Wire winding method and wire winding machine

Abstract

In order to enable high-speed, accurate winding of a wire on an armature in which a plurality of magnetic poles point radially outward in a radiating manner without requiring complicated control and correction operation of a nozzle, a nozzle (14) is supported so as to have, with respect to a rotating shaft (6), an inclination angle (θ1) that is half the angle formed by adjacent magnetic poles (4a) of a rotor (4) serving as a winding target; a wire (W) is wound around a first portion of a magnetic pole (4a) by linearly moving the rotating shaft (6) together with the nozzle (14) in a first direction parallel to the central axis of the rotor (4); the wire (W) is subsequently wound around a second portion of the magnetic pole (4a) by rotating the nozzle (14) by substantially 180° in a second direction about the rotating shaft (6); the wire (W) is subsequently wound around a third portion of the magnetic pole (4a) by linearly moving the rotating shaft (6) together with the nozzle (14) in a direction opposite from the first direction; and the wire (W) is subsequently wound around a fourth portion of the magnetic pole (4a) by rotating the nozzle (14) by substantially 180° in the second direction about the rotating shaft (6), whereby winding for one turn of the magnetic pole (4a) is performed.

Description

Winding method and winding machine

[0001] The present invention relates to a winding method and a winding machine for winding a wire around an armature having a plurality of magnetic poles facing radially outward in the radial direction.

[0002] A known winding method for the magnetic poles of an armature having multiple magnetic poles facing radially outward involves, for example, rotating the rotor of an inner rotor motor by the angle of the magnetic poles, linearly moving the nozzle in one direction along the rotor's rotational axis, and then, upon reaching the opposite side of the magnetic poles, rotating the rotor in the opposite direction by the angle of the magnetic poles, and then linearly moving the nozzle in the opposite direction along the rotor's rotational axis, thereby essentially winding the nozzle around the magnetic poles. In other words, winding at both ends of the magnetic poles along the rotor's rotational axis is achieved by rotating the rotor. Another known method involves aligned winding, in which the nozzle is displaced (back and forth) along the axial direction of the magnetic poles while repeating the above operation to wind multiple turns of wire so that the wire is aligned on the magnetic poles. A winding machine for this type of winding is described, for example, in Patent Document 1.

[0003] Japanese Patent Laid-Open No. 5-122909 Japanese Patent Laid-Open No. 2002-119025 Japanese Patent Laid-Open No. 2004-328844

[0004] In the method of winding the wire by rotating the rotor at both ends of the magnetic poles as described above, the nozzle tip traces an arc-shaped trajectory relative to the magnetic poles (see Figure 6B), which reduces the accuracy of wire alignment. To solve this problem, it was conceivable to take measures to convert the nozzle arc trajectory into a straight trajectory by shifting the nozzle or rotor in the axial direction of the magnetic poles while the rotor is rotating by an amount that cancels out the positional displacement due to the arc. However, this required complex correction operations, which inevitably resulted in a problem of a decrease in winding speed.

[0005] The present invention was devised in light of this current situation, and aims to enable high-speed, accurate winding of an armature having multiple magnetic poles facing radially outward without requiring complex nozzle control or correction operations.

[0006] In order to achieve the above object, the present invention provides a winding method for an armature having a plurality of magnetic poles facing radially outward in a radial direction, the method comprising the steps of: winding a wire around an armature having a plurality of magnetic poles whose outer peripheral surfaces are each provided with a pair of first and third portions parallel to a central axis direction of the armature, and second and fourth portions located between ends of the first and third portions, respectively; and a nozzle for feeding out a wire, the nozzle being supported on a rotating shaft so as to have an inclination angle of a first angle, which is half the angle formed by adjacent magnetic poles, with respect to a rotating shaft that is perpendicular to the central axis of the armature and extends along the radial direction. A nozzle is prepared, and while the wire is being unwound from the nozzle, the rotary shaft is moved linearly together with the nozzle in a first direction parallel to the central axis, and after the nozzle reaches the vicinity of the end of the first portion on the side of the second portion, the nozzle is rotated approximately 180° in the second direction around the rotary shaft, and then the rotary shaft is moved linearly together with the nozzle in a direction opposite to the first direction, and after the nozzle reaches the vicinity of the end of the third portion on the side of the fourth portion, the nozzle is rotated approximately 180° in the second direction around the rotary shaft, thereby winding one circumference of the magnetic pole.

[0007] In such a winding method, in winding a wire around one circumference of the magnetic pole, the rotating shaft is moved linearly together with the nozzle in the first direction to wind the wire around the first portion of the magnetic pole, and after the nozzle reaches the vicinity of the end of the first portion on the second portion side, the nozzle is rotated approximately 180° in the second direction around the rotating shaft to wind the wire around the second portion of the magnetic pole, and then the rotating shaft is moved linearly together with the nozzle in a direction opposite to the first direction to wind the wire around the third portion of the magnetic pole, and after the nozzle reaches the vicinity of the end of the third portion on the fourth portion side, the nozzle is rotated approximately 180° in the second direction around the rotating shaft to wind the wire around the fourth portion of the magnetic pole.

[0008] Alternatively, the nozzle may be supported by a nozzle support section supported by the rotating shaft so as to be slidable on a transport path having an inclination angle of the first angle with respect to the rotating shaft, and the nozzle may be slid a predetermined distance on the transport path while winding wire around the magnetic pole for a plurality of times, thereby winding the wire around the magnetic pole in an aligned manner.Furthermore, in each of the above winding methods, when rotating the nozzle around the rotating shaft in the second direction, the nozzle may be rotated by the same angle in the same direction as the rotation of the rotating shaft.

[0009] The winding machine of the present invention is a winding machine for winding a wire around an armature having a plurality of magnetic poles facing radially outward in a radial direction, and includes a rotating shaft that can be arranged perpendicular to the central axis of the armature to be wound and along the radial direction, a first drive unit for rotating the rotating shaft about its axis, a second drive unit for moving the rotating shaft parallel to the central axis of the armature, a nozzle that pays out wire, a nozzle support unit that can support the nozzle so that the nozzle has an inclination angle of a first angle that is half the angle formed by adjacent magnetic poles of the armature with respect to the rotating shaft, a pair of first and third portions whose outer peripheral surfaces of the axes of the plurality of magnetic poles are respectively parallel to the central axis direction of the armature, and a third portion between end portions of the first and third portions. and a control unit that controls the first drive unit and the second drive unit so that, for the armature having a second part and a fourth part, while paying out the wire from the nozzle, the rotating shaft is linearly moved together with the nozzle supported by the nozzle support unit in a first direction parallel to the central axis, and after the nozzle reaches the vicinity of the end of the first part on the second part side, the nozzle is rotated approximately 180° in the second direction around the rotating shaft, and then the rotating shaft is linearly moved together with the nozzle in a direction opposite to the first direction, and after the nozzle reaches the vicinity of the end of the third part on the fourth part side, the nozzle is rotated approximately 180° in the second direction around the rotating shaft, thereby winding one revolution of the magnetic pole.

