first support members and the second support member. One of the two moving mechanisms for radial movement moves the first support member radially. The other of the two moving mechanisms for radial movement moves the second support member radially. Summary of the Invention

[0059] An object of the present invention is to provide a small-sized winding device capable of simultaneously winding wires arranged around each of a plurality of teeth.

[0060] One aspect of the present invention is a winding device comprising: a first nozzle that delivers a first conductive wire to be wound around a first tooth among a plurality of teeth, the plurality of teeth being provided at equal angular intervals on a stator core of a stator of a rotating machine and protruding in a radial direction centered on a rotation axis of a rotor of the rotating machine, a second nozzle that delivers a second conductive wire to be wound around a second tooth among the plurality of teeth, toward the second tooth, and a rotating device that rotates the first nozzle relative to the first tooth at an outer periphery of the first tooth, and rotates the second nozzle relative to the second tooth at an outer periphery of the second tooth, and a positioning device. A device, which limits the position of a first traversing portion of the first wire sent from the first nozzle to the end surface of the first tooth in a first radial direction as the radial direction in which the first tooth protrudes, on an end surface of the first tooth in a stacking direction of steel plates forming the stator core, and limits the position of a second traversing portion of the second wire sent from the second nozzle to the end surface of the second tooth in a second radial direction as the radial direction in which the second tooth protrudes, on an end surface of the second tooth in the stacking direction, the positioning device comprising: a first support member that supports the first traversing portion; and a second support member that supports The first moving mechanism comprises: a first rotating shaft, which rotates around a first central axis along the stacking direction; a second rotating shaft, which rotates around a second central axis along the stacking direction; a rotating mechanism, which rotates the first rotating shaft and the second rotating shaft in a linked manner; a first moving body, which moves in the first radial direction as the first rotating shaft rotates; a first conversion mechanism, which converts the rotation of the first rotating shaft into a linear motion along the first radial direction, so that the first moving body moves in the first radial direction; a second moving body, which moves in the second radial direction as the second rotating shaft rotates; and a second conversion mechanism, which converts the rotation of the second rotating shaft into a linear motion along the second radial direction, so that the second moving body moves in the second radial direction, the rotating mechanism rotates the first rotating shaft and the second rotating shaft in the same direction and by the same amount, the first supporting member is arranged on the first moving body, and the second supporting member is arranged on the second moving body.

[0061] According to this wire winding device, the first moving mechanism can simultaneously move the first support member in the first radial direction and the second support member in the second radial direction.

[0062] Alternatively, the mobile device may include a second moving mechanism that moves the first support member in the stacking direction and moves the second support member in the stacking direction. When the position of the first transverse portion in the first radial direction and the position of the second transverse portion in the second radial direction are restricted by the positioning device, the second moving mechanism moves the first support member closer to the end face of the first tooth in the stacking direction and moves the second support member closer to the end face of the second tooth in the stacking direction. When the restriction on the position of the first transverse portion in the first radial direction and the restriction on the position of the second transverse portion in the second radial direction are released by the positioning device, the second moving mechanism moves the first support member away from the end face of the first tooth in the stacking direction and moves the second support member away from the end face of the second tooth in the stacking direction. In a state where the first moving mechanism moves the first moving body in the first radial direction and moves the second moving body in the second radial direction after the second moving mechanism moves the first support member away from the end face of the first tooth in the stacking direction and moves the second support member away from the end face of the second tooth in the stacking direction.

[0063] According to this structure, when the first support member moves along the first radial direction, it is possible to prevent the first transverse portion from being displaced in the first radial direction, and when the second support member moves along the second radial direction, it is possible to prevent the second transverse portion from being displaced in the second radial direction.

[0064] Alternatively, a plurality of first receiving grooves for receiving the first transverse portion may be included on a first support end face of the first support member that faces the end face of the first tooth in the stacking direction, and a plurality of second receiving grooves for receiving the second transverse portion may be included on a second support end face of the second support member that faces the end face of the second tooth in the stacking direction. The plurality of first receiving grooves are arranged on the first support end face along a first width direction that is orthogonal to both the stacking direction and the first radial direction of the first tooth, and are arranged side by side along the first radial direction on the first support end face. The plurality of second receiving grooves are arranged on the second support end face along a second width direction that is orthogonal to both the stacking direction and the second radial direction of the second tooth, and are arranged side by side along the second radial direction on the second support end face.

[0065] According to this structure, any one of the plurality of first storage grooves can support the first transverse portion, and any one of the plurality of second storage grooves can support the second transverse portion. Assume that the position of the first transverse portion in the first radial direction is offset toward any one of the plurality of first storage grooves. In this case, the first support member supports the first transverse portion in a state where the first transverse portion is stored in the any one of the first storage grooves. Assume that the position of the second transverse portion in the second radial direction is offset toward any one of the plurality of second storage grooves. In this case, the second support member supports the second transverse portion in a state where the second transverse portion is stored in the any one of the second storage grooves.

[0066] According to the present invention, a small winding device can be obtained that can simultaneously arrange and wind a wire around each of a plurality of teeth. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 It is a perspective view showing an example of the schematic structure of a stator core.

[0068] Figure 2 It is a perspective view showing an example of the schematic structure of the positioning device of the winding device. An example of the schematic structure of the second moving mechanism of the moving device of the positioning device is shown.

[0069] Figure 3 It is a perspective view showing an example of the schematic structure of the positioning device with a part omitted. The first moving mechanism of a plurality of support members and the moving device is shown.

[0070] Figure 4 It is a perspective view showing an example of the schematic structure of the support member and the first moving mechanism provided on the first side in the stacking direction. The support member on the first side in the stacking direction shows one of the plurality of support members, and the first moving mechanism on the first side in the stacking direction shows a part corresponding to the one support member.

[0071] Figure 5 It is a perspective view showing an example of the schematic structure of the support member and the first moving mechanism provided on the second side in the stacking direction. The support member on the second side in the stacking direction shows one of the plurality of support members, and the first moving mechanism on the second side in the stacking direction shows a part corresponding to the one support member.

[0072] Figure 6 It is a cross-sectional view showing an example of the support member of the positioning device on the first side in the stacking direction. A state of supporting the transverse portion of the wire on the end surface on the first side in the stacking direction of the tooth is shown. A part of the nozzle of the winding device is shown.

[0073] Figure 7A cross-sectional view of an example of a support member of a positioning device that represents the second side in the stacking direction. The state of the crossing portion of the wire on the end face of the second side in the stacking direction of the support teeth is shown. A part of the nozzle of the winding device is shown.

[0074] Figure 8 A perspective view showing an example of a schematic of the path during the relative rotation of the nozzle and the teeth. The path shows the amount of one revolution of the relative rotation of one nozzle and one tooth, corresponding to the case of winding a wire around a tooth using a positioning device.

[0075] Figure 9 Is along Figure 10 Cross-sectional view taken along line I-I of

[0076] Figure 10 A perspective view showing an example of the schematic structure of the support member.

[0077] Reference numeral description

[0078] 10 Nozzle; 11 Front end opening; 20 Positioning device; 30 Support member; 31 Receiving groove; 32 Support end face; 40 Moving device; 50 Support body; 51, 52, 53 Side walls; 60 First moving mechanism; 61 Rotation shaft; 62 Rotation mechanism; 63 First transmission body; 64 Second transmission body; 65 Conversion mechanism; 66 Third transmission body; 67 Fourth transmission body; 68 Moving body; 69 Connecting member; 70 Second moving mechanism; 71 Ball screw; 72 Screw shaft; 73 Nut; 74 Guide member; 75 Shaft; 76 Bushing; 77 Driving machine; 80 Frame; 90 Stator core; 91 Yoke; 92 Tooth; 93 End face; 94 Groove; 95 Groove opening; 96 Insulator; A, B, C, D, E, F, G, H Path; L0, L1, L2 Central axis. Detailed description of the preferred embodiments

[0079] Embodiments for implementing the present invention will be described with reference to the accompanying drawings. The present invention is not limited to the structures described below, and various structures can be adopted within the same technical concept. For example, a part of the structures shown below may be omitted or replaced with other structures. The present invention may also include other structures. The accompanying drawings are explanatory diagrams for understanding the present invention and are different from design drawings. The corresponding relationships between the respective drawings may sometimes be inaccurate. Hatching indicates a cut surface. Dashed lines are hidden lines.

