Winding device

Abstract

To provide a small-sized winding device capable of winding lead wires while simultaneously aligning them in a plurality of teeth.SOLUTION: A first movement mechanism of a mobile device includes a first rotary shaft, a second rotary shaft, a rotation mechanism, a first mobile, a first conversion mechanism, a second mobile and a second conversion mechanism. The rotation mechanism interlocks and rotates the first rotary shaft and the second rotary shaft. The first mobile is moved in a first radial direction in response to the rotation of the first rotary shaft. The first conversion mechanism converts the rotation of the first rotary shaft into a linear motion along the first radial direction and moves the first mobile in the first radial direction. The second mobile is moved in a second radial direction in response to the rotation of the second rotary shaft. The second conversion mechanism converts the rotation of the second rotary shaft into a linear motion along the second radial direction and moves the second mobile in the second radial direction. The rotation mechanism rotates the first rotary shaft and the second rotary shaft in the same direction just by the same amount. A first supporter is provided in the first mobile. The second supporter is provided in the second mobile.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

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

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

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

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

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

[0007] A nozzle is attached to an end of the nozzle holding member so as to be swingable about an axis. The nozzle can move freely in three orthogonal axis directions by driving the X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism. A first pulley and a second pulley are provided at both ends of the nozzle holding member. The first pulley and the second pulley rotate about their respective axis centers. The wire is supplied from a wire supply device. The wire is guided by the first pulley and led into the hollow portion of the nozzle holding member, and is guided by the second pulley and led to the nozzle, and is fed out from the tip of the nozzle. A predetermined tension is applied to the wire by a tension device. An air cylinder is disposed on the outer peripheral surface of the nozzle holding member. A piston rod that advances and retracts by compressed air is inserted into the air cylinder, and the tip of the piston rod is connected to the rear end of the nozzle. By driving the air cylinder, the nozzle swings about an axis. By controlling the operation of the air cylinder, the orientation of the nozzle changes, and the angle of the wire fed out from the nozzle can be adjusted. The nozzle is a member formed in a flat plate shape so as to be able to pass through the slots between the teeth. The wire passes through the nozzle in the Y-axis direction.

[0008] When winding a wire around teeth, the indexing mechanism rotates the stator to face the desired teeth to be wound with the nozzle. The teeth to be wound are arranged coaxially (on the Y-axis) with the nozzle. With the tip of the fed wire held by the chuck, the nozzle orbits around the teeth while feeding the wire and moves in the winding axis direction (Y-axis direction) of the teeth by driving the nozzle movement mechanism. The X-axis movement mechanism and the Z-axis movement mechanism orbit the nozzle around the teeth. The Y-axis movement mechanism moves the nozzle by the wire diameter of the wire in the winding axis direction (Y-axis direction) of the teeth every time the nozzle orbits around the teeth once. On the teeth, the first layer of wire is wound in alignment from the tip side toward the root side, then the second layer of wire is wound in alignment from the root side toward the tip side, and sequentially, the wire is wound in alignment for a predetermined number of layers in the same manner.

[0009] The winding device includes an upper guide and a lower guide. The upper guide and the lower guide hold the wire fed from the nozzle and position the held wire with respect to the teeth during the process of winding the teeth. The upper guide is arranged to face the non-facing surface of the teeth to be wound, and the lower guide is arranged to face the non-facing back surface on the opposite side of the non-facing surface of the teeth to be wound. The non-facing surface of the teeth to be wound is the outer peripheral surface of the teeth to be wound that does not face the adjacent teeth.

[0010] The upper guide consists of a pair of upper left guides and upper right guides arranged side by side in the winding direction (X-axis direction) of the wire. The upper left guide and the upper right guide each include a first guide and a second guide. The first guide is arranged parallel to the winding direction (X-axis direction) of the wire wound around the teeth to be wound. The second guide is arranged parallel to the first guide with a gap equal to the wire diameter of the wire between the second guide and the first guide.

[0011] The lower guide consists of a pair of lower left guides and lower right guides arranged side by side in the winding direction (X-axis direction) of the wire. The lower left guide and the lower right guide each include a first guide and a second guide. On the base, a pair of guide moving mechanisms for moving a pair of upper left guides and upper right guides in the three orthogonal axis directions respectively are arranged. The guide moving mechanism includes a winding axis direction moving mechanism, a winding direction moving mechanism, and a vertical direction moving mechanism. The winding axis direction moving mechanism moves the upper guide in the winding axis direction (Y-axis direction) of the teeth to be wound. The winding direction moving mechanism moves the upper guide in the winding direction (X-axis direction) of the wire wound around the teeth to be wound. The vertical direction moving mechanism moves the upper guide in the approaching and separating direction (Z-axis direction) with respect to the teeth to be wound.

[0012] The winding axis direction moving mechanism includes a first housing, a first drive motor, a first ball screw, and a first driven member. The first housing is supported by a mounting table placed on the base. The first drive motor is arranged at an end of the first housing. The first ball screw is connected to the output shaft of the first drive motor and extends in the Y-axis direction. The first driven member is screwed onto the first ball screw and moves along the first ball screw.

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

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

[0015] An air cylinder is accommodated in the support body. A piston that advances and retreats by compressed air is inserted into the air cylinder, and the piston is connected to the first moving body and the second moving body. By driving the air cylinder, the first moving body and the second moving body move along the first guide rail and the second guide rail.

[0016] A first guide is coupled to the first moving body, and a second guide is coupled to the second moving body. The first guide and the second guide can move freely in three orthogonal axes with respect to the non-facing surface of the teeth to be wound by driving the winding axis direction movement mechanism, the winding direction movement mechanism, and the vertical direction movement mechanism. Since the guide movement mechanism is provided individually for each of the pair of upper left guides and upper right guides, the pair of upper left guides and upper right guides can each move freely in three orthogonal axes with respect to the non-facing surface of the teeth to be wound. The guide movement mechanism is also provided individually for each of the pair of lower left guides and lower right guides in the lower guide.

[0017] The operation of the winding device is automatically controlled by a controller. The indexing mechanism rotates the stator to face the teeth to be wound with the nozzle. The nozzle movement mechanism orbits the nozzle around the teeth to be wound and winds the wire fed from the nozzle around the teeth to be wound in an aligned manner. That is, winding is performed by passing the nozzle through the slot.

[0018] As a result of winding a wire around a winding target tooth for N layers (N is a natural number), assume that a wire is wound in a groove between a first wire at the end in the Nth layer and a second wire adjacent to it. When starting to wind the (N + 1)th layer, by driving the guide movement mechanism, a pair of first guides in the upper guide are brought closer to the winding target tooth and arranged side by side in the winding direction (X-axis direction) of the wire.

[0019] Next, by driving the nozzle movement mechanism, the nozzle located outside the slot is moved in the X-axis direction along the non-facing surface of the winding target tooth, and the wire fed out from the nozzle is brought into contact with the surface of the pair of first guides. The wire fed out from the nozzle is guided onto the Nth layer on the non-facing surface of the winding target tooth.

[0020] Next, by driving the guide movement mechanism, a pair of second guides in the upper guide are brought closer to the winding target tooth. Since the distance between the opposing surfaces of the pair of first guides and the pair of second guides is equal to the wire diameter of the wire, the wire fed out from the nozzle is sandwiched and held between the opposing surfaces of the pair of first guides and the pair of second guides. The upper guide positions itself at a position facing the groove between the first wire and the second wire in the Nth layer on the non-facing surface of the winding target tooth. The upper guide holds the wire and positions the held wire with respect to the winding target tooth.

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

[0022] Next, by driving the nozzle movement mechanism, the nozzle located outside the slot is moved in the axial direction of the stator along the second opening that opens to the inner circumference of the stator in the slot, and the wire rod fed out from the nozzle is inserted into the slot. The nozzle operates so as to insert the fed-out wire rod into the slot without passing through the inside of the slot. The upper guide maintains the state of holding the wire rod. The wire rod held by the upper guide keeps the state of being positioned at the winding position.

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

[0024] With the wire rod held by the upper guide, the nozzle is moved outside the slot along the first opening, the second opening, and the third opening of the slot, and the wire rod fed out from the nozzle is inserted into the slot, whereby the wire rod fed out from the nozzle can be guided to the winding position on one side surface of the winding target tooth. Even when the nozzle cannot pass through the inside of the slot, the wire rod can be wound around the winding target tooth.

[0025] In a state where the wire rod fed out from the nozzle is guided to the winding position on one side surface of the winding target tooth, the upper guide is separated from the winding target tooth, and the holding of the wire rod by the upper guide is released. At the same time, the pair of first guides in the lower guide are brought closer to the winding target tooth and arranged side by side in the winding direction (X-axis direction) of the wire rod.

[0026] Next, by driving the nozzle movement mechanism, the nozzle located outside the slot is moved in the X-axis direction along the non-facing back surface of the winding target tooth, and the wire rod fed out from the nozzle is brought into contact with the surface of the pair of first guides. The wire rod fed out from the nozzle is guided onto the Nth layer on the non-facing back surface of the winding target tooth. The wire rod whose holding by the upper guide has been released is wound at the winding position of the Nth layer on the non-facing surface of the winding target tooth, and the wire rod inserted into the slot is wound at the winding position of the Nth layer on one side surface of the winding target tooth. The movement of the nozzle in the X-axis direction may be performed by driving the index mechanism and rotating the stator about the axis.

[0027] Next, by driving the guide movement mechanism, the pair of second guides in the lower guide are brought closer to the winding target tooth. The wire rod fed out from the nozzle is held by being sandwiched between the opposing surfaces of the pair of first guides and the pair of second guides, and is positioned at a position opposing the winding position on the non-facing back surface of the winding target tooth.

[0028] Next, with the wire rod held by the lower guide, the nozzle is moved outside the slot along the fourth opening, the fifth opening, and the sixth opening of the slot, and the fed-out wire rod is inserted into the slot. The wire rod fed out from the nozzle is guided to the winding position on the other side surface of the winding target tooth. The lower guide is separated from the winding target tooth, and the holding of the wire rod by the lower guide is released.

[0029] Thereafter, every time the wire rod is wound once around the winding target tooth, the nozzle is moved by the wire diameter of the wire rod in the winding axis direction (Y-axis direction) of the winding target tooth, and the upper guide and the lower guide are also moved by the wire diameter of the wire rod in the Y-axis direction. By repeating the above procedure, winding of the N + 1th layer is performed. After the N + 1th layer, winding is terminated when the width of the slot becomes smaller than the diameter of the wire rod.

[0030] Patent Document 2 discloses a winding device. The winding device has a conductor introduction cylinder. The conductor introduction cylinder is coaxially arranged at the center of the stator core. A conductor is introduced into the conductor introduction cylinder from the lower end. The conductor introduction cylinder is supported by a bearing installed on the frame so as to be axially movable and rotatable. A drive mechanism is arranged below the frame. The drive mechanism swings (reciprocally rotates) the conductor introduction cylinder at a predetermined angle and reciprocally moves it axially to make it go around the corresponding internal teeth of the stator core.