[0010] In such a winding machine, it is preferable that the control unit controls the first drive unit and the second drive unit so that the control unit performs winding of one circumference of the magnetic pole by linearly moving the rotating shaft together with the nozzle in the first direction to wind the wire around the first portion of the magnetic pole, and after the nozzle reaches the vicinity of the end of the first portion on the second portion side, the control unit rotates the nozzle by approximately 180° in the second direction around the rotating shaft to wind the wire around the second portion of the magnetic pole, and then linearly moving the rotating shaft together with the nozzle in the direction opposite to the first direction to wind the wire around the third portion of the magnetic pole, and after the nozzle reaches the vicinity of the end of the third portion on the fourth portion side, the control unit rotates the nozzle by approximately 180° in the second direction around the rotating shaft to wind the wire around the fourth portion of the magnetic pole, thereby winding one circumference of the magnetic pole.

[0011] Alternatively, the nozzle support unit may include a transport path that can support the nozzle so that it can slide in a direction having an inclination angle of the first angle relative to the rotation axis, and a third drive unit for sliding the nozzle supported within the transport path, and the control unit may control the third drive unit to slide the nozzle a predetermined distance on the transport path while winding one revolution of the magnetic pole.

[0012] Alternatively, in each of the above winding machines, the first drive unit may include a first pulley fixed to the rotary shaft, a motor, a second pulley fixed to the motor, a belt looped between the first and second pulleys, a link supporting the first pulley so as to be rotatable relative to the second pulley, and a coupling provided between the second pulley and the rotary shaft of the motor for transmitting rotation of the motor to the second pulley while allowing for positional deviation of the second pulley in a direction perpendicular to the direction of movement of the rotary shaft by the second drive unit.Furthermore, it is preferable that the first pulley and the second pulley have the same number of teeth, the belt is a timing belt, and the coupling is an Oldham coupling.

[0013] Furthermore, in each of the above winding machines, the rotating shaft comprises an outer tube rotated by the first drive unit, and an inner shaft inside the outer tube and rotated together with the outer tube, the nozzle support unit comprises a base member fixed to the outer tube and comprising the transport path, and a nozzle support member slidably disposed along the transport path and supporting the nozzle, the nozzle support member having an arm extending in a direction perpendicular to the direction of the sliding movement, the arm engaging via a cam follower with an annular groove formed in the tip of the inner shaft on the armature side, the nozzle support member slidingly moving as the inner shaft moves in the axial direction, and the third drive unit slidingly moving the nozzle via the nozzle support member by moving the inner shaft in its axial direction.

[0014] Preferably, the winding machine further comprises a rail member extending in the direction of the central axis of the armature to be wound, a rear end of the inner shaft opposite to the armature being supported by the rail member, and the third drive unit slides the rail member in the axial direction of the inner shaft to move the inner shaft in the axial direction. In each of the winding machines described above, the nozzle may have a cross section perpendicular to the longitudinal direction that has a shape having a major axis and a minor axis with the wire feed port located approximately in the center, and a curved guide surface having a larger radius of curvature on the major axis side than on the minor axis side is formed on a surface of the longitudinal end of the nozzle. In each of the winding machines described above, the nozzle may rotate together with the rotating shaft by the same angle and in the same direction as the rotation of the rotating shaft when winding one revolution around the magnetic pole.

[0015] The present invention is not limited to the method and device described above, but can be implemented in any form, such as a system including multiple devices, a program for controlling a winding machine, a recording medium storing such a program, a winding method or an armature wound by a winding machine, or a rotating electric machine including such an armature.

[0016] According to the present invention, it is possible to quickly and accurately wind a stator having a plurality of magnetic poles facing radially outward without requiring complicated control or correction operations of the nozzle.

[0017] 1 is a plan view of a main portion of a winding machine according to an embodiment of the present invention. It is a side view of a main portion of the winding machine shown in FIG. 1, showing a state in which the nozzle support portion 16 has rotated approximately 90° from the state in FIG. 1 and is at the upper side in the figure. Figures 3A and 3B are diagrams schematically showing the configuration of the rotation drive mechanism in the winding machine shown in FIG. 1, with FIG. 3A showing the state as seen from above in FIG. 1, and FIG. 3B showing the configuration shown in FIG. 3A as seen from above in FIG. 3A. It is a diagram for explaining the operation of the control unit of the winding machine shown in FIG. 1. Figures 5A and 5B are diagrams for explaining the winding operation by the winding machine shown in FIG. 1, with FIG. 5A showing the movement of the nozzle with respect to a cross section of the magnetic pole parallel to the rotation axis of the rotor, and FIG. 5B being a perspective view showing the rotation movement of the nozzle when winding the end of the magnetic pole. 6A and 6B are diagrams for explaining the winding operation of a comparative example, where FIG. 6A corresponds to FIG. 5A, and FIG. 6B is a plan view of the rotor and nozzle to explain that the nozzle trajectory is arc-shaped.

[0034] FIG. 6A is a plan view showing the difference in the nozzle trajectory between the winding operation of the present invention and the winding operation of the comparative example.

[0035] FIG. 9A is a side view of the main part showing the positional relationship between the rotor and the nozzle in the winding machine of the comparative example.

[0036] FIG. 9B is a diagram showing the difference in the trajectory due to the difference in the nozzle angle relative to the rotor, where FIG. 9A is a diagram showing the trajectory in the comparative example, and FIG. 9B is a diagram showing the trajectory by the winding machine of FIG. 1.

[0037] FIG. 10A to 10D are diagrams showing the state of wire being paid out from the tip of a nozzle having an elliptical cross section.