[0080] <Rotating machine and stator core 90>

[0081] As an example of a rotating machine, a motor and a generator can be cited. The rotating machine includes a stator and a rotor. The rotating machine is well-known. In the embodiment, the descriptions related to the rotating machine and the rotor are appropriately omitted. The stator includes a stator core 90 and a plurality of coils. In addition, the stator includes an insulating structure. The insulating structure electrically insulates the stator core 90 and the plurality of coils. The insulating structure includes an insulator. In the embodiment, the insulator 96 is exemplified as the insulator (refer to Figure 6 , Figure 7 ). In addition, as an example of the insulator, insulating paper can be cited. Insulators such as the insulator 96 and insulating paper are well-known, and the insulating structure can also be adopted in the stator of a well-known rotating machine. In the stator including the stator core 90, a well-known insulating structure can be adopted. In the embodiment, other descriptions about the insulating structure are omitted.

[0082] The stator core 90 is formed by laminating steel plates (refer to Figure 1 ). As an example of the steel plate, an electromagnetic steel plate can be cited. In the embodiment, the direction in which the steel plates are laminated in the stator core 90 is called the "lamination direction". One side of the lamination direction is called the "first side", and the other side of the lamination direction is called the "second side". The direction centered on the rotation axis of the rotor is called the "radial direction" and the "circumferential direction", and the direction orthogonal to the two directions of the lamination direction and the radial direction is called the "width direction". In Figure 1 and the following Figure 4 , Figure 5 , the central axis L0 indicated by a single dotted line coincides with the rotation axis (rotation center) of the rotor. The radial direction coincides with the radial direction centered on the rotation axis of the rotor. One side of the radial direction is called the "third side", and the other side of the radial direction is called the "fourth side". The third side of the radial direction is the side of the rotation axis of the rotor. The fourth side of the radial direction is opposite to the third side of the radial direction. The circumferential direction includes the rotation direction and the reverse rotation direction of the rotor. The reverse rotation direction is opposite to the rotation direction of the rotor. One side of the circumferential direction is called the "fifth side", and the other side of the circumferential direction is called the "sixth side".

[0083] The stator core 90 includes a yoke portion 91 and a plurality of teeth 92 (refer to Figure 1 ). The yoke portion 91 has an annular shape. The plurality of teeth 92 are provided at equal angular intervals on the stator core 90 and project in the radial direction. The embodiment takes an inner rotor type rotating machine as an example. In the inner rotor type rotating machine, the rotor is rotatably provided inside the stator. In the stator of the inner rotor type rotating machine, the plurality of teeth 92 are provided at equal angular intervals on the inner circumference of the yoke portion 91 on the third side in the radial direction and project toward the third side in the radial direction. In the embodiment, the stator core 90 includes 9 teeth 92. However, the number of such teeth 92 is an example. The number of teeth 92 provided on the stator core 90 is appropriately determined in consideration of various conditions.

[0084] On the stator core 90, a slot 94 is formed between two circumferentially adjacent teeth 92. A coil is provided on the tooth 92. The coil is formed by winding a wire around the tooth 92 by a winding device described later. The wire is wound in a spiral shape in the radial direction, and the details will be described later. Further, the wire is wound in multiple layers. For example, the wire wound around the tooth 92 for one turn crosses from one side in the width direction (circumferential direction) to the other side on the end face 93 on the first side in the stacking direction of the tooth 92, and in this state, passes through the slot 94 formed on the other side in the circumferential direction of the tooth 92 from the first side to the second side in the stacking direction. Further, the wire continuously crosses from the other side in the width direction (circumferential direction) to one side on the end face 93 on the second side in the stacking direction of the tooth 92, and in this state, passes through the slot 94 formed on one side in the circumferential direction of the tooth 92 from the second side to the first side in the stacking direction.

[0085] In the embodiment, "on the end face 93 of the tooth 92" has the following meaning. That is, assuming that the end face 93 forms the first side in the stacking direction of the tooth 92. In this case, "on the end face 93 of the tooth 92" means closer to the first side in the stacking direction than the end face 93 on the first side in the stacking direction of the tooth 92. Assuming that the end face 93 forms the second side in the stacking direction of the tooth 92. In this case, "on the end face 93 of the tooth 92" means closer to the second side in the stacking direction than the end face 93 on the second side in the stacking direction of the tooth 92.

[0086] On each of the first side and the second side in the stacking direction, the end face 93 of the tooth 92 and the end face of the yoke 91 together form the end face of the stator core 90. That is, the end face 93 on the first side in the stacking direction of the tooth 92 and the end face on the first side in the stacking direction of the yoke 91 together form the end face on the first side in the stacking direction of the stator core 90. In other words, the end face on the first side in the stacking direction of the stator core 90 includes the end face 93 on the first side in the stacking direction of the tooth 92 and the end face on the first side in the stacking direction of the yoke 91. The end face 93 on the second side in the stacking direction of the tooth 92 and the end face on the second side in the stacking direction of the yoke 91 together form the end face on the second side in the stacking direction of the stator core 90. In other words, the end face on the second side in the stacking direction of the stator core 90 includes the end face 93 on the second side in the stacking direction of the tooth 92 and the end face on the second side in the stacking direction of the yoke 91.

[0087] The tooth 92 has a shape that widens in the circumferential direction on the front end side. In the embodiment, since the rotating machine is an inner rotor type, the front end side of the tooth 92 is on the third side in the radial direction. The slot 94 has a slot opening 95. The slot opening 95 is formed at adjacent positions on the front end sides of two circumferentially adjacent teeth 92. Such a structure of the stator core 90 is well known. In other words, the stator core 90 has a well-known stator core structure. Therefore, other descriptions related to the stator core 90 are appropriately omitted.

[0088] In Figure 1In the figure, labels are assigned to the teeth, the end faces in the stacking direction of the teeth, the grooves, and the groove openings as follows. That is, the label "92" for the teeth and the label "93" for the end faces in the stacking direction of the teeth are assigned to three arbitrarily selected circumferentially adjacent teeth 92. The label "94" for the grooves and the label "95" for the groove openings are assigned to the grooves 94 and the groove openings 95 between the following two teeth 92. These two teeth 92 are circumferentially adjacent among the three teeth 92 to which the labels are assigned. Figure 1 The "width direction" shown is for the following tooth 92. This tooth 92 is located at the circumferential center among the three teeth 92 to which the labels are assigned. Figure 1 The "radial direction" shown is based on the center position in the width direction of this tooth 92.

[0089] <Winding device>

[0090] Refer to Figures 1 to 10 A winding device will be described. The winding device forms coils on the teeth 92 of the stator core 90 of a rotating machine. The winding device simultaneously forms a plurality of coils for each of the plurality of teeth 92. The number of the plurality of teeth 92 for which coils are simultaneously formed is two or more, and may also be all or part of the plurality of teeth 92 provided on the stator core 90. In the embodiment, the winding device simultaneously forms nine coils for each of the nine teeth 92.

[0091] The winding device includes a supporting device, a plurality of nozzles 10, a rotating device, and a positioning device 20 (refer to Figures 2 to 7 ). In the embodiment, the illustration of the supporting device and the illustration of the rotating device are omitted. In Figure 2 , Figure 3 , the illustration of the plurality of nozzles 10 and the illustration of the wire are omitted. In Figure 6 , Figure 7 , the illustration of the wire before being wound around the teeth 92 is omitted. In the embodiment, the winding device has one nozzle 10 for one tooth 92. Therefore, the winding device has nine nozzles 10. The number of nozzles 10 provided in the winding device is appropriately determined considering various conditions. For example, when determining the number of nozzles 10 provided in the winding device, the number of the plurality of teeth 92 for which coils are simultaneously formed is considered.

[0092] The supporting device supports the stator core 90. In the supporting device, in order to support the stator core 90, a supporting structure similar to that of a known winding device can be adopted. For example, the winding device can adopt a supporting structure similar to the supporting table of the indexing mechanism in Patent Document 1 as the supporting device. Therefore, other descriptions about the supporting device are omitted.

[0093] The nozzle 10 feeds out a wire. The wire is wound around the tooth 92. That is, the nozzle 10 feeds out the wire to the tooth 92 which is the winding object of the wire. Tension is applied to the wire. All the plurality of nozzles 10 have the same shape. A front end opening 11 is provided at the front end of the nozzle 10 (refer to Figure 6 , Figure 7 ). The wire is fed out from the front end opening 11 to the outside of the nozzle 10. When the nozzle 10 relatively rotates around the outer periphery of the tooth 92 which is the winding object by means of a rotating device, the nozzle 10 feeds out the wire from the front end opening 31.

[0094] The rotating device relatively rotates the nozzle 10 around the outer periphery of the tooth 92 with respect to the tooth 92 (refer to Figures 6 to 8 ). The rotating device simultaneously and equally performs a plurality of relative rotations executed between one nozzle 10 and one tooth 92. In the embodiment, the rotating device simultaneously and equally performs nine relative rotations executed between one nozzle 10 and one tooth 92. When relative rotations are respectively executed between nine nozzles 10 and nine teeth 92, the relative positions of the nozzles 10 with respect to the teeth 92 are all in the same relationship.