[0031] A cylindrical head is attached to the upper end of the conductor introduction cylinder. The head has slots extending in the radial direction. A nozzle is slidably mounted in the slot in the radial direction. The nozzle protrudes radially outward from three circumferential positions of the head and winds the wire around three predetermined internal teeth of the stator core simultaneously.

[0032] The lower surface of the slot of the head is open, and an annular cam plate is rotatably mounted there. Three spiral cam grooves are formed in the cam plate corresponding to each slot. At the base end of each nozzle, a cam follower composed of a roller that fits into the corresponding cam groove is attached. When the cam plate rotates, the nozzle moves forward and backward in the radial direction through the cam follower that fits into the spiral cam groove, and the winding position with respect to the internal teeth of the stator core can be gradually moved.

[0033] The cam plate is connected to the upper end surface of a sleeve that surrounds the upper outer periphery of the conductor introduction cylinder and rotates integrally with the sleeve. The sleeve is inserted into an upper rotating cylinder rotatably held by a first bearing block. The upper rotating cylinder rotates integrally with the sleeve while allowing axial movement of the sleeve by spline teeth that fit into a spline groove formed on the lower outer periphery of the sleeve. A pulley for rotating the cam plate is mounted on the outer periphery of the upper rotating cylinder.

[0034] A second bearing block is arranged opposite to the first bearing block, and they are connected via a connecting plate. A support plate is connected so as to intersect the connecting plate, and a plurality of legs attached to the lower surface of this support plate are fixed to the upper surface of the frame.

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

[0036] The lower part of the sleeve connected to the cam plate is also inserted into the lower rotating cylinder. However, the sleeve can rotate freely with respect to the lower rotating cylinder without being rotationally fitted thereto.

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

[0038] At both ends of the support plate, a first plate and a second plate are attached in parallel to each other. Between the first plate and the second plate, a pair of first guide rods and second guide rods are erected in parallel. Above the support plate, a slide plate is arranged, and the first guide rods and the second guide rods are inserted into a plurality of first blocks attached to the lower surface of this slide plate. The slide plate can move along the first guide rods and the second guide rods.

[0039] On the support plate, a third bearing block and a fourth bearing block are installed. A ball screw is inserted and supported by the third bearing block and the fourth bearing block. The ball screw is arranged in parallel with the first guide rods and the second guide rods. A motor capable of rotational control such as a stepping motor is attached to the second plate, and the drive shaft of this motor is connected to the ball screw via a coupling.

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

[0041] On the upper surface of the slide plate, a pair of first movable pulleys and second movable pulleys are mounted at a predetermined interval. The second movable pulley is attached via a movable plate screwed to the slide plate, and the interval between the first movable pulley and the second movable pulley can be adjusted by shifting the position of the movable plate.

[0042] On the first bearing block and the second bearing block, substantially triangular first support plate and second support plate are attached, and first to fourth idler pulleys are installed on the first support plate and the second support plate.

[0043] A second timing belt is stretched over a series of pulley groups consisting of a driving pulley, a first idler pulley, a second movable pulley, a second idler pulley, a cam plate rotating pulley, a third idler pulley, a first movable pulley, and a fourth idler pulley. The second timing belt is stretched outside these pulleys at the driving pulley, the second movable pulley, the cam plate rotating pulley, and the first movable pulley, and is stretched inside these pulleys at the first to fourth idler pulleys, forming a cross shape as a whole.

[0044] The belt portions (a, b, c, d) stretched between the first movable pulley and the second movable pulley and the first to fourth idler pulleys are made parallel to the moving direction of the slide plate. When the slide plate moves in the direction (D), the belt portions (a, b) become shorter, while the belt portions (c, d) become longer by the same length. When the slide plate moves in the direction (E), the belt portions (a, b) become longer, while the belt portions (c, d) become shorter by the same length. The path length of the belt that circulates around the pulley group never changes. Even if the first movable pulley and the second movable pulley move in the direction (D) or the direction (E) as the slide plate moves, the second timing belt can rotate without being stretched or loosened.

[0045] In the wire winding device, by means of a drive mechanism, the conductive introduction cylinder swings (reciprocates) at a predetermined angle and reciprocates in the axial direction, so that each nozzle attached to the upper end of the wire introduction cylinder via a head circulates around the corresponding internal teeth of the stator core, and winds the wire fed out from the tip of the nozzle through the inside of the wire introduction cylinder around the internal teeth.

[0046] When the wire introduction cylinder swings, the lower rotating cylinder that fits into the spline groove of the wire introduction cylinder via spline teeth rotates integrally. When the lower rotating cylinder rotates, the rotating shaft rotates via the drive pulley, the first timing belt, and the driven pulley. The upper rotating cylinder rotates via the second timing belt stretched around a series of pulley groups consisting of the driving pulley, the first idler pulley, the second movable pulley, the second idler pulley, the cam plate rotating pulley, the third idler pulley, the first movable pulley, and the fourth idler pulley. Due to the engagement between the spline teeth of the upper rotating cylinder and the spline, the sleeve also rotates integrally. In a state where the slide plate is stationary and the first movable pulley and the second movable pulley do not move, the sleeve connected to the cam plate rotates in synchronization with the wire introduction cylinder, and no relative rotation occurs between the cam plate, the wire introduction cylinder, and the head. Therefore, the nozzle maintains a state of protruding a predetermined length in the radial direction.

[0047] When the motor is operated according to a preset program and the slide plate is moved in direction (D) or direction (E) via the ball screw, nut, and second block, relative rotation occurs between the cam plate, the wire introduction cylinder, and the head due to the following actions. Let the path from the driving pulley → the first idle pulley → the second movable pulley → the second idle pulley → the pulley for cam plate rotation be path (I). Let the path from the pulley for cam plate rotation → the third idle pulley → the first movable pulley → the fourth idle pulley → the driving pulley be path (II).

[0048] When the slide plate is moved in direction (D), the belt portions (a, b) that form part of path (I) become shorter, and correspondingly, the belt portions (c, d) that form part of path (II) become longer. By this length, the second timing belt moves from the path (I) side to the path (II) side, rotating the pulley for cam plate rotation in direction (D’).

[0049] When the slide plate is moved in direction (E), the belt portions (a, b) that form part of path (I) become longer, and correspondingly, the belt portions (c, d) that form part of path (II) become shorter. By this length, the second timing belt moves from the path (II) side to the path (I) side, rotating the pulley for cam plate rotation in direction (E’).

[0050] The above rotation is made additionally with respect to the rotation synchronized with the wire introduction cylinder, causing the pulley for cam plate rotation to rotate relative to the wire introduction cylinder. As a result, via the upper rotating cylinder and the sleeve, the cam plate rotates relative to the wire introduction cylinder and the head. As a result, the position of the cam groove into which the cam follower attached to the base of the nozzle fits changes, and the nozzle moves in the radial direction. Since the rotation angle of the cam plate can be freely adjusted according to the movement amount of the slide plate, the radial movement of the nozzle can be made at a predetermined timing and a predetermined movement amount linked to the winding operation by controlling the motor.

[0051] The winding device gradually changes the protruding amount of the nozzle in the radial direction along with the winding operation on the inner teeth of the stator core, and winds the conducting wire while aligning it along the longitudinal direction of the inner teeth. Winding can be performed so as to maximize the space factor in the slot.

Prior Art Documents

Patent Documents

[0052]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0053] In a rotating machine, high efficiency and miniaturization can be achieved by improving the space factor of the coil. The space factor of the coil can be improved by aligning and winding the conducting wire on the teeth. The inventor believes that the winding method and winding device of Patent Document 1 are effective technologies for realizing the aligned winding of the conducting wire. However, the inventor considered that in the winding method in which one nozzle is provided in the winding device and the conducting wire is wound around one tooth with this one nozzle, the working time required for winding becomes long. When the working time required for winding becomes long, the productivity of the stator decreases.

[0054] The inventors have considered the following winding method that employs the technology of Patent Document 1. In this winding method, as in Patent Document 2, a winding device is provided with multiple nozzles, and the multiple nozzles simultaneously wind a conductor around multiple teeth. In this description, a first nozzle and a second nozzle are given as examples of multiple nozzles, and a first tooth and a second tooth are given as examples of multiple teeth. The radial direction in which the first teeth protrude is referred to as the "first radial direction," and the radial direction in which the second teeth protrude is referred to as the "second radial direction." The conductor unwound from the first nozzle is referred to as the "first conductor," and the conductor unwound from the second nozzle is referred to as the "second conductor." The first conductor unwound from the first nozzle is wound around the first teeth. The second conductor unwound from the second nozzle is wound around the second teeth. The portion of the first conductor unwound from the first nozzle onto the end face of the first tooth in the stacking direction is referred to as the "first transverse portion," and the portion of the second conductor unwound from the second nozzle onto the end face of the second tooth in the stacking direction is referred to as the "second transverse portion." The steel plates that form the stator core are stacked in the stacking direction. In this winding method, the winding device moves the first support and the second support in the radial direction in unison. The first support supports the first transverse portion while the first conductor is being wound around the first tooth. Accordingly, the first radial position of the first transverse portion is restricted. The second support supports the second transverse portion while the second conductor is being wound around the second tooth. Accordingly, the second radial position of the second transverse portion is restricted.

[0055] The inventors considered that if the first support and the second support were moved radially by independent moving mechanisms, the winding device would become larger. That is, in this case, the winding device would need to be provided with two moving mechanisms for radial movement corresponding to the two first support and second support. One of the two moving mechanisms for radial movement moves the first support in the radial direction. The other of the two moving mechanisms for radial movement moves the second support in the radial direction.

[0056] An object of the present invention is to provide a small winding device that can simultaneously wind conductors in alignment around each of a plurality of teeth.

Means for Solving the Problem

[0057] One aspect of the present invention is a winding device including: a first nozzle that feeds out a first conductor wound around a first tooth among a plurality of teeth provided at equal angular intervals on a stator core of a rotating machine and protruding in a radial direction centered on a rotation axis of a rotor of the rotating machine, to the first tooth; a second nozzle that feeds out a second conductor wound around a second tooth among the plurality of teeth, to the second tooth; a turning device that relatively turns the first nozzle around an outer circumference of the first tooth with respect to the first tooth and relatively turns the second nozzle around an outer circumference of the second tooth with respect to the second tooth; a positioning device that regulates a position in a first radial direction as the radial direction in which the first tooth of a first cross-sectional portion of the first conductor fed out onto an end face of the first tooth from the first nozzle protrudes, on an end face in a stacking direction in which steel plates forming the stator core of the first tooth are stacked, and a position in a second radial direction as the radial direction in which the second tooth of a second cross-sectional portion of the second conductor fed out onto an end face of the second tooth from the second nozzle protrudes, on the end face in the stacking direction of the second tooth; the positioning device includes a first support member that supports the first cross-sectional portion, a second support member that supports the second cross-sectional portion, and a moving device including a first moving mechanism that moves the first support member in the first radial direction and moves the second support member in the second radial direction; the first moving mechanism includes a first rotating shaft that rotates about a first central axis along the stacking direction, a second rotating shaft that rotates about a second central axis along the stacking direction, a rotating mechanism that rotates the first rotating shaft and the second rotating shaft in the same direction by the same amount, a first moving body that moves in the first radial direction in response to rotation of the first rotating shaft, a first conversion mechanism that converts rotation of the first rotating shaft into linear motion along the first radial direction and moves the first moving body in the first radial direction, a second moving body that moves in the second radial direction in response to rotation of the second rotating shaft, and a second conversion mechanism that converts rotation of the second rotating shaft into linear motion along the second radial direction and moves the second moving body in the second radial direction; the rotating mechanism rotates the first rotating shaft and the second rotating shaft in the same direction by the same amount, the first support member is provided on the first moving body, and the second support member is provided on the second moving body.

