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

Abstract

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

Description

[Technical field]

[0001] The present invention relates to a work holding device that holds a workpiece around which wire is wound after being unwound from a nozzle, a winding machine equipped with the work holding device, a winding processing method that processes the wire that is unwound from the nozzle and wound around the workpiece, and a winding manufacturing method that includes the winding processing method. [Background technology]

[0002] After the winding is completed, the stator and rotor that make up the motor undergo a number of processing steps, such as attaching terminals and connecting them to a terminal block and connector, before being assembled into a motor housing. There are various known winding techniques. For example, in the case of winding a stator core (workpiece) by winding a wire fed from a nozzle, when the winding process is completed, the wire between the wound core and the nozzle is cut with a cutter, and the stator core is transported to the next process. At this time, the wire remaining on the core side after cutting is called a terminal wire, lead wire, or end wire, and it is considered that this wire will be attached to a terminal in the next process. In this specification, this wire will be called an "end wire," but when referring to Patent Document 1 described later, it will be called a "lead wire."

[0003] Here, since the end wires bend randomly or cross each other when the wire is cut, when there are multiple end wires, the order and position of each end will not be constant. For this reason, if the stator core after winding is transported to the next process with the end wires in the state they were in when they were cut, there is a problem that it is difficult to automatically recognize and accurately pick up the end wires in the next process. If the pick-up is not performed accurately, it is thought that this may cause problems such as the end wire getting entangled or the wire itself being damaged. For this reason, in order to automate the pick-up of the wire in the next process, the end wires are often manually wound around a fixing member such as a pin and positioned, which has been an obstacle to automating the entire motor manufacturing process.

[0004] In response to this, Patent Document 1 proposes a technique for automating the processing of end wires (lead wires). Patent Document 1 describes a method of inserting a coil with wire already wound around it into a stator core. It describes how, after the coil is inserted into a stator core attached to a pallet, the coil's lead wire is grasped with a chuck and pulled out toward the outer periphery, and then positioned by holding it between upper and lower annular members with angled protrusions, and then transporting the pallet in this state to the next process on a free-flow conveyor.

[0005] As a configuration for transporting the workpiece after winding to the next process, in addition to the method using a pallet as described in Patent Document 1, there is known a method in which a holding member having a chuck function is inserted inside the stator to hold the workpiece and then the holding member is moved, as disclosed in, for example, Patent Document 2. Note that Patent Document 2 does not mention the treatment of the end wire of the workpiece. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 8-98474 [Patent Document 2] Japanese Patent Application Publication No. 8-298755 Summary of the Invention [Problem to be solved by the invention]

[0007] In the lead wire processing device described in Patent Document 1, the chuck mechanisms, one for each lead wire, each have three air cylinders, which inevitably makes the device larger, more complicated, and more expensive. In addition to the chuck mechanisms, upper and lower annular members are required to individually hold each lead wire at its outer periphery, which further contributes to the device being larger, more complicated, and more expensive. Such problems occur not only in stator cores, but also in the case of winding other workpieces such as rotor cores.

[0008] The present invention has been devised in view of the above-mentioned circumstances, and has an object to enable the positioning of the end wire after winding is completed to be performed with a simple structure. [Means for solving the problem]

[0009] The wire rod between the workpiece and the nozzle is in an orderly positioned and taut state before cutting, and if the wire rod is gripped in this pre-cut state, there is no need for a configuration for processing the randomly bent end wire after cutting as described in Patent Document 1. Also, if the end wire is positioned using a member for holding and transporting the workpiece, there is no need to provide a separate member for positioning, and the configuration can be simplified. The present invention was devised based on this idea.

[0010] Specifically, in order to achieve the above-mentioned object, the work holding device of the present invention includes a plurality of chucks that hold a work having a core, the work having a wire rod unwound from a nozzle and wound around the core, by moving radially around the work and abutting against the work, and a first chuck of the plurality of chucks includes a holding portion for holding a first portion of the wire rod between the core and the nozzle.

[0011] In the above-mentioned work holding device, it is preferable that the holding portion has a recess located on the nozzle side of the work while holding the work, for accommodating the first portion of the wire, and a movable first pressing member for pressing the first portion accommodated in the recess against an inner surface of the recess to hold it.

[0012] Furthermore, in the above-mentioned work holding device, it is more preferable that the first chuck is provided with a biasing member that biases the first pressing member so as to abut against the inner surface of the recess, and further that the first chuck is provided with a first driving unit that drives the first pressing member in a direction away from the inner surface of the recess.

[0013] Furthermore, in the above-mentioned work holding device, it is preferable that, when the first pressing member is moved away from the inner surface of the recess by the first driving unit, the first portion of the wire is accommodated in the recess by relative rotation of the work with respect to the nozzle about the axis of the work.

[0014] In the workpiece holding device, it is also preferable that the first portion of the wire is received in the recess by rotating the workpiece relative to the nozzle about an axis of the workpiece.

[0015] Furthermore, it is further preferable that the above-mentioned work holding device is provided with a second pressing member which presses the wire between the core and the nozzle to move the wire in the radial direction of the work so that the radial positions of the workpiece are aligned between the first portion and the opening of the recess.

[0016] Furthermore, in the above-mentioned work holding device, it is further preferable that the second pressing member is arranged to be movable forward and backward in the radial direction of the work, and the length of the tip of the second pressing member that contacts and presses the wire in the circumferential direction of the work is greater than the distance that the portion of the wire that abuts against the tip moves in conjunction with the relative rotation.

[0017] In addition, in the above-mentioned work holding device, it is also preferable that, while the first chuck holds the first portion of the wire, the second pressing member hooks a portion of the wire between the first portion and the nozzle on a second surface of the tip portion opposite to the first surface that abuts the wire when the wire is pressed, and pulls the wire radially outward from the workpiece.