[0038] FIG. 10A and 10B are diagrams showing the state of wire being paid out from a curved guide surface with a small radius of curvature, where FIG. 10A is an end view of the nozzle as seen from the wire payout port side, and FIG. 10B is a cross-sectional view of the vicinity of the nozzle tip along a plane parallel to the wire supply path and including the minor axis. 10C and 10D are diagrams showing the state of wire being unwound from a curved guide surface with a large radius of curvature, with Fig. 10C being an end view corresponding to Fig. 10A, and Fig. 10D being a cross-sectional view of the vicinity of the nozzle tip taken along a plane parallel to the wire supply path and including the long axis. Figs. 11A and 11B are diagrams for explaining the difference in the state of wire being unwound from the nozzle in the winding machine of Fig. 1 and a comparative example, with Fig. 11A showing the unwound state in the winding machine of Fig. 1, and Fig. 11B showing the unwound state in the comparative example. This is a flowchart showing an example of processing performed by control unit 50 to execute the winding method according to the present embodiment.

[0018] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0019] Fig. 1 is a plan view showing the main parts of a winding machine 2 according to one embodiment of the present invention, and Fig. 2 is a side view of the main parts, in which the nozzle support part 16 is rotated approximately 90° from the state shown in Fig. 1 and is positioned at the upper side in the drawing.

[0020] The winding machine 2 is a winding machine that winds the rotor 4 of an inner rotor motor, which is an example of an armature in which multiple magnetic poles (salient poles) 4a face radially outward in the radial direction. The winding machine 2 includes a rotating shaft 6, a rotation drive mechanism 8 (see FIG. 4) that is a first drive unit that rotates the rotating shaft 6, and a movement mechanism 10 (see FIG. 4) that is a second drive unit that moves the rotating shaft 6 in the direction of the central axis (center of rotation) of the rotor 4 (the direction of arrow Z in FIG. 2, also referred to as the up-down direction).

[0021] The winding machine 2 is supported by the rotating shaft 6 so as to have an inclination angle θ1 with respect to the axis of the rotating shaft 6 that is approximately the same as θ1 (first angle), which is half the angle θ2 formed by adjacent magnetic poles 4a, and is equipped with a nozzle 14 that pays out wire W. θ1 also corresponds to the angle formed between the direction of the central axis of the magnetic poles 4a (the radial axis of the rotor 4) and the direction in which slot openings 12, which are openings formed between adjacent magnetic poles 4a, face. The wire W is a conductive wire rod that is wound around the rotor 4 to form a coil.

[0022] The nozzle 14 is adapted to receive a wire W supplied from a wire bobbin via a tension device. The rotary shaft 6, the nozzle 14, etc. constitute a rotary shaft unit 15, and the rotary shaft unit 15 is moved up and down by a moving mechanism 10, thereby moving the rotary shaft 6 in the direction of arrow Z. In Fig. 1, the symbol C indicates the central axis of the rotor 4.

[0023] In Fig. 2, reference numeral 17 denotes a portion of each magnetic pole 4a that extends in the circumferential direction of the rotor 4 at the radially outer end of the rotor 4. Reference numeral 5 denotes an insulator (insulating end plate) that insulates the end of each magnetic pole 4a, designated by reference numeral 17, from the wound wire W, and Fig. 2 shows only the portion of the insulator 5 that protrudes from the rotor 4 in the direction of the central axis of the rotor 4. The insulator 5 is not shown in Fig. 1.

[0024] The rotating shaft 6 has a dual structure including an inner shaft 6a at the center and an outer cylinder 6b that houses the inner shaft 6a and is rotated by a rotation drive mechanism 8. A slide key is formed on the inner surface of the tip end (rotor 4 side) of the outer cylinder 6b, and by engaging this with a key groove formed on the outer surface of the inner shaft 6a, the inner shaft 6a rotates together with the outer cylinder 6b as it rotates around its axis, and the inner shaft 6a is able to slide axially relative to the outer cylinder 6b, thereby connecting the outer cylinder 6b and the inner shaft 6a. A key groove may be provided on the outer cylinder 6b side and a key on the inner shaft 6a side, or key grooves may be provided on both the outer cylinder 6b side and the inner shaft 6a side and a slide key may be inserted into them, resulting in a similar connection. Connection may also be achieved by other known means.

[0025] The inner shaft 6a is slightly longer in the axial direction than the outer cylinder 6b, and both axial ends protrude from the outer cylinder 6b. The size and shape of the cross section perpendicular to the axial direction of both the inner shaft 6a and the outer cylinder 6b vary depending on the axial position. The outer cylinder 6b is larger in size near the location at the front end where a nozzle support part 16 (described later) is provided than near the location at the rear end where a first pulley 34 (described later) is provided.

[0026] Furthermore, the inner shaft 6a is formed thicker near the location where the annular groove 24 is provided at the front end than near the location where it is supported by a bearing 29 (described later) at the rear end. The diameter of the inner circumferential surface of the outer cylinder 6b that houses the inner shaft 6a also varies depending on the axial position, but the diameter of the inner circumferential surface of the outer cylinder 6b is formed with at least enough margin to allow the inner shaft 6a to move in the axial direction as required during winding. In this example, the outer cylinder 6b is connected to the inner shaft 6a at the front end and the inner shaft 6a is supported by the bearing 29 at the rear end, so it does not matter if there is a small portion of the inner shaft 6a that is separated from the inner surface of the outer cylinder 6b.

[0027] A nozzle support part 16 is provided at the tip end (rotor 4 side) of the outer cylinder 6b so as to have an inclination angle θ1 that is approximately the same as the above-mentioned angle θ1 with respect to the rotation axis 6. The nozzle 14 can slide along a conveying path 19 provided in the nozzle support part 16. In this example, this movement direction coincides with the axial direction of the nozzle 14 (the longitudinal direction in which the wire is discharged).

[0028] The nozzle support portion 16 includes a base member 18 fixed to the outer cylinder 6b so as to have an inclination angle θ1 with respect to the rotation shaft 6 that is substantially the same as the above-mentioned angle θ1, and a transport path 19 is formed on the base member 18 and oriented at the inclination angle θ1 with respect to the rotation shaft 6. A nozzle support 20 that supports the nozzle 14 is provided within the transport path 19. The nozzle support 20 is slidable within the transport path 19 along the transport path 19, and the nozzle 14 also slides integrally with the nozzle support 20.

[0029] An arm 22 extending in a direction perpendicular to the sliding direction is formed integrally with the nozzle support 20. The arm 22 is engaged with an annular groove 24 formed in the tip of the inner shaft 6a on the rotor 4 side via a cam follower 26 so as to be movable within the annular groove 24. When the inner shaft 6a moves in its axial direction, the displacement is transmitted to the nozzle support 20 via the cam follower 26 and the arm 22, causing the nozzle support 20 to slide. This also causes the nozzle 14 to slide. At this time, the position of the arm 22 relative to the inner shaft 6a shifts, but the positional shift is absorbed by the cam follower 26 moving in the annular groove 24 in the circumferential direction of the rotor 4. This enables the nozzle 14 to slide while maintaining the inclination angle θ1.