[0058] According to this winding device, both the movement of the first support member in the first radial direction and the movement of the second support member in the second radial direction can be simultaneously performed by the first movement mechanism.

[0059] The moving device includes a second movement mechanism that moves the first support member in the stacking direction and moves the second support member in the stacking direction. When the positioning device restricts the position of the first transverse portion in the first radial direction and restricts the position of the second transverse portion in the second radial direction, the first support member is brought closer to the end face of the first teeth in the stacking direction and the second support member is brought closer to the end face of the second teeth in the stacking direction. When the positioning device releases the restriction on the position of the first transverse portion in the first radial direction and releases the restriction on the position of the second transverse portion in the second radial direction, the first support member is separated from the end face of the first teeth in the stacking direction and the second support member is separated from the end face of the second teeth in the stacking direction. The first movement mechanism may be configured to move the first moving body in the first radial direction and move the second moving body in the second radial direction in a state where the second movement mechanism separates the first support member from the end face of the first teeth in the stacking direction and separates the second support member from the end face of the second teeth in the stacking direction.

[0060] According to this configuration, when the first support member moves in the first radial direction, it is possible to prevent the first transverse portion from being displaced in the first radial direction, and when the second support member moves in the second radial direction, it is possible to prevent the second transverse portion from being displaced in the second radial direction.

[0061] The first support member includes a plurality of first accommodation grooves that accommodate the first transverse portion on a first support end surface facing the end surface of the first teeth in the lamination direction. The second support member includes a plurality of second accommodation grooves that accommodate the second transverse portion on a second support end surface facing the end surface of the second teeth in the lamination direction. The plurality of first accommodation grooves are provided on the first support end surface along a first width direction orthogonal to both the lamination direction and the first radial direction of the first teeth, and are arranged side by side in the first radial direction on the first support end surface. The plurality of second accommodation grooves are provided on the second support end surface along a second width direction orthogonal to both the lamination direction and the second radial direction of the second teeth, and are arranged side by side in the second radial direction on the second support end surface, and may be configured in this way.

[0062] According to this configuration, the first transverse portion can be supported by any one of the plurality of first accommodation grooves, and the second transverse portion can be supported by any one of the plurality of second accommodation grooves. Suppose the position of the first transverse portion in the first radial direction is shifted to the side of any one of the plurality of first accommodation grooves. In this case, the first support member supports the first transverse portion in a state where the first transverse portion is accommodated in this arbitrary first accommodation groove. Suppose the position of the second transverse portion in the second radial direction is shifted to the side of any one of the plurality of second accommodation grooves. In this case, the second support member supports the second transverse portion in a state where the second transverse portion is accommodated in this arbitrary second accommodation groove.

Advantages of the Invention

[0063] According to the present invention, a small winding device capable of simultaneously aligning and winding conductors around each of a plurality of teeth can be obtained.

Brief Description of the Drawings

[0064]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0065] Embodiments for implementing the present invention will be described with reference to the drawings. The present invention is not limited to the configurations described below, and various configurations can be adopted within the same technical concept. For example, some of the configurations shown below may be omitted or replaced with other configurations. The present invention may include other configurations. The drawings are explanatory diagrams for understanding the present invention and are different from design drawings. Each drawing may not correspond exactly to other drawings. Hatching indicates a cut surface. Dashed lines are hidden lines.

[0066] <Rotating machine and stator core 90> Examples of rotating machines include electric motors and generators. A rotating machine includes a stator and a rotor. Rotating machines are well-known. In the embodiments, descriptions related to the rotating machine and the rotor will be omitted as appropriate. The stator includes a stator core 90 and a plurality of coils. Further, the stator includes an insulating structure. The insulating structure electrically insulates the stator core 90 and the plurality of coils. The insulating structure includes an insulator. In the embodiments, insulator 96 is exemplified as the insulator (see FIGS. 6 and 7 described later). In addition, examples of insulators include insulating paper. Insulators such as insulator 96 and insulating paper are well-known, and the insulating structure is also adopted in the stators of well-known rotating machines. In a stator including the stator core 90, a well-known insulating structure can be adopted. In the embodiments, other descriptions related to the insulating structure will be omitted.

[0067] The stator core 90 is formed by laminating steel plates (see FIG. 1). Examples of the steel plates include electromagnetic steel plates. In an embodiment, the direction in which the steel plates are laminated in the stator core 90 is referred to as the "lamination direction". One side in the lamination direction is referred to as the "first side", and the other side in the lamination direction is referred to as the "second side". The directions centered on the rotation axis of the rotor are referred to as the "radial direction" and the "circumferential direction", and the direction orthogonal to both the lamination direction and the radial direction is referred to as the "width direction". The central axis L0 indicated by the dashed line in FIGS. 1 and FIGS. 4 and 5 described later coincides with the rotation axis (rotation axis center) of the rotor. The radial direction coincides with the radial direction centered on the rotation axis of the rotor. One side in the radial direction is referred to as the "third side", and the other side in the radial direction is referred to as the "fourth side". The third side in the radial direction is on the side of the rotation axis of the rotor. The fourth side in the radial direction is opposite to the third side in the radial direction. The circumferential direction includes the rotation direction and the reverse rotation direction of the rotor. The reverse rotation direction is opposite to the rotation direction of the rotor. One side in the circumferential direction is referred to as the "fifth side", and the other side in the circumferential direction is referred to as the "sixth side".

[0068] The stator core 90 includes a yoke 91 and a plurality of teeth 92 (see FIG. 1). The yoke 91 has an annular shape. The plurality of teeth 92 are provided at equal angular intervals in the stator core 90 and project in the radial direction. The embodiment takes an inner rotor type rotating machine as an example. In an inner rotor type rotating machine, the rotor is rotatably provided inside the stator. In the stator of an inner rotor type rotating machine, the plurality of teeth 92 are provided at equal angular intervals on the inner circumference of the yoke 91, which is the third side in the radial direction, and project in the third side in the radial direction. In the embodiment, the stator core 90 includes nine teeth 92. However, the number of such teeth 92 is an example. The number of teeth 92 provided in the stator core 90 is appropriately determined in consideration of various conditions.

[0069] In the stator core 90, a slot 94 is formed between two circumferentially adjacent teeth 92. Coils are provided on the teeth 92. The coils are formed by winding a conducting wire around the teeth 92 by a winding device described later. Although details will be described later, the conducting wire is wound in a spiral shape in the radial direction. Further, the conducting wire is wound in a plurality of layers. For example, the conducting wire for one turn wound around the tooth 92 crosses from one side to the other side in the width direction (circumferential direction) on the end face 93 on the first side in the stacking direction of this tooth 92, and then passes through the slot 94 formed on the other side in the circumferential direction of this tooth 92 from the first side to the second side in the stacking direction as it is. Further, this conducting wire continuously crosses from the other side to the one side in the width direction (circumferential direction) on the end face 93 on the second side in the stacking direction of this tooth 92, and then passes through the slot 94 formed on the one side in the circumferential direction of this tooth 92 from the second side to the first side in the stacking direction as it is.

[0070] In the embodiment, "on the end face 93 of the tooth 92" has the following meaning. That is, it is assumed that the end face 93 forms the first side in the stacking direction of the tooth 92. In this case, "on the end face 93 of the tooth 92" means the first side in the stacking direction from the end face 93 on the first side in the stacking direction of the tooth 92. It is assumed that the end face 93 forms the second side in the stacking direction of the tooth 92. In this case, "on the end face 93 of the tooth 92" means the second side in the stacking direction from the end face 93 on the second side in the stacking direction of the tooth 92.

[0071] On each of the first side and the second side in the stacking direction, the end face 93 of the tooth 92 and the end face of the yoke 91 together form the end face of the stator core 90. That is, the end face 93 on the first side of the tooth 92 in the stacking direction and the end face on the first side of the yoke 91 in the stacking direction together form the end face on the first side of the stator core 90 in the stacking direction. In other words, the end face on the first side of the stator core 90 in the stacking direction includes the end face 93 on the first side of the tooth 92 in the stacking direction and the end face on the first side of the yoke 91 in the stacking direction. The end face 93 on the second side of the tooth 92 in the stacking direction and the end face on the second side of the yoke 91 in the stacking direction together form the end face on the second side of the stator core 90 in the stacking direction. In other words, the end face on the second side of the stator core 90 in the stacking direction includes the end face 93 on the second side of the tooth 92 in the stacking direction and the end face on the second side of the yoke 91 in the stacking direction.

[0072] The tooth 92 has a shape in which the tip side is wider in the circumferential direction. In the embodiment, since the rotating machine is an inner rotor type, the tip side of the tooth 92 is the third side in the radial direction. The slot 94 has a slot opening 95. The slot opening 95 is formed at positions adjacent to each other on the tip sides of two circumferentially adjacent teeth 92. Such a structure of the stator core 90 is well known. In other words, the stator core 90 has a well-known stator core structure. Therefore, other descriptions regarding the stator core �0 will be omitted as appropriate.

[0073] In FIG. 1, the symbols for the teeth, the end faces in the stacking direction of the teeth, the slots, and the slot openings are as follows. That is, the symbol "92" for the teeth and the symbol "93" for the end faces in the stacking direction of the teeth are assigned to three arbitrarily selected circumferentially adjacent teeth 92. The symbol "94" for the slots and the symbol "95" for the slot openings are assigned to the slot 94 and the slot opening 95 between the next two teeth 92. These two teeth 92 are circumferentially adjacent to the three teeth 92 to which the symbols are assigned. The "width direction" shown in FIG. 1 is for the next tooth 92. This tooth 92 is located at the center in the circumferential direction among the three teeth 92 to which the symbols are assigned. The "radial direction" shown in FIG. 1 is based on the center position in the width direction of this tooth 92.

[0074] <Winding device> The winding device will be described with reference to FIGS. 1 to 10. The winding device forms coils on the teeth 92 of the stator core 90 of the rotating machine. The winding device simultaneously forms a plurality of coils for each of the plurality of teeth 92. The number of the plurality of teeth 92 for simultaneously forming the coils is two or more, and may be all or part of the plurality of teeth 92 provided on the stator core 90. In an embodiment, the winding device simultaneously forms nine coils for each of the nine teeth 92.

