Aligned winding method for wire rods

Abstract

To provide a method for suppressing occurrence of problems such as a gap between wire rods, overlapped winding and irregular winding in the aligned winding of wire rods to a drum, and realizing proper aligned winding of wire rods over a plurality of layers.SOLUTION: The aligned winding method of a wire rod includes: an in-feed wire angle control step for controlling an in-feed wire angle of the wire rod to a drum; a traverser position determination step for grasping a positional state between a traverser that determines the winding position of the wire rod and a flange of the drum; and a wire rod folding step for folding back the wire rod. The timing of folding operation of the wire rod is determined based on a position state of the traverser, and the folding operation of the wire rod is performed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method for winding wires in an aligned manner. [Background technology]

[0002] In the wire manufacturing process, there is a device that winds wire in layers around a drum (also called a bobbin). For example, there is a wire winding device that has a drum that rotates to wind the wire, a guide roller that guides the wire toward the drum's circumferential surface, and a traverser that moves the guide roller back and forth between both flanges of the drum, and has a control means that controls the movement of the traverser so that the wire is wound in multiple layers around the drum's circumferential surface.

[0003] For example, according to Patent Document 1, when the wire reaches one flange of the drum and turns back toward the other flange, the control means turns back a required length, stops, returns to the end of the flange, and then moves toward the other end.The document discloses that the outbound and inbound routes of the traverser between the two flanges are divided into at least three zones, and the entry angle θ of the wire relative to the drum is successively smaller in each zone in the direction of travel.

[0004] Furthermore, for example, according to Patent Document 2, the bobbin is rotated without traversing from the start of winding until the bobbin rotation angle reaches 250 to 360 degrees, and the wire is wound. After that, traversing is started, and the wire is wound while maintaining the state in which adjacent wires are in contact with each other. Based on a change in the rotation speed of the motor that rotates the bobbin, the movement of the winding layer rising up is detected, and the traverser is stopped. When the rotation angle reaches 250 to 360 degrees from the bobbin position at that time, the traversing direction is reversed, and the traversing is resumed. This method discloses that the winding process and the resumption process are repeated to wind multiple layers in an aligned manner. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-036107 [Patent Document 2] Japanese Patent Publication No. 2020-7115 Summary of the Invention [Problem to be solved by the invention]

[0006] To achieve aligned winding of the wire, it is necessary to quickly and precisely fold the wire at the flanges on both ends of the drum. If this folding process is not performed properly, gaps may occur between the flanges and the wire, or between the wires themselves, or the wire may not be folded properly, resulting in overlapping winding.

[0007] In Patent Document 1, when the winding tip reaches the end of the drum flange, the wire is folded back by the required length and then returned toward the flange again. However, if the winding tip reaches the flange and the folding back operation is performed immediately, a gap will occur between the drum flange and the wire, which may cause the wire to become distorted when it is wound in multiple layers.

[0008] In Patent Document 2, the winding layer lifting operation is detected by a change in the rotation speed of the motor. When detecting the lifting operation using this method, it is assumed that the wire is already in contact with the flange end of the bobbin. If the wire is not turned back immediately after the winding tip of the wire to be wound comes into contact with the flange of the bobbin, a gap will occur between the bobbin flange and the wire, which may cause irregular winding of the wire when winding the wire in multiple layers.

[0009] Therefore, the present invention aims to provide a method for suppressing defects such as gaps between wires, overlapping winding, and winding irregularities, and for realizing proper aligned winding of wires across multiple layers. [Means for solving the problem]

[0010] The present invention provides a method for winding a wire rod in an aligned manner in which the wire rod is wound in multiple layers around a drum, the method comprising the steps of: Acquire an image of the wire entering the drum from above; An entrance angle control process for determining and controlling the entrance angle of the wire rod entering the drum by a deep learning system that has previously learned an image of an appropriate entrance angle; a traverser position determination step of determining the positional state of a traverser that determines the winding position of the wire rod and a flange of the drum; a wire folding back step of moving the traverser in the reverse direction to perform folding back, In the traverser position determination step, Acquire an image in which the wire rod and the flange of the drum are included in the same field of view; a deep learning system is made to learn the relationship between the distance between the wire rod and the flange of the drum; calculating the distance using the deep learning system; In the wire folding process, When the distance falls within a predetermined range, The position of the drum when the distance falls within a predetermined range is set as a reference position, After the drum has rotated a first reference angle measured from the reference position, Set the entrance angle to 0 degrees, Winding is performed with the movement of the traverser stopped, After the drum rotates by a second reference angle measured from the reference position, the traverser is moved in the reverse direction and turned back. The method is characterized by carrying out the following. [Effects of the Invention]