[0095] In the relative rotations of the plurality of nozzles 10 and the plurality of teeth 92 performed by the rotating device, one circle of relative rotation executed between one nozzle 10 and one tooth 92 includes paths A to H (refer to Figure 8 ). The paths A to H show an example of the locus of the position of the front end of the nozzle 10 when the nozzle 10 relatively rotates around the outer periphery of one tooth 92 by means of the rotating device. Figure 8 The arrows indicating the paths A to H show the moving directions in one circle of relative rotation between one nozzle 10 and one tooth 92. The path lengths of the paths A to H are appropriately determined in consideration of various conditions. The rotating direction for relatively rotating one nozzle 10 and one tooth 92 may be opposite to the Figure 8 example shown. The rotating direction for relatively rotating one nozzle 10 and one tooth 92 is appropriately determined in consideration of each condition. For example, in the determination of this rotating direction, the characteristics required by the rotating machine are considered.

[0096] In path A, the nozzle 10 moves from the fifth circumferential side to the sixth circumferential side on the end face 93 on the first side in the stacking direction of the tooth 92. In path A, the relative circumferential movement range between the nozzle 10 and the tooth 92 crosses the tooth 92 from the region of the groove 94 on the fifth circumferential side of the tooth 92 to reach the region of the groove 94 on the sixth circumferential side of the tooth 92. In path B, the nozzle 10 moves from the fourth radial side to the third radial side. The front end of the nozzle 10 reaches a position on the third radial side relative to the groove opening 95. In path C, the nozzle 10 moves from the first side in the stacking direction to the second side in the stacking direction. The front end of the nozzle 10 reaches a position on the second side in the stacking direction relative to the end face 93 on the second side in the stacking direction of the tooth 92. In path D, the nozzle 10 moves from the third radial side to the fourth radial side. The front end of the nozzle 10 reaches the following region of the groove 94 on the fourth radial side relative to the groove opening 95. This groove 94 is provided on the sixth circumferential side of the tooth 92. In path E, the nozzle 10 moves from the sixth circumferential side to the fifth circumferential side on the end face 93 on the second side in the stacking direction of the tooth 92. In path E, the relative circumferential movement range between the nozzle 10 and the tooth 92 crosses the tooth 92 from the region of the groove 94 on the sixth circumferential side of the tooth 92 to reach the region of the groove 94 on the fifth circumferential side of the tooth 92. In path F, the nozzle 10 moves from the fourth radial side to the third radial side. The front end of the nozzle 10 reaches a position on the third radial side relative to the groove opening 95. In path G, the nozzle 10 moves from the second side in the stacking direction to the first side in the stacking direction. The front end of the nozzle 10 reaches a position on the first side in the stacking direction relative to the end face 93 on the first side in the stacking direction of the tooth 92. In path H, the nozzle 10 moves from the third radial side to the fourth radial side. The front end of the nozzle 10 reaches the following region of the groove 94 on the fourth radial side relative to the groove opening 95. This groove 94 is provided on the fifth circumferential side of the tooth 92.

[0097] In path H, the radial reaching position of the front end of the nozzle 10 may also differ by an amount corresponding to the wire diameter from the radial position at the start of the movement in path A. Assume that the wire is wound spirally from the fourth radial side to the third radial side. In path H, the radial reaching position of the front end of the nozzle 10 may also be more on the third radial side than the radial position at the start of the movement in path A by an amount corresponding to the wire diameter. Assume that the wire is wound spirally from the third radial side to the fourth radial side. In path H, the radial reaching position of the front end of the nozzle 10 may also be more on the fourth radial side than the radial position at the start of the movement in path A by an amount corresponding to the wire diameter.

[0098] Figure 6 、 Figure 7Corresponding to the case where the nozzle 10 is in the following first state or second state with respect to the tooth 92. In the first state, the nozzle 10 moves from the first side to the second side in the stacking direction with respect to the tooth 92 along the path C. In the second state, the nozzle 10 moves from the second side to the first side in the stacking direction with respect to the tooth 92 along the path G.

[0099] One revolution of relative rotation performed between one nozzle 10 and one tooth 92 includes the following first movement, second movement, and third movement. The first movement relatively moves the nozzle 10 and the tooth 92 in the stacking direction (see Figure 6 , Figure 7 and Figure 8 for the "paths C, G"). The second movement relatively moves the nozzle 10 and the tooth 92 in the radial direction (see Figure 8 for the "paths B, D, F, H"). The third movement relatively moves the nozzle 10 and the tooth 92 in the circumferential direction (see Figure 8 for the "paths A, E"). In the embodiment, the rotating device moves the nozzle 10 and the tooth 92 in the following manner for the first movement, second movement, and third movement.

[0100] That is, when the rotating device performs the first movement of the nozzle 10 and the tooth 92, it moves the nozzle 10 from the first side to the second side in the stacking direction (see Figure 6 , Figure 7 and Figure 8 for the "path C"), and moves the nozzle 10 from the second side to the first side in the stacking direction (see Figure 6 , Figure 7 and Figure 8 for the "path G"). When the rotating device performs the second movement of the nozzle 10 and the tooth 92, it moves the nozzle 10 from the fourth side to the third side in the radial direction (see Figure 8 for the "paths B, F"), and moves the nozzle 10 from the third side to the fourth side in the radial direction (see Figure 8 for the "paths D, H"). When the rotating device performs the third movement of the nozzle 10 and the tooth 92, it moves the nozzle 10 from the fifth side to the sixth side in the circumferential direction by a certain angle (see Figure 8 for the "path A"), and moves the nozzle 10 from the sixth side to the fifth side in the circumferential direction by a certain angle (see Figure 8 for the "path E"). When the nozzle 10 makes the first movement in the stacking direction, the second movement in the radial direction, and the third movement in the circumferential direction, the stator core 90 supported by the supporting device remains in the original state. The tooth 92 does not move and maintains a constant posture. The rotation angle of the nozzle 10 during the third movement is set to "360° / total number of teeth 92". In the embodiment, as described above, the total number of teeth 92 is 9 (see Figure 1 ), so this rotation angle is set to 40°.

[0101] In the rotating device, it is also possible that part or all of the first movement, the second movement, and the third movement move the stator core 90. For example, it is also possible that the first movement and the second movement are the same as described above, and the third movement moves the stator core 90. In this case, when the nozzle 10 makes the first movement in the stacking direction and when the nozzle 10 makes the second movement in the radial direction, the stator core 90 supported by the supporting device remains in the original state as described above, and the teeth 92 do not move and maintain a constant posture. When the stator core 90 makes the third movement in the circumferential direction, the nozzle 10 remains in the original state and maintains a constant posture. The third movement of the stator core 90 in the circumferential direction is performed by moving the supporting device that supports it. Along with this, one tooth 92 moves relative to one nozzle 10 in the same manner as described above. The third movement of the stator core 90 in the circumferential direction can also be achieved by moving the supporting device from the sixth side in the circumferential direction to the fifth side by a certain angle, thereby moving the stator core 90 supported by this supporting device in the same direction as the rotation by the same angle (refer to Figure 8 "Path A"), and by moving the supporting device from the fifth side in the circumferential direction to the sixth side by a certain angle, thereby moving the stator core 90 supported by this supporting device in the same direction as the rotation by the same angle (refer to Figure 8 "Path E"). In the embodiment, as described above, the total number of teeth 92 is 9 (refer to Figure 1 ), so the rotation angle of the stator core 90 during the third movement is set to 40°.

[0102] In the winding device, the same nozzle as that of a known winding device can be used as the nozzle 10, and the wire feeding from the nozzle 10 is implemented in the same manner as that of a known winding device. In the winding device, the same rotating structure as that of a known winding device can be used as the rotating device, and the following operations are implemented in the same manner as that of a known winding device. In this operation, multiple relative rotations performed between one nozzle 10 and one tooth 92 are carried out simultaneously and in the same manner. For example, the nozzle 10 can be the same as the nozzle in Patent Document 2, and the wire can be fed to the tooth 92 in the same manner as in Patent Document 2. The rotating device can adopt the same structure as the above-mentioned rotating structure disclosed in Patent Document 2, whereby 9 relative rotations performed between one nozzle 10 and one tooth 92 can be carried out simultaneously and in the same manner. Therefore, other descriptions about the nozzle 10 and the rotating device are omitted.