[0075] The winding device includes a support device, a plurality of nozzles 10, a turning device, and a positioning device 20 (see FIGS. 2 to 7). In an embodiment, the illustration of the support device and the illustration of the turning device are omitted. In FIGS. 2 and 3, the illustration of the plurality of nozzles 10 and the illustration of the conducting wire are omitted. In FIGS. 6 and 7, the illustration of the conducting wire before being wound around the teeth 92 is omitted. In an embodiment, the winding device includes one nozzle 10 for one tooth 92. Therefore, the winding device includes nine nozzles 10. The number of nozzles 10 provided in the winding device is appropriately determined in consideration of various conditions. For example, when determining the number of nozzles 10 provided in the winding device, the number of the plurality of teeth 92 for simultaneously forming the coils is considered.

[0076] The support device supports the stator core 90. In the support device, a support structure similar to that of a known winding device can be adopted to support the stator core 90. For example, the winding device can adopt a support structure similar to the support base of the indexing mechanism in Patent Document 1 as the support device. Therefore, other descriptions regarding the support device are omitted.

[0077] The nozzle 10 pays out a conducting wire. The conducting wire is wound around the tooth 92. That is, the nozzle 10 pays out the conducting wire with respect to the tooth 92 around which the conducting wire is to be wound. Tension is applied to the conducting wire. A plurality of nozzles 10 all have the same shape. A tip opening 11 is provided at the tip of the nozzle 10 (see FIGS. 6 and 7). The conducting wire is paid out from the tip opening 11 to the outside of the nozzle 10. When the nozzle 10 relatively rotates around the outer periphery of the tooth 92 to be wound by a rotating device, the nozzle 10 pays out the conducting wire from the tip opening 11.

[0078] The rotating device relatively rotates the nozzle 10 around the outer periphery of the tooth 92 with respect to the tooth 92 (see FIGS. 6 to 8). The rotating device simultaneously and similarly performs a plurality of relative rotations to be executed between one nozzle 10 and one tooth 92. In the embodiment, the rotating device simultaneously and similarly performs nine relative rotations to be executed between one nozzle 10 and one tooth 92. During the relative rotations respectively executed between nine nozzles 10 and nine teeth 92, the relative positions of the nozzles 10 with respect to the teeth 92 all have the same relationship.

[0079] During the relative rotation of the plurality of nozzles 10 and the plurality of teeth 92 by the rotating device, one round of relative rotation to be executed between one nozzle 10 and one tooth 92 includes paths A to H (see FIG. 8). The paths A to H show an example of the locus of the position of the tip of this nozzle 10 when one nozzle 10 relatively rotates around the outer periphery of one tooth 92 by a rotating device. The arrows indicating the paths A to H in FIG. 8 show the moving directions in one round of relative rotation of one nozzle 10 and one tooth 92. The path lengths of the paths A to H are appropriately determined in consideration of various conditions. The rotating direction of relatively rotating one nozzle 10 and one tooth 92 may be opposite to the example shown in FIG. 8. The rotating direction of relatively rotating one nozzle 10 and one tooth 92 is appropriately determined in consideration of various conditions. For example, the characteristics required for the rotating machine are considered in the determination of this rotating direction.

[0080] In path A, the nozzle 10 moves on the end face 93 on the first side in the stacking direction of the teeth 92 from the fifth side to the sixth side in the circumferential direction. In path A, the relative movement range in the circumferential direction between the nozzle 10 and the teeth 92 extends from the region of the slot 94 on the fifth side in the circumferential direction of the teeth 92 across the teeth 92 to the region of the slot 94 on the sixth side in the circumferential direction of the teeth 92. In path B, the nozzle 10 moves from the fourth side to the third side in the radial direction. The tip of the nozzle 10 reaches a position on the third side in the radial direction from the slot opening 95. In path C, the nozzle 10 moves from the first side to the second side in the stacking direction. The tip of the nozzle 10 reaches a position on the second side in the stacking direction from the end face 93 on the second side in the stacking direction of the teeth 92. In path D, the nozzle 10 moves from the third side to the fourth side in the radial direction. The tip of the nozzle 10 reaches the region of the next slot 94 which is on the fourth side in the radial direction from the slot opening 95. This slot 94 is provided on the sixth side in the circumferential direction of the teeth 92. In path E, the nozzle 10 moves on the end face 93 on the second side in the stacking direction of the teeth 92 from the sixth side to the fifth side in the circumferential direction. In path E, the relative movement range in the circumferential direction between the nozzle 10 and the teeth 92 extends from the region of the slot 94 on the sixth side in the circumferential direction of the teeth 92 across the teeth 92 to the region of the slot 94 on the fifth side in the circumferential direction of the teeth 92. In path F, the nozzle 10 moves from the fourth side to the third side in the radial direction. The tip of the nozzle 10 reaches a position on the third side in the radial direction from the slot opening 95. In path G, the nozzle 10 moves from the second side to the first side in the stacking direction. The tip of the nozzle 10 reaches a position on the first side in the stacking direction from the end face 93 on the first side in the stacking direction of the teeth 92. In path H, the nozzle 10 moves from the third side to the fourth side in the radial direction. The tip of the nozzle 10 reaches the region of the next slot 94 which is on the fourth side in the radial direction from the slot opening 95. This slot 94 is provided on the fifth side in the circumferential direction of the teeth 92.

[0081] In path H, the radial reaching position of the tip of nozzle 10 may be different from the radial position at the start of movement in path A by the wire diameter of the conducting wire. Assume that the conducting wire is spirally wound from the fourth side in the radial direction to the third side. In path H, the radial reaching position of the tip of nozzle 10 may be the third side in the radial direction by the wire diameter of the conducting wire from the radial position at the start of movement in path A. Assume that the conducting wire is spirally wound from the third side in the radial direction to the fourth side. In path H, the radial reaching position of the tip of nozzle 10 may be the fourth side in the radial direction by the wire diameter of the conducting wire from the radial position at the start of movement in path A.

[0082] Figures 6 and 7 correspond to the case where the nozzle 10 is in the following first state or second state with respect to the tooth 92. In the first state, the nozzle 10 moves from the first side in the stacking direction to the second side with respect to the tooth 92 along path C. In the second state, the nozzle 10 moves from the second side in the stacking direction to the first side with respect to the tooth 92 along path G.

[0083] One round of relative rotation executed between one nozzle 10 and one tooth 92 includes the following first movement, second movement, and third movement. The first movement relatively moves the nozzle 10 and the tooth 92 in the stacking direction (see "paths C, G" in Figures 6, 7, and 8). The second movement relatively moves the nozzle 10 and the tooth 92 in the radial direction (see "paths B, D, F, H" in Figure 8). The third movement relatively moves the nozzle 10 and the tooth 92 in the circumferential direction (see "paths A, E" in Figure 8). In the embodiment, the rotating device moves the nozzle 10 and the tooth 92 in the first movement, second movement, and third movement in the following manner.

[0084] That is, when the swivel device makes the first movement of the nozzle 10 and the teeth 92, the nozzle 10 is moved from the first side to the second side in the stacking direction (see "Path C" in FIGS. 6, 7, and 8), and the nozzle 10 is moved from the second side to the first side in the stacking direction (see "Path G" in FIGS. 6, 7, and 8). When the swivel device makes the second movement of the nozzle 10 and the teeth 92, the nozzle 10 is moved from the fourth side to the third side in the radial direction (see "Paths B, F" in FIG. 8), and the nozzle 10 is moved from the third side to the fourth side in the radial direction (see "Paths D, H" in FIG. 8). When the swivel device makes the third movement of the nozzle 10 and the teeth 92, the nozzle 10 is moved by a certain angle from the fifth side to the sixth side in the circumferential direction (see "Path A" in FIG. 8), and the nozzle 10 is moved by a certain angle from the sixth side to the fifth side in the circumferential direction (see "Path E" in FIG. 8). When the nozzle 10 makes the first movement in the stacking direction, the second movement in the radial direction, and the third movement in the circumferential direction, the stator core 90 supported by the support device is held in its original state. The teeth 92 maintain a fixed posture without moving. The rotation angle of the nozzle 10 during the third movement is set to "360° / total number of teeth 92". In the embodiment, as described above, since the total number of teeth 92 is 9 (see FIG. 1), this rotation angle is set to 40°.

[0085] In the turning device, part or all of the first movement, the second movement, and the third movement may move the stator core 90. For example, the first movement and the second movement may be the same as described above, and the third movement may move the stator core 90. In this case, when the nozzle 10 makes the first movement in the stacking direction and the second movement in the radial direction of the nozzle 10, the stator core 90 supported by the support device is held in the same state as above, and the teeth 92 maintain a fixed posture without moving. When the stator core 90 makes the third movement in the circumferential direction, the nozzle 10 is held in the same state and maintains a fixed posture. The third movement of the stator core 90 in the circumferential direction is performed by moving the support device that supports it. Accordingly, one tooth 92 moves for one nozzle 10 in the same manner as above. The third movement of the stator core 90 in the circumferential direction may be performed by moving the support device by a certain angle from the sixth side to the fifth side in the circumferential direction, and moving the stator core 90 supported by it by the same angle in the same direction as this rotation (see "Path A" in FIG. 8), or by moving the support device by a certain angle from the fifth side to the sixth side in the circumferential direction, and moving the stator core 90 supported by it by the same angle in the same direction as this rotation (see "Path E" in FIG. 8). In the embodiment, as described above, since the total number of teeth 92 is 9 (see FIG. 1), the rotation angle of the stator core 90 during the third movement is set to 40°.

[0086] In the winding device, a nozzle similar to a known winding device can be adopted as the nozzle 10, and the feeding of the conducting wire from the nozzle 10 is carried out in the same manner as in a known winding device. In the winding device, a turning structure similar to that of a known winding device can be adopted as the turning device, and the following operations are carried out in the same manner as in a known winding device. In this operation, relative turning executed between one nozzle 10 and one tooth 92 is carried out simultaneously and in the same manner a plurality of times. For example, the nozzle 10 may be in the same manner as the nozzle in Patent Document 2, and the conducting wire may be fed to the tooth 92 in the same manner as in Patent Document 2. The turning device can adopt a structure similar to the above-described turning structure disclosed in Patent Document 2, whereby relative turning executed between one nozzle 10 and one tooth 92 may be carried out simultaneously and in the same manner nine times. Therefore, other descriptions regarding the nozzle 10 and the turning device are omitted.

