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

Abstract

In order to be able to position a wound end wire with a simple structure, a workpiece holding device includes a plurality of chucks (14) configured to hold a workpiece (8) by moving in a radial direction of the workpiece (8) and contacting the workpiece (8) in a state in which wire rods (W1, W2, W3) supplied from orifices (N1, N2, N3) are wound around a salient pole (iron core) (8a) provided on the workpiece (8). In the plurality of chucks (14), each first chuck (14C, 14D, 14E) includes a holding portion configured to hold a first portion of a corresponding wire (W1, W2, W3) between a corresponding salient pole (8a) and a corresponding nozzle (N1, N2, N3), and the wire (W1, W2, W3) is cut in a state in which the first portion thereof is held.

Description

Technical Field

[0001] The present invention relates to a workpiece holding device configured to hold a workpiece (a wire supplied from a nozzle is wound around the workpiece), a winding device including the workpiece holding device, a winding processing method for processing the wire supplied from the nozzle and wound around the workpiece, and a winding manufacturing method including the winding processing method. Background Art

[0002] After necessary winding is completed, the stator and rotor constituting the motor are mounted in a motor case through a plurality of processing steps such as terminal attachment and connection to a terminal block and a connector.

[0003] Various winding methods are known. For example, in the case where a wire supplied from a nozzle is wound around a stator core (workpiece), after the winding process is completed, the wire between the wound core and the nozzle can be cut by a cutter, and then the stator core can be transferred to the next process. At this time, the wire remaining on the core body side after cutting is called a terminal wire, lead wire, or end wire, etc., and it is conceivable that the wire will be attached to a certain terminal in the next step. In this specification, the wire is referred to as an "end wire", but is referred to as a "lead wire" when referring to PTL1 described later.

[0004] Here, during the cutting process, the end wires may bend or cross each other in a random manner, so when there are multiple end wires, the order and position of the end portions of the individual end wires will not be constant. Therefore, when the stator core that has completed the winding is transferred to the next process while the end wires remain in the state they were cut, there is a problem that it is difficult to automatically identify and correctly pick up the individual end wires in the next process. If the picking is not performed accurately, defects such as entanglement of the end wires or damage to the wire itself may result. Therefore, in order to automatically pick up the end wires in the subsequent steps, the end wires are usually positioned by manually winding the end wires respectively on some fixed members such as pins, and this process has become an obstacle to the automation of the entire motor manufacturing process.

[0005] On the other hand, PTL 1 proposes a technology for automatically processing terminal wires (leads).

[0006] PTL 1 discloses a technology in which, although it is directed to a configuration in which a coil already formed by winding is inserted into a stator core, after the coil is inserted into the stator core mounted on a tray, the lead wires of the coil are clamped by a chuck, pulled out in the peripheral direction, and positioned by being clamped between upper and lower annular members having mountain-shaped protrusions, and in this state, the tray is conveyed to a subsequent process by a free-flow conveyor.

[0007] In addition to the method using a pallet disclosed in PTL 1, another method for conveying a workpiece after winding is completed is disclosed in PTL 2. In this method, a holding member functioning as a chuck is inserted into the stator to hold the stator, and the holding member is then moved. It should be noted that PTL 2 does not mention handling of the workpiece's final wire end.

[0008] [Citation List]

[0009] [Patent Document]

[0010] [PTL1] Japanese Patent Application Publication No. 8-98474

[0011] [PTL2] Japanese Patent Application Publication No. Tokkaihei 8-298755 Summary of the Invention

[0012] [Technical Issues]

[0013] In the lead handling device described in PTL 1, the chuck mechanism required for each lead includes up to three cylinders per unit. This configuration inevitably increases the size, complexity, and cost of the device. Furthermore, in addition to the chuck mechanism, upper and lower annular members are required to hold each lead at its outer periphery, further increasing the size, complexity, and cost of the device.

[0014] This problem occurs not only in the process of winding the stator core but also in the process of winding other workpieces such as the rotor core.

[0015] The present invention has been made in view of the above circumstances, and an object of the present invention is to enable positioning of the terminal wire after winding is completed by a simple configuration.

[0016] [Problem Solution]

[0017] Before cutting, the wires are positioned in an orderly and taut state between the workpiece and the nozzle. Holding the wires in this pre-cut state eliminates the need for a structure for handling any bent wire ends after cutting, as described in Patent Literature 1. Furthermore, positioning the wire ends using the same structure used to hold and transport the workpiece eliminates the need for a separate positioning structure, thus simplifying the design. The present invention was developed based on this concept.

[0018] Specifically, in order to achieve the above-mentioned purpose, the workpiece holding device according to the present invention includes a plurality of chucks, which are configured to hold the workpiece by moving in the radial direction of the workpiece and contacting the workpiece, wherein the workpiece includes a first iron core, on which a first wire supplied from a first pipe nozzle is wound, wherein a first chuck among the plurality of chucks includes a holding portion, which is configured to hold a first portion of the first wire between the first iron core and the first pipe nozzle.

[0019] In the above-mentioned workpiece holding device, preferably, the holding portion includes: a recess, which is configured to accommodate the first part, and the recess is located on the first pipe mouth side of the workpiece when the workpiece is held; and a movable first pressing member, which is configured to press the first part accommodated in the recess against the inner surface of the recess to hold the first part.

[0020] In the above-mentioned workpiece holding device, it is also preferred that the first chuck includes a pushing member, which is configured to push the first pressing member so that the first pressing member contacts the inner surface of the recess, and the workpiece holding device includes a first driving unit, which is configured to drive the first pressing member in a direction away from the inner surface of the recess.

[0021] In the above-mentioned workpiece holding device, it is also preferred that, while the first pressing member is held separated from the inner surface of the recess by the first driving unit, the first portion of the first wire is accommodated in the recess by relative rotation of the workpiece about its axis relative to the first nozzle.

[0022] In the above workpiece holding device, it is also preferred that the first portion of the first wire material is accommodated in the recess by relative rotation of the workpiece about its axis with respect to the first nozzle.

[0023] In the above-mentioned workpiece holding device, it is also preferred that the device further includes a second pressing member, which is configured to press the first wire at a position between the first iron core and the first pipe mouth to move the first wire in the radial direction of the workpiece so that the first part is aligned with the opening of the recess in the radial direction of the workpiece.

[0024] In the above-mentioned workpiece holding device, it is also preferred that the second pressing member can move back and forth in the radial direction of the workpiece, and the length of the second pressing member configured to contact and press the distal end portion of the first wire along the circumferential direction of the workpiece is greater than the distance that the part of the first wire that contacts the distal end portion moves with relative rotation.

[0025] In the above-mentioned workpiece holding device, it is also preferred that the second pressing member is configured: in a state where the first chuck holds the first part of the first wire rod, the second pressing member hooks the part of the first wire rod between the first part and the first nozzle on the second surface of the distal end portion, and pulls the first wire rod outward in the radial direction of the workpiece, wherein the second surface is opposite to the first surface of the distal end portion that contacts the first wire rod when pressing the first wire rod.