[0103] The positioning device 20 simultaneously and in the same manner restricts the position in the radial direction of the crossing part of the wire on the end faces 93 on the first side and the second side in the stacking direction of the multiple teeth 92 around which the wire is wound (refer to Figure 6 , Figure 7)。The crossing portion of the wire is sent out from one nozzle 10 onto the end face 93 of one tooth 92. That is, the positioning device 20 restricts the radial position of the crossing portion of the wire on the end face 93 on the first side in the stacking direction of each of the plurality of teeth 92 (refer to Figure 6 ). In this case, the positioning device 20 targets the crossing portion of the wire that is sent out from the nozzle 10 onto the end face 93 on the first side in the stacking direction of the tooth 92 and moves along path A for restriction. This crossing portion of the wire forms the coil end portion on the first side in the stacking direction of the coil. The positioning device 20 restricts the radial position of the crossing portion of the wire on the end face 93 on the second side in the stacking direction of each of the plurality of teeth 92 (refer to Figure 7 ). In this case, the positioning device 20 targets the crossing portion of the wire that is sent out from the nozzle 10 onto the end face 93 on the second side in the stacking direction of the tooth 92 and moves along path E for restriction. This crossing portion of the wire forms the coil end portion on the second side in the stacking direction of the coil.

[0104] The positioning device 20 includes a plurality of support members 30 and a moving device 40 (refer to Figures 2 to 7 ). The support members 30 are provided in the same number as the nozzle 10 on the first side and the second side in the stacking direction respectively. In the embodiment, the stator core 90 includes nine teeth 92, and the winding device has nine nozzles 10. The positioning device 20 includes nine support members 30 on the first side and the second side in the stacking direction respectively, corresponding to the nine teeth 92 and the nine nozzles 10. In Figures 3 to 5 , the illustration of the support member 30 is simplified.

[0105] The support member 30 supports the crossing portion of the wire sent onto the end face 93 of the tooth 92 (refer to Figure 6 , Figure 7 ). The support member 30 includes a plurality of receiving grooves 31 (refer to Figure 6 , Figure 7 , Figure 9 ). The plurality of receiving grooves 31 are provided on the support end face 32 of the support member 30. The support end face 32 forms the side of the support member 30 closer to the end face 93 of the tooth 92 in the stacking direction. The support end face 32 faces the end face 93 of the tooth 92 in the stacking direction. The plurality of receiving grooves 31 receive the crossing portion of the wire sent onto the end face 93 of the tooth 92 (refer to Figure 6 , Figure 7 ). In the embodiment, the support end face 32 has a curved shape that is recessed away from the end face 93 of the tooth 92 (refer to Figure 6 , Figure 7 , Figure 9 , Figure 10 ). The shape of the support end face 32 can be appropriately determined considering various conditions. For example, in determining the shape of the support end face 32, the shape of the coil end portion is considered.

[0106] A plurality of storage grooves 31 are provided on the support end face 32 in the width direction. The plurality of storage grooves 31 are arranged side by side in the radial direction on the support end face 32. In the support member 30, the number of storage grooves provided on the support end face 32 may also be 1 or 2 or more. However, in the positioning device 20, the number of storage grooves 31 provided on the support end face 32 is preferably 2 or more. The number of storage grooves 31 is appropriately determined in consideration of various conditions. For example, when determining the number of storage grooves, one or both of the size of the support end face 32 and the wire diameter of the wire are considered.

[0107] The moving device 40 moves the plurality of support members 30. The moving device 40 includes a support body 50, a first moving mechanism 60, and a second moving mechanism 70 (see Figure 2 ). The support body 50 supports the first moving mechanism 60. In other words, the first moving mechanism 60 is provided on the support body 50. The first moving mechanism 60 is provided on the first side and the second side in the stacking direction of the stator core 90 as follows (see Figure 2 , Figure 3 ). The stator core 90 is provided in the winding device in a state supported by the support device. The first moving mechanism 60 on the second side in the stacking direction is provided in such a manner that the first moving mechanism 60 on the first side in the stacking direction is reversed in the stacking direction. The first moving mechanism 60 moves the plurality of support members 30 in the radial direction. The first moving mechanism 60 includes a plurality of rotating shafts 61, a rotating mechanism 62, a plurality of conversion mechanisms 65, and a plurality of moving bodies 68. In Figure 2 , Figure 3 , for the reference numerals of a plurality of identical elements provided in the positioning device 20, except for the reference numeral "L1" of the central axis of the rotating shaft 61, specific 1 arbitrarily selected on the first side and the second side in the stacking direction is labeled.

[0108] In the moving device 40, the first moving mechanism 60 on the first side in the stacking direction includes the same number of rotating shafts 61 as the support members 30 provided on the first side in the stacking direction in the positioning device 20, and the first moving mechanism 60 on the second side in the stacking direction includes the same number of rotating shafts 61 as the support members 30 provided on the second side in the stacking direction in the positioning device 20 (see Figure 3). In the first moving mechanism 60 on the first side of the stacking direction and the first moving mechanism 60 on the second side of the stacking direction, the conversion mechanism 65 and the moving body 68 are provided in the same number as the plurality of rotating shafts 61. That is, the first moving mechanism 60 on the first side of the stacking direction and the first moving mechanism 60 on the second side of the stacking direction include the same number of rotating shafts 61, conversion mechanisms 65 and moving bodies 68 as the number of supporting members 30 provided on one side of the stacking direction in one positioning device 20. As described above, the number of supporting members 30 provided on one side of the stacking direction in one positioning device 20 is 9. The first moving mechanism 60 on the first side of the stacking direction and the first moving mechanism 60 on the second side of the stacking direction include 9 rotating shafts 61, 9 conversion mechanisms 65 and 9 moving bodies 68.

[0109] In the positioning device 20, one of the nine support members 30 on the first side in the stacking direction is disposed above the end surface 93 on the first side in the stacking direction of each of the nine teeth 92. The first moving mechanism 60 on the first side in the stacking direction corresponds to the nine support members 30 on the first side in the stacking direction. In the positioning device 20, one of the nine support members 30 on the second side in the stacking direction is disposed above the end surface 93 on the second side in the stacking direction of each of the nine teeth 92. The first moving mechanism 60 on the second side in the stacking direction corresponds to the nine support members 30 on the second side in the stacking direction.

[0110] The rotating shaft 61 rotates around the central axis L1 (see Figures 2 to 5 ). The center axis L1 is along the stacking direction. The first transmission body 63 of the rotating mechanism 62 and the third transmission body 66 of the conversion mechanism 65 are provided on the rotating shaft 61. In the embodiment, the third transmission body 66 is provided on the rotating shaft 61 along the stacking direction on a side closer to the stator core 90 than the first transmission body 63. In other words, the first transmission body 63 is provided on the rotating shaft 61 along the stacking direction on a side farther from the stator core 90 than the third transmission body 66. In the first moving mechanism 60 on the first side in the stacking direction, the side closer to the stator core 90 is the second side in the stacking direction, and the side farther from the stator core 90 is the first side in the stacking direction. In the first moving mechanism 60 on the second side in the stacking direction, the side closer to the stator core 90 is the first side in the stacking direction, and the side farther from the stator core 90 is the second side in the stacking direction.

[0111] The rotating mechanism 62 is connected to each of the plurality of rotating shafts 61 so that all of the plurality of rotating shafts 61 rotate in conjunction with each other about the central axis L1 of each of the plurality of rotating shafts 61 (see Figure 3 The rotating mechanism 62 includes a plurality of first transmission bodies 63, a second transmission body 64 and a driving machine (see Figures 3 to 5)。In an embodiment, the illustration of the drive mechanism of the rotation mechanism 62 is omitted. As an example of the drive mechanism, a servo motor can be cited. The servo motor may also include an encoder. The drive mechanisms may be respectively provided for the rotation mechanism 62 of the first moving mechanism 60 on the first side in the stacking direction and the rotation mechanism 62 of the first moving mechanism 60 on the second side in the stacking direction, or may be a single shared one for the rotation mechanism 62 of the first moving mechanism 60 on the first side in the stacking direction and the rotation mechanism 62 of the first moving mechanism 60 on the second side in the stacking direction. Assume that drive mechanisms are respectively provided for the rotation mechanism 62 of the first moving mechanism 60 on the first side in the stacking direction and the rotation mechanism 62 of the first moving mechanism 60 on the second side in the stacking direction. In this case, the two drive mechanisms can be driven synchronously, or the two drive mechanisms can be driven independently.

[0112] The driving force from the drive mechanism is transmitted to the second transmission body 64. The second transmission body 64 operates with the driving force from the drive mechanism. In the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction, the first transmission bodies 63 are provided in the same number as the plurality of rotating shafts 61. One first transmission body 63 is provided for each of the plurality of rotating shafts 61. In the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction, the plurality of first transmission bodies 63 are provided in a state where all of them are in contact with the second transmission body 64 of the rotation mechanism 62. That is, the driving force from the drive mechanism is respectively transmitted to the plurality of rotating shafts 61 via the second transmission body 64. The plurality of rotating shafts 61 rotate by the same amount in the same direction about their respective central axes L1 by the driving force transmitted from the second transmission body 64 to the first transmission body 63.

