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 that winds a conductor around the teeth of a stator core of a stator of a rotating machine. [Background technology]

[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 wire. The nozzle moving mechanism moves the nozzle in three orthogonal axial directions. The winding device is placed on a base. The indexing mechanism includes a support table and a drive mechanism. The support table supports the stator horizontally. The drive mechanism drives the support table to rotate. By driving the support table to rotate using the drive mechanism, the stator supported by the support table rotates around its axis.

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

[0004] The X-axis movement mechanism comprises a pair of housings (X), a drive motor (X), a ball screw (X), and a follower (X). The housing (X) is supported by a support. The drive motor (X) is disposed at the 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 threadedly engaged with the ball screw (X) and moves along the ball screw (X).

[0005] The Y-axis movement mechanism comprises a housing (Y), a drive motor (Y), a ball screw (Y), and a follower (Y). The housing (Y) is coupled at both ends 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 threadedly engaged with the ball screw (Y) and moves along the ball screw (Y).

[0006] The Z-axis movement mechanism comprises 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 the end of the housing (Z). The ball screw (Z) is coupled to the output shaft of the drive motor (Z) and extends in the Z-axis direction. The follower (Z) is threadedly engaged with the ball screw (Z) and moves along the ball screw (Z). A cylindrical nozzle holding member extending in the Z-axis direction is coupled to the follower (Z) via a support member.

[0007] A nozzle is attached to the end of the nozzle holding member so that it can swing around its axis. The nozzle can be freely moved in three orthogonal axial directions by driving the X-axis movement mechanism, Y-axis movement mechanism, and Z-axis movement 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 each rotate around their axis. The wire is supplied from a wire supply device. The wire is guided by the first pulley into the hollow portion of the nozzle holding member and by the second pulley to the nozzle, where it is unwound from the tip of the nozzle. A tension device applies a predetermined tension to the wire. An air cylinder is attached to the outer surface of the nozzle holding member. A piston rod, which moves back and forth using compressed air, is inserted into the air cylinder, and the tip of the piston rod is connected to the rear end of the nozzle. Driving the air cylinder causes the nozzle to swing around its axis. Controlling the operation of the air cylinder changes the nozzle orientation, allowing the angle of the wire unwound from the nozzle to be adjusted. The nozzle is a flat plate-shaped member that can pass through the slots between the teeth. The wire passes through the nozzle in the Y-axis direction.

[0008] When winding wire around a tooth, the indexing mechanism rotates the stator to position the desired tooth to be wound facing the nozzle. The tooth to be wound is positioned coaxially with the nozzle (on the Y-axis). The nozzle, with the tip of the drawn-out wire held in a chuck, is driven by the nozzle movement mechanism to move the nozzle around the tooth while feeding out the wire and in the direction of the winding axis (Y-axis) of the tooth. The X-axis movement mechanism and Z-axis movement mechanism move the nozzle around the tooth. The Y-axis movement mechanism moves the nozzle in the direction of the winding axis (Y-axis) of the tooth by the wire diameter each time the nozzle makes one revolution around the tooth. The first layer of wire is wound around the tooth from the tip to the base, then the second layer of wire is wound from the base to the tip, and so on until the predetermined number of layers of wire are wound in a line.

[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 during the process of winding the winding target tooth and position the held wire relative to the tooth. The upper guide is disposed facing the non-facing surface of the winding target tooth, and the lower guide is disposed facing the non-facing back surface opposite the non-facing surface of the winding target tooth. The non-facing surface of the winding target tooth does not face an adjacent tooth on the outer circumferential surface of the winding target tooth.

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

[0011] The lower guide consists of a pair of lower left and right guides arranged side by side in the winding direction of the wire (X-axis direction). The lower left and right guides each have a first guide and a second guide. A pair of guide movement mechanisms are arranged on the base to move the pair of upper left and upper right guides in three orthogonal axial directions. The guide movement mechanisms include a winding axis direction movement mechanism, a winding direction movement mechanism, and a vertical direction movement mechanism. The winding axis direction movement mechanism moves the upper guide in the winding axis direction of the winding target tooth (Y-axis direction). The winding direction movement mechanism moves the upper guide in the winding direction of the wire to be wound around the winding target tooth (X-axis direction). The vertical direction movement mechanism moves the upper guide in a direction toward or away from the winding target tooth (Z-axis direction).

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

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

[0014] The vertical movement mechanism includes a first guide rail, a second guide rail, and a first movable body and a second movable body. The first guide rail and the second guide rail are disposed on the first surface and the second surface of the support, respectively, and extend in the Z-axis direction. The first movable body and the second movable 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 housed within the support. A piston that moves back and forth using compressed air is inserted into the air cylinder, and the piston is connected to the first and second moving bodies. By driving the air cylinder, the first and second moving bodies move along the first and second guide rails.

[0016] A first guide is coupled to the first movable body, and a second guide is coupled to the second movable body. The first guide and second guide can be freely moved in three orthogonal axial directions relative to the non-opposing surfaces of the winding subject teeth by driving the winding axis direction moving mechanism, the winding direction moving mechanism, and the vertical direction moving mechanism. A guide moving mechanism is provided individually for each of the pair of upper left and upper right guides, so that the pair of upper left and upper right guides can be freely moved individually in three orthogonal axial directions relative to the non-opposing surfaces of the winding subject teeth. A guide moving mechanism is also provided individually for each of the pair of lower left 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, bringing the winding target tooth face to face with the nozzle. The nozzle movement mechanism moves the nozzle around the winding target tooth, winding the wire fed from the nozzle in alignment around the winding target tooth. In other words, winding is performed by passing the nozzle through the slot.

[0018] Suppose that after winding N layers (N is a natural number) of wire around the winding target tooth, the wire is wound in the groove between the first wire at the end of the Nth layer and the second wire adjacent to it. When starting winding the (N+1)th layer, the guide movement mechanism is driven to move the pair of first guides in the upper guide closer to the winding target tooth, and align them in the winding direction of the wire (X-axis direction).

[0019] Next, the nozzle moving mechanism is driven to move the nozzle located outside the slot in the X-axis direction along the non-opposing surface of the winding target tooth, and the wire fed from the nozzle is brought into contact with the surfaces of the pair of first guides. The wire fed from the nozzle is guided onto the Nth layer on the non-opposing surface of the winding target tooth.

[0020] Next, the guide movement mechanism is driven to move the pair of second guides in the upper guide closer to the winding target teeth. Because the distance between the opposing surfaces of the pair of first guides and the pair of second guides is equal to the diameter of the wire, the wire fed from the nozzle is clamped and held between the opposing surfaces of the pair of first guides and the pair of second guides. The upper guide positions the held wire at a position facing the groove between the first wire and second wire in the Nth layer on the non-facing surface of the winding target teeth. The upper guide holds the wire and also positions it relative to the winding target teeth.

[0021] Next, by driving the nozzle movement mechanism, the nozzle positioned outside the slot is moved in the winding axis direction (Y-axis direction) of the winding target tooth along a first opening that opens into the stator surface of the slot, and away from the winding target tooth. The upper guide maintains its holding state of the wire. The wire held by the upper guide remains 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 moving mechanism, the nozzle positioned outside the slot is moved in the axial direction of the stator along a second opening in the slot that opens to the inner circumference of the stator, and the wire fed from the nozzle is inserted into the slot. The nozzle operates to insert the fed wire into the slot without passing through the slot. The upper guide maintains a state in which it holds the wire. The wire held by the upper guide remains positioned at the winding position.

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

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

[0025] With the wire fed from the nozzle guided to the winding position on one side of the winding target tooth, the upper guide is moved away from the winding target tooth, releasing the wire from its hold. At the same time, the pair of first guides in the lower guide are moved toward the winding target tooth, aligning them in the winding direction (X-axis direction) of the wire.

[0026] Next, by driving the nozzle moving mechanism, the nozzle positioned outside the slot is moved in the X-axis direction along the non-opposing back surface of the winding target tooth, and the wire fed from the nozzle is brought into contact with the surfaces of the pair of first guides. The wire fed from the nozzle is guided onto the Nth layer on the non-opposing back surface of the winding target tooth. The wire released from the hold by the upper guide is wound at the Nth layer winding position on the non-opposing surface of the winding target tooth, and the wire inserted into the slot is wound at the Nth layer winding position on one side of the winding target tooth. The nozzle may be moved in the X-axis direction by driving an index mechanism and rotating the stator about its axis.