[0026] In the above-mentioned workpiece holding device, it is also preferred that the device further includes a controller, which is configured to control the driving of multiple chucks in the radial direction of the workpiece so that the multiple chucks contact the workpiece in a state selected from the following: a first state, in which the workpiece can slide relative to the multiple chucks and can rotate around the axis of the workpiece; and a second state, in which the multiple chucks press the workpiece with a stronger force than in the first state, and, while the multiple chucks are in contact with the workpiece in the first state, perform relative rotation of the workpiece.

[0027] In the above-mentioned workpiece holding device, it is also preferred that the workpiece includes multiple iron cores, the multiple iron cores include a first iron core, and the multiple chucks hold the workpiece in the following state, in which the wire rod including the first wire rod supplied from each pipe mouth has been wound on the respective iron cores of the workpiece corresponding to the pipe mouth, wherein each pipe mouth includes a first pipe mouth, and the multiple chucks include a plurality of first chucks corresponding to each of the pipe mouths, and each of the first chucks holds the wire rod between the corresponding pipe mouth and the corresponding iron core, wherein the multiple first chucks include a first chuck.

[0028] In addition, the winding device according to the present invention includes: any one of the above-mentioned workpiece holding devices; a first pipe mouth; a cutter, which is configured to cut the portion of the first wire between the first part and the first pipe mouth while the first part is held by the holding portion; and a movable arm, which includes a plurality of chucks, wherein the winding device is configured to: after the first wire is cut by the cutter, while the first part of the first wire is held by the holding portion, the workpiece held by the plurality of chucks is transferred by the movable arm to a device or workbench that will perform the next winding process of the first wire.

[0029] The winding processing method according to the present invention includes: a first pushing step of winding a first wire supplied from a first nozzle onto a first core provided in a workpiece; a second step of holding the workpiece by moving a plurality of chucks in a radial direction of the workpiece and bringing the plurality of chucks into contact with the workpiece, in a state where the first wire has been wound onto the first core; a third step of causing a first chuck among the plurality of chucks holding the workpiece to hold a first portion of the wire located between the first core and the first nozzle; and a fourth step of cutting a portion of the first wire between the first portion and the first nozzle while the first portion of the first wire is held by the first chuck.

[0030] In the above-mentioned winding processing method, preferably, the first chuck includes: a recess, which is configured to accommodate the first part, and the recess is located on the first nozzle side of the workpiece when the first chuck holds the workpiece; and a movable first pressing member, which is configured to press the first part accommodated in the recess on the inner surface of the recess to hold the first part, and in the third step, the first part of the first wire is accommodated in the recess by relative rotation of the workpiece around its axis relative to the first nozzle.

[0031] In the above-mentioned winding processing method, it is also preferred that the first chuck includes a pushing member, which is configured to push the first pressing member so that the first pressing member contacts the inner surface of the recess, and in the third step, while overcoming the pushing force of the pushing member and keeping the first pressing member separated from the inner surface of the recess, the first part of the first wire is accommodated in the recess, and then the hold of the first pressing member is released to press the first part on the inner surface of the recess and hold the first part.

[0032] In the above-mentioned winding processing method, it is also preferred that the third step includes a fifth step, in which the first wire is pressed between the first iron core and the first pipe mouth by a second pressing member to move the first wire along the radial direction of the workpiece so that the first part is aligned with the opening of the recess in the radial direction of the workpiece.

[0033] In the above-mentioned winding processing method, it is also preferred that the method further includes a sixth step of hooking the second holding member on a portion of the first wire between the first portion and the first nozzle and pulling the first wire outward in a radial direction of the workpiece.

[0034] In the above-mentioned winding processing method, it is also preferred that the second step is a step of holding the workpiece by bringing the multiple chucks into contact with the workpiece in a first state in which the workpiece can slide relative to the multiple chucks and can rotate around the axis of the workpiece, the third step is performed in a state in which the multiple chucks are in contact with the workpiece in the first state, and the method includes, after the third step, a step of bringing the multiple chucks into contact with the workpiece with a force stronger than the force in the first state.

[0035] In the above-mentioned winding processing method, it is also preferred that the first step is a step of winding a wire rod including a first wire rod supplied from each nozzle including a first nozzle around each core including a first core provided in the workpiece, each core corresponding to a corresponding one of the nozzles, and the plurality of chucks include a plurality of first chucks, the plurality of first chucks include the first chucks, each first chuck corresponding to a corresponding one of the nozzles, and the third step is a step of causing each first chuck to hold the corresponding wire rod at a first portion of the wire rod between the corresponding nozzle and the corresponding core, and the fourth step is a step of cutting a portion of the corresponding wire rod between the first portion and the corresponding nozzle while the first portion of each wire rod is held by the corresponding first chuck.

[0036] The winding manufacturing method according to the present invention includes: each step of any of the above-mentioned winding processing methods; and a seventh step, after cutting the first wire in the fourth step, while the first part of the first wire is held by the first chuck, the workpiece held by multiple chucks is transferred to a device or workbench that will perform the next winding process of the first wire through a movable arm including multiple chucks.

[0037] [Effects of the Invention]

[0038] According to the present invention, positioning of the terminal wire after winding is completed can be performed with a simple configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a perspective view showing a main portion of a wire winding device provided with a workpiece holding device according to an embodiment of the present invention.

[0040] Figure 2 It is shown in Figure 1 A perspective view showing the relationship between a workpiece and a nozzle in a winding device in a state where winding is completed.

[0041] Figure 3A and Figure 3B It is shown in Figure 1 The winding device is shown in perspective views of different states of the workpiece holding device during its entry into the workpiece holding position. Figure 3A shows the state before entry, and Figure 3B Shows the state after entering.

[0042] Figure 4A and Figure 4B is shown in the workpiece holding device into Figure 1 A view showing the state after the workpiece is held in position in the winding device. Figure 4A It is from Figure 1 A perspective view viewed from below shows a state before the multiple chucks begin opening operation, and Figure 4B It is from Figure 1 A plan view of the underside showing the workpiece and chuck.

[0043] Figure 5A and Figure 5B It shows Figure 1 A view showing a state in which a workpiece holding device in a winding device holds a workpiece. Figure 5A is an enlarged perspective view, and Figure 5B yes Figure 5A A magnified view of the area X in FIG. 1 shows the amount of travel used to hold and release the wire.

[0044] Figure 6A and Figure 6B Is used to illustrate Figure 1 A schematic cross-sectional view showing the operation of a holding portion of a holding collet in a workpiece holding device is shown. Figure 6A shows the state before the wire is held, and Figure 6B Shows the state of holding the wire.

[0045] Figure 7 It shows Figure 1 A block diagram of the structure of the winding device is shown.

[0046] Figure 8A and Figure 8B It is shown in Figure 1 The illustrated diagram shows the positional relationship among the workpiece 8 , the collet 14 , the nozzles N1 to N3 , and the wires W1 to W3 after winding by the winding device is completed and the collet 14 has been inserted into the workpiece 8 . Figure 8A It is a perspective view viewed slightly from the side toward the nozzle unit 6 . Figure 8B It is a perspective view viewed from a position closer to the side of the nozzle unit 6.

[0047] Figure 9A and Figure 9B They correspond to Figure 8A and Figure 8B A perspective view showing the workpiece 8 from Figure 8A The state shown is a state of rotation in the direction of arrow R1.