[0017] According to the present invention, it is possible to provide a method for suppressing defects such as gaps between wires, overlapping winding, and irregular winding, and for realizing proper aligned winding of wires across multiple layers. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram (top view) of a wire alignment winding device according to an embodiment. [Figure 2] 1 is a schematic diagram (plan view) of a wire alignment winding device according to an embodiment. [Figure 3] 1 is a flowchart (1) of a method for winding wires in an aligned manner according to an embodiment. [Figure 4]10 is a flowchart (2) of the method for winding wires in an aligned manner according to the embodiment. [Figure 5] 5A and 5B are schematic diagrams illustrating the state of the wire entry angle in the embodiment. [Figure 6] 5A and 5B are schematic diagrams illustrating turning control at the drum flange end in the embodiment. [Figure 7] 5A and 5B are schematic diagrams illustrating turning control at the drum flange end in the embodiment. [Figure 8] 10 is a flowchart (1) of a method for winding wires in an aligned manner according to another embodiment. [Figure 9] 10 is a flowchart (2) of a method for winding wires in an aligned manner according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0020] <Wire rod alignment winding device> Fig. 1 is a schematic diagram (top view) of a wire alignment winding device according to an embodiment, and Fig. 2 is a plan view. The wire alignment winding device of this embodiment winds, in order, a wire 1 wound in a twisting process, for example, around a drum 2 so that the wire 1 can be sent to a coating process after being subjected to a heat treatment process to remove distortion.

[0021] The wire rod 1 is the subject of this embodiment, and is wound in a multi-layered arrangement around a drum 2. The material of the wire rod 1 is not particularly limited, and examples thereof include copper, aluminum, and fiber. The type of wire rod 1 is not limited to a stranded wire, and may also be a coated wire, a rectangular wire, or the like.

[0022] The winding machine is equipped with a drum rotation motor 5 that rotates the drum 2, a guide roller 11 that guides the wire 1 to the winding position, and a traverser 10 that moves the guide roller 11 in the axial direction of the drum 2 to determine the winding position of the wire 1 on the drum 2. The winding machine further includes a camera 7a that detects the entrance angle θ of the wire 1 on the drum 2, a camera 7b that detects the timing at which the wire contacts the ends of the drum flanges (8L, 8R), and cameras 7c and 7d that detect the timing at which the wire starts traversing in the reverse direction from the ends of the drum flanges (8L, 8R), a processing unit 20 that processes videos captured by the respective cameras, and a control unit 21 that reflects the detection results obtained by the processing unit 20 in the control of the traverser 10.

[0023] Drum 2 has flanges 8L and 8R on both sides, and is rotated around drum rotation shaft 3 by drum rotation motor 5, and its rotation is controlled so that the winding speed of wire 1 is constant. Therefore, as the winding diameter of wire 1 increases, the number of rotations of the drum decreases. Drum 2 is equipped with rotary encoder 4 for detecting drum rotation displacement, and the number of rotations of drum 2 is displayed on the screen of a control panel (not shown) based on the detected value.

[0024] A traverser 10 is attached to the drum 2, and this traverser 10 moves back and forth in the direction of the arrow shown in the figure parallel to the drum by driving a ball screw with a ball screw rotating motor 15 for traverser movement. In addition, a rotary encoder 14 is installed on the ball screw rotating motor 15 for traverser movement, and detects the position of the traverser 10.

[0025] The camera 7a is positioned so that it can capture an image of the wire 1 entering the drum 2 from the guide roller 11 from above. This allows the image of the wire 1 to be captured and image processing using deep learning or the like performed by the processing unit 20, making it possible to determine whether the entrance angle θ is greater or smaller than the desired angle. Based on the determination result, the position of the traverser 10 is quickly moved by instructions from the control unit 21, making it possible to maintain the entrance angle θ within the desired range.

[0026] The camera 7b is positioned above the drum 2 and between the drum body surface and the flange outer periphery so as to capture an image of the wire entering position where the wire 1 entering the drum 2 from the guide roller 11 reaches the drum body surface. Face By arranging it in this way, it is possible to take a detailed image of the entering state of the wire 1 at the place where it comes into contact with the drum body surface.