[0018] Furthermore, in the above-mentioned work holding device, it is also preferable to provide a control unit that controls the driving of the multiple chucks in the radial direction of the workpiece to bring the multiple chucks into contact with the workpiece in one state selected from a first state in which the workpiece can rotate about the axis of the workpiece while sliding relative to the multiple chucks, and a second state in which the multiple chucks are brought into contact with the workpiece with a force stronger than that in the first state, and to perform the relative rotation of the workpiece with the multiple chucks in contact with the workpiece in the first state.

[0019] Furthermore, in the above-mentioned work holding device, it is also preferable that the work has a plurality of the cores, the plurality of chucks hold the work in a state in which the wires respectively fed from the plurality of nozzles are wound around the cores corresponding to each nozzle, the plurality of chucks include a plurality of the first chucks corresponding to each nozzle, and each of the first chucks holds each wire between the corresponding nozzle and core.

[0020] Furthermore, a winding machine according to the present invention includes any one of the work holding devices described above, the nozzle, a cutter that cuts the wire at a location between the first portion and the nozzle, the first portion of which is held in the holding portion, and a movable arm having the multiple chucks. After the wire is cut by the cutter, with the first portion of the wire being held in the holding portion, the work held by the multiple chucks is transported by the movable arm to an apparatus or stage that performs the next step of winding the wire.

[0021] The winding processing method of the present invention includes a first step of winding the wire fed from a nozzle around a core of a workpiece; a second step of holding the workpiece by moving a plurality of chucks in the radial direction of the workpiece around which the wire is wound and abutting each of the chucks against the workpiece; a third step of causing a first chuck of the plurality of chucks holding the workpiece to hold a first portion of the wire between the core and the nozzle; and a fourth step of cutting the wire, the first portion of which is held by the first chuck, at a location between the first portion and the nozzle.

[0022] Furthermore, in the above winding processing method, it is preferable that the first chuck has a recess located on the nozzle side of the workpiece while holding the workpiece, for accommodating the first portion of the wire, and a movable first pressing member for pressing and holding the first portion accommodated in the recess against an inner surface of the recess, and that in the third step, the first portion of the wire is accommodated in the recess by rotating the workpiece relative to the nozzle around the axis of the workpiece.

[0023] Furthermore, in the above winding processing method, it is more preferable that the first chuck includes a biasing member that biases the first pressing member so as to abut against an inner surface of the recess, and in the third step, the first portion is accommodated in the recess while holding the first pressing member at a position away from the inner surface of the recess against the bias of the biasing member, and then the holding of the first pressing member is released to press and hold the first portion against the inner surface of the recess.

[0024] Furthermore, in the above winding processing method, it is further preferable that the third step includes a fifth step of pressing the wire with a second pressing member between the core and the nozzle to move the wire in the radial direction of the workpiece so that the radial positions of the workpiece are aligned with those of the first portion and the opening of the recess.

[0025] It is also preferable that the above winding processing method includes, after the third step, a sixth step of hooking the second pressing member at a location between the first portion of the wire and the nozzle and pulling it out radially outward of the workpiece.

[0026] Furthermore, in the above winding processing method, the second step is a step of abutting the multiple chucks against the workpiece to hold the workpiece in a first state in which the workpiece can slide relative to the multiple chucks and rotate around the axis of the workpiece, and the third step is performed in a state in which the multiple chucks are abutting the workpiece in the first state, and after the third step, a step of abutting the multiple chucks against the workpiece with a stronger force than in the first state is included.

[0027] Furthermore, in the above winding processing method, it is also preferable that the first step is a step of winding the wire fed from the multiple nozzles around each of multiple cores included in the workpiece, the multiple chucks including multiple first chucks corresponding to each of the nozzles, the third step is a step of causing each first chuck to hold a first portion of each of the wires existing between the corresponding nozzle and core, and the fourth step is a step of cutting the portion of each of the wires, the first portion of which is held in the first chuck, between the first portion and the nozzle.

[0028] The method for manufacturing a winding according to the present invention includes the steps of any of the winding processing methods described above, and a seventh step of, after cutting the wire in the fourth step, transporting the work held by the multiple chucks, with the first portion of the wire held in the first chuck, by a movable arm equipped with the multiple chucks, to an apparatus or stage that performs the next step of winding the wire. Effect of the Invention