[0048] Figure 10 is shown from the ratio Figure 9B When viewed from a position slightly closer to the side of the workpiece 8 and the chuck 14, the chuck 14 has been Figure 9A and Figure 9B The state shown in the figure switches to a weak hold state.

[0049] Figure 11A and Figure 11B It is shown in Figure 10The illustrated state is an enlarged side view showing the positional relationship between the recess 30 of the retaining chuck 14E and the wire W2. Figure 11A The nozzle N2 is shown positioned for winding operation, and Figure 11B A state in which the nozzle N2 is accommodated in the nozzle unit 6 is shown.

[0050] Figure 12A It is shown from Figure 10 The state shown is a side view of a state in which the nozzle N2 is partially housed in the nozzle unit 6 and the wire W2 is pressed by the pressing rod PR2. Figure 12B is schematically shown in Figure 12A FIG. 1 is a plan view of the movement of the wire W2 caused by pressing and the arrangement of each component as viewed from above in the axial direction of the wire.

[0051] Figure 13A and Figure 13B The workpiece is shown from Figure 12A The state shown is a perspective view of a state in which the wire is accommodated in the recessed portion by rotating in the direction of arrow R2. Figure 13A The workpiece is shown rotated just enough to accommodate the wire in the recess, and Figure 13B Shows that the workpiece has been Figure 13A The illustrated state is further rotated to a state of an indexed-rotated original position.

[0052] Figure 14 It is shown in Figure 10 The illustrated state is a view showing the positional relationship between each chuck 14 and each portion of the workpiece 8 when viewed from the nozzle unit 6 side along the axial direction of the workpiece 8 .

[0053] Figures 15A to 15C It is a plan view schematically showing the structure of the pressing lever shown in FIG. 12 . Figure 15A Shown in Figure 12A The structure of the positional relationship between the pressing rod and the wire when pressing the wire is shown. Figure 15B Shows the Figure 15A When viewed from the same direction, Figure 15A The illustrated state shows the positional relationship between the distal end portion 46Aa and the shaft portion 46A of the pressing lever and the wire during movement of the pressing lever after the state is rotated 90 degrees. Figure 15C Shows that when Figure 16A When pulling out the wire as shown, it is also from Figure 15A The positional relationship between the distal end portion 46Aa and the shaft portion 46A and the wire rod when viewed from the same direction.

[0054] Figure 16A and Figure 16B It shows that the wire has been pressed from the rod Figure 13A The shown state is a perspective view of the pulled-out state. Figure 16A shows the initial state of the pull-out operation, and Figure 16B A state is shown in which the wire has been pulled out to a position where the wire is to be cut by the cutter.

[0055] Figure 17 It is a perspective view showing a state in which the workpiece 8 is held and conveyed by the workpiece holding device 16 after the wire rod is cut.

[0056] 18A to 18C 1 is a schematic cross-sectional view of the holding collet 14D and its surrounding structure for explaining the operation of the holding collet 14D holding the wire W2 in the modified embodiment. Figure 18A Shown is the corresponding Figure 4A and Figure 4B status, Figure 18B Shown is the corresponding Figure 10 status, and Figure 18C Shown is the corresponding Figure 13A status. DETAILED DESCRIPTION

[0057] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0058] Figure 1 shows the main part of the winding device 2 according to the present embodiment, and Figure 2 FIG. 2 shows a state in which the wires W1 to W3 are wound around the workpiece 8 in the winding unit 4 of the winding device 2. Figure 2 As shown, the winding device 2 drives the nozzle unit 6, which is provided with three nozzles N1 to N3, in the vertical direction (direction of arrow A) via a driving source. Simultaneously with this, the workpiece 8 is horizontally rotated (indexed) by a predetermined angle at a predetermined timing, so that the wires W1 to W3 supplied from the three nozzles N1 to N3 can be simultaneously wound around the three salient poles (iron cores) 8a of the workpiece 8. It is also possible to sequentially wind each of the wires W1 to W3 around multiple salient poles 8a, thereby forming a winding in which the windings corresponding to the multiple salient poles 8a are connected in series.

[0059] In this embodiment, an example of the workpiece 8 is shown as a stator of a three-phase motor including a plurality of salient poles 8a on the inner peripheral side of a laminated core 8b. Wires W1 to W3 wound around the respective salient poles 8a form coils for the U phase, V phase, and W phase, respectively (in no particular order). Figure 2 , reference characters R1 and R2 respectively denote the rotation directions of the workpiece 8 around its axis.

[0060] During the process of winding the wires W1 to W3, the workpiece 8 is held by a cylindrical workpiece support 10. The workpiece support 10 is driven by a servo motor 12 (see FIG. Figure 7 ) is indexed, so that the workpiece 8 is rotated by a predetermined angle.

[0061] Figure 2 The figure shows a state where the wires W1 to W3 supplied from the nozzles N1 to N3 are wound around the corresponding salient poles 8a, that is, a state where the winding 8c on each salient pole 8a is completed. The portions of the wires W1 to W3 located between the salient poles 8a and the nozzles N1 to N3, which are indicated by reference numerals W1a to W3a, are portions of the wires W1 to W3 that are cut by the cutter 18 (see FIG. 1 ) when the workpiece 8 is removed from the winding unit 4. Figure 7 ) The portion remaining on the workpiece 8 side after cutting. These portions are referred to as terminal wires, leads or end wires. In this embodiment, the first portion is referred to as "end wire."

[0062] One of the characteristics of this embodiment is that the wire is processed on the winding end side that forms the end wire. Therefore, in order to make the end wire easier to see, the illustration of the wire on the winding start side is omitted in the drawings.

[0063] like Figure 1 As shown, the winding device 2 includes a workpiece holding device 16 provided with a plurality of chucks 14, and a movable arm 20. The workpiece holding device 16 is rotatably mounted at the distal end of the movable arm 20. The movable arm 20 is an articulated robot arm.

[0064] The winding device 2 also includes the aforementioned cutter 18. After completing winding the wires W1 to W3 around the salient pole 8a, the cutter 18 cuts the wires W1 to W3 while a portion of each of the wires W1 to W3 is held by a holding portion (described later) of a corresponding holding chuck, which is a first chuck among the plurality of chucks 14. The cutter 18 cuts the wires W1 to W3 at a position between each portion (first portion) held by the holding portion and the nozzles N1 to N3.

[0065] After the wires W1 to W3 are cut by the cutter 18, while the end wires W1a to W3a formed by the cutting are held by the holding portion of the holding chucks described above, the winding device 2 transfers the workpiece 8 held by the plurality of chucks 14 to a device or a workbench for performing the next process of the winding operation via the movable arm 20. The next process may include, for example, connecting the end wires W1a to W3a to predetermined terminals.

[0066] The workpiece holding device 16 has a substantially cylindrical appearance, and a plurality of chucks 14 are provided on the lower side in the figure, while an unwound supply workpiece 22 is held on the upper side.