[0030] When winding wire around a magnetic pole 4a, the rotating shaft 6 including the inner shaft 6a is positioned roughly on the central axis of the magnetic pole 4a to be wound, as shown in Figure 1. Therefore, by this sliding displacement, the position of the tip of the nozzle 14 can be moved radially around the rotor 4 (in a direction that differs by an inclination angle θ1 relative to the central axis of the magnetic pole 4a), and the position at which the wire W is wound around each magnetic pole 4a can be shifted radially around the rotor 4.

[0031] The rear end of the inner shaft 6a (the side opposite to the rotor 4) is supported by a bearing 29 so that it can rotate around its axis but cannot slide in the axial direction. A bearing capable of supporting axial loads in both directions (e.g., a self-aligning roller bearing) is preferably used as the bearing 29. Rotating members 28 are connected to the bearing 29 in a 2x2 arrangement so as to surround the bearing 29, and each rotating member 28 is engaged with a rail member 30 extending in the vertical direction (the direction of arrow Z in Figure 2). By rotating on the rail member 30, the rotating member 28 can move vertically, parallel to the central axis of the rotor 4, along the rail member 30 together with the bearing 29 and the rotating shaft unit 15 supported thereon.

[0032] The rail member 30 is also provided so as to be movable in the axial direction of the inner shaft 6a by a slide mechanism 32 (see FIG. 4 ), which is a third drive unit. When the rail member 30 moves in the axial direction, the bearing 29 also moves in the axial direction, and the inner shaft 6a is moved in the axial direction by being pushed and pulled by the bearing 29. As described above, the nozzle 14 moves in the axial direction as the inner shaft 6a moves. By sliding the nozzle 14 by the width of the wire W while winding one revolution around the magnetic pole 4a, the position at which the wire W is wound around the magnetic pole 4a can be shifted by the width of the wire W for each revolution, allowing for aligned winding in which the wire W is closely spaced around each revolution. On the other hand, the outer cylinder 6b does not move even when the inner shaft 6a moves in the axial direction.

[0033] Next, FIGS. 3A and 3B are schematic diagrams illustrating the configuration of the rotation drive mechanism 8. FIG. 3A is a diagram illustrating the state as viewed from the upper side (the rail member 30 side) of FIG. 1, and FIG. 3B is a diagram illustrating the configuration illustrated in FIG. 3A as viewed from the upper side of FIG. 3A. As illustrated in FIGS. 1, 3A, and 3B, the rotation drive mechanism 8 includes a first pulley 34 fixed to the rotating shaft 6 (outer cylinder 6b) and a motor 36 fixed to a frame 35 (not illustrated in FIG. 1) independently of the rotating shaft unit 15 and serving as a drive source for rotating the outer cylinder 6b. The rotation drive mechanism 8 also includes a second pulley 38 connected to the rotating shaft 36a of the motor 36 via a coupling 44 and having the same number of teeth as the first pulley 34, and a timing belt 40 wound between the first pulley 34 and the second pulley 38. A link 42 is also provided between the outer cylinder 6b, which serves as the rotating shaft of the first pulley 34, and the rotating shaft 38a of the second pulley 38.

[0034] The link 42 includes a first support portion 42a rotatably coupled to the outer cylinder 6b by a bearing or the like, a second support portion 42b rotatably coupled to the rotation shaft 38a by a bearing or the like, and an arm portion 42c connecting the first support portion 42a and the second support portion 42b. The outer cylinder 6b is supported by the link 42 so as to be rotatable about the rotation shaft 38a. Because the outer cylinder 6b is parallel to the rotation shaft 38a, this essentially means that the first pulley 34 is supported by the link 42 via the outer cylinder 6b so as to be rotatable about the second pulley 38a.

[0035] The coupling 44 is an Oldham coupling that transmits the rotation of the motor 36 to the second pulley 38 while allowing for positional deviation (eccentricity) of the second pulley 38 and the rotating shaft 38a in a direction (arrow X direction in FIG. 3A) perpendicular to the movement direction of the rotating shaft 6 (outer cylinder 6b) in the arrow Z direction in FIG. 2 along the rail member 30. Therefore, the second pulley 38 is movable to a certain extent in a direction perpendicular to the rotating shaft 36a (and the rotating shaft 38a).

[0036] Additionally, a bracket 48 having a guide recess 48a is fixed to the frame 35. The guide recess 48a has a width approximately equal to the outer diameter of the end member 44a on the rotating shaft 38a side of the coupling 44, and accommodates the end member 44a, restricting movement of the end member 44a so that it can move in the direction of arrow X but cannot move in the direction of arrow Y, which is parallel to the movement locus H. Here, movement of the rotating shaft 6 along the rail member 30 is movement along the movement locus H in FIG. 3A . While this movement is linear, the first pulley 34 rotates relative to the second pulley 38 due to the link 42.

[0037] For example, when the rotating shaft 6 moves downward along the path of movement H from the position indicated by the solid line to the position indicated by the imaginary line in FIG. 3A, the second pulley 38 is pushed to the right by the link 42 in the middle of the path of movement H, and then pulled back to its original position after passing the midpoint. At this time, a downward force is also applied to the second pulley 38 in FIG. 3A, but the movement of the end member 44a is restricted by the guide recess 48a of the bracket 48, preventing downward movement. Therefore, the second pulley 38 moves only in the direction of the arrow X together with the rotating shaft 38a. Similarly, when the rotating shaft 6 moves upward in FIG. 3A, the second pulley 38 also moves only in the direction of the arrow X.

[0038] Even if eccentricity occurs due to this movement, the rotation of the motor 36 can be transmitted to the second pulley 38 by the coupling 44, and can also be transmitted to the first pulley 38 and the rotating shaft 6 via the timing belt 40. In other words, these mechanisms allow the motor 36 to stably rotate the rotating shaft 6 even if the rotating shaft 6 moves in the direction of arrow Z. Although the first pulley 34 is fixed to the outer cylinder 6b, the inner shaft 6a also rotates as the outer cylinder 6b rotates.