[0113] The conversion mechanism 65 converts the rotational motion into a linear motion (see Figures 3 to 5 ). The conversion mechanism 65 includes a third transmission body 66 and a fourth transmission body 67. One third transmission body 66 is provided for one rotating shaft 61. The third transmission body 66 rotates together with the rotating shaft 61. The fourth transmission body 67 is provided radially in each of the plurality of conversion mechanisms 65. In the conversion mechanism 65, the fourth transmission body 67 is in contact with the third transmission body 66. In the conversion mechanism 65, the fourth transmission body 67 linearly moves by an amount corresponding to the amount of rotation of the third transmission body 66 from the third side to the fourth side or from the fourth side to the third side in the radial direction corresponding to the direction of rotation of the third transmission body 66 that rotates together with the rotating shaft 61. The moving body 68 is provided on the fourth transmission body 67 and linearly moves together with the fourth transmission body 67 to the same side in the radial direction. The moving body 68 includes a connecting member 69. The support member 30 is provided on the moving body 68 via the connecting member 69.

[0114] In an embodiment, the rotating mechanism 62 uses gears as the first transmission body 63 and the second transmission body 64, and the conversion mechanism 65 uses gears as the third transmission body 66 and the fourth transmission body 67 (refer to Figures 2 to 5 ). The third transmission body 66 is sometimes also referred to as a "pinion", the fourth transmission body 67 is sometimes also referred to as a "rack", and the combination of the fourth transmission body 67 and the third transmission body 66 is sometimes also referred to as a "rack / pinion".

[0115] When the first transmission body 63, the second transmission body 64, the third transmission body 66, and the fourth transmission body 67 are gears, the first moving mechanism 60 operates as follows. Based on the state of observing the first moving mechanism 60 from the first side toward the second side in the stacking direction (refer to Figures 2 to 5 ). The driving force from the driving machine acts on the second transmission body 64. The second transmission body 64 rotates about the central axis L2 by means of this driving force. The central axis L2 may coincide with the central axis L0 of the stator core 90 supported by the supporting device (refer to Figure 4 , Figure 5 ). The first transmission body 63 rotates as a follower with the rotation of the second transmission body 64, causing the rotating shaft 61 to rotate. Assume that the driving machine rotates the second transmission body 64 to the right. In this case, among the plurality of rotating shafts 61, the first transmission body 63 rotates to the left, and the plurality of rotating shafts 61 rotate to the left respectively. The third transmission body 66 rotates to the left in each of the plurality of conversion mechanisms 65. Along with this, the fourth transmission body 67 linearly moves from the fourth side in the radial direction toward the third side, and the moving body 68 moves in the same direction as the fourth transmission body 67 by the same amount. Assume that the driving machine rotates the second transmission body 64 to the left. In this case, among the plurality of rotating shafts 61, the first transmission body 63 rotates to the right, and the plurality of rotating shafts 61 rotate to the right respectively. The third transmission body 66 rotates to the right in each of the plurality of conversion mechanisms 65. Along with this, the fourth transmission body 67 linearly moves from the third side in the radial direction toward the fourth side, and the moving body 68 moves in the same direction as the fourth transmission body 67 by the same amount.

[0116] The second moving mechanism 70 moves the plurality of support members 30 from the first side toward the second side in the stacking direction and from the second side toward the first side in the stacking direction (refer to Figure 2 ). That is, the second moving mechanism 70 moves the plurality of support members 30 on the first side in the stacking direction from the first side toward the second side and from the second side toward the first side on the end surface 93 on the first side in the stacking direction of each of the plurality of teeth 92. Moreover, the second moving mechanism 70 moves the plurality of support members 30 on the second side in the stacking direction from the first side toward the second side and from the second side toward the first side on the end surface 93 on the second side in the stacking direction of each of the plurality of teeth 92.

[0117] In an embodiment, the second moving mechanism 70 moves the support body 50 from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction. Along with this, the second moving mechanism 70 moves the first moving mechanism 60 on the first side in the stacking direction from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction, and moves the first moving mechanism 60 on the second side in the stacking direction from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction. Moreover, the second moving mechanism 70 moves the plurality of support members 30 on the first side in the stacking direction by the same amount in the same direction in the stacking direction by moving the first moving mechanism 60 on the first side in the stacking direction from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction, and moves the plurality of support members 30 on the second side in the stacking direction by the same amount in the same direction in the stacking direction by moving the first moving mechanism 60 on the second side in the stacking direction from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction. The second moving mechanism 70 simultaneously moves the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction in the stacking direction by moving the support body 50 in the stacking direction.

[0118] As an example of the second moving mechanism 70, a linear motion mechanism can be cited. The moving device 40 employs a linear motion mechanism as the second moving mechanism 70. Although the description is omitted above, the winding device includes a frame 80 (refer to Figure 2 ). In an embodiment, the second moving mechanism 70 is provided on the frame 80. The second moving mechanism 70 includes a ball screw 71, a guide member 74, and a drive motor 77. In an embodiment, a support body 50 having a shape that is "U-shaped" when viewed from the side is illustrated, and the second moving mechanism 70 is provided on the outer surface of a side wall 53 along the stacking direction that connects the side wall 51 on the first side in the stacking direction and the side wall 52 on the second side in the stacking direction. The outer surface of the side wall 53 forms the back side of the inner surface of the side wall 53. The inner surface of the side wall 53, together with the inner surface on the second side in the stacking direction of the side wall 51 and the inner surface on the first side in the stacking direction of the side wall 52, forms a storage space for the support body 50. In the moving device 40, the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction are provided in the storage space of the support body 50.

[0119] In an embodiment, the second moving mechanism 70 includes one ball screw 71 and two guides 74. The one ball screw 71 and the two guides 74 are disposed on the outer surface of the side wall 53 along the stacking direction. The ball screw 71 is disposed between the two guides 74. In the ball screw 71, the screw shaft 72 is disposed along the stacking direction, and the nut 73 is fixed to the outer surface of the side wall 53. In the ball screw 71, by rotating the screw shaft 72, the nut 73 moves along the screw shaft 72 from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction. In the two guides 74, the shaft 75 is disposed along the stacking direction, and the bushing 76 is fixed to the outer surface of the side wall 53. In the two guides 74, the bushing 76 moves along the shaft 75 from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction. As an example of the combination of the shaft 75 and the bushing 76, a linear shaft and a ball bushing can be cited.

[0120] The drive motor 77 is connected to the screw shaft 72. As an example of the drive motor 77, a servo motor can be cited. The servo motor may also include an encoder. The drive motor 77 rotates the screw shaft 72.

[0121] When the screw shaft 72 is rotated in a predetermined direction by the drive motor 77, the nut 73 moves from the first side to the second side in the stacking direction. The support body 50 moves from the first side to the second side in the stacking direction by the same amount as the nut 73 as the nut 73 moves from the first side to the second side in the stacking direction. The two guides 74 guide the movement of the support body 50 from the first side to the second side in the stacking direction. The first moving mechanism 60 on the first side in the stacking direction moves from the first side to the second side in the stacking direction by the same amount as the support body 50 together with the support body 50. The plurality of support members 30 on the first side in the stacking direction move from the first side to the second side in the stacking direction by the same amount as the first moving mechanism 60 on the first side in the stacking direction together with the first moving mechanism 60 on the first side in the stacking direction. The first moving mechanism 60 on the second side in the stacking direction moves from the first side to the second side in the stacking direction by the same amount as the support body 50 together with the support body 50. The plurality of support members 30 on the second side in the stacking direction move from the first side to the second side in the stacking direction by the same amount as the first moving mechanism 60 on the second side in the stacking direction together with the first moving mechanism 60 on the second side in the stacking direction. On the first side in the stacking direction of the stator core 90, the support member 30 on the first side in the stacking direction approaches the end face 93 on the first side in the stacking direction of the tooth 92 in the stacking direction. On the second side in the stacking direction of the stator core 90, the support member 30 on the second side in the stacking direction moves away from the end face 93 on the second side in the stacking direction of the tooth 92 in the stacking direction. The support member 30 on the first side in the stacking direction supports the crossing portion of the wire on the end face 93 on the first side in the stacking direction of the tooth 92 in the state after moving to the second side in the stacking direction (see Figure 6 ).