[0067] When the winding on the workpiece 8 is completed, as shown in FIG. Figure 3A As shown, the winding device 2 retracts the workpiece holder 24 of the winding unit 4 in the direction of arrow B, thereby opening the upper side of the workpiece 8. In conjunction with the retraction of the workpiece holder 24, the control unit 100 (see Figure 7 ) controls the drive of the movable arm 20, so that Figure 3Band Figure 4A As shown, the movable arm 20 inserts the workpiece holding device 16 into the center portion of the workpiece 8. After the workpiece 8 is held by the plurality of chucks 14 and the wires W1 to W3 are cut by the cutter 18 (as described later), the movable arm 20 lifts the workpiece holding device 16 under the control of the control unit 100 and rotates it 180 degrees so that the workpiece 22 is fed toward the workpiece 8. Figure 3A The lower side orientation in .

[0068] In this state, the movable arm 20 causes the workpiece holding device 16 to reenter the winding unit 4 and place the supply workpiece 22 on the workpiece support 10. Thereafter, the movable arm 20 lifts the workpiece holding device 16 holding the workpiece 8 and transfers the wound workpiece 8 to a device or workbench where the next process will be performed. After transferring the wound workpiece 8 to the device or workbench, the workpiece holding device 16 receives a new supply workpiece 22 and returns to the workbench via the movable arm 20. Figure 1 The winding standby position shown. The above describes a series of operations of the winding device 2 from winding the wire material onto the workpiece 8 to transferring the wound workpiece 8 to the next process. When winding is to be performed on multiple workpieces 8, the winding device 2 repeats the above operations.

[0069] Next, the structure and operation related to holding the wires W1 to W3 by the above-mentioned holding collets will be described.

[0070] like Figure 4A and Figure 4B As shown, with wires W1 to W3 supplied from respective nozzles N1 to N3 already wound around the salient poles 8a corresponding to the respective nozzles N1 to N3, multiple chucks 14 hold the workpiece 8 by moving radially outward and contacting the workpiece. The multiple chucks 14 simultaneously move radially outward and contact the salient poles 8a of the workpiece 8 to hold the workpiece 8. In other words, the chucks 14 are motor-driven chucks of the radially expandable holding type. A flange portion 8d is formed at the radially inner end of each salient pole 8a to regulate the position of the end of the winding 8c and to withstand abutment by the chucks 14. Figure 4B It is from Figure 4A 8 is a view of the workpiece 8 as seen from the underside.

[0071] like Figure 4B As shown, the plurality of chucks 14 include two standard chucks 14A and 14B that contact only the workpiece 8, and three holding chucks 14C, 14D, and 14E that respectively hold the wires W1, W2, and W3. Specifically, the plurality of chucks 14 include the holding chucks 14C, 14D, and 14E corresponding to the respective nozzles N1, N2, and N3, and these holding chucks 14C, 14D, and 14E hold the respective wires W1, W2, and W3 between the respective nozzles N1, N2, and N3 and the salient pole 8a.

[0072] like Figure 4B and Figure 5A As shown, the plurality of chucks 14 include chuck bodies 25, 26 that abut against the workpiece 8 when holding the workpiece 8, guide members that guide the chuck bodies 25, 26 in the radial direction of the workpiece 8, and a common chuck opening / closing drive source 28 that drives the chuck bodies 25 and 26 to open and close them. The chuck body 25 is the body of a standard chuck, and the chuck body 26 is the body of the aforementioned holding chuck. The chuck opening / closing drive source 28 drives the chucks 14, thereby (in this case, five) chucks 14 simultaneously moving in the radial direction of the workpiece 8 to perform an opening / closing operation. As the chuck opening / closing drive source 28, for example, a known mechanism including an air cylinder, a motor, a solenoid, etc. can be appropriately adopted.

[0073] The structure and operation of the holding collet will be described below by taking the holding collet 14D as a representative example. The holding collets 14C and 14E have the same structure and operation as the holding collet 14D.

[0074] The chuck body 26 holding the chuck 14D is integrally formed from its base portion driven by the chuck opening / closing drive source 28 to the distal end portion to be inserted into the workpiece 8 and in contact with the flange portion 8d. Figure 6A As shown, a holding portion 27 configured to hold the wire W2 is provided at the end of the chuck body 26 in the insertion direction of the workpiece 8. The holding portion 27 is located closer to the nozzle N2 than the workpiece 8 when the workpiece 8 is held, and includes: a hook-shaped recess 30 configured to accommodate the wire W2; and a movable first pressing member 32 configured to press the wire W2 accommodated in the recess 30 against the inner surface 30a of the recess 30 to hold the wire.

[0075] The upper end of the first pressing member 32 is rotatably supported by the chuck body 26 via the rotating shaft 34. Figure 6A A lower protrusion 32b is provided on the lower end side thereof so as to protrude in the radial direction of the workpiece 8. The wire W2 is pressed by the lower protrusion 32b.

[0076] The chuck body 26 is provided with a spring 35 and a first drive unit 36. The spring 35 is an urging member configured to urge the first pressing member 32 so that the lower protrusion 32b of the first pressing member 32 contacts the inner surface 30a of the recess 30 extending in the circumferential direction of the workpiece 8. The first drive unit 36 ​​is configured to overcome the urging force of the spring 35 and drive the first pressing member 32 in a direction away from the inner surface 30a of the recess 30.

[0077] The first pressing member 32 Figure 6A An upper protrusion 32a is further provided on the upper end side thereof, protruding in the radial direction of the workpiece 8 and having a length substantially the same as that of the lower protrusion 32b.

[0078] The first driving unit 36 ​​includes a sliding member 38 , a movable member 40 , and a holding chuck pressing driving source 42 (see FIG. 5 ).

[0079] The sliding member 38 can be moved relative to the chuck body 26. Figure 6A The movable member 40 is vertically movable on the chuck body 26 and contacts the upper surface of the upper protrusion 32a of the first pressing member 32. The movable member 40 can be vertically movably provided on the chuck body 26 and includes a pressing piece 40a that contacts the upper end of the sliding member 38. The chuck holding pressing drive source 42 drives the movable member 40 and is a drive source shared by the multiple holding chucks 14C, 14D, and 14E. The chuck holding pressing drive source 42 can be used, for example, as a cylinder, a motor, a solenoid, or the like.

[0080] like Figure 6A As shown, before the wire W2 is accommodated in the recess 30 of the chuck body 26, the chuck pressing drive source 42 is operated to move the movable member 40 downward (in the direction of arrow C), thereby also pressing the sliding member 38 in contact with the upper protrusion 32a downward. As a result, the first pressing member 32 is driven clockwise, and the lower protrusion 32b is separated from the inner surface 30a of the recess 30.

[0081] When the holding chuck pressing drive source 42 is operated to move the movable member 40 upward as shown by the arrow D from this state, as shown in FIG. Figure 6B As shown, the first pressing member 32 rotates counterclockwise (in the direction of arrow E) by the force of the spring 35. As a result, the lower protrusion 32b presses the wire W2 against the inner surface 30a of the recess 30. Therefore, a portion of the wire W2 is retained in the recess 30. Figure 6A , reference numeral 30b denotes an opening (wire receiving opening) of the recess 30. Since the wire W2 is pressed by the urging force of the spring 35 when being held, the wire W2 can be stably held with an appropriate force, thereby preventing the wire W2 from being damaged by, for example, an excessive pressing force that may scratch its insulating coating.