[0039] Furthermore, because the movement of the end member 44a in the direction of the arrow Y is restricted, even when the rotating shaft 6 rotates relative to the rotating shaft 38a, the amount of misalignment between the rotating shaft 38a and the rotating shaft 36a can be reduced, and the power of the motor 36 can be efficiently transmitted to the rotating shaft 6. From this perspective, it is preferable that the positions of the rotating shafts 36a and 38a in the direction of the arrow Y are aligned. Furthermore, if the rotating shafts 36a and 38a are located at the center of the rotation range of the rotating shaft 6 via the link 42 when viewed in the direction of the arrow Y, the load associated with the rotation can be uniformed.

[0040] Furthermore, if the first pulley 34 and the second pulley 38 have different numbers of teeth, when the first pulley 34 moves along the movement locus H, a phase difference between the timing belt 40 and each pulley occurs by the difference in the number of teeth, and the first pulley 34 rotates together with the nozzle 14 even without rotating the second pulley 38, which is undesirable. On the other hand, if the numbers of teeth are the same, the number of teeth disengaged from one pulley due to movement of the first pulley 34 will be engaged with the teeth of the other pulley, thereby solving this problem.

[0041] 4 is a diagram for explaining the operation of the control unit 50 of the winding machine 2. The control unit 50 provided in the winding machine 2 is a microcomputer including a CPU, ROM, RAM, an I / O interface, etc., and controls the rotation drive mechanism 8, movement mechanism 10, slide mechanism 32, and indexing mechanism 52, which will be described later, which have been described above. In addition to the rotation drive mechanism 8, which has already been described with respect to the motor 36, the movement mechanism 10, slide mechanism 32, and indexing mechanism 52 also have motors 110, 132, and 152 as their respective drive sources. The control unit 50 controls the operation of each mechanism through control of these motors 36, 110, 132, and 152.

[0042] Next, the winding method executed by the winding machine 2 described above will be described using an example in which the winding target is the rotor 4 of an inner rotor motor. Using this winding method, one turn of the wire W around the magnetic pole 4a is generally performed as follows. Specifically, when winding both ends of the magnetic pole 4a in the direction of the arrow Z (see FIG. 2 , the direction of the central axis C of the rotor 4), the nozzle 14 is rotated approximately 180° to trace a conical trajectory by rotating the rotating shaft 6 (effectively the outer tube 6b) in one direction. When winding the linear portion of the magnetic pole 4a extending in the direction of the arrow Z, the rotating shaft 6 is linearly moved in the direction of the arrow Z together with the nozzle 14 after the rotation of the nozzle 14 has finished. This will be described in detail below. The nozzle 14 rotates together with the rotating shaft 6 in the same direction and by the same angle as the rotation of the rotating shaft 6. Therefore, by controlling the motor 36 to rotate the outer tube 6b of the rotating shaft 6 by a desired angle, the nozzle 14 can also be rotated by the same angle.

[0043] 5A and 5B are diagrams for explaining the winding operation by the winding machine 2. FIG. 5A is a diagram showing the movement of the nozzle 14 relative to a cross section of the magnetic pole 4a parallel to the central axis C of the rotor 4, and FIG. 5B is a perspective view showing the rotational movement of the nozzle 14 when winding the end of the magnetic pole 4a. Here, a pair of surfaces on the outer periphery of the magnetic pole 4a that are parallel to the direction of the arrow Z are referred to as the first portion 4a-1 and the third portion 4a-3, respectively, and the two surfaces between the end of the first portion 4a-1 and the end of the third portion 4a-3 are referred to as the second portion 4a-2 and the fourth portion 4a-4, respectively. The second portion 4a-2 and the fourth portion 4a-4 are located at the ends of the magnetic pole 4a in the direction of the arrow Z. In the example of FIG. 5A, the second portion 4a-2 and the fourth portion 4a-4 are each flat, but they may also be curved surfaces or may be composed of multiple flat and / or curved surfaces. The boundaries between each portion may not be edges, but may be chamfered or rounded.

[0044] As shown in Fig. 5A, the winding machine 2 winds one revolution of wire around the magnetic pole 4a in the following procedure. First, the entire rotating shaft 6 (rotating shaft unit 15) is moved linearly together with the nozzle 14 in the direction of arrow Z from bottom to top (first direction) in the figure. This movement allows the wire W to be wound around the first portion 4a-1. At this time, the nozzle 14 is inserted between adjacent magnetic poles 4a through the slot opening 12 as shown in Fig. 1.

[0045] Next, after the nozzle 14 reaches the vicinity of the end of the first portion 4a-1 on the second portion 4a-2 side, the outer cylinder 6b of the rotating shaft 6 is rotated by the rotation drive mechanism 8, thereby rotating the nozzle 14 by approximately 180 degrees in a clockwise direction (second direction) as viewed from the rotating shaft 6 side, as shown in FIG. 5B , so as to trace a conical trajectory. This rotation allows the wire W to be wound around the second portion 4a-2. During this rotation, the nozzle 14 first advances in a direction generally along the central axis C of the rotor 4, exits the slot opening 12, passes over the second portion 4a-2, and is then inserted into the adjacent slot opening 12.

[0046] In the case of Figure 1, by rotating the nozzle support part 16 180 degrees around the rotating shaft 6, the nozzle support part 16 and the nozzle 14 move from the state in Figure 1 to a position that is symmetrical with respect to the axis of the rotating shaft 6, and the nozzle 14 is inserted into the slot opening 12 that is one position to the left as viewed from the state in Figure 1. This movement is possible by arranging the rotating shaft 6 approximately on the central axis of the magnetic pole 4a that is the target of winding, as shown in Figure 1, and by having the nozzle 14 have an inclination angle θ1 with respect to the axis of the rotating shaft 6.

[0047] Next, after this rotation, the entire rotating shaft 6, together with the nozzle 14, is linearly moved from top to bottom in the figure (the opposite direction to the first direction) along the direction of arrow Z. This movement allows the wire W to be wound around the third portion 4a-3. Next, after the nozzle 14 reaches the vicinity of the end of the third portion 4a-3 on the fourth portion 4a-4 side, the outer cylinder 6b of the rotating shaft 6 is rotated by the rotation drive mechanism 8, thereby rotating the nozzle 14 by approximately 180° so as to trace a conical trajectory in the clockwise direction (second direction) as viewed from the rotating shaft 6 side. This rotation allows the wire W to be wound around the fourth portion 4a-4. This rotation trajectory follows the lower half of the trajectory shown by the imaginary line in FIG. 5B, i.e., a trajectory that is linearly symmetrical to the trajectory when winding around the second portion 4a-2, but shifted toward the fourth portion 4a-4.