[0122] When the lead screw shaft 72 is rotated in a direction opposite to the above-described specified direction by the drive mechanism 77, the nut 73 moves from the second side to the first side in the stacking direction. The support body 50 moves from the second side to the first side in the stacking direction by the same amount as the nut 73 as the nut 73 moves from the second side to the first side in the stacking direction. The two guide members 74 guide the movement of the support body 50 from the second side to the first side in the stacking direction. The first moving mechanism 60 on the first side in the stacking direction moves from the second side to the first side in the stacking direction by the same amount as the support body 50 together with the support body 50. The plurality of support members 30 on the first side in the stacking direction move from the second side to the first side in the stacking direction by the same amount as the first moving mechanism 60 on the first side in the stacking direction together with the first moving mechanism 60 on the first side in the stacking direction. The first moving mechanism 60 on the second side in the stacking direction moves from the second side to the first side in the stacking direction by the same amount as the support body 50 together with the support body 50. The plurality of support members 30 on the second side in the stacking direction move from the second side to the first side in the stacking direction by the same amount as the first moving mechanism 60 on the second side in the stacking direction together with the first moving mechanism 60 on the second side in the stacking direction. On the first side in the stacking direction of the stator core 90, the support member 30 on the first side in the stacking direction is away from the end face 93 on the first side in the stacking direction of the tooth 92 in the stacking direction. On the second side in the stacking direction of the stator core 90, the support member 30 on the second side in the stacking direction approaches the end face 93 on the second side in the stacking direction of the tooth 92 in the stacking direction. The support member 30 on the second side in the stacking direction supports the crossing portion of the wire on the end face 93 on the second side in the stacking direction of the tooth 92 in the state after moving to the first side in the stacking direction (see Figure 7 ).

[0123] Assume that the positioning device 20 restricts the radial position of the crossing portion of the wire sent to the following position. This position is on the end face 93 on the first side in the stacking direction of each of the plurality of teeth 92. In this case, the second moving mechanism 70 moves the plurality of support bodies 50 from the first side to the second side on the end face 93 on the first side in the stacking direction of each of the plurality of teeth 92. In the embodiment, this movement is referred to as "fourth movement". The fourth movement is executed after the front end of each of the plurality of nozzles 10 reaches the terminal position of the path A with respect to each of the plurality of teeth 92 and before the relative movement of the path B starts. The support member 30 on the first side in the stacking direction houses the crossing portion of the wire sent to the end face 93 on the first side in the stacking direction of the tooth 92 in any one of the plurality of storage grooves 31 (see Figure 6 ).

[0124] Suppose the positioning device 20 releases the restriction on the radial position of the crossing portion of the wire sent to the following position. This position is on the end face 93 on the first side in the stacking direction of each of the plurality of teeth 92. In this case, the second moving mechanism 70 moves the plurality of support bodies 50 from the second side to the first side in the stacking direction on the end face 93 on the first side in the stacking direction of each of the plurality of teeth 92. In the embodiment, this movement is referred to as "the fifth movement". The fifth movement is performed after the front end of each of the plurality of nozzles 10 reaches the terminal position of the path D with respect to each of the plurality of teeth 92 and before the relative movement of the path A in the next relative rotation starts. However, in the embodiment, the fifth movement is performed simultaneously with the sixth movement. The sixth movement will be described later.

[0125] Suppose the positioning device 20 restricts the radial position of the crossing portion of the wire sent to the following position. This position is on the end face 93 on the second side in the stacking direction of each of the plurality of teeth 92. In this case, the second moving mechanism 70 moves the plurality of support bodies 50 from the second side to the first side in the stacking direction on the end face 93 on the second side in the stacking direction of each of the plurality of teeth 92. In the embodiment, this movement is referred to as "the sixth movement". The sixth movement is performed after the front end of each of the plurality of nozzles 10 reaches the terminal position of the path E with respect to each of the plurality of teeth 92 and before the relative movement of the path F starts. However, in the embodiment, as described above, the sixth movement is performed simultaneously with the fifth movement. The support member 30 on the second side in the stacking direction houses the crossing portion of the wire sent to the end face 93 on the second side in the stacking direction of the tooth 92 in any one of the plurality of receiving grooves 31 (see Figure 7 ).

[0126] Suppose the positioning device 20 releases the restriction on the radial position of the crossing portion of the wire sent to the following position. This position is on the end face 93 on the second side in the stacking direction of each of the plurality of teeth 92. In this case, the second moving mechanism 70 moves the plurality of support bodies 50 from the first side to the second side in the stacking direction on the end face 93 on the second side in the stacking direction of each of the plurality of teeth 92. In the embodiment, this movement is referred to as "the seventh movement". The seventh movement is performed after the front end of each of the plurality of nozzles 10 reaches the terminal position of the path H with respect to each of the plurality of teeth 92 and before the relative movement of the path E in the next relative rotation starts.

[0127] The second moving mechanism 70 can also make the plurality of support members 30 on the first side in the stacking direction and the plurality of support members 30 on the second side in the stacking direction in the following manner by the seventh movement. In this manner, the plurality of support members 30 on the first side in the stacking direction become the following third state, and the plurality of support members 30 on the second side in the stacking direction become the following fourth state. In the third state, the positioning device 20 releases the restriction on the radial position of the crossing portion of the wire sent to the end surface 93 on the first side in the stacking direction of each of the plurality of teeth 92. In the fourth state, the positioning device 20 releases the restriction on the radial position of the crossing portion of the wire sent to the end surface 93 on the second side in the stacking direction of each of the plurality of teeth 92. At the start of the fourth movement, the plurality of support members 30 on the first side in the stacking direction and the plurality of support members 30 on the second side in the stacking direction can also be in a manner where the plurality of support members 30 on the first side in the stacking direction are in the third state and the plurality of support members 30 on the second side in the stacking direction are in the fourth state.

[0128] The first moving mechanism 60 on the first side in the stacking direction moves the plurality of support members 30 on the first side in the stacking direction in the radial direction by an amount corresponding to the wire diameter in the above-mentioned third state. The first moving mechanism 60 on the second side in the stacking direction moves the plurality of support members 30 on the second side in the stacking direction in the radial direction by an amount corresponding to the wire diameter in the above-mentioned fourth state. The following first timing is appropriately determined in consideration of various conditions. At the first timing, the first moving mechanism 60 on the first side in the stacking direction moves the plurality of support members 30 on the first side in the stacking direction in the radial direction by an amount corresponding to the wire diameter. The following second timing is appropriately determined in consideration of various conditions. At the second timing, the first moving mechanism 60 on the second side in the stacking direction moves the plurality of support members 30 on the second side in the stacking direction in the radial direction by an amount corresponding to the wire diameter. The second timing can be the same as the first timing. For example, after the front end of each of the plurality of nozzles 10 reaches the terminal position of the path H with respect to each of the plurality of teeth 92, the second moving mechanism 70 can immediately perform the seventh movement. In this case, the first timing and the second timing can also be set after the seventh movement ends and before the start of the relative movement of the path B in the next relative rotation.

[0129] Assume that the winding of the wire is performed from the fourth side in the radial direction to the third side. In this case, the first moving mechanism 60 on the first side in the stacking direction moves the plurality of support members 30 on the first side in the stacking direction from the fourth side in the radial direction to the third side by an amount corresponding to the wire diameter of the wire. The first moving mechanism 60 on the second side in the stacking direction moves the plurality of support members 30 on the second side in the stacking direction from the fourth side in the radial direction to the third side by an amount corresponding to the wire diameter of the wire. Assume that the winding of the wire is performed from the third side in the radial direction to the fourth side. In this case, the first moving mechanism 60 on the first side in the stacking direction moves the plurality of support members 30 on the first side in the stacking direction from the third side in the radial direction to the fourth side by an amount corresponding to the wire diameter of the wire. The first moving mechanism 60 on the second side in the stacking direction moves the plurality of support members 30 on the second side in the stacking direction from the third side in the radial direction to the fourth side by an amount corresponding to the wire diameter of the wire.

[0130] <Effects of the Embodiment>

[0131] According to the embodiment, a winding device can be determined, and the following effects can be obtained.