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

[0030] [Figure 1] 1 is a perspective view showing a main part of a winding machine including a work holding device according to an embodiment of the present invention; [Diagram 2] 2 is a perspective view showing the relationship between the work and the nozzle in the winding machine shown in FIG. 1 after winding has been completed. FIG. [Diagram 3] 3A and 3B are perspective views showing a state in which a work holding device in the winding machine shown in FIG. 1 advances to a work holding position, with FIG. 3A showing the state before advancement and FIG. 3B showing the state after advancement. [Figure 4] FIG. 4A shows the state after the work holding device has entered the work holding position in the winding machine shown in FIG. 1, and FIG. 4A is an oblique view seen from diagonally below in FIG. 1 showing the state before the multiple chucks begin to open, and FIG. 4B is a plan view of the work and chucks seen from below in FIG. 1. [Diagram 5] 5A is an enlarged perspective view showing a state in which the work holding device in the winding machine shown in FIG. 1 holds a work, and FIG. 5B is an enlarged view of the vicinity of frame line X in FIG. 5A showing the stroke amount for holding and releasing the wire. [Figure 6] 6A and 6B are schematic cross-sectional views for explaining the operation of the holding portion of the holding chuck in the work holding device shown in FIG. 1, FIG. 6A being a view showing a state before holding the wire rod, and FIG. 6B being a view showing a state after holding the wire rod. [Figure 7] 2 is a block diagram showing a configuration of the winding machine shown in FIG. 1. [Figure 8] FIG. 8A is a perspective view of these elements as seen from a side slightly toward the nozzle unit 6 side, and FIG. 8B is a perspective view as seen from a position closer to the nozzle unit 6 side. FIG. 8B is a perspective view of these elements as seen from a position closer to the nozzle unit 6 side. [Figure 9] 9A and 9B are perspective views corresponding to FIGS. 8A and 8B, respectively, showing a state in which the workpiece 8 has been rotated in the direction of the arrow R1 from the state shown in FIG. 8A. [Figure 10]9B. FIG. 9C is a perspective view showing a state in which the plurality of chucks 14 have transitioned from the state shown in FIGS. 9A and 9B to a weak holding state, the perspective view being slightly closer to the workpiece 8 and the chucks 14 than in FIG. 9B. [Figure 11] 11A is an enlarged side view showing the positional relationship between the recess 30 of the holding chuck 14E and the wire W2 in the state shown in FIG. 10, FIG. 11A showing the state in which the nozzle N2 is in a position for winding operation, and FIG. 11B showing the state in which the nozzle N2 is housed in the nozzle unit 6. [Figure 12] Fig. 12A is a side view showing a state in which the nozzle N2 is partially accommodated in the nozzle unit 6 and the wire W2 is pressed by the pressing rod PR2 from the state in Fig. 10. Fig. 12B is a plan view showing the movement of the wire W2 by the pressing together with the arrangement of each part as seen from above in Fig. 12A in the axial direction of the wire. [Figure 13] FIG. 13A is an oblique view showing the state in which the workpiece has been rotated in the direction of arrow R2 from the state in FIG. 12A to accommodate the wire in the recess; FIG. 13A shows the state in which the wire has been rotated just enough to be accommodated in the recess; and FIG. 13B shows the state in which the workpiece has been further rotated from the state in FIG. 13A to the original position of the index rotation. [Figure 14] 11 is a diagram showing the positional relationship between each chuck 14 and each part of the workpiece 8 in the state shown in FIG. 10, as viewed from the nozzle unit 6 side in the axial direction of the workpiece 8. FIG. [Figure 15] 15A is a plan view showing the schematic configuration of the pressing rod shown in FIG. 12, FIG. 15A is a view showing the positional relationship with the wire rod when pressing the wire rod shown in FIG. 12A, FIG. 15B is a view showing the positional relationship between the tip 46Aa and the handle 46A and the wire rod when rotated 90° from the state of FIG. 15A and moved, from the same direction as FIG. 15A, and FIG. 15C is a view showing the positional relationship between the tip 46Aa and the handle 46A and the wire rod when pulling out the wire rod as in FIG. 16A, from the same direction as FIG. 15A. [Figure 16] 16A is a perspective view showing a state in which the wire is pulled out by the pressing rod from the state shown in FIG. 13A, FIG. 16A is a view showing the initial state of pulling out the wire, and FIG. 16B is a view showing the state in which the wire has been pulled out to a position where it can be cut by a cutter. [Figure 17]1 is a perspective view showing a state in which the work 8 is held by the work holding device 16 and transported after the wire rod has been cut. [Figure 18] Fig. 18A is a schematic cross-sectional view of the holding chuck 14D and its surrounding structure for explaining the operation of the holding chuck 14D holding the wire W2 in the modified example. Fig. 18A shows a state corresponding to Fig. 4A and Fig. 4B, Fig. 18B shows a state corresponding to Fig. 10, and Fig. 18C shows a state corresponding to Fig. 13A. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

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

[0033] In this embodiment, a stator of a three-phase motor having a plurality of salient poles 8a on the inner circumferential side of a laminated core 8b is shown as an example of the workpiece 8. Wires W1 to W3 wound around each salient pole 8a form U-phase, V-phase, and W-phase coils, respectively (in no particular order). In Fig. 2, symbols R1 and R2 each indicate the direction of rotation of the workpiece 8 around the axis of the workpiece 8. In the process of winding the wires W1 to W3, the workpiece 8 is held on a cylindrical workpiece holder 10. The workpiece holder 10 is rotated index-wise by a servo motor 12 (see FIG. 7), thereby rotating the workpiece 8 by a predetermined angle at a time.

[0034] 2 shows a state in which the wires W1 to W3 fed from the nozzles N1 to N3 have been wound around the corresponding salient poles 8a, i.e., a state in which the formation of the winding 8c around each salient pole 8a has been completed. The portions of the wires W1 to W3 between the salient poles 8a and the nozzles N1 to N3, indicated by the symbols W1a to W3a, are the portions that are cut by a cutter 18 (see FIG. 7) when the workpiece 8 is removed from the winding section 4 and remain on the workpiece 8 side, and are the portions that are called terminal wires, lead wires, end wires, etc. In this embodiment, this first portion is called the "end wire." One feature of this embodiment is how the wire at the winding end side is handled to form the end wire. Therefore, in order to make the end wire easier to see, the wire at the winding start side is not shown in each drawing.

[0035] 1, the winding machine 2 includes a workpiece holding device 16 having a plurality of chucks 14, and a movable arm 20 having the workpiece holding device 16 rotatably attached to its tip. The movable arm 20 is a multi-joint robot arm. The winding machine 2 further includes the above-mentioned cutter 18. After the winding of the wires W1-W3 around the salient pole 8a is completed, while a portion of the wires W1-W3 is held by a holding portion (described later) of a holding chuck that is a first chuck of the multiple chucks 14, the cutter 18 cuts the wires W1-W3 at a location between the portion (first portion) held by the holding portion and the nozzles N1-N3.

[0036] The winding machine 2 cuts the wires W1-W3 with the cutter 18, and then transports the workpiece 8 held by the multiple chucks 14 to a device or stage that performs the next step of winding the wires W1-W3 with the movable arm 20, with each end wire W1a-W3a formed by the cutting being held by the holding portion of the holding chuck. As the next step, for example, the connection of the end wires W1a-W3a to predetermined terminals may be considered. The workpiece holding device 16 has a generally cylindrical appearance, and is provided with a plurality of chucks 14 on the lower side in the figure, and holds an unwound supply workpiece 22 on the upper side.