[0048] This completes one turn of the wire W. After the nozzle 14 has rotated to wind the wire onto the fourth portion 4a-4, the entire rotary shaft 6, together with the nozzle 14, is moved linearly from bottom to top in the direction of arrow Z. This movement allows the next turn of the wire W to be wound onto the first portion 4a-1.

[0049] In the above winding operation, the vertical movement of the rotary shaft 6 in the direction of the arrow Z is performed by the control of the movement mechanism 10 by the control unit 50, and the rotation of the nozzles 14 at both ends of the magnetic pole 4a by approximately 180° so as to trace a conical trajectory (more accurately, a truncated cone trajectory since there is no apex) is performed by the control of the rotation drive mechanism 8 by the control unit 50. By sliding and displacing the nozzles 14 in their axial directions by a predetermined amount (equivalent to the diameter of the wire W) while the nozzles 14 make one revolution around the magnetic pole 4a, aligned winding can be performed.

[0050] After performing regular winding over the entire length of the magnetic pole 4a, it is also possible to perform regular winding in multiple layers by performing additional winding on top of the winding. This predetermined sliding displacement of the nozzle 14 is performed by control of the sliding mechanism 32 by the control unit 50. If necessary parameters such as the amount of rotation of the outer cylinder 6b, the amount of linear movement of the rotating shaft 6, and the amount of sliding displacement of the nozzle 14 are stored in ROM in advance, the control unit 50 can execute the required program while referring to this data, and control each part required for the above-mentioned winding operation.

[0051] When the aligned winding for one magnetic pole 4a is completed, the control unit 50 controls the indexing mechanism 52 (see FIG. 4) to rotate the rotor 4 by the angle θ2 shown in FIG. 1 in order to wind the adjacent magnetic pole 4a. Then, winding for the adjacent magnetic pole 4a can be performed using the same procedure as described above with reference to FIGS. 5A and 5B. If the winding for one magnetic pole 4a and the winding for the adjacent magnetic pole 4a are to be separate coils, it is advisable to cut the wire W or fix the end in a predetermined position before and after rotating the rotor 4.

[0052] While the example described here begins with the first portion 4a-1, it goes without saying that winding can begin from any portion of the circumference. Furthermore, winding can be performed counterclockwise instead of clockwise as shown in FIG. 5A . Furthermore, the position or timing at which the nozzle 14 switches between linear and rotational movement does not need to precisely coincide with the position or timing at which the winding transitions from the first portion 4a-1 to a different portion (surface), such as the second portion 4a-2. For example, if the nozzle 14 starts rotating slightly before reaching the end of the first portion 4a-1, the rotation of the nozzle 14 will wind not only the second portion 4a-2 but also portions near the ends of the first portion 4a-1 and the third portion 4a-3.

[0053] Next, the effects of the winding machine 2 and winding method described above will be explained with reference to a comparative example. As a comparative example, consider an apparatus and method in which, when winding the second portion 4a-2 and the fourth portion 4a-4 of the magnetic pole 4a, which are the ends of the rotor 4 in the central axis direction, the nozzle 14 is not moved, but the rotor 4 is rotated to change the relative position of the nozzle 14 and the rotor 4.

[0054] 6A and 6B are diagrams for explaining the winding operation of this comparative example, where Fig. 6A is a diagram corresponding to Fig. 5A and Fig. 6B is a plan view of the rotor and the nozzle to explain that the nozzle trajectory is an arc. Fig. 7 is a plan view to explain the difference in the nozzle trajectory between the winding operation by the winding machine 2 described above and the winding operation of the comparative example.

[0055] In the comparative example, as shown in FIG. 6A , for example, the rotor 4 is rotated in the direction of arrow L by the angle θ2 (see FIG. 1 ) between adjacent magnetic poles 4a, and then the nozzle 70 is linearly moved in one direction (arrow Z direction) along the central axis of the rotor 4. When the rotor 4 reaches the opposite side of the magnetic poles 4a, the rotor 4 is rotated in the opposite direction (arrow R direction) by the angle θ2. The nozzle 70 is then linearly moved in the opposite direction along the central axis of the rotor 4 to complete one revolution of the magnetic pole 4a, completing one revolution of the winding. FIG. 6A shows the change in the relative positional relationship between the magnetic pole 4a and the nozzle 70 as the winding progresses. That is, FIG. 6A shows that, for example, when the rotor 4 is rotated in the direction of arrow L when winding the second portion 4a-2, the relative position of the nozzle 70 is displaced to the right. The same applies to rotation in the R direction when winding the fourth portion 4a-4.

[0056] In this method, when winding the second portion 4a-2, for example, the tip of the nozzle 70 traces an arc-shaped trajectory t1 centered on the central axis C of the rotor 4 relative to the magnetic pole 4a, as shown in FIGS. 6B and 7 (left side). This is because the magnetic pole 4a rotates around the central axis C of the rotor 4. As a result, the position of the wire W in the axial direction of the magnetic pole 4a is unstable, reducing the alignment accuracy of the wire W. To solve this problem, for example, it is possible to shift the nozzle 14 or the rotor 4 in the axial direction of the magnetic pole 4a while the rotor 4 is rotating by an amount that cancels out the positional displacement due to the arc-shaped trajectory, thereby converting the arc-shaped trajectory of the nozzle 14 into a linear trajectory. However, this solution requires a complex correction operation, which reduces the winding speed.

[0057] In contrast, with the winding machine 2 and winding method according to this embodiment, winding onto the second portion 4a-2 and the fourth portion 4a-4 is performed by rotating the nozzle 14 by approximately 180 degrees so that it traces a conical trajectory, eliminating the need to rotate the rotor 4. As a result, as shown on the right side of Figure 7, the trajectory t2 of the nozzle 14 relative to the magnetic pole 4a is linear, and the position of the wire W in the axial direction of the magnetic pole 4a is stable, resulting in high alignment accuracy. Since no complex correction operation is required to convert the nozzle's arc trajectory into a linear trajectory, the problem of reduced winding speed does not arise.

[0058] 8 shows the positional relationship between the rotor and the nozzle 70 in a winding machine of a comparative example. FIG. 8 is a side view corresponding to FIG. 2, but the support and drive units of the nozzle 70 are not shown. FIG. 9A and FIG. 9B show the difference in the nozzle trajectory depending on the angle of the nozzle relative to the rotor. FIG. 9A shows the trajectory in the comparative example, and FIG. 9B shows the trajectory by the winding machine 2.