[0082] For example, Figure 5B As shown, the driving amount of the holding chuck pressing driving source 42 holding the wire W2 (ie, the upward movement amount t of the movable member 40 shown by the arrow V) is small relative to the diameter of the workpiece 8. Figure 6A As shown, since the distance from the rotation axis 34 to the point of action of the slide member 38 on the upper protrusion 32a is shorter than the distance from the rotation axis 34 to the lower protrusion 32b, pressing and releasing the tip wire W2a can be achieved with only a small vertical stroke.

[0083] like Figure 5AAs shown, between the workpiece 8 and the nozzle unit 6, the pressing rods PR1 to PR3 serving as the second pressing members are arranged to be movable back and forth in the radial direction of the workpiece 8. The pressing rods PR1 to PR3 are configured to press the corresponding wires W1 to W3 at positions between the salient poles 8a and the nozzles N1 to N3, thereby moving the wires W1 to W3 in the radial direction of the workpiece 8 so that the positions of the wires W1 to W3 in the radial direction of the workpiece 8 are aligned with the openings 30b of the recesses 30 of the corresponding holding chucks 14C to 14E. The pressing rods PR1 to PR3 are respectively arranged corresponding to the wires W1 to W3 and can also be considered as components of the workpiece holding device 16. Figure 7 As shown, each of the pressing rods PR1 to PR3 is driven by its corresponding rod driving source 44A to 44C to achieve back and forth movement and rotation. This will be described in detail later.

[0084] Figure 7 This block diagram shows the structure of the winding device 2. The control unit 100 is a microcomputer including a CPU, a ROM, a RAM, and an I / O interface connected to the CPU via a bus. The control unit 100 detects operator operations and signals from various sensors as needed, and references these signals to control the operation of each drive source based on previously stored operating parameters.

[0085] Next, a winding processing method using the winding device 2 and a winding manufacturing method including each step of the winding processing method will be described.

[0086] The winding processing method according to this embodiment includes the following first to fourth steps. Each of these steps can be Figure 7 The illustrated control unit 100 performs by controlling the operation of each driving source of the winding device 2 .

[0087] (a) First Step: The wires W1 to W3 supplied from the nozzles N1 to N3 of the winding unit 4 are wound around the salient poles 8 a provided on the workpiece 8 .

[0088] (b) Second step, the plurality of chucks 14 are moved in the radial direction of the workpiece 8 (in which the wires W1 to W3 have been wound around the salient poles 8a), and the respective chucks 14 are brought into contact with the workpiece 8 to hold the workpiece 8 (light holding: first state).

[0089] (c) A third step is to cause the holding chucks 14C to 14E of the plurality of chucks 14 holding the workpiece 8 to hold the corresponding portions of the wires W1 to W3 located between the salient poles 8 a and the nozzles N1 to N3 .

[0090] (d) A fourth step of cutting a portion of each of the wires W1 to W3 held by the holding chucks 14C to 14E in the third step, which portion is located between the holding position and the corresponding nozzles N1 to N3.

[0091] Figure 8B In the state where the plurality of chucks 14 have been inserted into the workpiece 8 after the winding of the wires W1 to W3 is completed in the winding unit 4 (first step), Figure 8A Observed from below Figure 8A 8. Components located on the near side of the figure relative to the nozzle unit 6, such as a drive mechanism of the nozzle unit 6, are omitted in the figure.

[0092] Figure 8A and Figure 8B The workpiece 8 is shown in the state of being in the initial position of its index rotation (i.e., the position when winding is completed). Figure 8B As is apparent from FIG, in this state, the wires W1 to W3 are positioned circumferentially offset from the corresponding recesses 30 of the retaining chucks 14C to 14E. In addition, the plurality of chucks 14 including the retaining chucks 14C to 14E have not yet come into contact with the workpiece 8 (specifically, the flange portion 8d of the salient pole 8a).

[0093] Since the workpiece 8 is free to rotate in this state, the workpiece 8 is indexed and rotated about its axis so that the corresponding recesses 30 of the holding chucks 14C to 14E are roughly aligned with the wires W1 to W3 in the circumferential direction of the workpiece 8. The rotation of the workpiece 8 (including those described in subsequent figures) can be performed by the workpiece support 10 and the servo motor 12, which are used to rotationally drive the workpiece 8 during the first step.

[0094] In the example described here, it is assumed that the direction of rotation is Figure 9A and Figure 9B The direction of the arrow R1. Figure 9A and Figure 9B As shown, the rotation stops at a position where the wires W1 to W3 have slightly passed the corresponding recesses 30 of the retaining chucks 14C to 14E, as indicated by the direction of arrow R1. As a result, the wires W1 to W3 are positioned on the opening 30b side of the corresponding recesses 30. The specific rotation angle can be determined based on the average positional relationship between the wires W1 to W3 and the recesses 30, which is determined in advance at the completion of winding. For example, in the case of a nine-pole workpiece described here, the rotation angle can be set to approximately 20 degrees, which is half of one-ninth of a complete rotation.

[0095] exist Figure 9A and Figure 9BIn the illustrated state, the positions of the respective recesses 30 of the retaining chucks 14C to 14E and the wires W1 to W3 are significantly offset in the radial direction of the workpiece 8. From this state, the control unit 100 drives the chuck opening / closing drive source 28 to move the plurality of chucks 14 toward the radially outer side of the workpiece 8, thereby bringing the chucks 14 into contact with the workpiece 8 (specifically, the flange portion 8d of the salient pole 8a). This corresponds to the second step.

[0096] Figure 10 A state is shown in which the plurality of collets 14 have moved in the radially outward direction indicated by arrow F and come into contact. Figure 14 Shows that when Figure 10 The positional relationship between each chuck 14 and each portion of the workpiece 8 in this state when viewed from the axial lower side (nozzle unit 6 side) of the workpiece 8. As can be seen in the radial direction of the workpiece 8, this position is where the wires W1 to W3 are accommodated in the corresponding recesses 30 of the holding chucks 14C to 14E. If, at the moment of contact, the positions of the respective recesses 30 of the holding chucks 14C to 14E and the wires W1 to W3 coincide in the radial direction of the workpiece 8, the wires W1 to W3 can be accommodated in the respective recesses 30 of the holding chucks 14C to 14E by rotating the workpiece 8 in the direction opposite to the arrow R1 (third step).

[0097] exist Figure 10 In the illustrated state (first state), in order to allow the above-mentioned rotation of the workpiece 8, the plurality of collets 14 are in contact with the workpiece 8 with a relatively weak force, so that the workpiece 8 can rotate while sliding relative to the collets 14. This contact is not primarily for the purpose of holding the workpiece 8, but is used to position and hold the collets 14C to 14E.

[0098] Depending on the configuration of the winding device 2, the nozzles N1 to N3 can be advanced and retracted in the radial direction relative to the nozzle unit 6 to change the protrusion amount of the nozzles, or even without changing the protrusion amount, so that the corresponding recesses 30 of the holding clamps 14C to 14E can be aligned with the wires W1 to W3. Figure 10 In the illustrated state, the alignment is performed in the radial direction of the workpiece 8. However, such alignment is not always possible simply by moving the nozzles N1 to N3.

[0099] For example, during the winding of the wire W2, by extending the nozzle unit 6 to the Figure 11A The nozzle N2 of the shown extent is withdrawn into the nozzle unit 6 to Figure 11B The position shown (as shown by arrow G) of the wound wire W2 can be moved toward the center of the workpiece 8.