[0027] Next, the guide movement mechanism is driven to move the pair of second guides in the lower guide toward the winding target tooth. The wire fed 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 facing the winding position on the non-opposing back surface of the winding target tooth.

[0028] Next, with the wire held by the lower guide, the nozzle is moved outside the slot along the fourth, fifth, and sixth openings of the slot, and the drawn wire is inserted into the slot. The wire drawn from the nozzle is guided to the winding position on the other side of the winding target tooth. The lower guide is moved away from the winding target tooth, and the wire is released from the lower guide's hold on the wire.

[0029] Thereafter, each time the wire is wound around the tooth to be wound, the nozzle is moved in the direction of the winding axis of the tooth to be wound (Y-axis) by the amount of the wire diameter, and the upper and lower guides are also moved in the Y-axis direction by the amount of the wire diameter. The above procedure is repeated until the N+1th layer is wound. From the N+1th layer onwards, winding is completed when the slot width becomes smaller than the diameter of the wire.

[0030] Patent Document 2 discloses a winding device. The winding device has a wire introduction tube. The wire introduction tube is arranged coaxially at the center of a stator core. A wire is introduced into the wire introduction tube from its lower end. The wire introduction tube is supported by a bearing installed on a frame so that it can move axially and rotate. A drive mechanism is arranged below the frame. The drive mechanism swings (rotates back and forth) the wire introduction tube at a predetermined angle and moves it back and forth in the axial direction, causing it to circle around the corresponding internal teeth of the stator core.

[0031] A cylindrical head is attached to the upper end of the wire guide tube. The head has a slot extending in the radial direction. A nozzle is fitted into the slot so that it can slide radially. The nozzles protrude radially outward from three points around the periphery of the head and simultaneously wind wire around three designated internal teeth of the stator core.

[0032] The underside of the slot in the head is open, into which an annular cam plate is rotatably mounted. Three spiral cam grooves are formed on the cam plate, one for each slot. Cam followers consisting of rollers that fit into the corresponding cam grooves are attached to the base end of each nozzle. When the cam plate rotates, the nozzles move forward and backward in the radial direction via the cam followers that fit into the spiral cam grooves, gradually shifting the winding position relative to the internal teeth of the stator core.

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

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

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

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

[0037] A rotating shaft is inserted and supported in the second bearing block, and a driven pulley is attached to its lower end. A first timing belt is stretched between the drive pulley and the driven pulley. The rotating shaft rotates in synchronization with the conductor guide tube via the drive pulley, first timing belt, and driven pulley as the lower rotating tube rotates integrally with the conductor guide tube. A drive pulley is attached to the upper end of the rotating shaft.

[0038] A first plate and a second plate are attached parallel to each other at both ends of the support plate. A pair of first and second guide rods are installed parallel to each other between the first and second plates. A slide plate is disposed above the support plate, and the first and second guide rods are inserted into a plurality of first blocks attached to the underside of the slide plate. The slide plate can move along the first and second guide rods.

[0039] A third bearing block and a fourth bearing block are installed on the support plate. A ball screw is inserted and supported in the third bearing block and the fourth bearing block. The ball screw is arranged parallel to the first guide rod and the second guide rod. A motor whose rotation can be controlled, 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] A second block is fixed to the center of the underside of the slide plate, and a nut fixedly held by the second block is threaded onto the ball screw. When the motor is operated and the ball screw rotates, the slide plate moves along the first guide rod and the second guide rod via the nut threaded onto the ball screw. A drive mechanism using a rack and pinion can also be used as the drive mechanism for the slide plate.

[0041] A pair of first and second movable pulleys are mounted on the upper surface of the slide plate at a predetermined distance. The second movable pulley is attached via a movable plate fixed to the slide plate with screws, and the distance between the first and second movable pulleys can be adjusted by shifting the position of the movable plate.

[0042] A first support plate and a second support plate, each having a substantially triangular shape, are attached to the first bearing block and the second bearing block, and first to fourth idle pulleys are installed on the first support plate and the second support plate.

[0043] A second timing belt is stretched around a series of pulleys consisting of a drive pulley, a first idle pulley, a second movable pulley, a second idle pulley, a cam plate rotating pulley, a third idle pulley, a first movable pulley, and a fourth idle pulley. The second timing belt is stretched around the outside of the drive pulley, the second movable pulley, the cam plate rotating pulley, and the first movable pulley, and around the inside of the first to fourth idle pulleys, forming a cross shape as a whole.

[0044] The belt portions (a, b, c, d) stretched between the first and second movable pulleys and the first to fourth idle pulleys are arranged parallel to the direction of movement of the slide plate. When the slide plate moves in direction (D), the belt portions (a, b) shorten, but the belt portions (c, d) lengthen by the same amount. When the slide plate moves in direction (E), the belt portions (a, b) lengthen, but the belt portions (c, d) shorten by the same amount. The path length of the belt circulating around the above pulley group never changes. Even if the first and second movable pulleys move in direction (D) or direction (E) in conjunction with the movement of the slide plate, the second timing belt can rotate without being pulled or loosened.

[0045] In the winding device, the driving mechanism causes the conductive wire introduction tube to oscillate (rotate back and forth) at a predetermined angle and move back and forth in the axial direction, causing each nozzle attached to the upper end of the wire introduction tube via a head to revolve around the corresponding internal tooth of the stator core and wind the wire that passes through the wire introduction tube and is unwound from the tip of the nozzle around the internal tooth.

[0046] When the wire guide tube swings, the lower rotating tube, which fits into the spline grooves of the wire guide tube via spline teeth, rotates integrally. When the lower rotating tube rotates, the rotating shaft rotates via the drive pulley, first timing belt, and driven pulley. The upper rotating tube rotates via the second timing belt, which is stretched around a series of pulleys consisting of the drive pulley, first idle pulley, second movable pulley, second idle pulley, cam plate rotation pulley, third idle pulley, first movable pulley, and fourth idle pulley. The sleeve rotates integrally due to the engagement of the spline teeth on the upper rotating tube with the spline. When the slide plate is stationary and the first and second movable pulleys are stationary, the sleeve connected to the cam plate rotates in synchronization with the wire guide tube, and there is no relative rotation between the cam plate, the wire guide tube, and the head. Therefore, the nozzle maintains a predetermined radial projection.

[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 and the conductor guide tube and head due to the following action: The path from drive pulley → first idle pulley → second movable pulley → second idle pulley → cam plate rotation pulley is called path (I). The path from cam plate rotation pulley → third idle pulley → first movable pulley → fourth idle pulley → drive pulley is called path (II).

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

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

[0050] The rotation is additional to the rotation synchronous with the wire guide barrel, causing the cam plate rotating pulley to rotate relative to the wire guide barrel. As a result, the cam plate rotates relative to the wire guide barrel and head via the upper rotating barrel and sleeve. This changes the position of the cam groove into which the cam follower attached to the base of the nozzle engages, causing the nozzle to move radially. The rotation angle of the cam plate can be freely adjusted by the amount of movement of the slide plate, so the radial movement of the nozzle can be achieved at a predetermined timing and by a predetermined amount by controlling the motor in conjunction with the winding operation.

[0051] The winding device gradually changes the amount of radial projection of the nozzle as the winding operation is performed on the internal teeth of the stator core, and winds the wire while aligning it along the longitudinal direction of the internal teeth, making it possible to perform windings that maximize the space factor within the slots. [Prior art documents] [Patent documents]

[0052] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-22133 [Patent Document 2] Japanese Patent Application Laid-Open No. 2000-245121 Summary of the Invention [Problem to be solved by the invention]

[0053] In rotating machines, higher efficiency and smaller size can be achieved by improving the coil space factor. The coil space factor can be improved by winding the conductor wire in an aligned manner around the teeth. The inventor believes that the winding method and winding device of Patent Document 1 are effective technologies for achieving aligned winding of the conductor wire. However, the inventor believes that a winding method that uses a single nozzle on the winding device and winds the conductor wire around one tooth using this single nozzle would require a long winding time. Longer winding time would result in lower stator productivity.