[0059] In the winding machine of the comparative example, the nozzle 70 only needs to be moved vertically (in the direction of the arrow Z in Figure 8), so as long as the nozzle 70 is aligned with the slot opening 12 when winding, the orientation of the nozzle 70 can be maintained along the radial direction of the rotor 4, perpendicular to the central axis C of the rotor 4.

[0060] Here, even in the case of the comparative example, when winding the first portion 4a-1 or the third portion 4a-3 of the magnetic pole 4a, the tip of the nozzle 70 is positioned closer to the outer periphery of the magnetic pole 4a when winding near the base of the magnetic pole 4a than when winding near the tip of the magnetic pole 4a, which is the same as in the case of the winding machine 2 (see FIG. 1). However, when winding the second portion 4a-2 or the fourth portion 4a-4, the distance between the tip of the nozzle 70 and the outer periphery of the magnetic pole 4a is constant (unless a separate adjustment is made) whether winding near the base of the magnetic pole 4a or near the tip of the magnetic pole 4a.

[0061] 9A, the trajectory t1a of the tip of the nozzle 70 when winding near the base of the magnetic pole 4a and the trajectory t1b of the tip of the nozzle 70 when winding near the tip of the magnetic pole 4a have the same length in the axial direction of the rotor 4 (the vertical direction in the figure) but different lengths in the circumferential direction (the horizontal direction in the figure). As a result, the trajectory t1a becomes vertically elongated relative to the cross-sectional shape of the magnetic pole 4a, which makes it easy for the wire to sag and loosen when wound around the magnetic pole 4a. This reduces the wire alignment accuracy.

[0062] In contrast, in the winding machine 2 and winding method according to this embodiment, the nozzle 14 has an inclination angle θ1 with respect to the rotating shaft 6, and when winding the second portion 4a-2 or the fourth portion 4a-4, the nozzle 14 is rotated by approximately 180° around the rotating shaft 6. For this reason, as is clear from Fig. 2, when winding the second portion 4a-2 or the fourth portion 4a-4, the distance between the tip of the nozzle 14 and the outer periphery of the magnetic pole 4a becomes smaller as the winding position moves closer to the base of the magnetic pole 4a, that is, as the nozzle 14 is inserted further radially into the rotor 4, just as when winding the first portion 4a-1 or the third portion 4a-3.

[0063] 9B, when winding near the base of the magnetic pole 4a, the trajectory t2a of the tip of the nozzle 14 is shorter in the axial direction of the rotor 4 than the trajectory t2b of the tip of the nozzle 14 when winding near the tip of the magnetic pole 4a. Therefore, the trajectories are similar in shape, and the difference with the outer shape of the magnetic pole 4a can be reduced, making it difficult for slack to occur in the wire W. This also prevents the problem of the wire W being easily loosened when wound around the magnetic pole 4a, reducing alignment accuracy.

[0064] Furthermore, with the above-described conventional winding method, when winding is completed around one magnetic pole 4a and the wire moves to the adjacent magnetic pole 4a, the nozzle 70 is away from the axial end face (end face of the magnetic pole) of the rotor 4, so it was necessary to tilt the nozzle 70 just at this time or to forcibly bring the wire closer to the end face using a separate guide, etc. In other words, if the tip of the nozzle 70 is brought too close to the end face of the rotor 4, the base of the nozzle 70 will come into contact with the end face or insulator 5, causing damage, so it was not possible to bring the nozzle 70 too close.

[0065] In contrast, with the winding machine 2 and winding method according to this embodiment, even if the base of the nozzle 14 does not approach the axial end face of the rotor 4, by sliding the nozzle 14 radially inward of the magnetic pole 4a, the inclination angle θ1 allows the tip of the nozzle 14 to approach the end face or the insulator 5. Therefore, the wire W can be moved to the next magnetic pole 4a without requiring a special method.

[0066] Next, the payout of the wire W from the nozzle will be described. Figures 10A to 10D are diagrams showing examples of the payout state of the wire at the tip of the nozzle. Figure 11A is a diagram showing an example of the payout state in the winding machine 2, and Figure 11B is a diagram showing an example of the payout state in a comparative example.

[0067] In the winding machine 2 for winding the rotor 4 as described above, it is conceivable to form the nozzle 14 with an elongated elliptical cross-sectional shape to facilitate passage through the narrow slot opening 12. The elongated shape is intended to prevent damage to the wire W due to friction with the outlet 14a by forming a curved guide surface with a larger radius of curvature on the major axis side of the outlet 14a than on the minor axis side, and by unwinding the wire W through this curved guide surface. If the distance from the outlet 14a to the outer periphery of the nozzle 14 is short, it is difficult to form a curved guide surface with a large radius of curvature. Figures 10A and 10B show the state in which the wire W is unwound through the curved guide surface 14a-1 with a smaller radius of curvature on the minor axis side, while Figures 10C and 10D show the state in which the wire W is unwound through the curved guide surface 14a-2 with a larger radius of curvature on the major axis side.

[0068] 11B, when winding the second portion 4a-2 and the fourth portion 4a-4 of the magnetic pole 4a, the nozzle 70 moves relative to the magnetic pole 4a due to the rotation of the rotor 4 while the nozzle 70 is facing in the same direction as when winding the first portion 4a-1 and the third portion 4a-3 through the slot opening 12, that is, with the minor axis facing the circumferential direction of the rotor 4 and the major axis facing the direction along the central axis C of the rotor 4. For this reason, the wire W is unwound on the curved guide surface 14a-1, which has a small radius of curvature on the minor axis side, and this may damage the coating of the wire W.

[0069] 11A, when winding the second portion 4a-2 and the fourth portion 4a-4 of the magnetic pole 4a, the nozzle 14 rotates to trace a conical path, so that the wire W is always fed through the curved guide surface 14a-2 with a large radius of curvature, thereby avoiding damage to the coating of the wire W. In this case, there is no need to rotate the nozzle 14 relative to the nozzle support part 16.

[0070] Therefore, there is no need for complex control to constantly change the orientation of the nozzle while making a full revolution around the magnetic pole 4a, as in the configuration described in Patent Document 2, nor is there a need for a configuration that allows the tip of the nozzle to rotate freely, as in the configuration described in Patent Document 3. This also holds true if the cross section of the nozzle 14 is not an exact ellipse, but is a shape that has a minor axis (the direction in which the length from the center to the end is short) and a major axis (the direction in which the length from the center to the end is long), such as a rounded rectangle.