[0037] When the winding machine 2 finishes winding the work 8, as shown in Fig. 3A, the work holder 24 of the winding unit 4 is retracted in the direction of arrow B to release the upper surface side of the work 8. As the work holder 24 is retracted, the control unit 100 (see Fig. 7) controls the driving of the movable arm 20, and as shown in Figs. 3B and 4A, the movable arm 20 inserts the work holding device 16 into the center of the work 8. When the holding of the work 8 by the multiple chucks 14 and the cutting of the wire rods W1 to W3 by the cutter 18 are completed as described below, the movable arm 20 lifts the work holding device 16 under the control of the control unit 100, and rotates the work holding device 16 by 180° so that the supply work 22 faces downward in Fig. 3A.

[0038] In this state, the movable arm 20 causes the work holding device 16 to enter the winding section 4 again, and places the supply work 22 on the work holding table 10. The movable arm 20 then raises the work holding device 16 again while holding the work 8, and transports the wound work 8 to the device or stage where the next process will be performed. After delivering the work 8 to that device or stage, the work holding device 16 receives a new supply work 22 and is returned to the winding standby position shown in Figure 1 by the movable arm 20. The above is a series of operations in the winding machine 2 from winding the work 8 to transporting it to the next process, and when winding multiple workpieces 8, the winding machine 2 repeats the above operations.

[0039] Next, a configuration and operation relating to holding the wires W1 to W3 by the above-mentioned holding chuck will be described. As shown in Fig. 4A and Fig. 4B, the chucks 14 move radially outward of the work 8 in a state where the wires W1 to W3, respectively fed from the nozzles N1 to N3, are wound around the salient poles 8a corresponding to the nozzles N1 to N3, and hold the work 8 by abutting against the work 8. The chucks 14 simultaneously move radially outward of the work 8 and hold the work 8 by abutting against the salient poles 8a of the work 8. That is, the chucks 14 are electric chucks of the spread holding type. A flange portion 8d is formed at the radial inner end of each salient pole 8a to regulate the position of the end of the winding 8c and to receive the abutment of the chuck 14. Fig. 4B is a view of the work 8 as seen from the bottom of Fig. 4A.

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

[0041] As shown in Fig. 4B and Fig. 5A, the multiple chucks 14 have chuck bodies 25, 26 that come into contact with the workpiece 8 when the workpiece 8 is held, a guide member that guides the chuck bodies 25, 26 in the radial direction of the workpiece 8, and a common chuck opening / closing drive source 28 that drives the chuck bodies 25, 26 to open and close. The chuck body 25 is the body of a normal type chuck, and the chuck body 26 is the body of the holding chuck described above. The multiple chucks 14 (five in this example) move simultaneously in the radial direction of the workpiece 8 to open and close as a result of the driving of the chuck opening / closing drive source 28. As the chuck opening / closing drive source 28, for example, a known mechanism equipped with an air cylinder, a motor, a solenoid, or the like can be appropriately adopted.

[0042] The configuration and operation of the holding chucks will be described below, taking the holding chuck 14D as a representative. The holding chucks 14C and 14E have the same configuration and operation as the holding chuck 14D. The chuck body 26 of the holding chuck 14D is integrally formed from the base portion driven by the chuck opening / closing drive source 28 to the tip portion that is inserted into the workpiece 8 and abuts against the flange portion 8d. 6A, the chuck body 26 is provided with a holding portion 27 for holding the wire rod W2 at an end in the direction of insertion into the workpiece 8. The holding portion 27 is located closer to the nozzle N2 than the workpiece 8 in a state in which the workpiece 8 is held, and is provided with a hook-shaped recess 30 for accommodating the wire rod W2, and a movable first pressing member 32 for pressing the wire rod W2 accommodated in the recess 30 against an inner surface 30a of the recess 30 to hold it.

[0043] The first pressing member 32 is rotatably supported at its upper end by a rotating shaft 34 on the chuck body 26, and is provided at its lower end in Fig. 6A with a lower convex portion 32b that protrudes in the radial direction of the workpiece 8. The wire W2 is pressed by the lower convex portion 32b. The chuck body 26 includes a spring 35 and a first driving unit 36. The spring 35 is a biasing member that biases the first pressing member 32 so that the lower convex portion 32b abuts against the inner surface 30a of the recess 30 extending in the circumferential direction of the workpiece 8. The first driving unit 36 ​​drives the first pressing member 32 against the biasing force of the spring 35 in a direction in which the lower convex portion 32b moves away from the inner surface 30a of the recess 30. 6A, the first pressing member 32 also has an upper protrusion 32a, which has approximately the same length as the lower protrusion 32b, on the upper end side in FIG. 6A so as to protrude in the radial direction of the workpiece 8.

[0044] The first driving portion 36 includes a slide member 38, a movable member 40, and a holding chuck pressing driving source 42 (see FIG. 5). The slide member 38 is provided on the chuck body 26 so as to be slidable in the up-down direction in Fig. 6A, and abuts against the upper surface of the upper convex portion 32a of the first pressing member 32. The movable member 40 is provided on the chuck body 26 so as to be movable up and down, and has a pressing piece 40a that abuts against the upper end of the slide member 38. The holding chuck pressing drive source 42 drives the movable member 40. The holding chuck pressing drive source 42 is a drive source common to the multiple holding chucks 14C, 14D, and 14E. For example, an air cylinder, a motor, a solenoid, etc. can be used as the holding chuck pressing drive source 42.