[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 rotor winding device including a first nozzle that feeds out a first conducting wire to be wound around a first tooth of a plurality of teeth that are provided at equal angular intervals on a stator core of a stator of a rotating machine and that project in a radial direction from a rotation axis of a rotor of the rotating machine, the first nozzle feeding out a first conducting wire to be wound around the first tooth of the plurality of teeth, a second nozzle that feeds out a second conducting wire to be wound around a second tooth of the plurality of teeth, and a rotor winding device that rotates the first nozzle around an outer periphery of the first tooth relative to the first tooth and rotates the second nozzle around an outer periphery of the second tooth relative to the second tooth. a positioning device that regulates a first radial position in the radial direction where the first teeth protrude from a first crossing portion of the first conducting wire that is fed from the first nozzle onto an end face of the first teeth on an end face of the first teeth in a stacking direction in which steel plates forming the stator core are stacked, and a second radial position that regulates a second radial position in the radial direction where the second teeth protrude from a second crossing portion of the second conducting wire that is fed from the second nozzle onto an end face of the second teeth on an end face of the second teeth in the stacking direction, a moving device including a first support supporting a first transverse portion, a second support supporting the second transverse portion, and a first moving mechanism for moving the first support in the first radial direction and moving the second support in the second radial direction, the first moving mechanism including a first rotating shaft rotating about a first central axis aligned with the stacking direction, a second rotating shaft rotating about a second central axis aligned with the stacking direction, a rotating mechanism for rotating the first rotating shaft and the second rotating shaft in conjunction with each other, a first moving body moving in the first radial direction in response to the rotation of the first rotating shaft, and a first moving body moving in the first radial direction in accordance with the rotation of the first rotating shaft. a first conversion mechanism that converts rotation of a rotating shaft into linear motion along the first radial direction and moves the first movable body in the first radial direction; a second movable 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 movable body in the second radial direction, wherein the rotation mechanism rotates the first rotating shaft and the second rotating shaft by the same amount in the same direction, the first support device is provided on the first movable body, and the second support device is provided on the second movable body.

[0058] According to this winding device, the first support can be moved in the first radial direction and the second support can be moved in the second radial direction simultaneously by the first moving mechanism.

[0059] 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, and 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 second moving mechanism moves the first support closer to the end faces of the first teeth in the stacking direction and moves the second support closer to the end faces of the second teeth in the stacking direction, releases the restriction of the position of the first transverse portion in the first radial direction by the positioning device, and When the restriction on the second radial position of the two transverse portions is released, the first support is spaced apart in the stacking direction from the end face of the first tooth and the second support is spaced apart in the stacking direction from the end face of the second tooth, and the first moving mechanism may move the first moving body in the first radial direction and the second moving body in the second radial direction while the second moving mechanism moves the first support apart in the stacking direction from the end face of the first tooth and the second support apart from the end face of the second tooth in the stacking direction.

[0060] With this configuration, when the first support device moves in the first radial direction, the first transverse portion can be prevented from shifting in position in the first radial direction, and when the second support device moves in the second radial direction, the second transverse portion can be prevented from shifting in position in the second radial direction.

[0061] The first support may include a plurality of first accommodating grooves that accommodate the first transverse portions in a first support end surface that faces the end surfaces of the first teeth in the stacking direction, and the second support may include a plurality of second accommodating grooves that accommodate the second transverse portions in a second support end surface that faces the end surfaces of the second teeth in the stacking direction, the plurality of first accommodating grooves being provided on the first support end surface along a first width direction that is perpendicular to both the stacking direction and the first radial direction of the first teeth and arranged side by side in the first radial direction on the first support end surface, and the plurality of second accommodating grooves being provided on the second support end surface along a second width direction that is perpendicular to both the stacking direction and the second radial direction of the second teeth and arranged side by side in the second radial direction on the second support end surface.

[0062] According to this configuration, the first transverse portion can be supported by any one of the plurality of first accommodating grooves, and the second transverse portion can be supported by any one of the plurality of second accommodating grooves. Suppose the first radial position of the first transverse portion is shifted toward any one of the plurality of first accommodating grooves. In this case, the first support device supports the first transverse portion while the first transverse portion is accommodated in the any one of the first accommodating grooves. Suppose the second radial position of the second transverse portion is shifted toward any one of the plurality of second accommodating grooves. In this case, the second support device supports the second transverse portion while the second transverse portion is accommodated in the any one of the second accommodating grooves. [Effects of the Invention]

[0063] According to the present invention, it is possible to obtain a small winding device that can simultaneously wind conductors in alignment around each of a plurality of teeth. [Brief explanation of the drawings]

[0064] [Figure 1] FIG. 2 is a perspective view showing an example of a schematic configuration of a stator core. [Figure 2] 10 is a perspective view showing an example of a schematic configuration of a positioning device of a winding device. FIG 11 shows an example of a schematic configuration of a second moving mechanism of a moving device of the positioning device. [Figure 3]1 is a perspective view showing an example of a schematic configuration of a positioning device with some parts omitted, and shows a plurality of supports and a first moving mechanism of a moving device. [Figure 4] 1 is a perspective view showing an example of a schematic configuration of a support and a first moving mechanism provided on a first side in the stacking direction. The support on the first side in the stacking direction indicates one of a plurality of supports, and the first moving mechanism on the first side in the stacking direction indicates a part corresponding to this one support. [Figure 5] 1 is a perspective view showing an example of a schematic configuration of a support and a first moving mechanism provided on a second side in the stacking direction. The support on the second side in the stacking direction indicates one of a plurality of supports, and the first moving mechanism on the second side in the stacking direction indicates a part corresponding to this one support. [Figure 6] 10 is a cross-sectional view showing an example of a support for a positioning device on a first side in the stacking direction, and shows a state in which a crossing portion of a conductor wire on an end face on the first side in the stacking direction of a tooth is supported. [Figure 7] 10 is a cross-sectional view showing an example of a support for a positioning device on the second side in the stacking direction, and shows a state in which a crossing portion of a conductor wire on an end face on the second side in the stacking direction of a tooth is supported. [Figure 8] 1 is a perspective view showing an example of a schematic path for relative rotation of a nozzle and a tooth, which shows one rotation of one nozzle and one tooth, and corresponds to a case where a conducting wire is wound around the tooth using a positioning device. [Figure 9] FIG. 11 is a cross-sectional view taken along line II in FIG. [Figure 10] FIG. 2 is a perspective view showing an example of a schematic configuration of a support tool. DETAILED DESCRIPTION OF THE INVENTION

[0065] Embodiments for carrying out the present invention will be described using 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 also 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 cross section. 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 of the rotating machine and the rotor will be omitted as appropriate. The stator includes a stator core 90 and a plurality of coils. Furthermore, 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, an insulator 96 is exemplified as the insulator (see Figures 6 and 7 described below). Another example of the insulator is insulating paper. Insulators such as the insulator 96 and insulating paper are well known, and insulating structures are also used in stators of well-known rotating machines. A stator including a stator core 90 can employ a well-known insulating structure. In the embodiments, further descriptions of the insulating structure will be omitted.

[0067] The stator core 90 is formed by stacking steel plates (see FIG. 1). Examples of the steel plates include electromagnetic steel plates. In the embodiment, the direction in which the steel plates are stacked in the stator core 90 is referred to as the "stacking direction." One side of the stacking direction is referred to as the "first side," and the other side of the stacking direction is referred to as the "second side." Directions centered around the rotor's rotation axis are referred to as the "radial direction" and the "circumferential direction," and a direction perpendicular to both the stacking direction and the radial direction is referred to as the "width direction." The central axis L0 indicated by a dashed line in FIG. 1 and FIGS. 4 and 5 (described later) coincides with the rotor's rotation axis (rotation axis center). The radial direction coincides with the radial direction centered around the rotor's rotation axis. One side of the radial direction is referred to as the "third side," and the other side of the radial direction is referred to as the "fourth side." The third side of the radial direction is the side of the rotor's rotation axis. The fourth side of the radial direction is opposite the third side of the radial direction. The circumferential direction includes the rotor's rotation direction and counter-rotation direction. The counter-rotation direction is opposite to the rotation direction of the rotor. One circumferential side is referred to as the "fifth side," and the other circumferential side 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 on the stator core 90 and protrude in the radial direction. In the embodiment, an inner rotor type rotating machine is taken as an example. In an inner rotor type rotating machine, the rotor is rotatably provided inside the stator. In the stator of the inner rotor type rotating machine, the plurality of teeth 92 are provided at equal angular intervals on the inner circumference of the yoke 91, which is on the third side in the radial direction, and protrude toward the third side in the radial direction. In the embodiment, the stator core 90 includes nine teeth 92. However, this number of teeth 92 is an example. The number of teeth 92 provided on the stator core 90 is determined appropriately taking various conditions into consideration.