[0087] The positioning device 20 regulates the radial position of the transverse portion of the conducting wire on each of the end faces 93 on the first side and the second side in the stacking direction of a plurality of teeth 92 around which the conducting wire is wound simultaneously and in the same manner (see FIGS. 6 and 7). The transverse portion of the conducting wire is fed from one nozzle 10 onto the end face 93 of one tooth 92. That is, the positioning device 20 regulates the radial position of the transverse portion of the conducting wire on the end face 93 on the first side in the stacking direction of each of the plurality of teeth 92 (see FIG. 6). In this case, the positioning device 20 targets the transverse portion of the conducting wire fed from the nozzle 10 onto the end face 93 on the first side in the stacking direction of the tooth 92 as it moves along path A. This transverse portion of the conducting wire forms the coil end on the first side in the stacking direction of the coil. The positioning device 20 regulates the radial position of the transverse portion of the conducting wire on the end face 93 on the second side in the stacking direction of each of the plurality of teeth 92 (see FIG. 7). In this case, the positioning device 20 targets the transverse portion of the conducting wire fed from the nozzle 10 onto the end face 93 on the second side in the stacking direction of the tooth 92 as it moves along path E. This transverse portion of the conducting wire forms the coil end on the second side in the stacking direction of the coil.

[0088] The positioning device 20 includes a plurality of supports 30 and a moving device 40 (see FIGS. 2 to 7). The supports 30 are provided in the same number as the nozzles 10 on each of the first side and the second side in the stacking direction. In the embodiment, the stator core 90 includes nine teeth 92, and the winding device includes nine nozzles 10. The positioning device 20 includes nine supports 30 on each of the first side and the second side in the stacking direction, corresponding to the nine teeth 92 and the nine nozzles 10. In FIGS. 3 to 5, the illustration of the support 30 is simplified.

[0089] The support 30 supports a transverse portion of the conductor fed out on the end face 93 of the tooth 92 (see FIGS. 6 and 7). The support 30 includes a plurality of receiving grooves 31 (see FIGS. 6, 7, and 9). The plurality of receiving grooves 31 are provided on the supporting end face 32 of the support 30. The supporting end face 32 forms the side of the end face 93 of the tooth 92 in the stacking direction by the support 30. The supporting end face 32 faces the end face 93 of the tooth 92 in the stacking direction. The plurality of receiving grooves 31 accommodate a transverse portion of the conductor fed out on the end face 93 of the tooth 92 (see FIGS. 6 and 7). In the embodiment, the supporting end face 32 has a concave curved shape on the side separated from the end face 93 of the tooth 92 (see FIGS. 6, 7, 9, and 10). The shape of the supporting end face 32 is appropriately determined in consideration of various conditions. For example, the shape of the coil end is considered in determining the shape of the supporting end face 32.

[0090] The plurality of receiving grooves 31 are provided on the supporting end face 32 along the width direction. The plurality of receiving grooves 31 are arranged side by side in the radial direction on the supporting end face 32. In the support 30, the number of the receiving grooves 31 provided on the supporting end face 32 may be one or two or more. However, in the positioning device 20, it is preferable that the number of the receiving grooves 31 provided on the supporting end face 32 is two or more. The number of the receiving grooves 31 is appropriately determined in consideration of various conditions. For example, in determining the number of the receiving grooves 31, one or both of the dimension of the supporting end face 32 and the wire diameter of the conductor are considered.

[0091] The moving device 40 moves a plurality of supports 30. The moving device 40 includes a support 50, a first moving mechanism 60, and a second moving mechanism 70 (see FIG. 2). The support 50 supports the first moving mechanism 60. In other words, the first moving mechanism 60 is provided on the support 50. The first moving mechanism 60 is provided on the first side and the second side in the stacking direction of the following stator core 90 (see FIGS. 2 and 3). This stator core 90 is set in the winding device while being supported by the support device. The first moving mechanism 60 on the second side in the stacking direction is provided in a manner in which the first moving mechanism 60 on the first side in the stacking direction is inverted in the stacking direction. The first moving mechanism 60 moves a plurality of supports 30 in the radial direction. The first moving mechanism 60 includes a plurality of rotating shafts 61, a rotating mechanism 62, a plurality of conversion mechanisms 65, and a plurality of moving bodies 68. In FIGS. 2 and 3, the reference numerals for a plurality of identical elements provided in the positioning device 20 are assigned to a specific one arbitrarily selected on each of the first side and the second side in the stacking direction except for the reference numeral "L1" with respect to the central axis of the rotating shaft 61.

[0092] In the moving device 40, the first moving mechanism 60 on the first side in the stacking direction includes the same number of rotating shafts 61 as the supports 30 provided on the first side in the stacking direction by the positioning device 20, and the first moving mechanism 60 on the second side in the stacking direction includes the same number of rotating shafts 61 as the supports 30 provided on the second side in the stacking direction by the positioning device 20 (see FIG. 3). In the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction, the conversion mechanisms 65 and the moving bodies 68 are provided in the same number as the plurality of rotating shafts 61. That is, the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction include the same number of rotating shafts 61, conversion mechanisms 65, and moving bodies 68 as the supports 30 provided on one side in the stacking direction by one positioning device 20. As described above, the number of supports 30 provided on one side in the stacking direction by one positioning device 20 is nine. The first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction include nine rotating shafts 61, nine conversion mechanisms 65, and nine moving bodies 68.

[0093] In the positioning device 20, the nine supports 30 on the first side in the stacking direction are each provided one by one on the end surface 93 on the first side in the stacking direction of each of the nine teeth 92. The first moving mechanism 60 on the first side in the stacking direction corresponds to the nine supports 30 on the first side in the stacking direction. In the positioning device 20, the nine supports 30 on the second side in the stacking direction are each provided one by one on the end surface 93 on the second side in the stacking direction of each of the nine teeth 92. The first moving mechanism 60 on the second side in the stacking direction corresponds to the nine supports 30 on the second side in the stacking direction.

[0094] The rotating shaft 61 rotates about the central axis L1 (see FIGS. 2 to 5). The central axis L1 extends along the stacking direction. The first transmission body 63 of the rotation mechanism 62 and the third transmission body 66 of the conversion mechanism 65 are provided on the rotating shaft 61. In the embodiment, the third transmission body 66 is provided on the rotating shaft 61 along the stacking direction on the side closer to the stator core 90 than the first transmission body 63. In other words, the first transmission body 63 is provided on the rotating shaft 61 along the stacking direction on the side spaced from the stator core 90 farther than the third transmission body 66. In the first moving mechanism 60 on the first side in the stacking direction, the side closer to the stator core 90 is the second side in the stacking direction, and the side spaced from the stator core 90 is the first side in the stacking direction. In the first moving mechanism 60 on the second side in the stacking direction, the side closer to the stator core 90 is the first side in the stacking direction, and the side spaced from the stator core 90 is the second side in the stacking direction.

[0095] The rotation mechanism 62 is connected to each of the plurality of rotating shafts 61, and rotates all of the plurality of rotating shafts 61 in conjunction with each other about the central axis L1 of each of the plurality of rotating shafts 61 (see FIG. 3). The rotation mechanism 62 includes a plurality of first transmission bodies 63, a second transmission body 64, and a driving machine (see FIGS. 3 to 5). In the embodiment, illustration of the driving machine of the rotation mechanism 62 is omitted. Examples of the driving machine include a servo motor. The servo motor may include an encoder. The driving machine may be provided in the rotation mechanism 62 of the first moving mechanism 60 on the first side in the stacking direction and the rotation mechanism 62 of the first moving mechanism 60 on the second side in the stacking direction, respectively, or may be a single common unit for the rotation mechanism 62 of the first moving mechanism 60 on the first side in the stacking direction and the rotation mechanism 62 of the first moving mechanism 60 on the second side in the stacking direction. Assuming that a driving machine is provided in each of the rotation mechanism 62 of the first moving mechanism 60 on the first side in the stacking direction and the rotation mechanism 62 of the first moving mechanism 60 on the second side in the stacking direction. In this case, the two driving machines may be driven synchronously, or the two driving machines may be driven independently.

[0096] The driving force from the driving machine is transmitted to the second transmission body 64. The second transmission body 64 operates in accordance with the driving force from the driving machine. In the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction, the first transmission bodies 63 are provided in the same number as the plurality of rotating shafts 61. The plurality of first transmission bodies 63 are provided one by one for the plurality of rotating shafts 61. In the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction, all of the plurality of first transmission bodies 63 are provided in a state of being in contact with the second transmission body 64 of the rotation mechanism 62. That is, the driving force from the driving machine is transmitted to each of the plurality of rotating shafts 61 via the second transmission body 64. The plurality of rotating shafts 61 rotate by the same amount in the same direction about their respective central axes L1 by the driving force transmitted from the second transmission body 64 to the first transmission body 63.

[0097] The conversion mechanism 65 converts rotational motion into linear motion (see FIGS. 3 to 5). The conversion mechanism 65 includes a third transmission body 66 and a fourth transmission body 67. One third transmission body 66 is provided for one rotation axis 61. The third transmission body 66 rotates together with the rotation axis 61. The fourth transmission body 67 is provided along the radial direction in each of the plurality of conversion mechanisms 65. In the conversion mechanism 65, the fourth transmission body 67 is in contact with the third transmission body 66. In the conversion mechanism 65, the fourth transmission body 67 linearly moves by an amount corresponding to the amount of rotation of the third transmission body 66 from the third side to the fourth side or from the fourth side to the third side in the radial direction corresponding to the rotation direction of the third transmission body 66 that rotates together with the rotation axis 61. The moving body 68 is provided on the fourth transmission body 67 and linearly moves on the same side in the radial direction together with the fourth transmission body 67. The moving body 68 includes a connector 69. The support 30 is provided on the moving body 68 via the connector 69.

[0098] In the embodiment, the rotation mechanism 62 employs gears as the first transmission body 63 and the second transmission body 64, and the conversion mechanism 65 employs gears as the third transmission body 66 and the fourth transmission body 67 (see FIGS. 2 to 5). The third transmission body 66 may also be referred to as a "pinion", the fourth transmission body 67 may also be referred to as a "rack", and the combination of the fourth transmission body 67 and the third transmission body 66 may also be referred to as a "rack and pinion".

[0099] When the first transmission body 63, the second transmission body 64, the third transmission body 66, and the fourth transmission body 67 are gears, the first moving mechanism 60 operates as follows. The state of the first moving mechanism 60 is viewed from the first side to the second side in the stacking direction (see FIGS. 2 to 5). A driving force from a driving machine acts on the second transmission body 64. The second transmission body 64 rotates about the central axis L2 by this driving force. The central axis L2 may coincide with the central axis L0 of the stator core 90 supported by the support device (see FIGS. 4 and 5). The first transmission body 63 is driven to rotate as the second transmission body 64 rotates, and rotates the rotating shaft 61. Assume that the driving machine rotates the second transmission body 64 clockwise. In this case, with respect to the plurality of rotating shafts 61, the first transmission body 63 rotates counterclockwise, and the plurality of rotating shafts 61 each rotate counterclockwise. The third transmission body 66 rotates counterclockwise at each of the plurality of conversion mechanisms 65. Accordingly, the fourth transmission body 67 linearly moves from the fourth side to the third side in the radial direction, and the moving body 68 moves in the same direction as the fourth transmission body 67 by the same amount. Assume that the driving machine rotates the second transmission body 64 counterclockwise. In this case, with respect to the plurality of rotating shafts 61, the first transmission body 63 rotates clockwise, and the plurality of rotating shafts 61 each rotate clockwise. The third transmission body 66 rotates clockwise at each of the plurality of conversion mechanisms 65. Accordingly, the fourth transmission body 67 linearly moves from the third side to the fourth side in the radial direction, and the moving body 68 moves in the same direction as the fourth transmission body 67 by the same amount.