[0100] However, if Figure 11BAs shown, even with this movement, the position of the wire W2 in the radial direction of the workpiece 8 may not be aligned with the recess 30 of the holding chuck 14E. In this state, even if the workpiece 8 is rotated in the direction opposite to the arrow R1, the wire W2 cannot be accommodated in the recess 30. This also applies to the relationship between the other holding chucks 14C and 14E and the wires W1 and W3, respectively.

[0101] Therefore, in Figure 10 (or Figure 11B ) shown in the state, as Figure 12A and Figure 12B As shown by the arrow H in FIG, the wire W2 is pressed radially inwardly toward the center of the workpiece 8 by the pressing rod PR2, thereby pushing the wire W2 in the radial direction of the workpiece 8 to a position aligned with the opening 30b of the recess 30. The radial position of the wire W2 can be adjusted by a combination of pressing the pressing rod PR2 and advancing / retracting the nozzle N2. The other wires W1 and W3 are aligned similarly using the corresponding pressing rods PR1 and PR3. This process corresponds to the fifth step. Figure 12A , only the wire W2 and the pressing rod PR2 are shown as representatives, and other wires and pressing rods are omitted.

[0102] In this state, by rotating the workpiece 8 in the direction of arrow R2 (which is opposite to the direction of arrow R1), as shown in FIG. Figure 13A As shown, wires W1 - W3 may be received within corresponding recesses 30 of retaining collets 14C - 14E.

[0103] In any case, with the wires W1 to W3 accommodated in this manner, the movable member 40 moves upward to release the pressing force on the first pressing member 32. As a result, the lower protrusion 32b of the first pressing member 32 presses a portion of each of the wires W1 to W3 against the inner surface 30a of the corresponding recess 30 by the urging force of the spring 35, thereby retaining the wires W1 to W3. This completes the third step.

[0104] At this point, the workpiece 8 can be returned to the Figure 13B The initial position of the index rotation shown is exceeded as shown Figure 13A The wires W1 to W3 are shown in positions where they are contained within the recesses 30 of the retaining chucks 14C to 14E. This is to allow for continuous operation over multiple cycles by returning each component to its initial position at the end of a cycle. Another advantage is that by returning the workpiece 8 to its initial position, the wires W1 to W3 can be maintained in the same circumferential positions as when winding is completed.

[0105] The pressing levers PR1 to PR3, represented by the pressing lever PR1, have an L-shaped configuration as shown in FIG. Figure 15AAs shown, the distal end portion 46Aa configured to contact and press the wire W1 is bent substantially at a right angle relative to the shaft portion 46A. A shaft portion 46A is provided at its base end with a shaft drive source 44A (see FIG. Figure 7 ) connected to the connecting portion 46B. Figure 15A The arrow H in the figure corresponds to Figure 12A and Figure 12B The pressing direction is shown by the arrow H in FIG.

[0106] Preferably, the circumferential length h of the distal end portion 46Aa is greater than the circumferential length h of the distal end portion 46Aa formed by the workpiece 8. Figure 10 The status shown rotates to Figure 13A (or Figure 13B ) causes a long displacement distance of the wire W1, so that during rotation, without moving the pressing rod PR1, the pressing of the wire W1 can be continuously maintained. However, the device may also be configured so that the pressing rod PR1 moves in the circumferential direction of the workpiece 8 as the workpiece 8 rotates to continue pressing the wire W1.

[0107] The pressing rods PR2 and PR3 also have a similar structure to that of the pressing rod PR1. The pressing rods PR1 to PR3 can be individually moved back and forth in the radial direction of the workpiece 8 by the rod driving sources 44A to 44C.

[0108] As described above, after the wires W1 to W3 are held in the recess 30, the chuck opening / closing drive source 28 drives the multiple chucks 14 further radially outward from the lightly held first state, thereby converting the multiple chucks 14 to a normal holding state (strong holding state: second state) in which the workpiece 8 is firmly held with a force greater than that in the first state.

[0109] In this state, as a fourth step, the portions of the wires W1 to W3 held in the recesses 30 (first portions) are cut by the cutter 18, respectively, between the portions of the wires W1 to W3 corresponding to the nozzles N1 to N3. This allows the wound workpiece 8 to be placed in a state ready for transfer to the next process, with the respective wire ends W1a to W3a held by the holding chucks 14C to 14E. Since the respective wire ends W1a to W3a held by the holding chucks 14C to 14E have fixed positions at their ends and a fixed arrangement order, the device in the next process can easily and automatically grip the respective wire ends W1a to W3a and perform processes such as connecting these wire ends to terminals.

[0110] The wires W1 to W3 are preferably cut as close as possible to the portion held in the recess 30 to reduce the length of the free portion of each end wire W1a to W3a. Furthermore, it is preferred that the cutter 18 be provided with a clamp, and that the nozzle-side portion of the wires W1 to W3 at the cutting position be held by the clamp. This facilitates the supply of the wires W1 to W3 to the winding start position for the next winding on the next workpiece 8.

[0111] At the wire winding start position, preferably, the wire material is connected to a predetermined terminal, inserted into a slit, or wound around a pin so that the position of the end wire can be easily identified in the next process.

[0112] At the same time, Figure 13A or Figure 13B In the illustrated state, components such as the workpiece 8 and the pressing rods PR1 to PR3 may obstruct access to the cutting position of the wires W1 to W3, which may limit the access path of the cutter 18. As a result, a complicated drive mechanism may be required, or the cutting operation may take longer.

[0113] To address this issue, in the present embodiment, after the third step described above, a sixth step is performed in which the pressing rods PR1 to PR3 are hooked onto portions of the respective wires W1 to W3 located between the nozzles N1 to N3 and the portions held in the recesses 30, and the wires W1 to W3 are pulled radially outward of the workpiece 8. Through this step, the cutting position of the wires W1 to W3 can be moved to a position less likely to interfere with other components, thereby facilitating the cutter 18 to approach the cutting position and enabling a faster cutting operation using a relatively simple drive mechanism.

[0114] More specifically, taking the pressing rod PR1 as a representative example, in a state where the concave portion 30 of the retaining chuck 14C retains the wire W1, the portion of the wire W1 between the retaining portion and the nozzle N1 is hooked by the second surface 46Aa-2 (pulling surface) of the distal end portion 46Aa and is pulled outward in the radial direction of the workpiece 8, wherein the second surface is aligned with the reference chuck 14C. Figure 12A The first surface 46Aa-1 (pressing surface) that comes into contact with the wire W1 during the pressing is opposite.

[0115] Once the wire W1 is held in the recess 30, it is no longer necessary to press the wire W1 with the pressing rod PR1. Therefore, the pressing is released, and then the above-mentioned pulling operation is performed.

[0116] For example, in a state where the push rod PR1 has been temporarily retracted, as shown in FIG. Figure 15BAs shown, the pressing rod PR1 is rotated to an angle that allows it to pass without interfering with the wire W1 (in this case, 90°, with the distal end 46Aa perpendicular to the page). Then, in this orientation, the pressing rod PR1 is moved radially inward (in the direction of arrow I) so that the distal end 46Aa is positioned radially inward of the wire W1. Thereafter, the pressing rod PR1 is returned to its original orientation and then moved radially outward (in the direction of arrow J), whereby the wire W1 can be pulled radially outward by the second surface 46Aa-2.