[0027] From the video captured by camera 7b, images of the state in which the incoming wire 1 contacts the drum flanges 8L and 8R, the state in which there is a gap between the wire 1 and the drum flanges 8L and 8R before the wire 1 contacts, and the state in which the wire 1 has risen in layers after contact are obtained, and by performing image processing using deep learning or the like in processing unit 20, the timing at which the wire 1 contacts the drum flanges 8L and 8R can be detected.

[0028] If the wire rod 1 comes into contact with the drum flanges 8L, 8R and the wire entry angle θ is maintained, the wire rod 1 may be pulled back by the external force of the contact with the flanges, creating a large gap. Therefore, when contact is detected, the traverser 10 is quickly advanced so that the wire entry angle θ quickly becomes 0 degrees, thereby preventing winding irregularities. Note that 0 degrees here does not only mean 0 degrees exactly, but also includes angles close to 0 degrees, i.e., the intention is to allow for manufacturing errors.

[0029] At the same time, it is preferable to stop the traverser 10 at a position where the wire entry angle θ is 0 degrees, bring the wire 1 into contact with the drum flanges 8L and 8R, and wind the wire neatly. It is also possible to make the moving speed very slow without stopping the traverser 10, but from the viewpoint of controllability, it is preferable to stop the traverser 10.

[0030] After contacting the drum flanges 8L and 8R, the wire entry angle θ is 0 degrees, and the traverser 10 is stopped while winding the wire 1 onto the drum 2. The traverser 10 must be released from this stopped state and the traverse must be resumed in the reverse direction. If the timing of resumption is too early, a large gap will form between the flange and the alignment line, leading to significant winding irregularities as the number of layers increases. Conversely, if the timing of resumption is too late, the wire 1 will be wound on top of the previously wound wire 1, which also causes winding irregularities. Furthermore, if the traverse is performed in the reverse direction after the overlap winding state is established, when the wire falls next to the wire 1 that has contacted the flange and been wound, a large recoil occurs, causing it to move over the mountain and into the adjacent valley, rather than fitting into the valley between the previously wound wires, resulting in a climbing-over state. This also causes significant winding irregularities as the number of layers increases.

[0031] In this embodiment, cameras 7c and 7d are installed in locations where they can photograph the wire 1 on drum flanges 8L and 8R as it enters drum 2 and comes into contact with the flanges. Images are then acquired by photographing the winding state after traversing has stopped, and image processing using deep learning is performed in the processing unit 20 to detect before and after the overlap winding state is reached. The timing for resuming traversing in the reverse direction is then sent to the control unit 21, which then drives the traverser 10.

[0032] The cameras 7a and 7b are installed to move in conjunction with the traverser 10, so that they can always capture images of the wire 1 from the same viewing angle. Also, the camera 7b can be fixed in a position where it can capture images of the wire 1 contacting each of the drum flanges 8L and 8R.

[0033] <How to wind wire in an aligned manner> Next, the method for winding the wire in alignment according to this embodiment will be described with reference to the flow charts of FIGS.

[0034] (preparation process) Steps S1 to S4 are preparation steps before the automatic winding operation begins. Step S1 involves taking wire 1 out of the through holes in drum flanges 8L and 8R, securing it with a hook, etc., and rotating drum 2 so that the wire can be wound onto the drum body.

[0035] In S2, the peripheral speed to match the diameter of the wire 1 to be wound, the speed of the traverser 10 that moves between the drum flanges 8L and 8R, and the coordinates between the drum flanges 8L and 8R are input and set via the touch panel on the device's control panel. In S3, before automatic winding begins, the drum 2 is rotated at a low speed to ensure that the wire 1 passed through the through hole is neatly aligned with the corner between the drum body surface and the flange. In S4, while the drum 2 is rotating at this low speed, the operator uses an adjustment jig to assist in the initial aligned winding of the wire 1. The wire 1 passed through the through hole is forcibly bent at a nearly right angle, and winding begins so that it is aligned with the corner between the drum body surface and the flange. After that, adjusting to about five turns improves the ease of the subsequent aligned winding process.

[0036] S5 is a step in which, after the adjustment of the initial winding conditions up to S4 has been completed, automatic winding operation is started under the conditions set in S2.

[0037] (Incoming line angle control process) In steps S6 to S9, the angle at which the wire 1 enters the drum 2 from the guide roller 11 of the traverser 10 is controlled. In step S6, camera 7a takes an image from above the wire 1 entering the track, and in step S7, a deep learning system is configured that has previously collected many images of the appropriate entry angle, images of entry angles that are too small, and images of entry angles that are too large, and has trained these images. By inputting the acquired image into the deep learning system, in step S8 the entry angle of that image is determined. If the entry angle θ is within the appropriate range (Yes), the process proceeds to the next step; if it is outside the appropriate range (No), the process proceeds to step 9, where the angle is adjusted by a traverse operation so that it is within the range.