[0069] A slot 94 is formed in the stator core 90 between two circumferentially adjacent teeth 92. Coils are provided on the teeth 92. The coils are formed by winding a conductor around the teeth 92 using a winding device (described later). As will be described in detail later, the conductor is wound spirally in the radial direction. Furthermore, the conductor is wound in multiple layers. For example, one turn of the conductor wound around the tooth 92 crosses from one side in the width direction (circumferential direction) to the other side on an end face 93 on a first side in the stacking direction of the tooth 92, and then passes through a slot 94 formed on the other side in the circumferential direction of the tooth 92 from the first side to the second side in the stacking direction. Furthermore, the conductor continues to cross from the other side in the width direction (circumferential direction) on an end face 93 on a second side in the stacking direction of the tooth 92 to one side, and then passes through a slot 94 formed on one side in the circumferential direction of the tooth 92 from the second side to the first side in the stacking direction.

[0070] In the embodiment, "on the end faces 93 of the teeth 92" has the following meaning. That is, the end faces 93 form the first sides of the teeth 92 in the stacking direction. In this case, "on the end faces 93 of the teeth 92" means the first side in the stacking direction of the end faces 93 on the first side of the teeth 92 in the stacking direction. The end faces 93 form the second sides of the teeth 92 in the stacking direction. In this case, "on the end faces 93 of the teeth 92" means the second side in the stacking direction of the end faces 93 on the second side of the teeth 92 in the stacking direction.

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

[0072] The teeth 92 have a shape that is wider in the circumferential direction on the tip side. In the embodiment, since the rotating machine is an inner rotor type, the tip side of the teeth 92 is the third side in the radial direction. The slots 94 have slot openings 95. The slot openings 95 are formed at adjacent positions on the tip sides of two circumferentially adjacent teeth 92. Such a structure of the stator core 90 is publicly known. In other words, the stator core 90 has a publicly known stator core structure. Therefore, other explanations regarding the stator core 90 will be omitted as appropriate.

[0073] In FIG. 1, the symbols used for the teeth, the end faces of the teeth in the stacking direction, 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 of the teeth in the stacking direction are used for three arbitrarily selected teeth 92 that are adjacent in the circumferential direction. The symbol "94" for the slot and the symbol "95" for the slot opening are used for the slot 94 and slot opening 95 between the next two teeth 92. These two teeth 92 are adjacent in the circumferential direction in the three teeth 92 that are labeled. The "width direction" in FIG. 1 refers to the next tooth 92. This tooth 92 is located in the circumferential center of the three teeth 92 that are labeled. The "radial direction" in FIG. 1 is based on the center position of the width direction of this tooth 92.

[0074] <Winding device> The winding device will be described with reference to Figures 1 to 10. The winding device forms coils on teeth 92 of a stator core 90 of a rotating machine stator. The winding device simultaneously forms a plurality of coils for each of the plurality of teeth 92. The number of teeth 92 for which coils are simultaneously formed may be two or more, and may be all or some 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 nine teeth 92.

[0075] The winding device includes a support device, multiple nozzles 10, a turning device, and a positioning device 20 (see Figures 2 to 7). In the embodiment, the support device and the turning device are not shown. In Figures 2 and 3, the multiple nozzles 10 and the conductors are not shown. In Figures 6 and 7, the conductors before being wound around the teeth 92 are not shown. In the embodiment, the winding device includes one nozzle 10 for each tooth 92. Therefore, the winding device includes nine nozzles 10. The number of nozzles 10 provided in the winding device is determined appropriately taking into account various conditions. For example, the number of nozzles 10 provided in the winding device is determined taking into account the number of teeth 92 for simultaneously forming coils.

[0076] The support device supports the stator core 90. The support device may employ a support structure similar to that of a known winding device to support the stator core 90. For example, the winding device may employ a support structure similar to that of the support base of the index mechanism of Patent Document 1. Therefore, further explanation of the support device will be omitted.

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

[0078] The turning device turns the nozzle 10 around the outer periphery of the teeth 92 relative to the teeth 92 (see FIGS. 6 to 8). The turning device performs multiple relative turns between one nozzle 10 and one tooth 92 simultaneously and in the same way. In the embodiment, the turning device performs nine relative turns between one nozzle 10 and one tooth 92 simultaneously and in the same way. When relative turns are performed between nine nozzles 10 and nine teeth 92, the relative positions of the nozzles 10 with respect to the teeth 92 are all the same.

[0079] During the relative rotation of the nozzles 10 and the teeth 92 by the rotation device, the relative rotation between one nozzle 10 and one tooth 92 includes paths A to H (see FIG. 8 ). Paths A to H show an example of the trajectory of the tip position of one nozzle 10 when the nozzle 10 rotates around the outer periphery of one tooth 92 by the rotation device. The arrows indicating paths A to H in FIG. 8 indicate the movement directions of one nozzle 10 and one tooth 92 during the relative rotation of one circumference. The path lengths of paths A to H are determined appropriately in consideration of various conditions. The rotation direction of one nozzle 10 and one tooth 92 may be opposite to that shown in FIG. 8 . The rotation direction of one nozzle 10 and one tooth 92 is determined appropriately in consideration of various conditions. For example, the rotation direction is determined taking into account the characteristics required of the rotating machine.

[0080] In path A, the nozzle 10 moves from the fifth side to the sixth side in the circumferential direction over the end faces 93 of the teeth 92 on the first side in the stacking direction. In path A, the relative circumferential movement range of the nozzle 10 and the teeth 92 is 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 faces 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 on the fourth side in the radial direction from the slot opening 95. This slot 94 is provided on a sixth side in the circumferential direction of the tooth 92. In path E, the nozzle 10 moves from the sixth side to the fifth side in the circumferential direction on the end face 93 of the tooth 92 on the second side in the stacking direction. In path E, the relative circumferential movement range of the nozzle 10 and the tooth 92 extends from the region of the slot 94 on the sixth side in the circumferential direction of the tooth 92 across the tooth 92 to the region of the slot 94 on the fifth side in the circumferential direction of the tooth 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 of the first side in the stacking direction of the tooth 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 located on the fourth radial side of the slot opening 95. This slot 94 is provided on the fifth circumferential side of the tooth 92.

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

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

[0083] The relative rotation of one rotation between one nozzle 10 and one tooth 92 includes the following first, second, and third movements. The first movement moves the nozzle 10 and the tooth 92 relative to each other in the stacking direction (see "paths C and G" in Figures 6, 7, and 8). The second movement moves the nozzle 10 and the tooth 92 relative to each other in the radial direction (see "paths B, D, F, and H" in Figure 8). The third movement moves the nozzle 10 and the tooth 92 relative to each other in the circumferential direction (see "paths A and E" in Figure 8). In this embodiment, the rotation device moves the nozzle 10 and the tooth 92 relative to each other in the first, second, and third movements as follows.

[0084] That is, during the first movement of the nozzle 10 and the teeth 92, the turning device moves the nozzle 10 from the first side to the second side in the stacking direction (see "path C" in FIGS. 6, 7, and 8), and moves the nozzle 10 from the second side to the first side in the stacking direction (see "path G" in FIGS. 6, 7, and 8). During the second movement of the nozzle 10 and the teeth 92, the turning device moves the nozzle 10 from the fourth side to the third side in the radial direction (see "paths B and F" in FIG. 8), and moves the nozzle 10 from the third side to the fourth side in the radial direction (see "paths D and H" in FIG. 8). During the third movement of the nozzle 10 and the teeth 92, the turning device moves the nozzle 10 by a certain angle from the fifth side to the sixth side in the circumferential direction (see "path A" in FIG. 8), and moves the nozzle 10 by a certain angle from the sixth side to the fifth side in the circumferential direction (see "path E" in FIG. 8). During the first movement of the nozzle 10 in the stacking direction, the second movement of the nozzle 10 in the radial direction, and the third movement of the nozzle 10 in the circumferential direction, the stator core 90 supported by the support device is maintained in the same state. The teeth 92 maintain a constant posture without moving. The rotation angle of the nozzle 10 during the third movement is set to "360° / total number of teeth 92." In this embodiment, as described above, the total number of teeth 92 is nine (see FIG. 1), so this rotation angle is set to 40°.