[0100] The second moving mechanism 70 moves the plurality of supports 30 from the first side to the second side and from the second side to the first side in the stacking direction (see FIG. 2). That is, the second moving mechanism 70 moves the plurality of supports 30 on the first side in the stacking direction on the end surface 93 on the first side in the stacking direction of each of the plurality of teeth 92 from the first side to the second side and from the second side to the first side in the stacking direction. Further, the second moving mechanism 70 moves the plurality of supports 30 on the second side in the stacking direction on the end surface 93 on the second side in the stacking direction of each of the plurality of teeth 92 from the first side to the second side and from the second side to the first side in the stacking direction.

[0101] In the embodiment, the second moving mechanism 70 moves the support 50 from the first side in the stacking direction to the second side and from the second side in the stacking direction to the first side. Accordingly, the second moving mechanism 70 moves the first moving mechanism 60 on the first side in the stacking direction from the first side in the stacking direction to the second side and from the second side in the stacking direction to the first side, and moves the first moving mechanism 60 on the second side in the stacking direction from the first side in the stacking direction to the second side and from the second side in the stacking direction to the first side. Further, the second moving mechanism 70 moves the plurality of supports 30 on the first side in the stacking direction by the same amount to the same side in the stacking direction by moving the first moving mechanism 60 on the first side in the stacking direction from the first side in the stacking direction to the second side and from the second side in the stacking direction to the first side, and moves the plurality of supports 30 on the second side in the stacking direction by the same amount to the same side in the stacking direction by moving the first moving mechanism 60 on the second side in the stacking direction from the first side in the stacking direction to the second side and from the second side in the stacking direction to the first side. The second moving mechanism 70 simultaneously moves the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction in the stacking direction by moving the support 50 in the stacking direction.

[0102] An example of the second moving mechanism 70 is a linear motion mechanism. The moving device 40 employs a linear motion mechanism as the second moving mechanism 70. Although the description has been omitted above, the winding device includes a frame 80 (see FIG. 2). In the embodiment, the second moving mechanism 70 is provided on the frame 80. The second moving mechanism 70 includes a ball screw 71, a guide 74, and a drive 77. In the embodiment, a support 50 having a "U-shaped" shape in side view is exemplified, and the second moving mechanism 70 is provided on the outer surface of a side wall 53 along the stacking direction that connects the side wall 51 on the first side in the stacking direction and the side wall 52 on the second side in the stacking direction. The outer surface of the side wall 53 forms the back side of the inner surface of the side wall 53. The inner surface of the side wall 53 forms an accommodation space of the support 50 together with the inner surface on the second side in the stacking direction of the side wall 51 and the inner surface on the first side in the stacking direction of the side wall 52. In the moving device 40, the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction are provided in the accommodation space of the support 50.

[0103] In the embodiment, the second moving mechanism 70 includes one ball screw 71 and two guides 74. The one ball screw 71 and the two guides 74 are provided along the stacking direction on the outer surface of the side wall 53. The ball screw 71 is provided between the two guides 74. In the ball screw 71, a screw shaft 72 is provided along the stacking direction, and a nut 73 is fixed to the outer surface of the side wall 53. In the ball screw 71, when the screw shaft 72 rotates, the nut 73 moves along the screw shaft 72 from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction. In the two guides 74, a shaft 75 is provided along the stacking direction, and a bush 76 is fixed to the outer surface of the side wall 53. In the two guides 74, the bush 76 moves along the shaft 75 from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction. Examples of the combination of the shaft 75 and the bush 76 include a linear shaft and a ball bush.

[0104] The drive mechanism 77 is connected to the screw shaft 72. Examples of the drive mechanism 77 include a servo motor. The servo motor may include an encoder. The drive mechanism 77 rotates the screw shaft 72.

[0105] When the screw shaft 72 rotates in a predetermined direction by the drive mechanism 77, the nut 73 moves from the first side to the second side in the stacking direction. The support 50 moves from the first side to the second side in the stacking direction by the same amount as the nut 73 as the nut 73 moves from the first side to the second side in the stacking direction. The two guides 74 guide the movement of the support 50 from the first side to the second side in the stacking direction. The first moving mechanism 60 on the first side in the stacking direction moves from the first side to the second side in the stacking direction by the same amount as the support 50 together with the support 50. The plurality of supports 30 on the first side in the stacking direction move from the first side to the second side in the stacking direction by the same amount as the first moving mechanism 60 together with the first moving mechanism 60 on the first side in the stacking direction. The first moving mechanism 60 on the second side in the stacking direction moves from the first side to the second side in the stacking direction by the same amount as the support 50 together with the support 50. The plurality of supports 30 on the second side in the stacking direction move from the first side to the second side in the stacking direction by the same amount as the first moving mechanism 60 together with the first moving mechanism 60 on the second side in the stacking direction. On the first side in the stacking direction of the stator core 90, the support 30 on the first side in the stacking direction approaches the end face 93 on the first side in the stacking direction of the teeth 92 in the stacking direction. On the second side in the stacking direction of the stator core 90, the support 30 on the second side in the stacking direction is separated from the end face 93 on the second side in the stacking direction of the teeth 92 in the stacking direction. The support 30 on the first side in the stacking direction supports the transverse portion of the conductor on the end face 93 on the first side in the stacking direction of the teeth 92 in the state of moving to the second side in the stacking direction (see FIG. 6).

[0106] When the screw shaft 72 rotates in a direction opposite to the above-described predetermined direction by the drive mechanism 77, the nut 73 moves from the second side to the first side in the stacking direction. The support 50 moves from the second side to the first side in the stacking direction by the same amount as the nut 73 as the nut 73 moves from the second side to the first side in the stacking direction. The two guides 74 guide the movement of the support 50 from the second side to the first side in the stacking direction. The first movement mechanism 60 on the first side in the stacking direction moves from the second side to the first side in the stacking direction by the same amount as the support 50 together with the support 50. The plurality of supports 30 on the first side in the stacking direction move from the second side to the first side in the stacking direction by the same amount as the first movement mechanism 60 together with the first movement mechanism 60 on the first side in the stacking direction. The first movement mechanism 60 on the second side in the stacking direction moves from the second side to the first side in the stacking direction by the same amount as the support 50 together with the support 50. The plurality of supports 30 on the second side in the stacking direction move from the second side to the first side in the stacking direction by the same amount as the first movement mechanism 60 together with the first movement mechanism 60 on the second side in the stacking direction. On the first side in the stacking direction of the stator core 90, the support 30 on the first side in the stacking direction is separated from the end face 93 on the first side in the stacking direction of the teeth 92 in the stacking direction. On the second side in the stacking direction of the stator core 90, the support 30 on the second side in the stacking direction approaches the end face 93 on the second side in the stacking direction of the teeth 92 in the stacking direction. The support 30 on the second side in the stacking direction supports the transverse portion of the wire on the end face 93 on the second side in the stacking direction of the teeth 92 in the state of having moved to the first side in the stacking direction (see FIG. 7).

[0107] Suppose that the positioning device 20 regulates the radial position of the transverse portion of the wire fed out to the next position. This position is on the end face 93 on the first side in the stacking direction of each of the plurality of teeth 92. In this case, the second movement mechanism 70 moves the plurality of supports 50 from the first side to the second side in the stacking direction on the end face 93 on the first side in the stacking direction of each of the plurality of teeth 92. In the embodiment, this movement is referred to as "fourth movement". The fourth movement is executed after the tip of each of the plurality of nozzles 10 reaches the end position of the path A with respect to each of the plurality of teeth 92 and before the start of the relative movement of the path B. The support 30 on the first side in the stacking direction accommodates the transverse portion of the wire fed out onto the end face 93 on the first side in the stacking direction of the teeth 92 in any one of the plurality of accommodation grooves 31 (see FIG. 6).

[0108] Suppose that the positioning device 20 releases the regulation of the radial position of the cross-sectional portion of the wire fed out to the next position. This position is on the end face 93 on the first side in the stacking direction of each of the plurality of teeth 92. In this case, the second moving mechanism 70 moves the plurality of supports 50 from the second side to the first side in the stacking direction on the end face 93 on the first side in the stacking direction of each of the plurality of teeth 92. In the embodiment, this movement is referred to as "fifth movement". The fifth movement is executed after the tip of each of the plurality of nozzles 10 reaches the end position of the path D with respect to each of the plurality of teeth 92 and before the start of the relative movement of the path A in the relative rotation of the next cycle. However, in the embodiment, the fifth movement is executed simultaneously with the sixth movement. The sixth movement will be described later.

[0109] Suppose that the positioning device 20 regulates the radial position of the cross-sectional portion of the wire fed out to the next position. This position is on the end face 93 on the second side in the stacking direction of each of the plurality of teeth 92. In this case, the second moving mechanism 70 moves the plurality of supports 50 from the second side to the first side in the stacking direction on the end face 93 on the second side in the stacking direction of each of the plurality of teeth 92. In the embodiment, this movement is referred to as "sixth movement". The sixth movement is executed after the tip of each of the plurality of nozzles 10 reaches the end position of the path E with respect to each of the plurality of teeth 92 and before the start of the relative movement of the path F. However, in the embodiment, as described above, the sixth movement is executed simultaneously with the fifth movement. The support 30 on the second side in the stacking direction accommodates the cross-sectional portion of the wire fed out onto the end face 93 on the second side in the stacking direction of the teeth 92 in any of the plurality of accommodating grooves 31 (see FIG. 7).

[0110] Suppose that the positioning device 20 releases the regulation of the radial position of the transverse portion of the wire fed out to the next position. This position is on the second-side end surface 93 in the stacking direction of each of the plurality of teeth 92. In this case, the second moving mechanism 70 moves the plurality of supports 50 from the first side to the second side in the stacking direction on the second-side end surface 93 in the stacking direction of each of the plurality of teeth 92. In the embodiment, this movement is referred to as "seventh movement". The seventh movement is executed after the tip of each of the plurality of nozzles 10 reaches the end position of the path H with respect to each of the plurality of teeth 92 and before the start of the relative movement of the path E in the relative rotation of the next cycle.

[0111] The second moving mechanism 70 may arrange the plurality of supports 30 on the first side in the stacking direction and the plurality of supports 30 on the second side in the stacking direction in the following manner by the seventh movement. In this manner, the plurality of supports 30 on the first side in the stacking direction enter the following third state, and the plurality of supports 30 on the second side in the stacking direction enter the following fourth state. In the third state, the positioning device 20 releases the regulation of the radial position of the transverse portion of the wire fed out onto the first-side end surface 93 in the stacking direction of each of the plurality of teeth 92. In the fourth state, the positioning device 20 releases the regulation of the radial position of the transverse portion of the wire fed out onto the second-side end surface 93 in the stacking direction of each of the plurality of teeth 92. At the start of the fourth movement, the plurality of supports 30 on the first side in the stacking direction and the plurality of supports 30 on the second side in the stacking direction may be in a manner in which the plurality of supports 30 on the first side in the stacking direction are in the third state and the plurality of supports 30 on the second side in the stacking direction are in the fourth state.