[0038] In S9, as shown in Fig. 5, if the entrance angle θ of the wire rod 1 being traversed to the left is too large, there is a high possibility that the wire rod 1 will go over and overlap the adjacent wire rod to the right that is already wound on the drum 2, so the traverser 10 is quickly moved to the left and the entrance angle θ is adjusted to an appropriate angle. On the other hand, if the entrance angle θ of the wire rod 1 is too small, a gap is likely to occur between the wire rod 1 and the adjacent wire rod to the right that is already wound on the drum 2, which will become a cause of winding disorder as the number of layers increases, so the traverser 10 is quickly moved to the right and the entrance angle θ is adjusted to an appropriate angle.

[0039] (Traverser position determination process) In S10, it is determined whether the wire 1 is approaching the drum flanges 8L, 8R based on the positional state grasped from the rotary encoder 14 for measuring the displacement of the moving ball screw rotation motor provided on the traverser 10, and it is determined whether it is sufficient to adjust only the wire entrance angle or whether it is necessary to detect contact with the drum flanges 8L, 8R. If the determination is Yes, the process proceeds to the next step, and if No, it proceeds to the step of determining the wire entrance angle in (a).

[0040] (Wire rod folding process) Steps S11 to S19 involve the turning back of the aligned winding on the drum flanges 8L and 8R. In step S11, the camera 7b captures an image of the wire 1 being wound onto the drum 2 and the drum flanges 8L and 8R within the same field of view. If the wire 1 is wound at a position that is not within the same field of view, the traverser position determination in step S10 results in "No," and step S11 is not performed.

[0041] In S12, a deep learning system is configured that collects many images of the wire 1 before and after it comes into contact with the drum flanges 8L and 8R and learns from these images.The acquired image is input into the deep learning system, and in S13, it is determined whether the state of the image shows the wire 1 and the drum flanges 8L and 8R before contact or after contact.

[0042] If the determination in S13 is Yes, proceed to the next step (b), and if No, return to S11.

[0043] In S14, if the wire rod 1 continues to contact the drum flanges 8L and 8R and the wire entry angle θ is maintained, various disturbances may cause the wire rod 1 to be bounced off and rewound onto the aligned wound layer, so when the state shown in Figure 6(a) is reached, the traverser 10 must be quickly moved to set the wire entry angle θ to 0 degrees as shown in Figure 6(b). The part indicated by A here is an inset showing the state of the winding state as seen from the cross-sectional direction of the wire rod 1.

[0044] At this time, if the traverser 10 continues to move from right to left, as when it is performing a winding operation, the wire 1 may come into contact with the corner of the drum flange 8L, bend to the left, and slide, which may damage the wire 1. Therefore, in S15, it is preferable to also stop the movement of the traverser 10 when the wire-entry angle θ is set to 0 degrees. Note that it is also possible to make the movement speed very slow without stopping the traverser 10, but from the viewpoint of controllability, it is preferable to stop the traverser 10.

[0045] When winding the wire 1 onto the drum 2 while the traverser 10 is stopped, it is preferable to hold the drum 2 rotated approximately 360 degrees (one turn) from the position where the wire 1 contacts the drum flanges 8L, 8R. This makes it possible to prevent winding irregularities from occurring at the flange ends. If the wire 1 contacts the drum flanges 8L, 8R and the traverser 10 immediately starts traversing in the opposite direction, winding will not be performed at the contact point between the flanges and the wire 1, resulting in a large drop in that area and creating a large step from the layer being wound above.

[0046] On the other hand, if the traverser 10 remains stopped after the wire 1 contacts the drum flanges 8L and 8R and the drum rotates more than 360 degrees, and winding of the wire 1 onto the drum 2 continues, the wire will be overlapped on top of the lower layer, resulting in significant winding irregularities. Also, if traversing in the opposite direction is resumed after the overlap winding has progressed, a large recoil occurs when the overlapped wire 1 falls into the adjacent winding position, causing it to shift from its original winding position and creating a large gap. In extreme cases, the gap may even shift to the valley between the adjacent wires, resulting in a gap the size of one wire.