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

[0046] When the holding chuck pressing drive source 42 is operated from this state to raise the movable member 40 as shown by the arrow D, the first pressing member 32 rotates counterclockwise (in the direction of the arrow E) by the biasing force of the spring 35 as shown in Fig. 6B, and the lower convex portion 32b presses the wire W2 against the inner surface 30a of each recess 30. As a result, a part of the wire W2 is held in the recess 30. In Fig. 6A, the reference symbol 30b indicates the opening (wire receiving opening) of the recess 30. When the wire is held, the wire W2 is pressed by the biasing force of the spring 35, so that the wire W2 can be held stably with an appropriate force and it is possible to prevent the coating layer of the wire W2 from being damaged by too strong a pressing force.

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

[0048] As shown in FIG. 5A, between the workpiece 8 and the nozzle unit 6, the press rods PR1-PR3 are provided as second pressing members that press the wire rods W1-W3 at positions between the salient poles 8a and the nozzles N1-N3 to move the wire rods W1-W3 in the radial direction of the workpiece 8 so that the wire rods W1-W3 and the openings 30b of the recesses 30 of the holding chucks 14C-14E ​​are aligned in the radial direction of the workpiece 8. The press rods PR1-PR3 are provided corresponding to the wire rods W1-W3, respectively, and the press rods PR1-PR3 can also be considered as components of the workpiece holding device 16. As shown in FIG. 7, the press rods PR1-PR3 are driven to move forward and backward and rotate by the corresponding rod drive sources 44A-44C. This point will be described later.

[0049] 7 is a block diagram showing the configuration of the winding machine 2. The control unit 100 is a microcomputer including a CPU, a ROM, a RAM, an I / O interface unit, and the like, which are connected to the CPU via a bus line, and detects operations by an operator and signals from sensors in each unit as necessary, and controls the operation of each drive source based on pre-stored operating parameters while referring to these signals.

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

[0051] The winding method according to this embodiment includes the following steps 1 to 4. Each of these steps can be executed by the control unit 100 shown in FIG. 13A is a first process in which the wires W1 to W3 fed from the nozzles N1 to N3 in the winding section 4 are wound around the salient poles 8a of the workpiece 8. In the first process, as shown in FIG. (b) A second step of moving a plurality of chucks 14 in the radial direction of the workpiece 8 having the wires W1 to W3 wound around the salient poles 8a and abutting the workpiece 8 to hold the workpiece 8 (weak holding: first state). (c) A third step in which the holding chucks 14C to 14E among the plurality of chucks 14 for holding the workpiece 8 are made to hold portions of the wires W1 to W3 between the salient poles 8a and the nozzles N1 to N3. (d) A fourth step of cutting the wires W1 to W3 held by the holding chucks 14C to 14E in the third step at portions between the held portions and the nozzles N1 to N3.

[0052] Fig. 8B is a diagram showing the workpiece 8 in Fig. 8A in a state in which a plurality of chucks 14 have been inserted inside after winding (first step) of the wires W1 to W3 in the winding section 4 has been completed, as viewed from below in Fig. 8A. Configurations located in front of the nozzle unit 6 in the figure, such as a drive mechanism for the nozzle unit 6, are not shown. 8A and 8B show a state in which the workpiece 8 is in the original position of the index rotation (the position at the end of winding). As is clear from Fig. 8B, in this state, the wires W1 to W3 are in positions shifted in the circumferential direction of the workpiece 8 with respect to each of the recesses 30 of the holding chucks 14C to 14E. Also, the multiple chucks 14 including the holding chucks 14C to 14E have not yet come into contact with the workpiece 8 (the flange portion 8d of the salient pole 8a of the workpiece 8).

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

[0054] In the example described here, the rotation direction is the direction of the arrow R1 in Figures 9A and 9B, and as shown in Figures 9A and 9B, the wires W1 to W3 are stopped at a position slightly past each recess 30 of the holding chucks 14C to 14E when viewed in the direction of the arrow R1. In this way, the wires W1 to W3 are disposed on the opening 30b side of the corresponding recess 30. A specific rotation angle can be determined based on a previously measured average positional relationship between the wires W1 to W3 and the recess 30 at the end of winding. For example, when a nine-pole workpiece described here is used, the rotation angle can be about 20 degrees, which is one-half of 1 / 9 of one revolution.

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

[0056] Fig. 10 shows a state where the chucks 14 have moved radially outward as indicated by the arrow F. Fig. 14 shows the positional relationship between each chuck 14 and each part of the workpiece 8 in this state, as viewed from the bottom (the nozzle unit 6 side) in Fig. 10 in the axial direction of the workpiece 8. When viewed in the radial direction of the workpiece 8, this position is the position where the wire rods W1 to W3 are accommodated in each recess 30 of the holding chucks 14C to 14E. Furthermore, if the positions of each recess 30 of the holding chucks 14C to 14E and the wire rods W1 to W3 when viewed in the radial direction of the workpiece 8 are aligned at the time of this abutment, the wire rods W1 to W3 can be accommodated inside each recess 30 of the holding chucks 14C to 14E by rotating the workpiece 8 in the direction opposite to the arrow R1 (third step).

[0057] 10 (first state), in order to enable rotation of the workpiece 8, the multiple chucks 14 are brought into contact with the workpiece 8 with a relatively weak force so that the workpiece 8 can rotate while sliding against the multiple chucks 14. This contact is made for the purpose of positioning the holding chucks 14C to 14E rather than for holding the workpiece 8.

[0058] Depending on the configuration of the winding machine 2, it may be possible to align the positions of the recesses 30 of the holding chucks 14C-14E ​​and the wires W1-W3 in the radial direction of the workpiece 8 in the state shown in Fig. 10 by moving the nozzles N1-N3 back and forth in the radial direction relative to the nozzle unit 6 to change the amount of protrusion, or without changing the amount of protrusion. However, it is not always possible to align the positions by moving the nozzles N1-N3 alone.