[0112] The first moving mechanism 60 on the first side in the stacking direction moves a plurality of supports 30 on the first side in the stacking direction by the wire diameter of the wire in the radial direction in the above-described third state. The first moving mechanism 60 on the second side in the stacking direction moves a plurality of supports 30 on the second side in the stacking direction by the wire diameter of the wire in the radial direction in the above-described fourth state. The next first timing is appropriately determined in consideration of various conditions. At the first timing, the first moving mechanism 60 on the first side in the stacking direction moves a plurality of supports 30 on the first side in the stacking direction by the wire diameter of the wire in the radial direction. The next second timing is appropriately determined in consideration of various conditions. At the second timing, the first moving mechanism 60 on the second side in the stacking direction moves a plurality of supports 30 on the second side in the stacking direction by the wire diameter of the wire in the radial direction. The second timing may be the same as the first timing. For example, after the tip of each of the plurality of nozzles 10 reaches the end position of the path H with respect to each of the plurality of teeth 92, the second moving mechanism 70 may immediately execute the seventh movement. In this case, the first timing and the second timing may be after the seventh movement is completed and before the start of the relative movement of the path B in the next circumferential relative rotation.

[0113] Assume that the winding of the wire is performed from the fourth side in the radial direction to the third side. In this case, the first moving mechanism 60 on the first side in the stacking direction moves a plurality of supports 30 on the first side in the stacking direction by the wire diameter of the wire from the fourth side to the third side in the radial direction. The first moving mechanism 60 on the second side in the stacking direction moves a plurality of supports 30 on the second side in the stacking direction by the wire diameter of the wire from the fourth side to the third side in the radial direction. Assume that the winding of the wire is performed from the third side in the radial direction to the fourth side. In this case, the first moving mechanism 60 on the first side in the stacking direction moves a plurality of supports 30 on the first side in the stacking direction by the wire diameter of the wire from the third side to the fourth side in the radial direction. The first moving mechanism 60 on the second side in the stacking direction moves a plurality of supports 30 on the second side in the stacking direction by the wire diameter of the wire from the third side to the fourth side in the radial direction.

[0114] <Advantages of the Embodiment> According to the embodiment, it is possible to specify the following winding device and obtain the following effects.

[0115] (1) The winding device includes a plurality of nozzles 10, a swiveling device, and a positioning device 20 (see FIGS. 2 to 7). The plurality of nozzles 10 includes a first nozzle and a second nozzle. The conducting wire fed out from the first nozzle is referred to as the "first conducting wire", and the conducting wire fed out from the second nozzle is referred to as the "second conducting wire". The first nozzle feeds out the first conducting wire wound around the first tooth among the plurality of teeth 92 to the first tooth, and the second nozzle feeds out the second conducting wire wound around the second tooth among the plurality of teeth 92 to the second tooth (see FIGS. 6 and 7). The radial direction in which the first tooth protrudes is referred to as the "first radial direction", and the radial direction in which the second tooth protrudes is referred to as the "second radial direction". The swiveling device relatively swivels the first nozzle around the outer circumference of the first tooth with respect to the first tooth and relatively swivels the second nozzle around the outer circumference of the second tooth with respect to the second tooth (see FIGS. 6 to 8). The positioning device 20 regulates the position in the first radial direction of the first cross-sectional portion of the first conducting wire and the position in the second radial direction of the second cross-sectional portion of the second conducting wire (see FIGS. 6 and 7). The first cross-sectional portion of the first conducting wire is fed out from the first nozzle onto the end face 93 of the first tooth on the end face 93 of the first tooth. The second cross-sectional portion of the second conducting wire is fed out from the second nozzle onto the end face 93 of the second tooth on the end face 93 of the second tooth. The positioning device 20 includes a plurality of supports 30 and a moving device 40 (see FIGS. 2 to 7). The plurality of supports 30 includes a first support and a second support. The first support supports the first cross-sectional portion, and the second support supports the second cross-sectional portion (see FIGS. 6 and 7). The moving device 40 includes a first moving mechanism 60 (see FIGS. 2 to 5). The first moving mechanism 60 moves the first support in the first radial direction and the second support in the second radial direction. The first moving mechanism 60 includes a plurality of rotating shafts 61, a rotating mechanism 62, a plurality of moving bodies 68, and a plurality of conversion mechanisms 65. The plurality of rotating shafts 61 includes a first rotating shaft and a second rotating shaft. The first rotating shaft rotates about the central axis L1 (first central axis) of the first rotating shaft. The second rotating shaft rotates about the central axis L1 (second central axis) of the second rotating shaft. The rotating mechanism 62 rotates the first rotating shaft and the second rotating shaft in conjunction. The plurality of moving bodies 68 includes a first moving body and a second moving body, and the plurality of conversion mechanisms 65 includes a first conversion mechanism and a second conversion mechanism. The first moving body moves in the first radial direction in response to the rotation of the first rotating shaft.The first conversion mechanism converts the rotation of the first rotating shaft into a linear motion along the first radial direction, and moves the first moving body in the first radial direction. The second moving body moves in the second radial direction in response to the rotation of the second rotating shaft. The second conversion mechanism converts the rotation of the second rotating shaft into a linear motion along the second radial direction, and moves the second moving body in the second radial direction. The rotation mechanism 62 rotates the first rotating shaft and the second rotating shaft in the same direction by the same amount. The first support is provided on the first moving body. The second support is provided on the second moving body.

[0116] According to the winding device, both the movement of the first support in the first radial direction and the movement of the second support in the second radial direction can be simultaneously performed by the first moving mechanism 60. The winding device can simultaneously align and wind the conducting wires on each of a plurality of teeth 92. The winding device can be miniaturized.

[0117] (2) The moving device 40 includes a second moving mechanism 70 (see FIG. 2). The second moving mechanism 70 moves the first support in the stacking direction and moves the second support in the stacking direction. The second moving mechanism 70 operates as follows. Assume that the positioning device 20 restricts the position of the first transverse portion in the first radial direction and restricts the position of the second transverse portion in the second radial direction. In this case, the second moving mechanism 70 approaches the first support in the stacking direction with respect to the end face 93 of the first tooth and approaches the second support in the stacking direction with respect to the end face 93 of the second tooth. Assume that the positioning device 20 releases the restriction on the position of the first transverse portion in the first radial direction and releases the restriction on the position of the second transverse portion in the second radial direction. In this case, the second moving mechanism 70 separates the first support in the stacking direction with respect to the end face 93 of the first tooth and separates the second support in the stacking direction with respect to the end face 93 of the second tooth. The first moving mechanism 60 moves the first moving body in the first radial direction and moves the second moving body in the second radial direction in the following state. In this state, the second moving mechanism 70 separates the first support in the stacking direction with respect to the end face 93 of the first tooth and separates the second support in the stacking direction with respect to the end face of the second tooth.

[0118] According to this configuration, when the first support moves in the first radial direction, it is possible to prevent the first transverse portion from being displaced in the first radial direction, and when the second support moves in the second radial direction, it is possible to prevent the second transverse portion from being displaced in the second radial direction.

[0119] (3) The support tool 30 includes a plurality of accommodation grooves 31 (see FIGS. 6, 7, and 9). The plurality of accommodation grooves 31 are provided on the support end face 32 of the support tool 30. The support end face 32 faces the end face 93 of the teeth 92 in the stacking direction. The plurality of accommodation grooves 31 accommodate the transverse portions of the conductors fed out on the end face 93 of the teeth 92 (see FIGS. 6 and 7). The plurality of accommodation grooves 31 are provided on the support end face 32 along the width direction. The plurality of accommodation grooves 31 are arranged side by side in the radial direction on the support end face 32 (see FIGS. 6, 7, and 9). Similarly to the above, assume that the plurality of support tools 30 include a first support tool and a second support tool, and the plurality of teeth 92 include a first tooth and a second tooth. The conductor fed out from the first nozzle among the plurality of nozzles 10 is referred to as the "first conductor", and the conductor fed out from the second nozzle among the plurality of nozzles 10 is referred to as the "second conductor". The first support tool includes a plurality of first accommodation grooves as the plurality of accommodation grooves 31, and the second support tool includes a plurality of second accommodation grooves as the plurality of accommodation grooves 31 (see FIGS. 6, 7, and 9). The plurality of first accommodation grooves are provided on the first support end face of the first support tool as the support end face 32 of the support tool 30. The first support end face faces the end face 93 of the first tooth in the stacking direction. The plurality of first accommodation grooves accommodate the first transverse portions of the first conductors fed out on the end face 93 of the first teeth (see FIGS. 6 and 7). The plurality of first accommodation grooves are provided on the first support end face along the first width direction. The first width direction is orthogonal to both the stacking direction and the first radial direction of the first teeth. The plurality of first accommodation grooves are arranged side by side in the first radial direction on the first support end face (see FIGS. 6, 7, and 9). The plurality of second accommodation grooves are provided on the second support end face of the second support tool as the support end face 32 of the support tool 30. The second support end face faces the end face 93 of the second teeth in the stacking direction. The plurality of second accommodation grooves accommodate the second transverse portions of the second conductors fed out on the end face 93 of the second teeth (see FIGS. 6 and 7). The plurality of second accommodation grooves are provided on the second support end face along the second width direction. The second width direction is orthogonal to both the stacking direction and the second radial direction of the second teeth. The plurality of second accommodation grooves are arranged side by side in the second radial direction on the second support end face (see FIGS. 6, 7, and 9).

[0120] According to this configuration, the transverse portion can be supported by any one of the plurality of receiving grooves 31. That is, the first transverse portion can be supported by any one of the plurality of first receiving grooves, and the second transverse portion can be supported by any one of the plurality of second receiving grooves. Suppose the position of the first transverse portion in the first radial direction is shifted to the side of any one of the plurality of first receiving grooves. In this case, the first support member supports the first transverse portion in a state where the first transverse portion is received in this arbitrary first receiving groove (see FIGS. 6 and 7). Suppose the position of the second transverse portion in the second radial direction is shifted to the side of any one of the plurality of second receiving grooves. In this case, the second support member supports the second transverse portion in a state where the second transverse portion is received in this arbitrary second receiving groove (see FIGS. 6 and 7).

[0121] <Modification Example> The embodiment can also be as follows. Some of the configurations of the modification examples shown below can also be adopted in appropriate combinations. Hereinafter, the points different from the above will be described, and the description of the same points will be omitted as appropriate.