[0117] The pressing rods PR2 and PR3 perform the same operation, and the advancement / retraction and rotation of the pressing rods PR1 to PR3 are performed by driving control of the rod driving sources 44A to 44C by the control unit 100. Instead of rotating the pressing rods PR1 to PR3, it is also possible to rotate the pressing rods PR1 to PR3 by Figure 15A The state shown translates the pressing rod to the right in the figure to avoid the wire and move the distal end portion 46Aa radially inward.

[0118] Figure 16A A state is shown in which the second surfaces 46Aa-2 of the distal end portions 46Aa of the respective pressing rods PR1 to PR3 are in contact with the wires W1 to W3 and the wires are slightly pulled out. Figure 16B A state in which the wires W1 to W3 are further pulled out from this state is shown.

[0119] exist Figure 16B In the illustrated state, the wires W1 to W3 are preferably cut at the cutting point CP by moving a cutter 18 individually arranged for each of the wires W1, W2, and W3, or by moving a single common cutter 18. In this state, the cutter 18 can approach the wires W1 to W3 along a wide range of paths, thereby providing a high degree of design flexibility.

[0120] like Figure 17 As shown, once the wires W1 to W3 are cut by the cutter 18, the end wires W1a, W2a, and W3a are neatly held by the corresponding holding chucks 14C to 14E. In this state, the movable arm 20 is driven to raise the workpiece holding device 16 from the inside of the winding device 2, thereby allowing the workpiece 8 on which the winding 8E has been formed to be transferred to a device or workbench where the next process will be performed (seventh step).

[0121] By appropriately performing the next and subsequent steps, windings constituting electric rotating machines (such as motors) can be manufactured. A method that includes all steps until the winding is complete, in addition to holding the terminal wire and transferring it to the next step described above, constitutes an embodiment of the winding manufacturing method of the present invention. Furthermore, a device for performing the next and subsequent steps, as well as a device for performing steps preceding the steps performed by the winding device 2, may be included to form a single winding device or winding processing system.

[0122] As described above, in the present embodiment, before the wires W1 to W3 located between the workpiece 8 and the nozzles N1 to N3 are cut, that is, while the wires W1 to W3 are neatly positioned and tensioned, the portions that will become the end wires W1a to W3a are held by the workpiece holding device 16, and then the wires W1 to W3 are cut.

[0123] Therefore, compared to the case where the end wires W1a to W3a are fixed and positioned after cutting the wires W1 to W3, the positioning of the end wires W1a to W3a can be achieved more easily. In addition, since the mechanism for holding the end wires W1a to W3a is added to the chuck mechanism configured to hold and transport the workpiece 8, the complexity of the mechanism for holding the end wires W1a to W3a and the increase in the number of parts can be suppressed.

[0124] By rotating the workpiece 8 using the workpiece support 10 for winding and the servo motor 12 during the holding operation of the end wires W1 a to W3 a , it is also possible to suppress an increase in the complexity of the mechanism and the number of components.

[0125] Furthermore, since the mechanism configured to hold the workpiece 8 required for transferring the workpiece 8 to the next process is also used to hold the end wires W1a to W3a, the extra time required for the end wire holding operation can be minimized.

[0126] As described above, the preferred embodiment of the present invention has been explained. However, the present invention is not limited to such specific embodiment, and various modifications and changes can be made.

[0127] For example, in the above embodiment, the workpiece 8 is described as a stator of a three-phase motor, but the workpiece 8 may also be a rotor.

[0128] 18A to 18C Taking the use of the holding chuck 14D to hold the wire rod W2 as a representative example, the following illustrates the operation of the holding portion 27 holding the wire rod while the holding chuck holds the workpiece 8, in the case where the workpiece 8 is a rotor. These figures schematically illustrate cross-sectional views of the holding chuck 14D and surrounding components, taken along a plane including the central axes of the multiple chucks 14 and passing through the circumferential center of the holding chuck 14D on the workpiece 8, to clearly illustrate the positional relationship between the holding chuck 14D and the workpiece 8. With respect to the workpiece 8, only its end face in cross section is shown. In these figures, components identical or corresponding to those of the aforementioned embodiments are denoted by the same reference numerals.

[0129] In this example, the workpiece 8 has a plurality of salient poles 8a radially arranged on the outer periphery of a hollow cylindrical laminated core 8b. Wires W1 to W3 wound around the salient poles 8a form coils 8c for U, V, and W phases (in no particular order).

[0130] Even when the workpiece 8 is a rotor, the winding of the wires W1 to W3 can be performed in the same manner as in the case of the stator. Figure 18A and Figure 18B As shown, a plurality of chucks 14 can be inserted through the hollow portion of the laminated core 8B, and the chuck bodies 25 and 26 of the respective chucks can be radially moved in the radial direction of the workpiece 8 so as to come into contact with the inner peripheral surface 8f of the workpiece 8, thereby enabling holding in the same manner as in the case of the stator. Figure 18B , the chuck body 25 on the left side does not contact the inner peripheral surface 8f of the laminated core 8b. However, the chuck body 25 contacts at positions other than the cross section shown.

[0131] Figure 18A Corresponding to Figure 4A and Figure 4B The status shown, Figure 18B Corresponding to Figure 10 That is, similar to the above-mentioned embodiment, the rotational motion of the workpiece 8 can also be included between these states. Figure 18C Corresponding to Figure 13A The state shown in FIG. 1 is a state in which the wire W2 is accommodated in the recess 30 and is held between the lower protrusion 32b of the first pressing member 32 and the inner surface 30a of the recess 30. In the example shown in FIG. 1 , as shown in FIG. Figure 18C As shown, similarly to the steps in the above embodiment, the wire W2 can be held by the holding portion 27 of the holding chuck 14D. Then, similarly to the above embodiment, each wire held by each holding portion can be cut, and the workpiece 8 can be transferred to the next process. As in the above embodiment, it is not necessary to adjust the position of the wire by pressing the wires W1 to W3 with the pressing rods PR1 to PR3.

[0132] In addition to the above, although the above embodiment shows a configuration for processing three end lines W1a, W2a, and W3a, the present invention can be similarly applied to processing two or less, or four or more end lines.

[0133] In addition, the configuration and modification examples of the embodiments of the present invention described above may be partially implemented, and the modifications described in the above description may be arbitrarily combined as long as they do not contradict each other. The effects described in the embodiments of the present invention are merely examples of the most preferred effects that can be achieved by the present invention, and the effects of the present invention are not limited to those described in the embodiments.

[0134] [Reference Signs List]

[0135] 2: Winding device, 6: Nozzle unit, 8a: Salient pole (iron core), 8: Workpiece, 14: Chuck, 14C, 14D, and 14E: Holding chuck, 16: Workpiece holding device, 18: Cutter, 20: Movable arm, 27: Holding portion, 30: Recessed portion, 30a: Inner surface, 32: First pressing member, 35: Spring (pushing member), 36: First driving unit, 46Aa: Distal end portion, 46Aa-1: First surface, 46Aa-2: Second surface, N1 to N3: Nozzle, PR1 to PR3: Pressing rod (second pressing member), W1 to W3: Wire rod, W1a to W3a: Terminal wire

Claims

1. A workpiece holding device comprising: a plurality of chucks configured to hold a workpiece by moving in a radial direction of the workpiece and contacting the workpiece, the workpiece including a first core around which a first wire supplied from a first nozzle is wound, The first chuck of the plurality of chucks includes a retaining portion configured to retain a first portion of the first wire between the first core and the first nozzle.