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

[0060] Therefore, in the state shown in FIG. 10 (or FIG. 11B), as shown by the arrow H in FIG. 12A and FIG. 12B, the wire rod W2 is pressed toward the radial inside of the workpiece 8 by the pressing rod PR2, and the wire rod W2 is pushed out to the same position as the opening 30b of the recess 30 as seen in the radial direction of the workpiece 8, and aligned. The radial position of the wire rod W2 may be adjusted by combining the pressing by the pressing rod PR2 and the advancement and retreat of the nozzle N2. The other wire rods W1 and W3 are similarly aligned by the corresponding pressing rods PR1 and PR3. This step is the fifth step. Note that FIG. 12A shows the wire rod W2 and the pressing rod PR2 as representatives, and the illustration of the other wire rods and pressing rods is omitted.

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

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

[0063] As shown in Fig. 15A, the pressing rods PR1 to PR3 are each formed into an L-shape with a tip 46Aa bent at a right angle to a handle 46A, which contacts and presses the wire W1, and a connection 46B is provided at the base of the handle 46A for connection to a rod driving source 44A (see Fig. 7). The arrow H in Fig. 15A corresponds to the arrow H of the pressing direction shown in Figs. 12A and 12B.

[0064] It is preferable that the length h of the tip portion 46Aa in the circumferential direction of the work 8 is longer than the moving distance of the wire rod W1 accompanying the rotation, so that the tip portion 46Aa can continue to press the wire rod W1 without moving the pressing rod PR1, even if the wire rod W1 moves with the rotation of the work 8 from the state of Fig. 10 to the state of Fig. 13A (or Fig. 13B). However, it is also possible to configure the tip portion 46Aa to continue to press the wire rod W1 by moving the pressing rod PR1 in the circumferential direction of the work 8 with the rotation of the work 8. The pressing rods PR2 and PR3 have the same configuration as the pressing rod PR1. Moreover, these pressing rods PR1 to PR3 can be moved forward and backward in the radial direction of the workpiece 8 individually by rod drive sources 44A to 44C.

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

[0066] In this state, in the fourth step, the wires W1-W3 are cut by the cutter 18 at the portions between the nozzles N1-N3 and the portions (first portions) held in the recess 30, thereby making it possible to transport the wound workpiece 8 to the next step with the end wires W1a-W3a held in the holding chucks 14C-14E. Since the positions and arrangement order of the ends of the end wires W1a-W3a held in the holding chucks 14C-14E ​​are fixed, the device for the next step can automatically and easily grasp the end wires W1a-W3a and perform the processing of the step, such as connecting them to terminals.

[0067] At this time, it is preferable to cut the wires W1a-W3a at a position as close as possible to the portion held in the recess 30, in order to shorten the length of the end wires W1a-W3a that can move freely. It is also preferable to provide a clamp on the cutter 18 and use the clamp to hold the nozzles N1-N3 side of the cutting position, which makes it possible to easily supply the wires W1-W3 to the winding start position for winding the next workpiece 8. At the winding start position, it is preferable to connect the wire to a specified terminal, insert it into a slit, or wind it around a pin so that the position of the end of the wire can be easily grasped in the next process.

[0068] However, in the state shown in Figure 13A or Figure 13B, the workpiece 8, the pressure rods PR1 to PR3, etc., act as obstacles, limiting the path of entry of the cutter 18 to the cutting position of the wires W1 to W3, which may require a complex driving mechanism or may take a long time to complete the cutting operation. In this embodiment, to address this issue, after the third step, a sixth step is performed in which pressing rods PR1-PR3 are hooked to the portions of the wires W1-W3 between the nozzles N1-N3 and the portions of the wires W1-W3 held by the recess 30, respectively, and the wires W1-W3 are pulled out radially outward from the workpiece 8. In this way, the cutting position of the wires W1-W3 can be moved to a position less likely to interfere with other members, making it easier for the cutter 18 to access the cutting position, and quick cutting can be achieved using a relatively simple drive mechanism.

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

[0070] When the wire W1 is held in the recess 30, it is no longer necessary for the pressing rod PR1 to press the wire W1, and the pressing is then released and the above-mentioned drawing operation begins. For example, after the pressing rod PR1 is once retracted, as shown in Fig. 15B, the pressing rod PR1 is rotated by an angle (here, 90° so that the tip 46Aa faces perpendicularly to the paper) at which the pressing rod PR1 can pass without interfering with the wire W1, and in this state, the pressing rod PR1 is moved radially inward (in the direction of arrow I) so that the tip 46Aa is located radially inward of the wire W1 in the workpiece 8. Thereafter, the pressing rod PR1 is returned to its original orientation as shown in Fig. 15C, and in this state, the pressing rod PR1 is moved radially outward (in the direction of arrow J), whereby the wire W1 can be drawn out toward the radial outside of the workpiece 8 by the second surface 46Aa-2.

[0071] The pressing rods PR2 and PR3 perform a similar operation, and the advance / retract and rotation of the pressing rods PR1 to PR3 are controlled by the control unit 100 to drive the rod drive sources 44A to 44C. Instead of rotating the pressing rods PR1 to PR3, the tips 46Aa may be moved radially inward to avoid the wire W1 by moving them in parallel to the right in the figure from the state in Fig. 15A.

[0072] FIG. 16A shows a state in which the second surfaces 46Aa-2 of the tip portions 46Aa of the pressing rods PR1 to PR3 are in contact with the wires W1 to W3 and slightly pulled out, and FIG. 16B shows a state in which the wires W1 to W3 are further pulled out from there. 16B, the cutters 18 arranged for the wires W1, W2, and W3, or a single common cutter 18, may be moved to cut the cutting points CP of each of the wires W1 to W3. In this state, the cutter 18 can access the wires W1 to W3 over a wide range of movement paths, allowing for a high degree of freedom in design.