[0122] (1) The moving device 40 includes a support 50, a first moving mechanism 60, and a second moving mechanism 70 (see FIG. 2). The support 50 supports the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction. The second moving mechanism 70 moves the support 50 from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction, thereby integrally moving the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction. The second moving mechanism may move each of the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction from the first side to the second side in the stacking direction and from the second side to the first side in the stacking direction. The moving device includes two supports and two second moving mechanisms. The two supports are provided one by one for the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction. The support on the first side in the stacking direction supports the first moving mechanism 60 on the first side in the stacking direction. The support on the second side in the stacking direction supports the first moving mechanism 60 on the second side in the stacking direction. The two second moving mechanisms are provided one by one for the support on the first side in the stacking direction and the support on the second side in the stacking direction.

[0123] The second moving mechanism on the first side in the stacking direction moves the support on the first side in the stacking direction from the first side to the second side in the stacking direction. This movement corresponds to the above-mentioned "fourth movement", and this description also refers to it as the "fourth movement". The first moving mechanism 60 on the first side in the stacking direction moves from the first side to the second side in the stacking direction by the same amount as the support together with the support on the first side in the stacking direction. The plurality of supports 30 on the first side in the stacking direction move from the first side to the second side in the stacking direction by the same amount as the first moving mechanism 60 together with the first moving mechanism 60 on the first side in the stacking direction.

[0124] The second moving mechanism on the first side in the stacking direction moves the support on the first side in the stacking direction from the second side to the first side in the stacking direction. This movement corresponds to the above-mentioned "fifth movement", and this description also refers to it as the "fifth movement". The first moving mechanism 60 on the first side in the stacking direction moves from the second side to the first side in the stacking direction by the same amount as the support together with the support on the first side in the stacking direction. The plurality of supports 30 on the first side in the stacking direction move from the second side to the first side in the stacking direction by the same amount as the first moving mechanism 60 together with the first moving mechanism 60 on the first side in the stacking direction.

[0125] The second moving mechanism on the second side in the stacking direction moves the support on the second side in the stacking direction from the first side to the second side in the stacking direction. This movement corresponds to the above-mentioned "sixth movement", and this description also refers to it as the "sixth movement". The first moving mechanism 60 on the second side in the stacking direction moves from the first side to the second side in the stacking direction by the same amount as the support together with the support on the second side in the stacking direction. The plurality of supports 30 on the second side in the stacking direction move from the first side to the second side in the stacking direction by the same amount as the first moving mechanism 60 together with the first moving mechanism 60 on the second side in the stacking direction.

[0126] The second moving mechanism on the second side in the stacking direction moves the support on the second side in the stacking direction from the second side to the first side in the stacking direction. This movement corresponds to the above-mentioned "seventh movement", and this description also refers to it as the "seventh movement". The first moving mechanism 60 on the second side in the stacking direction moves from the second side to the first side in the stacking direction by the same amount as the support together with the support on the second side in the stacking direction. The plurality of supports 30 on the second side in the stacking direction move from the second side to the first side in the stacking direction by the same amount as the first moving mechanism 60 together with the first moving mechanism 60 on the second side in the stacking direction.

[0127] In the positioning device, regardless of the mode of the moving device, the fourth movement, the fifth movement, the sixth movement, and the seventh movement are appropriately executed at the predetermined timing described above. By providing the support and the second moving mechanism on each of the first side and the second side in the stacking direction, the moving device can execute the fourth movement, the fifth movement, the sixth movement, and the seventh movement independently.

[0128] (2) The mobile device 40 includes a rotation mechanism 62 in the first movement mechanism 60 (see FIGS. 2 to 5). The rotation mechanism 62 includes a plurality of first transmission members 63 and a second transmission member 64. In the rotation mechanism 62, gears are adopted as the first transmission member 63 and the second transmission member 64. The first transmission member and the second transmission member may be in a form different from gears. In the rotation mechanism, the first transmission member may be a pulley and the second transmission member may be a timing belt. Additionally, in the rotation mechanism, the first transmission member may be a sprocket and the second transmission member may be a chain. The pulley or sprocket as the first transmission member is provided one by one with respect to one rotation shaft 61, similar to the first transmission member 63 by the above-described gear.

[0129] Assume that the first transmission member is a pulley and the second transmission member is a timing belt. As an example of the drive of the rotation mechanism, a servo motor may be mentioned as described above. The drive includes a pulley on the output shaft. The timing belt as the second transmission member is wound around a plurality of pulleys provided on each of the plurality of rotation shafts 61 and the pulley on the output shaft of the drive. By driving the drive, the driving force is transmitted to the plurality of pulleys on each of the plurality of rotation shafts 61 via the timing belt. Accordingly, the plurality of rotation shafts 61 rotate in the same manner as described above. Assume that the first transmission member is a sprocket and the second transmission member is a chain. As an example of the drive of the rotation mechanism, a servo motor may be mentioned as described above. The drive includes a sprocket on the output shaft. The chain as the second transmission member is wound around a plurality of sprockets provided on each of the plurality of rotation shafts 61 and the sprocket on the output shaft of the drive. By driving the drive, the driving force is transmitted to the plurality of sprockets on each of the plurality of rotation shafts 61 via the chain. Accordingly, the plurality of rotation shafts 61 rotate in the same manner as described above. The rotation mechanism can be realized by a combination of known mechanical parts and electrical parts. The structure adopted as the rotation mechanism is appropriately determined in consideration of various conditions.

[0130] (3) The moving device 40 includes a linear motion mechanism combining a ball screw 71, a guide 74, and a driver 77 as a second moving mechanism (see FIG. 2). The guide 74 includes a shaft 75 and a bush 76. The second moving mechanism may be a linear motion mechanism different from such a mode. The combination of the ball screw 71 and the driver 77 may also be a cylinder. Examples of the cylinder include an air cylinder, a hydraulic cylinder, and an electric cylinder. The guide 74 may be in a mode different from the combination of the shaft 75 and the bush 76. The guide 74 may be a ball spline. The second moving mechanism can be realized by a combination of known mechanical parts and electrical parts. The structure adopted as the second moving mechanism is appropriately determined in consideration of various conditions.

[0131] (4) The device structure of the winding device can also be adopted in the next winding device. This winding device forms a coil on the teeth of the stator core of an outer rotor type rotating machine. In the stator core of the outer rotor type rotating machine, a plurality of teeth protrude from the yoke to the next side in the radial direction. This side is opposite to the side of the rotation axis of the rotor. Therefore, in the stator core of the outer rotor type rotating machine, unlike the above (see FIGS. 1, 4 to 10), the third side in the radial direction is set opposite to the side of the rotation axis of the rotor, and the fourth side in the radial direction is set on the side of the rotation axis of the rotor.

Description of Reference Numerals

[0132] 10 Nozzle, 11 Tip opening, 20 Positioning device, 30 Support 31 Accommodation groove, 32 Support end face, 40 Moving device, 50 Support 51, 52, 53 Side walls, 60 First moving mechanism, 61 Rotation axis, 62 Rotation mechanism 63 First transmission body, 64 Second transmission body, 65 Conversion mechanism, 66 Third transmission body 67 Fourth transmission body, 68 Moving body, 69 Connecting tool, 70 Second moving mechanism 71 Ball screw, 72 Screw shaft, 73 Nut, 74 Guide 75 Shaft, 76 Bush, 77 Driver, 80 Frame 90 stator core, 91 yoke, 92 teeth, 93 end face 94 slot, 95 slot opening, 96 insulator Paths A, B, C, D, E, F, G, H, Central axes L0, L1, L2

Claims

1. A first nozzle that feeds out a first conductor wound around a first tooth among a plurality of teeth provided at equal angular intervals on a stator core of a rotating machine and protruding in a radial direction centered on the rotation axis of the rotor of the rotating machine, with respect to the first tooth; A second nozzle that feeds out a second conductor wound around a second tooth among the plurality of teeth, with respect to the second tooth; A turning device that relatively turns the first nozzle around the outer periphery of the first tooth with respect to the first tooth and relatively turns the second nozzle around the outer periphery of the second tooth with respect to the second tooth; A positioning device that regulates a position in a first radial direction, which is the radial direction in which the first tooth of a first cross-sectional portion of the first conductor fed out onto the end face of the first tooth from the first nozzle protrudes, on an end face in the lamination direction in which steel plates forming the stator core of the first tooth are laminated, and a position in a second radial direction, which is the radial direction in which the second tooth of a second cross-sectional portion of the second conductor fed out onto the end face of the second tooth from the second nozzle protrudes, on the end face in the lamination direction of the second tooth, the positioning device including: The positioning device includes: A first support member that supports the first cross-sectional portion; A second support member that supports the second cross-sectional portion; A moving device including a first moving mechanism that moves the first support member in the first radial direction and moves the second support member in the second radial direction; The first moving mechanism includes: A first rotating shaft that rotates about a first central axis along the lamination direction; A second rotating shaft that rotates about a second central axis along the lamination direction; A rotating mechanism that rotates the first rotating shaft and the second rotating shaft in an interlocked manner; A first moving body that moves in the first radial direction in response to the rotation of the first rotating shaft; A first conversion mechanism that converts the rotation of the first rotating shaft into linear motion along the first radial direction and moves the first moving body in the first radial direction; A second moving body that moves in the second radial direction in response to the rotation of the second rotating shaft; A second conversion mechanism that converts the rotation of the second rotating shaft into linear motion along the second radial direction and moves the second moving body in the second radial direction; The rotating mechanism rotates the first rotating shaft and the second rotating shaft in the same direction by the same amount; The first support member is provided on the first moving body; The second support member is provided on the second moving body, a winding device.

2. The moving device includes a second moving mechanism that moves the first support in the stacking direction and moves the second support in the stacking direction. The second moving mechanism When the positioning device restricts the position of the first transverse portion in the first radial direction and restricts the position of the second transverse portion in the second radial direction, the first support is moved closer to the end face of the first teeth in the stacking direction and the second support is moved closer to the end face of the second teeth in the stacking direction. When the positioning device releases the restriction on the position of the first transverse portion in the first radial direction and releases the restriction on the position of the second transverse portion in the second radial direction, the first support is separated from the end face of the first teeth in the stacking direction and the second support is separated from the end face of the second teeth in the stacking direction. The winding device according to claim 1, wherein the first moving mechanism moves the first moving body in the first radial direction and moves the second moving body in the second radial direction in a state where the second moving mechanism separates the first support from the end face of the first teeth in the stacking direction and separates the second support from the end face of the second teeth in the stacking direction.

3. The first support includes a plurality of first receiving grooves that receive the first transverse portion on a first support end face facing the end face of the first teeth in the stacking direction. The second support includes a plurality of second receiving grooves that receive the second transverse portion on a second support end face facing the end face of the second teeth in the stacking direction. The plurality of first receiving grooves Are provided on the first support end face along a first width direction orthogonal to both the stacking direction and the first radial direction of the first teeth. Are arranged side by side in the first radial direction on the first support end face. The plurality of second receiving grooves Are provided on the second support end face along a second width direction orthogonal to both the stacking direction and the second radial direction of the second teeth. The winding device according to claim 1 or claim 2, wherein the plurality of second receiving grooves are arranged side by side in the second radial direction on the second support end face.

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