2. The workpiece holding device according to claim 1, in, The holding portion includes: a recessed portion configured to accommodate the first portion, the recessed portion being located on the first nozzle side of the workpiece when the workpiece is held; and a movable first pressing member configured to press the first portion accommodated in the recessed portion against an inner surface of the recessed portion to hold the first portion.

3. The workpiece holding device according to claim 2, in, The first chuck includes a pressing member configured to press the first pressing member so as to bring the first pressing member into contact with the inner surface of the recess, and The workpiece holding device includes a first driving unit configured to drive the first pressing member in a direction away from the inner surface of the recess.

4. The workpiece holding device according to claim 3, in, The first portion of the first wire is accommodated in the recess by relative rotation of the workpiece about its axis with respect to the first nozzle while the first pressing member is held spaced apart from the inner surface of the recess by the first driving unit.

5. The workpiece holding device according to claim 2, in, The first portion of the first wire is accommodated in the recess by relative rotation of the workpiece about its axis with respect to the first nozzle.

6. The workpiece holding device according to claim 5, comprising: A second pressing member is configured to press the first wire rod at a position between the first core and the first nozzle to move the first wire rod in a radial direction of the workpiece so that the first portion is aligned with the opening of the recess in the radial direction of the workpiece.

7. The workpiece holding device according to claim 6, in, The second pressing member is movable back and forth in the radial direction of the workpiece, and a length of the second pressing member configured to contact and press the distal end portion of the first wire rod along the circumferential direction of the workpiece is greater than a distance that a portion of the first wire rod in contact with the distal end portion moves with the relative rotation.

8. The workpiece holding device according to claim 7, in, The second pressing member is configured to hook a portion of the first wire between the first portion and the first nozzle onto a second surface of the distal end portion in a state in which the first chuck holds the first portion of the first wire, and to pull the first wire outward in the radial direction of the workpiece, wherein the second surface is opposite to a first surface of the distal end portion that contacts the first wire when the first wire is pressed.

9. The workpiece holding device according to claim 5, comprising: a controller configured to control driving of the plurality of chucks in a radial direction of the workpiece so that the plurality of chucks are in contact with the workpiece in a state selected from the group consisting of: a first state in which the workpiece is slidable relative to the plurality of chucks and rotatable about an axis of the workpiece; and a second state in which the plurality of chucks press the workpiece with a stronger force than in the first state, wherein the relative rotation of the workpiece is performed while the plurality of chucks are in contact with the workpiece in the first state.

10. The workpiece holding device according to any one of claims 1 to 9, in, The workpiece includes a plurality of iron cores, the plurality of iron cores including the first iron core, The plurality of chucks hold the workpiece in a state in which wires including the first wire supplied from respective nozzles have been wound around respective cores of the workpiece corresponding to the nozzles, wherein the respective nozzles include the first nozzle, and The plurality of clamps include a plurality of first clamps corresponding to each of the nozzles, and each of the first clamps holds a wire between a corresponding nozzle and a corresponding core, wherein the plurality of first clamps include the first clamp.

11. A winding device comprising: The workpiece holding device according to any one of claims 1 to 9; First pipe opening; a cutter configured to cut a portion of the first wire between the first portion and the first nozzle while the first portion is held by the holding portion; as well as a movable arm including the plurality of collets, Wherein, the winding device is configured to: after the first wire is cut by the cutter, while the first part of the first wire is held by the holding portion, transfer the workpiece held by the multiple chucks to a device or workbench that will perform the next winding process of the first wire through the movable arm.

12. A winding processing method comprising: In a first step, a first wire supplied from a first nozzle is wound around a first core provided in a workpiece; a second step of holding the workpiece by moving a plurality of chucks in a radial direction of the workpiece and bringing the plurality of chucks into contact with the workpiece in a state where the first wire has been wound around the first core; A third step is to enable a first chuck among the plurality of chucks holding the workpiece to hold a first portion of the wire rod located between the first core and the first nozzle; as well as A fourth step is to cut a portion of the first wire between the first portion and the first nozzle while the first portion of the first wire is held by the first chuck.

13. The winding processing method according to claim 12, in, The first chuck includes: a recess configured to accommodate the first portion, the recess being located on the first nozzle side of the workpiece when the first chuck holds the workpiece; and a movable first pressing member configured to press the first portion accommodated in the recess against an inner surface of the recess to hold the first portion, and In the third step, the first portion of the first wire is accommodated in the recess by relatively rotating the workpiece about its axis with respect to the first nozzle.

14. The winding processing method according to claim 13, in, The first chuck includes a pressing member configured to press the first pressing member so as to bring the first pressing member into contact with the inner surface of the recess, and In the third step, the first part of the first wire rod is accommodated in the recess while overcoming the pushing force of the pushing member and keeping the first pressing member separated from the inner surface of the recess, and then the holding of the first pressing member is released to press the first part against the inner surface of the recess and hold the first part.

15. The winding processing method according to claim 13, in, The third step includes a fifth step, in which the first wire is pressed between the first core and the first nozzle by a second pressing member to move the first wire in the radial direction of the workpiece so that the first portion is aligned with the opening of the recess in the radial direction of the workpiece.

16. The wire winding method according to claim 15, comprising: In a sixth step, the second holding member is hooked onto a portion of the first wire material between the first portion and the first orifice, and the first wire material is pulled outward in a radial direction of the workpiece.

17. The winding processing method according to claim 13, in, The second step is a step of holding the workpiece by bringing the plurality of collets into contact with the workpiece in a first state in which the workpiece is slidable relative to the plurality of collets and rotatable about the axis of the workpiece. The third step is performed in a state where the plurality of chucks are in contact with the workpiece in the first state, and The method includes, after the third step, the step of bringing the plurality of collets into contact with the workpiece with a force stronger than the force in the first state.

18. The winding processing method according to any one of claims 12 to 17, in, The first step is a step of winding the wire rod including the first wire rod supplied from each nozzle including the first nozzle around each core including the first core provided in the workpiece, each core corresponding to a corresponding one of the nozzles, The plurality of chucks include a plurality of first chucks, the plurality of first chucks including the first chuck, each first chuck corresponding to a respective one of the nozzles, The third step is a step of causing each first chuck to hold the corresponding wire at a first portion of each wire between the corresponding nozzle and the corresponding core, and The fourth step is a step of cutting a portion of the corresponding wire between the first portion and the corresponding orifice while the first portion of each wire is held by the corresponding first collet.

19. A winding manufacturing method comprising: Each step of the winding processing method according to any one of claims 12 to 17; as well as In the seventh step, after the first wire is cut in the fourth step, the workpiece held by the multiple chucks is transferred to a device or workbench that will perform the next winding process of the first wire by a movable arm including the multiple chucks, while the first part of the first wire is held by the first chuck.

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