[0073] When the wires W1-W3 are cut by the cutter 18, the wires W1a, W2a, W3a are neatly held in the holding chucks 14C-14E, as shown in Fig. 17. In this state, the movable arm 20 is driven so as to raise the work holding device 16 from within the winding machine 2, and the work 8 with the winding 8E formed thereon can be transported to a device or stage that performs the next process (seventh process).

[0074] By appropriately carrying out the next step and the steps following that, it is possible to manufacture a winding that constitutes a rotating electric machine such as a motor. In addition to the above-described holding of the end wire and transport to the next step, a method including each step up to the completion of the winding is an embodiment of the winding manufacturing method of the present invention. Also, it is possible to configure a single winding machine or winding processing system including devices that perform the next step and the steps following that, and devices that are responsible for steps prior to those handled by winding machine 2.

[0075] As described above, in this embodiment, before cutting the wires W1 to W3 between the workpiece 8 and the nozzles N1 to N3, that is, when the wires W1 to W3 are neatly positioned and taut, 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.

[0076] Therefore, the positioning of the end lines W1a-W3a can be performed more easily than when the end lines W1a-W3a are fixed somewhere and positioned after the wire rods W1-W3 are cut. Moreover, since the mechanism for holding the end lines W1a-W3a is added to the chuck mechanism for holding and transporting the workpiece 8, it is possible to prevent the mechanism for holding the end lines W1a-W3a from becoming complicated and the number of parts from increasing.

[0077] By using the workpiece holder 10 and servo motor 12 used for winding to rotate the workpiece 8 during the operation of holding the end wires W1a to W3a, it is possible to prevent the mechanism from becoming complicated and the number of parts from increasing. Furthermore, since the end lines W1a to W3a are held using a mechanism for holding the workpiece 8 required for transport to the next process, the additional time required for the operation of holding the end lines W1a to W3a can also be reduced.

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

[0079] 18A to 18C show the operation of the holding chuck holding the workpiece 8 while the holding portion 27 holds the wire rod when the workpiece 8 is a rotor, by representatively showing the location where the holding chuck 14D holds the wire rod W2. These figures are schematic representations of a cross section of the holding chuck 14D in a plane that passes through the center position of the workpiece 8 in the circumferential direction and includes the central axes of the multiple chucks 14, together with the surrounding members, in order to easily show the positional relationship between the holding chuck 14D and the workpiece 8. Only the end face of the workpiece 8 in this cross section is shown. In these figures, common symbols are used for configurations that are common or correspond to the above-mentioned embodiment.

[0080] The workpiece 8 used in this example has a plurality of salient poles 8a arranged radially around the outer periphery of a hollow cylindrical laminated core 8b. Wires W1 to W3 are wound around each salient pole 8a to form U-phase, V-phase, and W-phase coils 8c, respectively (in no particular order). Even when the workpiece 8 is a rotor, the winding of the wires W1 to W3 can be performed in the same manner as in the case of a stator. Then, as shown in Fig. 18A and Fig. 18B, a plurality of chucks 14 are inserted so as to penetrate the hollow portion of the laminated core 8b, and the chuck bodies 25, 26 of each chuck are moved radially in the radial direction of the workpiece 8 to abut against the inner peripheral surface 8f of the workpiece 9, thereby holding the workpiece in the same manner as in the case of a stator. In Fig. 18B, the chuck body 25 on the left side does not abut against the inner peripheral surface 8f of the laminated core 8b, but abuts at a position different from the cross section shown in the figure.

[0081] FIG. 18A corresponds to the state of FIG. 4A and FIG. 4B, and FIG. 18B corresponds to the state of FIG. 10. That is, between these, a rotation operation of the workpiece 8 may be included similar to the case of the above-mentioned embodiment. FIG. 18C corresponds to the state of FIG. 13A, and shows a state in which the wire rod W2 is sandwiched and held between the lower convex portion 32b of the first pressing member 32 and the inner surface 30a of the recess 30 after being accommodated in the recess 30. In the example shown here, the wire rod W2 can be held by the holding portion 27 of the holding chuck 14D as shown in FIG. 18C by the same procedure as in the above-mentioned embodiment. After this, each wire rod held by each holding portion can be cut by the same procedure as in the above-mentioned embodiment, and the workpiece 8 can be transported to the next process. As in the above-mentioned embodiment, it is not necessary to align the wire rods W1 to W3 by pressing them using the pressing rods PR1 to PR3.

[0082] In addition to the above, in the above embodiment, the configuration for processing three end lines W1a, W2a, and W3a has been exemplified, but the same can be implemented for processing two or less or four or more end lines. Furthermore, the configurations of the above-mentioned embodiments and modifications of the present invention may be implemented by extracting only a part of them, and the modifications described in the above description may be applied in any combination as long as they are not mutually contradictory. The effects described in the embodiments of the present invention are merely examples of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention. [Explanation of symbols]

[0083] 2: winding machine, 6: nozzle unit, 8a: salient pole (core), 8: work, 14: chuck, 14C, 14D, 14E: holding chuck, 16: work holding device, 18: cutter, 20: movable arm, 27: holding portion, 30: recess, 30a: inner surface, 32: first pressing member, 35: spring (biasing member), 36: first driving portion, 46Aa: tip 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, W1a to W3a: end wire

Claims

1. A workpiece includes a core, and a plurality of chucks are provided for holding the workpiece by moving in a radial direction of the workpiece and contacting the workpiece with respect to the workpiece in a state in which the wire rod fed from the nozzle is wound around the core, A work holding device, characterized in that a first chuck of the plurality of chucks has a holding portion for holding a first portion of the wire between the core and the nozzle.