[0047] Therefore, in S16, the cameras 7c and 7d capture images of the wire 1 entering the flange end of the drum 2 while the traverser 10 is stopped, and the wire 1 that has already been wound up.

[0048] In S17, a deep learning system is configured that collects many images of the wire 1 before the winding state of the wire 1 becomes overlapped after the traverser 10 has stopped and images immediately after the winding state of the wire 1 becomes overlapped, and learns from these images.The acquired images are input into the deep learning system, and in S18, it is determined whether the wire 1 in the image is in a state before overlapping or in a state where it has just started to become overlapped.

[0049] If the determination in S18 is Yes, the process proceeds to the next step, and if No, the process returns to the step (c) of capturing a video for detecting overlapping windings.

[0050] In S19, immediately after detecting the overlap winding, the traverser 10 is fast-forwarded in the direction opposite to the drum flange 8L or 8R as shown in Figure 7(a), and the wire 1 that was close to the flange is dropped into the adjacent row in the traverse direction. At the same time, in S20, traversing in the opposite direction is started.

[0051] In S21, since the traverser 10 is advanced from the entry position in S19 and the wire 1 is dropped into the adjacent row before it is overlapped, if this is left as it is, the wire 1 will climb over the peak of the lower alignment line and move to the valley between the adjacent alignment lines, creating a large gap. Therefore, the traverser 10 is quickly advanced in the reverse direction to adjust the entry angle θ (Figure 7(b)).

[0052] In S22, the process enters a traverse state in the specified direction, and then the process returns to step (a) again and returns to the wire entry angle adjustment step of S6. This series of steps is repeated until the winding length of the wire 1 reaches the desired length.

[0053] <Method for Aligning and Winding Wire Rods: Other Embodiments> Next, another embodiment of the method for winding wire in an aligned state will be described with reference to the flow charts of FIGS.

[0054] (preparation process) Steps S101 to S104 are preparation steps before the automatic winding operation begins. Step S101 involves taking the wire 1 out of the through holes provided in the drum flanges 8L and 8R, fixing it with a hook, etc., and rotating the drum 2 so that the wire can be wound onto the drum body.

[0055] In S102, the peripheral speed according to the diameter of the wire 1 to be wound, the speed of the traverser 10 that moves between the drum flanges 8L and 8R, the coordinates between the drum flanges 8L and 8R, and other settings are input and set via the touch panel on the device's control panel. In S3, before automatic winding begins, the drum 2 is rotated at a low speed to ensure that the wire 1 passed through the through hole is neatly aligned with the corner between the drum body surface and the flange. In S104, while the drum 2 is rotating at this low speed, the operator uses an adjustment jig to assist in the initial aligned winding of the wire 1. The wire 1 passed through the through hole is forcibly bent at a nearly right angle, and winding begins so that it is aligned with the corner between the drum body surface and the flange. After that, adjusting to about five turns improves the ease of the subsequent aligned winding work.

[0056] S105 is a step in which, after the adjustment of the initial winding conditions up to S104 has been completed, an automatic winding operation is started under the conditions set in S102.

[0057] (Incoming line angle control process) In steps S106 to S109, the angle at which the wire 1 enters the drum 2 from the guide roller 11 of the traverser 10 is controlled. In step S106, the camera 7a captures an image from above the wire 1 entering the track, and in step S107, a deep learning system is configured that has previously collected many images of appropriate entry angles, images of entry angles that are too small, and images of entry angles that are too large, and has trained these images. By inputting the acquired image into the deep learning system, the entry angle of that image is determined in step S108. If the entry angle θ is within the appropriate range (Yes), the process proceeds to the next step; if it is outside the appropriate range (No), the process proceeds to step 109, where the angle is adjusted by a traverse operation so that it is within the range.

[0058] (Traverser position determination process) In S110, it is determined whether the wire 1 is approaching the drum flanges 8L, 8R based on the positional state grasped from the rotary encoder 14 for measuring the displacement of the moving ball screw rotation motor provided on the traverser 10, and it is determined whether it is sufficient to adjust only the wire entrance angle or whether it is necessary to detect contact with the drum flanges 8L, 8R. If the determination is Yes, the process proceeds to the next step, and if No, it proceeds to the step of determining the wire entrance angle (a).

[0059] (Wire rod folding process) Steps S111 to S119 involve the turning back of the aligned winding on the drum flanges 8L and 8R. In step S111, the camera 7b captures images of the wire 1 being wound onto the drum 2 and the drum flanges 8L and 8R within the same field of view. If the wire 1 is wound at a position that is not within the same field of view, the traverser position determination in step S110 results in "No," and step S111 is not performed.