[0132] (1) The winding device includes a plurality of nozzles 10, a rotating device, and a positioning device 20 (refer to Figures 2 to 7 ). The plurality of nozzles 10 include a first nozzle and a second nozzle. The wire sent out from the first nozzle is set as the "first wire", and the wire sent out from the second nozzle is set as the "second wire". The first nozzle sends the first wire to be wound around the first tooth among the plurality of teeth 92 to the first tooth, and the second nozzle sends the second wire to be wound around the second tooth among the plurality of teeth 92 to the second tooth (refer to Figure 6 , Figure 7 ). The radial direction in which the first tooth protrudes is set as the "first radial direction", and the radial direction in which the second tooth protrudes is set as the "second radial direction". The rotating device relatively rotates the first nozzle around the outer periphery of the first tooth with respect to the first tooth and relatively rotates the second nozzle around the outer periphery of the second tooth with respect to the second tooth (refer to Figures 6 to 8 ). The positioning device 20 restricts the position of the first crossing portion of the first wire in the first radial direction and the position of the second crossing portion of the second wire in the second radial direction (refer to Figure 6 , Figure 7 ). The first crossing portion of the first wire is sent out from the first nozzle to the end face 93 of the first tooth on the end face 93 of the first tooth. The second crossing portion of the second wire is sent out from the second nozzle to the end face 93 of the second tooth on the end face 93 of the second tooth. The positioning device 20 includes a plurality of support members 30 and a moving device 40 (refer to Figures 2 to 7 ). The plurality of support members 30 include a first support member and a second support member. The first support member supports the first crossing portion, and the second support member supports the second crossing portion (refer to Figure 6 , Figure 7)). The mobile device 40 includes a first moving mechanism 60 (refer to Figures 2 to 5 ). The first moving mechanism 60 moves the first support member in a first radial direction and moves the second support member in a second radial direction. The first moving mechanism 60 includes a plurality of rotating shafts 61, a rotating mechanism 62, a plurality of moving bodies 68, and a plurality of conversion mechanisms 65. The plurality of rotating shafts 61 includes a first rotating shaft and a second rotating shaft. The first rotating shaft rotates about a central axis L1 (first central axis) of the first rotating shaft. The second rotating shaft rotates about a central axis L1 (second central axis) of the second rotating shaft. The rotating mechanism 62 rotates the first rotating shaft and the second rotating shaft in a linked manner. The plurality of moving bodies 68 includes a first moving body and a second moving body, and the plurality of conversion mechanisms 65 includes a first conversion mechanism and a second conversion mechanism. The first moving body moves in the first radial direction as the first rotating shaft rotates. The first conversion mechanism converts the rotation of the first rotating shaft into a linear motion along the first radial direction, causing the first moving body to move in the first radial direction. The second moving body moves in the second radial direction as the second rotating shaft rotates. The second conversion mechanism converts the rotation of the second rotating shaft into a linear motion along the second radial direction, causing the second moving body to move in the second radial direction. The rotating mechanism 62 rotates the first rotating shaft and the second rotating shaft in the same direction by the same amount. The first support member is provided on the first moving body. The second support member is provided on the second moving body.

[0133] According to the winding device, the movement of the first support member in the first radial direction and the movement of the second support member in the second radial direction can be performed simultaneously by the first moving mechanism 60. The winding device can simultaneously wind the wire around each of the plurality of teeth 92. The winding device can be miniaturized.

[0134] (2) The mobile device 40 includes a second moving mechanism 70 (refer to Figure 2)。The second moving mechanism 70 moves the first support member in the stacking direction and moves the second support member in the stacking direction. The second moving mechanism 70 operates as follows. Assume that the position of the first transverse portion in the first radial direction and the position of the second transverse portion in the second radial direction are restricted by the positioning device 20. In this case, the second moving mechanism 70 moves the first support member closer to the end face 93 of the first tooth in the stacking direction and moves the second support member closer to the end face 93 of the second tooth in the stacking direction. Assume that the restriction on the position of the first transverse portion in the first radial direction and the restriction on the position of the second transverse portion in the second radial direction are released by the positioning device 20. In this case, the second moving mechanism 70 moves the first support member away from the end face 93 of the first tooth in the stacking direction and moves the second support member away from the end face 93 of the second tooth in the stacking direction. The first moving mechanism 60 moves the first moving body in the first radial direction and moves the second moving body in the second radial direction in the following state. In this state, through the second moving mechanism 70, the first support member moves away from the end face 93 of the first tooth in the stacking direction and the second support member moves away from the end face of the second tooth in the stacking direction.

[0135] According to this structure, when the first support member moves in the first radial direction, it is possible to prevent the first transverse portion from being displaced in the first radial direction, and when the second support member moves in the second radial direction, it is possible to prevent the second transverse portion from being displaced in the second radial direction.

[0136] (3) The support member 30 includes a plurality of storage grooves 31 (refer to Figure 6 , Figure 7 , Figure 9 ). The plurality of storage grooves 31 are provided on the support end face 32 of the support member 30. The support end face 32 faces the end face 93 of the tooth 92 in the stacking direction. The plurality of storage grooves 31 store the transverse portions of the wires sent out to the end face 93 of the tooth 92 (refer to Figure 6 , Figure 7 ). The plurality of storage grooves 31 are provided on the support end face 32 along the width direction. The plurality of storage grooves 31 are arranged side by side in the radial direction on the support end face 32 (refer to Figure 6 , Figure 7 , Figure 9 ). Similarly to the above, assume that the plurality of support members 30 include a first support member and a second support member, and the plurality of teeth 92 include a first tooth and a second tooth. The wire sent out from the first nozzle among the plurality of nozzles 10 is defined as the "first wire", and the wire sent out from the second nozzle among the plurality of nozzles 10 is defined as the "second wire". The first support member includes a plurality of first storage grooves as the plurality of storage grooves 31, and the second support member includes a plurality of second storage grooves as the plurality of storage grooves 31 (refer to Figure 6 , Figure 7 , Figure 9)。A plurality of first receiving grooves are provided on the first supporting end face of the first supporting member which is the supporting end face 32 of the supporting member 30. The first supporting end face is opposed to the end face 93 of the first tooth in the stacking direction. The plurality of first receiving grooves receive the first crossing portions of the first wires sent to the end face 93 of the first tooth (see Figure 6 , Figure 7 ). The plurality of first receiving grooves are provided on the first supporting end face along the first width direction. The first width direction is orthogonal to the two directions of the stacking direction of the first teeth and the first radial direction. The plurality of first receiving grooves are arranged side by side in the first radial direction on the first supporting end face (see Figure 6 , Figure 7 , Figure 9 ). A plurality of second receiving grooves are provided on the second supporting end face of the second supporting member which is the supporting end face 32 of the supporting member 30. The second supporting end face is opposed to the end face 93 of the second tooth in the stacking direction. The plurality of second receiving grooves receive the second crossing portions of the second wires sent to the end face 93 of the second tooth (see Figure 6 , Figure 7 ). The plurality of second receiving grooves are provided on the second supporting end face along the second width direction. The second width direction is orthogonal to the two directions of the stacking direction of the second teeth and the second radial direction. The plurality of second receiving grooves are arranged side by side in the second radial direction on the second supporting end face (see Figure 6 , Figure 7 , Figure 9 ).

[0137] According to this structure, any one of the plurality of receiving grooves 31 can support the crossing portion. That is, any one of the plurality of first receiving grooves can support the first crossing portion, and any one of the plurality of second receiving grooves can support the second crossing portion. Assume that the position of the first crossing portion in the first radial direction shifts toward any first receiving groove among the plurality of first receiving grooves. In this case, the first supporting member supports the first crossing portion in a state where the first crossing portion is received in the any first receiving groove (see Figure 6 , Figure 7 ). Assume that the position of the second crossing portion in the second radial direction shifts toward any second receiving groove among the plurality of second receiving grooves. In this case, the second supporting member supports the second crossing portion in a state where the second crossing portion is received in the any second receiving groove (see Figure 6 , Figure 7 ).

[0138] <Variant example>

[0139] The embodiment may also be as follows. Several structures in the following variant examples can also be appropriately combined and adopted. Hereinafter, the differences from the above will be described, and the description of the same points will be appropriately omitted.

[0140] (1) The mobile device 40 includes a support body 50, a first moving mechanism 60, and a second moving mechanism 70 (refer to Figure 2 ). The support body 50 supports the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction. The second moving mechanism 70 moves the support body 50 from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction, so that the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction are integrally moved from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction. The second moving mechanism may also move the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction respectively. The mobile device includes two support bodies and two second moving mechanisms. One of the two support bodies is provided for each of the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction. The support body on the first side in the stacking direction supports the first moving mechanism 60 on the first side in the stacking direction. The support body on the second side in the stacking direction supports the first moving mechanism 60 on the second side in the stacking direction. One of the two second moving mechanisms is provided for each of the support body on the first side in the stacking direction and the support body on the second side in the stacking direction.

[0141] The second moving mechanism on the first side in the stacking direction moves the support body on the first side in the stacking direction from the first side to the second side in the stacking direction. This movement corresponds to the above-mentioned "fourth movement" and is also referred to as the "fourth movement" in this description. The first moving mechanism 60 on the first side in the stacking direction moves from the first side to the second side in the stacking direction by the same amount as the support body together with the support body on the first side in the stacking direction. The plurality of support members 30 on the first side in the stacking direction move from the first side to the second side in the stacking direction by the same amount as the first moving mechanism 60 together with the first moving mechanism 60 on the first side in the stacking direction.

[0142] The second moving mechanism on the first side in the stacking direction moves the support body on the first side in the stacking direction from the second side to the first side in the stacking direction. This movement corresponds to the above-mentioned "fifth movement" and is also referred to as the "fifth movement" in this description. The first moving mechanism 60 on the first side in the stacking direction moves from the second side to the first side in the stacking direction by the same amount as the support body together with the support body on the first side in the stacking direction. The plurality of support members 30 on the first side in the stacking direction move from the second side to the first side in the stacking direction by the same amount as the first moving mechanism 60 together with the first moving mechanism 60 on the first side in the stacking direction.