[0085] In the rotating device, the stator core 90 may be moved during some or all of the first, second, and third movements. For example, the first and second movements may be the same as those described above, while the stator core 90 is moved during the third movement. In this case, during the first movement of the nozzle 10 in the stacking direction and the second movement of the nozzle 10 in the radial direction, the stator core 90 supported by the support device is held in the same position as described above, and the teeth 92 do not move and maintain a constant posture. During the third movement of the stator core 90 in the circumferential direction, the nozzle 10 is held in the same position and maintains a constant posture. The third movement of the stator core 90 in the circumferential direction is performed by moving the support device that supports it, and accordingly, one tooth 92 moves for each nozzle 10 in the same manner as described above. The third movement of the stator core 90 in the circumferential direction may be performed by moving the support device by a fixed angle from the sixth side to the fifth side in the circumferential direction, thereby moving the stator core 90 supported thereby by the same angle in the same direction as the rotation (see "path A" in FIG. 8), or by moving the support device by a fixed angle from the fifth side to the sixth side in the circumferential direction, thereby moving the stator core 90 supported thereby by the same angle in the same direction as the rotation (see "path E" in FIG. 8). In the embodiment, as described above, the total number of teeth 92 is nine (see FIG. 1), and therefore the rotation angle of the stator core 90 during the third movement is set to 40°.

[0086] In the winding device, the nozzle 10 may be the same as that of a known winding device, and the wire is unwound from the nozzle 10 in the same manner as in the known winding device. In the winding device, the turning structure may be the same as that of a known winding device, and the following operation is performed in the same manner as in the known winding device. In this operation, multiple relative turns between one nozzle 10 and one tooth 92 are performed simultaneously and in the same manner. For example, the nozzle 10 may be configured in the same manner as the nozzle in Patent Document 2, and the wire may be unwound from the tooth 92 in the same manner as in Patent Document 2. The turning structure may be the same as the above-mentioned turning structure disclosed in Patent Document 2, and nine relative turns between one nozzle 10 and one tooth 92 may be performed simultaneously and in the same manner. Therefore, further description of the nozzle 10 and the turning structure will be omitted.

[0087] The positioning device 20 simultaneously and similarly regulates the radial position of the transverse portion of the conductor on each end face 93 on the first and second sides in the stacking direction of the plurality of teeth 92 around which the conductor is wound (see FIGS. 6 and 7). The transverse portion of the conductor 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 conductor 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 regulates the transverse portion of the conductor that is fed from the nozzle 10 onto the end face 93 on the first side in the stacking direction of the teeth 92 during movement along path A. This transverse portion of the conductor 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 conductor 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 regulates the crossing portion of the conductor that is 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 crossing portion of the conductor 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 on each of the first and second sides in the stacking direction, the number of which is the same as the number of nozzles 10. In the embodiment, the stator core 90 includes nine teeth 92, and the winding device has nine nozzles 10. The positioning device 20 includes nine supports 30 on each of the first and second sides in the stacking direction, corresponding to the nine teeth 92 and nine nozzles 10. In FIGS. 3 to 5, the illustration of the supports 30 is simplified.

[0089] The support 30 supports the cross-section of the conductor wire unwound onto the end face 93 of the tooth 92 (see FIGS. 6 and 7). The support 30 includes a plurality of accommodation grooves 31 (see FIGS. 6, 7, and 9). The plurality of accommodation grooves 31 are provided in the support end face 32 of the support 30. The support end face 32 forms the side of the support 30 facing the end face 93 of the tooth 92 in the stacking direction. The support end face 32 faces the end face 93 of the tooth 92 in the stacking direction. The plurality of accommodation grooves 31 accommodate the cross-section of the conductor wire unwound onto the end face 93 of the tooth 92 (see FIGS. 6 and 7). In the embodiment, the support end face 32 has a concave curved shape on the side away from the end face 93 of the tooth 92 (see FIGS. 6, 7, 9, and 10). The shape of the support end face 32 is determined appropriately taking into account various conditions. For example, the shape of the support end face 32 is determined taking into account the shape of the coil end.

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

[0091] The moving device 40 moves the multiple 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 mechanisms 60 are provided on first and second sides of the next stator core 90 in the stacking direction (see FIGS. 2 and 3). This stator core 90 is set in the winding device while being supported by the supporting 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 the multiple supports 30 in the radial direction. The first moving mechanism 60 includes multiple rotating shafts 61, a rotating mechanism 62, multiple conversion mechanisms 65, and multiple moving bodies 68. In Figures 2 and 3, the symbols for the multiple identical elements provided in the positioning device 20 are assigned to specific ones arbitrarily selected on each of the first and second sides in the stacking direction, except for the symbol "L1" for the central axis of the rotation shaft 61.

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

[0093] In the positioning device 20, the nine supports 30 on the first side in the stacking direction are provided one on each end face 93 of the nine teeth 92 on the first side in the stacking direction. The first movement mechanisms 60 on the first side in the stacking direction correspond 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 provided one on each end face 93 of the nine teeth 92 on the second side in the stacking direction. The first movement mechanisms 60 on the second side in the stacking direction correspond to the nine supports 30 on the second side in the stacking direction.

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

[0095] The rotation mechanism 62 is connected to each of the multiple rotation shafts 61 and rotates all of the multiple rotation shafts 61 in conjunction with each other around the central axis L1 of each of the multiple rotation shafts 61 (see FIG. 3). The rotation mechanism 62 includes multiple first transmission bodies 63, second transmission bodies 64, and a driver (see FIGS. 3 to 5). In the embodiment, the driver of the rotation mechanism 62 is not illustrated. An example of the driver is a servo motor. The servo motor may include an encoder. The driver may be provided in each of the rotation mechanism 62 of the first movement mechanism 60 on the first side in the stacking direction and the rotation mechanism 62 of the first movement mechanism 60 on the second side in the stacking direction, or a single driver may be shared by the rotation mechanism 62 of the first movement mechanism 60 on the first side in the stacking direction and the rotation mechanism 62 of the first movement mechanism 60 on the second side in the stacking direction. A driver is provided in each of the rotation mechanism 62 of the first movement mechanism 60 on the first side in the stacking direction and the rotation mechanism 62 of the first movement mechanism 60 on the second side in the stacking direction. In this case, the two drivers may be driven synchronously, or the two drivers may be driven independently.

[0096] The driving force from the driver is transmitted to the second transmission body 64. The second transmission body 64 operates in response to the driving force from the driver. In the first movement mechanism 60 on the first side in the stacking direction and the first movement mechanism 60 on the second side in the stacking direction, the number of first transmission bodies 63 is the same as the number of the rotating shafts 61. The multiple first transmission bodies 63 are provided one for each of the multiple rotating shafts 61. In the first movement mechanism 60 on the first side in the stacking direction and the first movement mechanism 60 on the second side in the stacking direction, all of the multiple first transmission bodies 63 are provided in contact with the second transmission bodies 64 of the rotation mechanism 62. In other words, the driving force from the driver is transmitted to each of the multiple rotating shafts 61 via the second transmission body 64. The multiple rotating shafts 61 rotate in the same direction and by the same amount around their respective central axes L1 due to 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 each rotating shaft 61. The third transmission body 66 rotates together with the rotating shaft 61. The fourth transmission body 67 is provided along the radial direction in each of the multiple 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 moves linearly from the third side to the fourth side in the radial direction, or from the fourth side to the third side in the radial direction, corresponding to the direction of rotation of the third transmission body 66 that rotates together with the rotating shaft 61, by an amount corresponding to the amount of rotation of the third transmission body 66. The moving body 68 is provided on the fourth transmission body 67 and moves linearly together with the fourth transmission body 67 in the same radial direction. The moving body 68 includes a connector 69. The support 30 is attached to the moving body 68 via a connector 69 .

[0098] In this 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-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 movement mechanism 60 operates as follows. The first movement 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 the driver acts on the second transmission body 64. The second transmission body 64 rotates around a central axis L2 due to 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 rotates in response to the rotation of the second transmission body 64, thereby rotating the rotating shaft 61. Assume that the driver rotates the second transmission body 64 clockwise. In this case, among the multiple rotating shafts 61, the first transmission body 63 rotates counterclockwise, and each of the multiple rotating shafts 61 rotates counterclockwise. The third transmission body 66 rotates counterclockwise through each of the multiple conversion mechanisms 65. Accordingly, the fourth transmission body 67 moves linearly from the fourth side to the third side in the radial direction, and the movable body 68 moves the same amount in the same direction as the fourth transmission body 67. Assume that the driver rotates the second transmission body 64 counterclockwise. In this case, among the multiple rotation shafts 61, the first transmission body 63 rotates clockwise, and each of the multiple rotation shafts 61 rotates clockwise. The third transmission body 66 rotates clockwise in each of the multiple conversion mechanisms 65. Accordingly, the fourth transmission body 67 moves linearly from the third side to the fourth side in the radial direction, and the movable body 68 moves the same amount in the same direction as the fourth transmission body 67.