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

3. The workpiece holding device according to claim 2, The first chuck is provided with a biasing member that biases the first pressing member so as to contact the inner surface of the recess, The workpiece holding device further comprises a first drive unit that drives the first pressing member in a direction away from the inner surface of the recess.

4. The workpiece holding device according to claim 3, A work holding device characterized in that, when the first pressing member is moved away from the inner surface of the recess by the first driving unit, the first portion of the wire is accommodated in the recess by relative rotation of the work with respect to the nozzle about the axis of the work.

5. The workpiece holding device according to claim 2, A work holding device, characterized in that the first portion of the wire is accommodated in the recess by rotating the workpiece relative to the nozzle about an axis of the workpiece.

6. The workpiece holding device according to claim 5, A work holding device characterized by comprising a second pressing member that presses the wire between the core and the nozzle to move the wire in the radial direction of the workpiece so that the radial position of the workpiece is aligned between the first portion and the opening of the recess.

7. The workpiece holding device according to claim 6, a work holding device characterized in that the second pressing member is arranged to be able to move back and forth in a radial direction of the work, and a length in the circumferential direction of the work of the tip of the second pressing member that contacts and presses the wire is greater than a distance that a portion of the wire that abuts against the tip moves in conjunction with the relative rotation.

8. The workpiece holding device according to claim 7, The second pressing member, while holding the first portion of the wire in the first chuck, hooks a portion between the first portion of the wire and the nozzle on a second surface of the tip opposite to the first surface that abuts the wire when the wire is pressed, and pulls the wire radially outward from the workpiece.

9. The workpiece holding device according to claim 5, a control unit that controls driving of the plurality of chucks in a radial direction of the workpiece to bring the plurality of chucks and the workpiece into contact with one of a first state in which the workpiece can rotate about an axis of the workpiece while sliding relative to the plurality of chucks, and a second state in which the plurality of chucks are brought into contact with the workpiece with a force stronger than that of the first state; A work holding device, characterized in that the relative rotation of the work is performed with the multiple chucks in contact with the work in the first state.

10. The workpiece holding device according to any one of claims 1 to 9, The workpiece includes a plurality of the cores, the plurality of chucks hold the workpiece in a state in which the wires respectively fed from the plurality of nozzles are wound around cores corresponding to the respective nozzles; A work holding device characterized in that the plurality of chucks include a plurality of first chucks corresponding to each of the nozzles, and each of the first chucks holds each wire rod located between a corresponding nozzle and a core.

11. The workpiece holding device according to any one of claims 1 to 9, The nozzle; a cutter that cuts the wire, the first portion of which is held by the holder, at a location between the first portion and the nozzle; A movable arm having the plurality of chucks; Equipped with a winding machine for transporting a workpiece held by the plurality of chucks to a device or stage that performs a next step of winding the wire, with the first portion of the wire being held in the holding portion, by the movable arm after the wire is cut by the cutter, to a device or stage that performs a next step of winding the wire.

12. A first step of winding a wire rod fed from a nozzle around a core of a workpiece; a second step of moving a plurality of chucks in a radial direction of the workpiece having the wire wound around the core to bring the chucks into contact with the workpiece, thereby holding the workpiece; a third step of holding a first portion of the wire between the core and the nozzle in a first chuck of the plurality of chucks that holds the workpiece; and a fourth step of cutting the wire, the first portion of which is held by the first chuck, at a location between the first portion and the nozzle.

13. The winding method according to claim 12, further comprising the steps of: the first chuck includes a recess located on the nozzle side of the workpiece while holding the workpiece, for accommodating the first portion of the wire rod, and a movable first pressing member for pressing the first portion accommodated in the recess against an inner surface of the recess to hold the first portion, The winding method is characterized in that in the third step, the workpiece is rotated relative to the nozzle about an axis of the workpiece, thereby accommodating the first portion of the wire in the recess.

14. The winding method according to claim 13, further comprising the steps of: the first chuck includes a biasing member that biases the first pressing member so as to contact an inner surface of the recess, a winding processing method comprising: in the third step, receiving the first portion in the recess while holding the first pressing member at a position away from the inner surface of the recess against the bias of the biasing member; and then releasing the holding of the first pressing member to hold the first portion against the inner surface of the recess.

15. The winding method according to claim 13, further comprising the steps of: a fifth step of pressing the wire with a second pressing member between the core and the nozzle to move the wire in the radial direction of the workpiece so that the radial position of the workpiece is aligned with that of the first portion and the opening of the recess.

16. The winding method according to claim 15, further comprising the steps of: a sixth step of, after the third step, hooking the second pressing member at a location between the first portion of the wire and the nozzle and pulling it outward in the radial direction of the workpiece.

17. The winding method according to claim 13, further comprising the steps of: the second step is a step of holding the workpiece by bringing the plurality of chucks into contact with the workpiece in a first state in which the workpiece can rotate about an axis of the workpiece while sliding relative to the plurality of chucks; The third step is performed in a state where the plurality of chucks are in contact with the workpiece in the first state, A winding processing method comprising the step of contacting the plurality of chucks with the workpiece with a force stronger than that in the first state after the third step.

18. 18. The winding method according to claim 12, further comprising the steps of: The first step is a step of winding the wires fed from the plurality of nozzles around cores corresponding to the respective nozzles among a plurality of cores included in the workpiece, the plurality of chucks includes a plurality of the first chucks corresponding to the respective nozzles; the third step is a step of causing each of the first chucks to hold a first portion of each of the wires located between the corresponding nozzle and core; the fourth step being a step of cutting each of the wires, the first portions of which are held by the first chuck, at a location between the first portion and the nozzle.

19. Each step of the winding method according to any one of claims 12 to 17; and a seventh step of transporting the work held by the multiple chucks, with the first portion of the wire being held in the first chuck, by a movable arm having the multiple chucks to an apparatus or stage that performs the next step of winding the wire, after cutting the wire in the fourth step.

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