[0143] The second moving mechanism on the second side in the stacking direction moves the support body on the second side in the stacking direction from the first side to the second side in the stacking direction. This movement corresponds to the above-mentioned "sixth movement" and is also referred to as the "sixth movement" in this description. The first moving mechanism 60 on the second side in the stacking direction moves together with the support body on the second side in the stacking direction by the same amount as the support body from the first side to the second side in the stacking direction. A plurality of support members 30 on the second side in the stacking direction move together with the first moving mechanism 60 on the second side in the stacking direction by the same amount as the first moving mechanism 60 from the first side to the second side in the stacking direction.

[0144] The second moving mechanism on the second side in the stacking direction moves the support body on the second side in the stacking direction from the second side to the first side in the stacking direction. This movement corresponds to the above-mentioned "seventh movement" and is also referred to as the "seventh movement" in this description. The first moving mechanism 60 on the second side in the stacking direction moves together with the support body on the second side in the stacking direction by the same amount as the support body from the second side to the first side in the stacking direction. A plurality of support members 30 on the second side in the stacking direction move together with the first moving mechanism 60 on the second side in the stacking direction by the same amount as the first moving mechanism 60 from the second side to the first side in the stacking direction.

[0145] In the positioning device, regardless of the mode of the moving device, the fourth movement, the fifth movement, the sixth movement, and the seventh movement are appropriately executed at the above-mentioned specified timing. By providing a support body and a second moving mechanism on the first side and the second side in the stacking direction respectively, the moving device can execute the fourth movement, the fifth movement, the sixth movement, and the seventh movement independently.

[0146] (2) The moving device 40 includes a rotating mechanism 62 in the first moving mechanism 60 (refer to Figures 2 to 5 ). The rotating mechanism 62 includes a plurality of first transmission bodies 63 and a second transmission body 64. In the rotating mechanism 62, gears are used as the first transmission body 63 and the second transmission body 64. The first transmission body and the second transmission body can also be in a form different from gears. In the rotating mechanism, the first transmission body can be set as a pulley and the second transmission body can be set as a timing belt. In addition, in the rotating mechanism, the first transmission body can be set as a sprocket and the second transmission body can be set as a chain. The pulley or sprocket as the first transmission body is provided one for one relative to one rotating shaft 61 in the same way as the first transmission body 63 based on the above-mentioned gear.

[0147] Suppose the first transmission body is a pulley and the second transmission body is a timing belt. As an example of the driving machine of the rotating mechanism, a servo motor is listed in the same way as above. The driving machine includes a pulley on the output shaft. The timing belt as the second transmission body is installed on the pulleys respectively provided on the plurality of rotating shafts 61 and the pulley on the output shaft of the driving machine. By driving the driving machine, the driving force is transmitted to the pulleys of the plurality of rotating shafts 61 via the timing belt. Along with this, the plurality of rotating shafts 61 rotate in the same way as above. Suppose the first transmission body is a sprocket and the second transmission body is a chain. As an example of the driving machine of the rotating mechanism, a servo motor is listed in the same way as above. The driving machine includes a sprocket on the output shaft. The chain as the second transmission body is installed on the sprockets respectively provided on the plurality of rotating shafts 61 and the sprocket on the output shaft of the driving machine. By driving the driving machine, the driving force is transmitted to the sprockets of the plurality of rotating shafts 61 via the chain. Along with this, the plurality of rotating shafts 61 rotate in the same way as above. The rotating mechanism can be realized by a combination of known mechanical components and electrical components. The structure adopted as the rotating mechanism is appropriately determined considering various conditions.

[0148] (3) The moving device 40 includes a linear motion mechanism formed by combining a ball screw 71, a guide 74, and a driving machine 77 as the second moving mechanism 70 (see Figure 2 ). The guide 74 includes a shaft 75 and a bushing 76. The second moving mechanism can also be a linear motion mechanism different from this manner. The combination of the ball screw 71 and the driving machine 77 can also be a cylinder block. Examples of the cylinder block include an air cylinder, a hydraulic cylinder, and an electric cylinder. The guide 74 can also be a manner different from the combination of the shaft 75 and the bushing 76. The guide 74 can also be a ball spline. The second moving mechanism can be realized by a combination of known mechanical components and electrical components. The structure adopted as the second moving mechanism is appropriately determined considering various conditions.

[0149] (4) The device structure of the winding device can also be used for the following winding device. This winding device forms a coil on the teeth of the stator core of an outer-rotor type rotating machine. In the stator core of the outer-rotor type rotating machine, a plurality of teeth protrude from the yoke portion toward the following side in the radial direction. This side is opposite to the rotating shaft side of the rotor. Therefore, in the stator core of the outer-rotor type rotating machine, different from the above (see Figure 1 , Figures 4 to 10 ), the third side in the radial direction is set to be opposite to the rotating shaft side of the rotor, and the fourth side in the radial direction is set to be the rotating shaft side of the rotor.

Claims

1. A winding device, comprising: a first nozzle configured to deliver a first conductive wire to be wound around a first tooth among a plurality of teeth, the plurality of teeth being provided at equal angular intervals on a stator core of a stator of a rotating machine and projecting in a radial direction centered on a rotation axis of a rotor of the rotating machine; a second nozzle for delivering a second conductive wire to be wound around a second tooth among the plurality of teeth toward the second tooth; as well as a rotating device for rotating the first nozzle relative to the first tooth at an outer periphery of the first tooth, and for rotating the second nozzle relative to the second tooth at an outer periphery of the second tooth; as well as a positioning device that limits the position of a first traversing portion of the first conductive wire fed from the first nozzle to the end surface of the first tooth in a first radial direction as the radial direction in which the first tooth protrudes, on an end surface of the first tooth in a lamination direction of the steel plates forming the stator core, and limits the position of a second traversing portion of the second conductive wire fed from the second nozzle to the end surface of the second tooth in a second radial direction as the radial direction in which the second tooth protrudes, on an end surface of the second tooth in the lamination direction, The positioning device comprises: a first support member supporting the first traversing portion; a second support member supporting the second traversing portion; and a moving device including a first moving mechanism that moves the first support member in the first radial direction and moves the second support member in the second radial direction, The first moving mechanism comprises: A first rotation axis that rotates around a first central axis along the stacking direction; a second rotation axis that rotates around a second central axis along the stacking direction; a rotating mechanism that rotates the first rotating shaft and the second rotating shaft in conjunction with each other; a first moving body that moves in the first radial direction as the first rotating shaft rotates; a first conversion mechanism, which converts the rotation of the first rotating shaft into a linear motion along the first radial direction, so that the first moving body moves in the first radial direction; a second moving body that moves in the second radial direction as the second rotating shaft rotates; and a second conversion mechanism that converts the rotation of the second rotation shaft into a linear motion along the second radial direction, so that the second moving body moves in the second radial direction; The rotating mechanism rotates the first rotating shaft and the second rotating shaft in the same direction and by the same amount. The first support member is disposed on the first moving body, The second support member is provided on the second moving body.

2. The wire winding device according to claim 1, wherein: The moving device includes a second moving mechanism that moves the first support member in the stacking direction and moves the second support member in the stacking direction. With the position of the first transverse portion in the first radial direction and the position of the second transverse portion in the second radial direction restricted by the positioning device, the second moving mechanism moves the first support member closer to the end face of the first tooth in the stacking direction and moves the second support member closer to the end face of the second tooth in the stacking direction. With the restriction on the position of the first transverse portion in the first radial direction and the restriction on the position of the second transverse portion in the second radial direction released by the positioning device, the second moving mechanism moves the first support member away from the end face of the first tooth in the stacking direction and moves the second support member away from the end face of the second tooth in the stacking direction. In a state where the second moving mechanism moves the first support member away from the end face of the first tooth in the stacking direction and moves the second support member away from the end face of the second tooth in the stacking direction, the first moving mechanism moves the first moving body in the first radial direction and moves the second moving body in the second radial direction.

3. The winding device according to claim 1 or 2, wherein A plurality of first receiving grooves for receiving the first transverse portion are provided on a first support end face of the first support member that faces the end face of the first tooth in the stacking direction. A plurality of second receiving grooves for receiving the second transverse portion are provided on a second support end face of the second support member that faces the end face of the second tooth in the stacking direction. The plurality of first receiving grooves are provided on the first support end face along a first width direction that is orthogonal to both the stacking direction and the first radial direction of the first tooth, and are arranged side by side along the first radial direction on the first support end face. The plurality of second receiving grooves are provided on the second support end face along a second width direction that is orthogonal to both the stacking direction and the second radial direction of the second tooth, and are arranged side by side along the second radial direction on the second support end face.

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