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

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

[0102] An example of the second movement mechanism 70 is a linear motion mechanism. The movement device 40 employs a linear motion mechanism as the second movement mechanism 70. Although not described above, the winding device includes a frame 80 (see FIG. 2). In the embodiment, the second movement mechanism 70 is provided on the frame 80. The second movement mechanism 70 includes a ball screw 71, a guide 74, and a driver 77. In the embodiment, the support body 50 has a U-shape in side view, and the second movement mechanism 70 is provided on the outer surface of a side wall 53 along the stacking direction connecting a side wall 51 on a first side in the stacking direction and a side wall 52 on a second side in the stacking direction. The outer surface of the side wall 53 forms the back side of the inner surface of the side wall 53. The inner surface of the side wall 53, together with the inner surface of the side wall 51 on the second side in the stacking direction and the inner surface of the side wall 52 on the first side in the stacking direction, form an accommodation space for the support body 50. In the moving device 40 , the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction are provided in the accommodation space of the support body 50 .

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

[0104] The driver 77 is coupled to the screw shaft 72. An example of the driver 77 is a servo motor. The servo motor may include an encoder. The driver 77 rotates the screw shaft 72.

[0105] When the driver 77 rotates the screw shaft 72 in a predetermined direction, the nut 73 moves from the first side to the second side in the stacking direction. As 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 distance as the nut 73. Two guides 74 guide the movement of the support 50 from the first side to the second side in the stacking direction. The first movement mechanism 60 on the first side in the stacking direction moves together with the support 50 from the first side to the second side in the stacking direction by the same distance as the support 50. The multiple supports 30 on the first side in the stacking direction move together with the first movement mechanism 60 on the first side in the stacking direction from the first side to the second side in the stacking direction by the same distance as the first movement mechanism 60. The first movement mechanism 60 on the second side in the stacking direction moves together with the support 50 from the first side to the second side in the stacking direction by the same distance as the support 50. The multiple supports 30 on the second side in the stacking direction move together with the first movement mechanism 60 on the second side in the stacking direction by the same distance as the first movement mechanism 60. On a 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 faces 93 on the first side in the stacking direction of the teeth 92. On a second side in the stacking direction of the stator core 90, the support 30 on the second side in the stacking direction moves away from the end faces 93 on the second side in the stacking direction of the teeth 92. The support 30 on the first side in the stacking direction supports the crossing portions of the conductors on the end faces 93 on the first side in the stacking direction of the teeth 92 while moving to the second side in the stacking direction (see FIG. 6).

[0106] When the driver 77 rotates the screw shaft 72 in a direction opposite to the predetermined direction, the nut 73 moves from the second side to the first side in the stacking direction. As 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 distance as the nut 73. 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 together with the support 50 from the second side to the first side in the stacking direction by the same distance as the support 50. The multiple supports 30 on the first side in the stacking direction move together with the first movement mechanism 60 on the first side in the stacking direction from the second side to the first side in the stacking direction by the same distance as the first movement mechanism 60. The first movement mechanism 60 on the second side in the stacking direction moves together with the support 50 from the second side to the first side in the stacking direction by the same distance as the support 50. The multiple supports 30 on the second side in the stacking direction move together with the first moving mechanism 60 on the second side in the stacking direction from the second side to the first side in the stacking direction by the same amount as the first moving mechanism 60. On the first side in the stacking direction of the stator core 90, the supports 30 on the first side in the stacking direction move away from the end faces 93 on the first side in the stacking direction of the teeth 92. On the second side in the stacking direction of the stator core 90, the supports 30 on the second side in the stacking direction move closer to the end faces 93 on the second side in the stacking direction of the teeth 92. The supports 30 on the second side in the stacking direction support the crossing portions of the conductors on the end faces 93 on the second side in the stacking direction of the teeth 92 while moved to the first side in the stacking direction (see FIG. 7).

[0107] Assume that the positioning device 20 regulates the radial position of the transverse portion of the conductor that has been unwound to the next position. This position is on the end face 93 of each of the plurality of teeth 92 on the first side in the stacking direction. 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 of each of the plurality of teeth 92 on the first side in the stacking direction. In the embodiment, this movement is referred to as the "fourth movement." The fourth movement is performed after the tip ends of each of the plurality of nozzles 10 reach the end positions of path A relative to each of the plurality of teeth 92 and before the relative movement of path B begins. The support 30 on the first side in the stacking direction accommodates the transverse portion of the conductor that has been unwound onto the end face 93 of each of the teeth 92 on the first side in the stacking direction in one of the plurality of accommodation grooves 31 (see FIG. 6 ).

[0108] Assume that the positioning device 20 releases the restriction on the radial position of the transverse portion of the conductor that has been unwound to the next position. This position is on the end face 93 of each of the multiple teeth 92 on the first side in the stacking direction. In this case, the second movement mechanism 70 moves the multiple supports 50 from the second side to the first side in the stacking direction on the end face 93 of each of the multiple teeth 92 on the first side in the stacking direction. In the embodiment, this movement is referred to as the "fifth movement." The fifth movement is performed after the tip ends of each of the multiple nozzles 10 reach the terminal position of path D relative to each of the multiple teeth 92 and before the start of the relative movement along path A in the next relative revolution. However, in the embodiment, the fifth movement is performed simultaneously with the sixth movement. The sixth movement will be described later.

[0109] Assume that the positioning device 20 regulates the radial position of the transverse portion of the conductor that has been unwound to the next position. This position is on the end face 93 of each of the multiple teeth 92 on the second side in the stacking direction. In this case, the second movement mechanism 70 moves the multiple supports 50 from the second side to the first side in the stacking direction on the end face 93 of each of the multiple teeth 92 on the second side in the stacking direction. In the embodiment, this movement is referred to as the "sixth movement." The sixth movement is performed after the tip ends of the multiple nozzles 10 reach the end positions of path E with respect to each of the multiple teeth 92 and before the relative movement of path F begins. However, in the embodiment, as described above, the sixth movement is performed simultaneously with the fifth movement. The support 30 on the second side in the stacking direction accommodates the transverse portion of the conductor that has been unwound on the end face 93 of each of the teeth 92 on the second side in the stacking direction in one of the multiple accommodation grooves 31 (see FIG. 7 ).

[0110] Assume that the positioning device 20 releases the restriction on the radial position of the transverse portion of the conductor that has been fed out to the next position. This position is on the end face 93 of each of the multiple teeth 92 on the second side in the stacking direction. In this case, the second movement mechanism 70 moves the multiple supports 50 from the first side to the second side in the stacking direction on the end face 93 of each of the multiple teeth 92 on the second side in the stacking direction. In the embodiment, this movement is referred to as the "seventh movement." The seventh movement is performed after the tip ends of each of the multiple nozzles 10 reach the terminal positions of path H relative to each of the multiple teeth 92 and before the start of the relative movement along path E in the next relative revolution.

[0111] The second moving mechanism 70 may perform the seventh movement to place 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 next state. In this state, the plurality of supports 30 on the first side in the stacking direction are in the next third state, and the plurality of supports 30 on the second side in the stacking direction are in the next fourth state. In the third state, the positioning device 20 releases the restriction on the radial position of the transverse portion of the conductor unwound onto the end face 93 on the first side in the stacking direction of each of the plurality of teeth 92. In the fourth state, the positioning device 20 releases the restriction on the radial position of the transverse portion of the conductor unwound onto the end face 93 on the second side in the stacking direction of each of the plurality of teeth 92. At the start of the fourth movement, the plurality of 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 the third state and the fourth state, respectively.

[0112] The first moving mechanism 60 on the first side in the stacking direction moves the plurality of supports 30 on the first side in the stacking direction radially by the wire diameter in the third state described above. The first moving mechanism 60 on the second side in the stacking direction moves the plurality of supports 30 on the second side in the stacking direction radially by the wire diameter in the fourth state described above. The next first timing is determined appropriately taking into consideration various conditions. At the first timing, the first moving mechanism 60 on the first side in the stacking direction moves the plurality of supports 30 on the first side in the stacking direction radially by the wire diameter in the fourth state described above. The next second timing is determined appropriately taking into consideration various conditions. At the second timing, the first moving mechanism 60 on the second side in the stacking direction moves the plurality of supports 30 on the second side in the stacking direction radially by the wire diameter in the fourth state described above. The second timing may be the same as the first timing. For example, after the tips of the nozzles 10 reach the terminal positions of the path H relative to the teeth 92, the second moving mechanism 70 may immediately perform the seventh movement. In this case, the first timing and the second timing may be set after the seventh movement is completed and before the relative movement along the path B in the next relative revolution starts.