[0060] In S112, the distance between the wire 1 in the image and the drum flanges 8L, 8R is learned, and the distance between the wire 1 in the input image and the drum flanges 8L, 8R is output. In this case, it is possible not only to determine contact when the distance between the wire 1 and the drum flanges 8L, 8R is 0, but also to determine the timing when the distance between the wire 1 and the drum flanges 8L, 8R is within a predetermined range.

[0061] If the determination in S113 is Yes, the process proceeds to the next step (b), and if No, the process returns to S111. In this embodiment, the process proceeds to step (b) when the distance between the wire 1 and the drum flanges 8L, 8R is within the range of (the diameter of the wire 1) ± (25% of the diameter of the wire 1).

[0062] In S114, the position of the drum 2 at the time of the determination in S113 is set as a reference position (0 degrees), and the rotation angle from the reference position is measured.

[0063] In S115, if the measured rotation angle is greater than a predetermined reference angle α (first reference angle: 300 degrees < α < 360 degrees), the process proceeds to the next step; if the measured rotation angle is less than the reference angle α, the angle is measured again.

[0064] In S116, after the drum 2 has rotated by the reference angle α, the incoming angle θ is set to 0 degrees by rapid traverse.

[0065] In S117, the traverser is stopped at the same time that the incoming angle θ becomes 0 degrees, and the wire 1 is wound onto the drum 2 while the traverser is stopped.

[0066] In S118, the rotation angle is measured, which has been continued since S114.

[0067] In S119, if the measured rotation angle is greater than the defined reference angle β (second reference angle: 660 degrees < β < 720 degrees), the process proceeds to the next step; if the measured rotation angle is less than the reference angle β, the angle is measured again.

[0068] In S120, immediately after the drum 2 has rotated by the reference angle β, the traverser 10 is fast-forwarded in the direction opposite to the drum flange 8L or 8R as shown in Fig. 7(a), and the wire rod 1 that was close to the flange is moved to the adjacent row in the traverse direction. At the same time, in S121, traversing in the opposite direction is started.

[0069] In S122, since the traverser 10 is advanced from the entry position in S120 and the wire 1 is dropped into the adjacent row before it is overlapped, if this is left as it is, the wire 1 will climb over the peak of the lower alignment line and move to the valley between the adjacent alignment lines, creating a large gap. Therefore, the traverser 10 is quickly advanced in the reverse direction to adjust the entry angle θ (Figure 7(b)).

[0070] In S123, the process enters a traverse state in the specified direction, and then the process returns to step (a) again and returns to the wire entrance angle adjustment step of S106. This series of steps is repeated until the winding length of the wire 1 reaches the desired length.

[0071] Although the present invention has been described using the above-mentioned embodiment, the present invention is not limited to the above-mentioned embodiment and can be modified within the scope of the invention. [Explanation of symbols]

[0072] 1 wire rod 2 drums 3 Drum rotation shaft 4 rotary encoders 5 Drum rotation motor 7a Camera 7b Camera 7c Camera 7d camera 8L drum flange 8R drum flange 10 Traverser 11 Guide roller 14 rotary encoder 15 Ball screw rotation motor 20 Processing section 21 Control Unit A: Winding state viewed from the cross-section of the wire

Claims

[Claim 1] A method for winding a wire rod in an aligned manner in which the wire rod is wound around a drum in multiple layers, comprising the steps of: Acquire an image of the wire entering the drum from above; An entrance angle control process for determining and controlling the entrance angle of the wire rod entering the drum by a deep learning system that has previously learned an image of an appropriate entrance angle; a traverser position determination step of determining the positional state of a traverser that determines the winding position of the wire rod and a flange of the drum; a wire folding back step of folding back the wire by moving the traverser in the reverse direction, In the traverser position determination step, Acquire an image in which the wire rod and the flange of the drum are included in the same field of view; A deep learning system is made to learn the relationship between the distance between the wire rod and the flange of the drum; calculating the distance using the deep learning system; In the wire folding process, When the distance falls within a predetermined range, the position of the drum at the time when the distance falls within the predetermined range is set as a reference position; After the drum has rotated a first reference angle measured from the reference position, the incoming angle is set to 0 degrees; Winding is performed with the movement of the traverser stopped, a winding method for aligning a wire rod, the method comprising: moving the traverser in the opposite direction to perform a turn-back operation after the drum has rotated a second reference angle measured from the reference position;

Images