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

[0114] <Effects of the embodiment> According to the embodiment, it is possible to specify the following winding device, and the following effects can be obtained.

[0115] (1) The winding device includes a plurality of nozzles 10, a turning 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 conductor wire fed from the first nozzle is referred to as the "first conductor wire," and the conductor wire fed from the second nozzle is referred to as the "second conductor wire." The first nozzle feeds a first conductor wire to be wound around a first tooth among the plurality of teeth 92, and the second nozzle feeds a second conductor wire to be wound around a second tooth among the plurality of teeth 92, (see FIGS. 6 and 7). 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 turning device turns the first nozzle around the outer periphery of the first tooth relative to the first tooth, and turns the second nozzle around the outer periphery of the second tooth relative to the second tooth (see FIGS. 6 to 8). The positioning device 20 regulates the first radial position of the first transverse portion of the first conducting wire and the second radial position of the second transverse portion of the second conducting wire (see FIGS. 6 and 7). The first transverse portion of the first conducting wire is fed from a first nozzle onto the end face 93 of the first tooth. The second transverse portion of the second conducting wire is fed from a second nozzle onto 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 include a first support and a second support. The first support supports the first transverse portion, and the second support supports the second transverse 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 a first radial direction and moves the second support in a second radial direction. The first moving mechanism 60 includes a plurality of rotation shafts 61, a rotation mechanism 62, a plurality of moving bodies 68, and a plurality of conversion mechanisms 65. The plurality of rotation shafts 61 include a first rotation shaft and a second rotation shaft. The first rotation shaft rotates around a central axis L1 (first central axis) of the first rotation shaft. The second rotation shaft rotates around a central axis L1 (second central axis) of the second rotation shaft. The rotation mechanism 62 rotates the first rotation shaft and the second rotation shaft in conjunction with each other. The plurality of moving bodies 68 include a first moving body and a second moving body, and the plurality of conversion mechanisms 65 include a first conversion mechanism and a second conversion mechanism. The first moving body moves in a first radial direction in response to the rotation of the first rotation shaft.The first conversion mechanism converts the rotation of the first rotating shaft into linear motion along a first radial direction, thereby moving the first moving body in the first radial direction. The second moving body moves in a 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 linear motion along the second radial direction, thereby moving the second moving body in the second radial direction. The rotation mechanism 62 rotates the first rotating shaft and the second rotating shaft by the same amount in the same direction. 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, the first support can be moved in the first radial direction and the second support can be moved in the second radial direction simultaneously by the first moving mechanism 60. The winding device can simultaneously align and wind the conductor wires around each of the multiple teeth 92. The winding device can be made smaller.

[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 moves the first support closer to the end face 93 of the first tooth in the stacking direction and moves the second support closer to the end face 93 of the second tooth in the stacking direction. 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 moves the first support away from the end face 93 of the first tooth in the stacking direction and moves the second support away from the end face 93 of the second tooth in the stacking direction. In the following state, 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 this state, the second moving mechanism 70 moves the first support away from the end face 93 of the first tooth in the stacking direction, and moves the second support away from the end face of the second tooth in the stacking direction.

[0118] With this configuration, when the first support device moves in the first radial direction, the first transverse portion can be prevented from shifting in position in the first radial direction, and when the second support device moves in the second radial direction, the second transverse portion can be prevented from shifting in position in the second radial direction.

[0119] (3) The support 30 includes a plurality of accommodation grooves 31 (see FIGS. 6, 7, and 9). The plurality of accommodation grooves 31 are provided on a support end surface 32 of the support 30. The support end surface 32 faces the end surfaces 93 of the teeth 92 in the stacking direction. The plurality of accommodation grooves 31 accommodate crossing portions of the conductor wires fed onto the end surfaces 93 of the teeth 92 (see FIGS. 6 and 7). The plurality of accommodation grooves 31 are provided on the support end surface 32 along the width direction. The plurality of accommodation grooves 31 are arranged radially on the support end surface 32 (see FIGS. 6, 7, and 9). As above, 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 wire fed out from a first nozzle of the plurality of nozzles 10 is referred to as the "first conductor wire," and the conductor wire fed out from a second nozzle of the plurality of nozzles 10 is referred to as the "second conductor wire." The first support includes a plurality of first grooves as the plurality of grooves 31, and the second support includes a plurality of second grooves as the plurality of grooves 31 (see FIGS. 6, 7, and 9). The plurality of first grooves are provided in a first support end surface of the first support, which serves as a support end surface 32 of the support 30. The first support end surface faces the end surfaces 93 of the first teeth in the stacking direction. The plurality of first grooves accommodate first crossing portions of the first conducting wires unwound onto the end surfaces 93 of the first teeth (see FIGS. 6 and 7). The plurality of first grooves are provided in the first support end surface along a first width direction. The first width direction is perpendicular to both the stacking direction and the first radial direction of the first teeth. The plurality of first grooves are arranged side by side in the first radial direction on the first support end surface (see FIGS. 6, 7, and 9). The plurality of second grooves are provided in a second support end surface of the second support, which serves as a support end surface 32 of the support 30. The second support end surface faces the end surfaces 93 of the second teeth in the stacking direction. The second accommodating grooves accommodate second cross sections of the second conducting wires unwound onto the end faces 93 of the second teeth (see FIGS. 6 and 7). The second accommodating grooves are provided in the second support end face along a second width direction. The second width direction is perpendicular to both the stacking direction of the second teeth and the second radial direction. The second accommodating grooves are arranged side by side in the second radial direction on the second support end face (see FIGS. 6, 7, and 9).

[0120] With this configuration, the transverse portion can be supported by any of the multiple housing grooves 31. That is, the first transverse portion can be supported by any of the multiple first housing grooves, and the second transverse portion can be supported by any of the multiple second housing grooves. Suppose the first radial position of the first transverse portion is shifted toward any one of the multiple first housing grooves. In this case, the first support supports the first transverse portion while it is housed in that first housing groove (see FIGS. 6 and 7). Suppose the second radial position of the second transverse portion is shifted toward any one of the multiple second housing grooves. In this case, the second support supports the second transverse portion while it is housed in that second housing groove (see FIGS. 6 and 7).

[0121] <Modification> The embodiment can also be as follows. Some of the configurations of the modified examples shown below can also be adopted in appropriate combination. Below, we will explain the differences from the above, and will omit explanations of similarities 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, thereby 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 together 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. Two supports are provided for each of the first moving mechanism 60 on the first side in the stacking direction and the first moving mechanism 60 on the second side in the stacking direction. The support on the first side in the stacking direction supports the first movement mechanism 60 on the first side in the stacking direction. The support on the second side in the stacking direction supports the first movement mechanism 60 on the second side in the stacking direction. Two second movement mechanisms are provided, one for each of the support on the first side and the support on the second side in the stacking direction.

[0123] The second movement 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 "fourth movement" described above and is also referred to as the "fourth movement" in this description. The first movement mechanism 60 on the first side in the stacking direction moves together with the support on the first side in the stacking direction from the first side to the second side in the stacking direction by the same distance as the support. The multiple supports 30 on the first side in the stacking direction move together with the first movement mechanism 60 on the first side in the stacking direction from the first side to the second side in the stacking direction by the same distance as the first movement mechanism 60.

[0124] The second movement 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 "fifth movement" described above and is also referred to as the "fifth movement" in this description. The first movement mechanism 60 on the first side in the stacking direction moves together with the support on the first side in the stacking direction from the second side to the first side in the stacking direction by the same distance as the support. The multiple supports 30 on the first side in the stacking direction move together with the first movement mechanism 60 on the first side in the stacking direction from the second side to the first side in the stacking direction by the same distance as the first movement mechanism 60.

[0125] The second movement 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 "sixth movement" described above and is also referred to as the "sixth movement" in this description. The first movement mechanism 60 on the second side in the stacking direction moves together with the support on the second side in the stacking direction from the first side to the second side in the stacking direction by the same distance as this support. The multiple supports 30 on the second side in the stacking direction move together with the first movement mechanism 60 on the second side in the stacking direction from the first side to the second side in the stacking direction by the same distance as this first movement mechanism 60.

[0126] The second movement 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 "seventh movement" described above and is also referred to as the "seventh movement" in this description. The first movement mechanism 60 on the second side in the stacking direction moves together with the support on the second side in the stacking direction from the second side to the first side in the stacking direction by the same distance as this support. The multiple supports 30 on the second side in the stacking direction move together with the first movement mechanism 60 on the second side in the stacking direction from the second side to the first side in the stacking direction by the same distance as this first movement mechanism 60.

[0127] In the positioning device, the fourth, fifth, sixth, and seventh movements are appropriately performed at the predetermined timings described above, regardless of the type of the moving device. By providing the support and the second moving mechanism on each of the first and second sides in the stacking direction, the moving device can independently perform the fourth, fifth, sixth, and seventh movements.

[0128] (2) The moving device 40 includes a rotation mechanism 62 in the first moving mechanism 60 (see FIGS. 2 to 5). The rotation mechanism 62 includes a plurality of first transmission bodies 63 and a second transmission body 64. In the rotation mechanism 62, gears are used as the first transmission bodies 63 and the second transmission bodies 64. The first transmission bodies and the second transmission bodies may be configured in a manner other than gears. In the rotation mechanism, the first transmission body may be a pulley, and the second transmission body may be a timing belt. Alternatively, in the rotation mechanism, the first transmission body may be a sprocket, and the second transmission body may be a chain. As with the first transmission body 63 using gears described above, one pulley or sprocket as the first transmission body is provided for one rotation shaft 61.

[0129] Assume that the first transmission body is a pulley and the second transmission body is a timing belt. An example of a driving machine of the rotation mechanism is a servomotor, as described above. The driving machine includes a pulley on its output shaft. A timing belt, serving as a second transmission body, is wound around multiple pulleys provided on each of the multiple rotating shafts 61 and a pulley on the output shaft of the driving machine. By driving the driving machine, the driving force is transmitted to the multiple pulleys on each of the multiple rotating shafts 61 via the timing belt. Accordingly, the multiple rotating shafts 61 rotate in the same manner as described above. Assume that the first transmission body is a sprocket and the second transmission body is a chain. An example of a driving machine of the rotation mechanism is a servomotor, as described above. The driving machine includes a sprocket on its output shaft. A chain, serving as a second transmission body, is wound around multiple sprockets provided on each of the multiple rotating shafts 61 and a sprocket on the output shaft of the driving machine. By driving the driving machine, the driving force is transmitted to the multiple sprockets on each of the multiple rotating shafts 61 via the chain. Accordingly, the multiple rotating shafts 61 rotate in the same manner as described above. The rotation mechanism can be realized by combining known mechanical and electrical components. The structure to be adopted as the rotation mechanism is determined appropriately taking into consideration various conditions.

[0130] (3) The movement device 40 includes a linear motion mechanism as the second movement mechanism 70, which combines a ball screw 71, a guide 74, and a driver 77 (see FIG. 2). The guide 74 includes a shaft 75 and a bushing 76. The second movement mechanism may be a linear motion mechanism different from this configuration. The combination of the ball screw 71 and the driver 77 may be a cylinder. Examples of cylinders include air cylinders, hydraulic cylinders, and electric cylinders. The guide 74 may be a configuration different from the combination of the shaft 75 and bushing 76. The guide 74 may be a ball spline. The second movement mechanism can be realized by combining known mechanical and electrical components. The structure adopted for the second movement mechanism is determined appropriately taking into account various conditions.

[0131] (4) The structure of the winding device can also be used in the following winding device. This winding device forms coils on the teeth of a stator core of an outer rotor type rotating machine. In the stator core of an outer rotor type rotating machine, the multiple teeth protrude from the yoke to the next radial side. This side is opposite to the side of the rotor's rotation shaft. Therefore, in the stator core of an outer rotor type rotating machine, unlike the above (see Figures 1, 4 to 10), the third radial side is set opposite to the side of the rotor's rotation shaft, and the fourth radial side is set to the side of the rotor's rotation shaft. [Explanation of symbols]

[0132] 10 nozzle, 11 tip opening, 20 positioning device, 30 support 31 receiving groove, 32 supporting end surface, 40 moving device, 50 supporting body 51, 52, 53 side wall, 60 first moving mechanism, 61 rotation axis, 62 rotation mechanism 63 First transmitter, 64 Second transmitter, 65 Conversion mechanism, 66 Third transmitter 67 fourth transmission body, 68 moving body, 69 connecting device, 70 second moving mechanism 71 ball screw, 72 screw shaft, 73 nut, 74 guide 75 shaft, 76 bushing, 77 driver, 80 frame 90 stator core, 91 yoke, 92 teeth, 93 end face 94 slot, 95 slot opening, 96 insulator A,B,C,D,E,F,G,H path, L0,L1,L2 center axis

Claims

1. a first nozzle that feeds out a first conducting wire to be wound around a first tooth among a plurality of teeth that are provided at equal angular intervals on a stator core of a stator of the rotating machine and that protrude in a radial direction around a rotation axis of a rotor of the rotating machine; and a second nozzle that feeds a second conducting wire to be wound around a second tooth among the plurality of teeth, to the second tooth; a turning device that turns the first nozzle around the outer periphery of the first teeth relative to the first teeth and turns the second nozzle around the outer periphery of the second teeth relative to the second teeth; a positioning device that regulates a first radial position, in the radial direction, at which the first tooth protrudes from a first transverse portion of the first conducting wire unwound from the first nozzle onto an end face of the first tooth on an end face of the first tooth in a stacking direction in which steel plates forming the stator core are stacked, and a second radial position, in the radial direction, at which the second tooth protrudes from a second transverse portion of the second conducting wire unwound from the second nozzle onto an end face of the second tooth on an end face of the second tooth in the stacking direction, The positioning device is a first support supporting the first transverse portion; a second support supporting the second transverse portion; a moving device including a first moving mechanism that moves the first support in the first radial direction and moves the second support in the second radial direction, The first moving mechanism a first rotation shaft that rotates around a first central axis along the stacking direction; a second rotation shaft that rotates around a second central axis along the stacking direction; a rotation mechanism that rotates the first rotation shaft and the second rotation shaft in conjunction with each other; a first movable body that moves in the first radial direction in response to rotation of the first rotation shaft; a first conversion mechanism that converts rotation of the first rotation shaft into linear motion along the first radial direction and moves the first movable body in the first radial direction; a second movable body that moves in the second radial direction in response to rotation of the second rotary shaft; a second conversion mechanism that converts the rotation of the second rotation shaft into linear motion along the second radial direction and moves the second movable body in the second radial direction, the rotation mechanism rotates the first rotation shaft and the second rotation shaft by the same amount in the same direction; the first support is provided on the first movable body, The second support is provided on the second moving body.

2. the moving device includes a second moving mechanism that moves the first support tool in the stacking direction and moves the second support tool in the stacking direction, The second movement mechanism is When the position of the first transverse portion is restricted in the first radial direction and the position of the second transverse portion is restricted in the second radial direction by the positioning device, the first support is moved toward the end face of the first tooth in the stacking direction and the second support is moved toward the end face of the second tooth in the stacking direction, When the positioning device releases the restriction on the first radial position of the first transverse portion and the restriction on the second radial position of the second transverse portion, the first support is spaced apart in the stacking direction from the end face of the first tooth and the second support is spaced apart in the stacking direction from the end face of the second tooth, 2. The winding device according to claim 1, wherein the first moving mechanism moves the first moving body in the first radial direction and the second moving body in the second radial direction while the second moving mechanism separates the first support from the end face of the first tooth in the stacking direction and separates the second support from the end face of the second tooth in the stacking direction.

3. the first support includes a plurality of first accommodation grooves that accommodate the first transverse portions in a first support end surface that faces an end surface of the first tooth in the stacking direction, the second support includes a plurality of second accommodation grooves that accommodate the second transverse portions in a second support end surface that faces an end surface of the second tooth in the stacking direction, The plurality of first receiving grooves are the first support end surface is provided along a first width direction perpendicular to both the stacking direction and the first radial direction of the first tooth, The first support end surfaces are arranged side by side in the first radial direction, The plurality of second accommodating grooves are the second support end surface is provided along a second width direction perpendicular to both the stacking direction and the second radial direction of the second teeth, The winding device according to claim 1 or 2, wherein the second support end surfaces are arranged side by side in the second radial direction.

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