[0071] As described above, the winding method according to this embodiment can solve all of the problems in the comparative examples without requiring the complex control described in Patent Documents 2 and 3. The configuration can also be made relatively simple, which contributes to higher speeds and lower costs compared to configurations that involve complex control.

[0072] 12 shows an example of processing performed by the control unit 50 to execute the winding method according to this embodiment. This processing is the processing performed when performing the winding described with reference to FIGS. 5A and 5B. This processing may be realized by either software or hardware, or a combination of both.

[0073] When the control unit 50 receives an instruction to wind the rotor 4, it starts the process shown in Figure 12. First, it controls various mechanisms, including those shown in Figure 4, to move the nozzle 14 to the vicinity of the magnetic pole 4a to be first wound, and performs the required end wire processing (S11). Next, it controls various mechanisms to insert the nozzle 14 into the slot opening 12 on the first portion 4a-1 side of the magnetic pole 4a. In other words, it moves the nozzle 14 to the winding start position for the first portion 4a-1 (S12).

[0074] Thereafter, the control unit 50 controls the slide mechanism 32 to move the nozzle 14 in its axial direction by the diameter of the wire W while steps S14 to S17 are being executed (S13). The actual movement is performed in parallel with the processing of steps S14 to S17. In steps S14 to S17, the control unit 50 controls the movement mechanism 10 and the rotation drive mechanism 8 to move the nozzle 14 around the magnetic pole 4a once by combining linear movement and rotational movement as described with reference to Figures 5A and 5B, thereby completing one revolution of the winding.

[0075] The control unit 50 repeats steps S13 to S17 until winding for one magnetic pole 4a is completed, and winding is performed the required number of times (No in S18). When winding for one magnetic pole 4a is completed (Yes in S18), the process proceeds to step S19, and the next magnetic pole 4a is selected as the winding target and the process from step S11 is repeated until winding for all magnetic poles 4a is completed (No in S19). When winding for all magnetic poles 4a is completed (Yes in S19), the process of FIG. 12 ends. In this way, the control unit 50 can control the winding machine 2 to wind the rotor 4.

[0076] While the preferred embodiment of the present invention has been described above, the present invention is not limited to such a specific embodiment and various modifications and variations are possible. For example, while the above embodiment illustrates a winding on the rotor 4 of an inner rotor motor, the present invention can also be implemented in a similar manner on the stator winding of an outer rotor motor. Additionally, the present invention can be similarly applied to windings on an armature in which multiple magnetic poles face radially outward in the radial direction.

[0077] Furthermore, the configurations of the above-described embodiments of the present invention may be implemented by extracting only a portion thereof, and the configurations described in the above description may be applied in any combination as long as they are not mutually contradictory. The effects described in the embodiments of the present invention are merely examples of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

[0078] 2: winding machine, 4: rotor, 4a: magnetic pole, 4a-1: first part, 4a-2: second part, 4a-3: third part, 4a-4: fourth part, 5: insulator, 6: rotating shaft, 6a: inner shaft, 6b: outer cylinder, 8: rotation drive mechanism, 10: moving mechanism, 12: slot opening, 14, 70: nozzle, 14a: payout port, 14a-1: curved guide surface with small curvature radius, 14a-2: curved guide surface with large curvature radius, 16: nozzle support, 18: base member, 19: conveyor Feed path, 20: nozzle support, 22: arm, 24: annular groove, 26: cam follower, 28: rotating member, 29: bearing, 30: rail member, 32: slide mechanism, 34: first pulley, 35: frame, 36, 110, 132, 152: motor, 38: second pulley, 40: timing belt (belt), 42: link, 44: coupling, 52: indexing mechanism, C: central axis, W: wire (wire rod), θ1: inclination angle, θ2: angle formed by adjacent magnetic poles 4a

Claims

1. A method of winding a wire around an armature having multiple magnetic poles facing radially outward, the outer periphery of each of the multiple magnetic poles having a pair of first and third portions parallel to the central axis of the armature, and second and fourth portions respectively located between ends of the first and third portions, and a nozzle for feeding out wire is provided, the nozzle being supported on a rotating shaft perpendicular to the central axis of the armature and aligned along the radial direction, with the nozzle having an inclination angle of a first angle, which is half the angle between adjacent magnetic poles, with respect to the rotating shaft; a winding method comprising the steps of: while paying out the wire from the nozzle, linearly moving the rotating shaft together with the nozzle in a first direction parallel to the central axis; after the nozzle reaches a vicinity of an end of the first portion on the second portion side, rotating the nozzle approximately 180° in the second direction around the rotating shaft; thereafter, linearly moving the rotating shaft together with the nozzle in a direction opposite to the first direction; and after the nozzle reaches a vicinity of an end of the third portion on the fourth portion side, rotating the nozzle approximately 180° in the second direction around the rotating shaft, thereby winding one revolution around the magnetic pole.

2. A winding method as claimed in claim 1, characterized in that, in winding one revolution of the magnetic pole, the rotating shaft is moved in the straight line together with the nozzle in the first direction to wind the wire around the first portion of the magnetic pole, and after the nozzle reaches the vicinity of the end of the first portion on the second portion side, the nozzle is rotated approximately 180° in the second direction around the rotating shaft to wind the wire around the second portion of the magnetic pole, thereafter, the rotating shaft is moved in the straight line together with the nozzle in the direction opposite to the first direction to wind the wire around the third portion of the magnetic pole, and after the nozzle reaches the vicinity of the end of the third portion on the fourth portion side, the nozzle is rotated approximately 180° in the second direction around the rotating shaft to wind the wire around the fourth portion of the magnetic pole.

3. A winding method as claimed in claim 1, characterized in that the nozzle is supported by a nozzle support section supported by the rotating shaft so as to be slidable along a transport path having an inclination angle of the first angle with respect to the rotating shaft, and the nozzle is slid a predetermined distance along the transport path while winding a plurality of revolutions around the magnetic pole, thereby winding the wire in an aligned manner around the magnetic pole.

4. A winding method according to any one of claims 1 to 3, characterized in that when rotating the nozzle in the second direction around the rotation shaft, the nozzle is rotated in the same direction and by the same angle as the rotation of the rotation shaft.

5. A winding machine for winding wire around an armature having multiple magnetic poles facing radially outward, comprising: a rotating shaft that can be arranged perpendicular to the central axis of the armature to be wound and along the radial direction; a first drive unit for rotating the rotating shaft about its axis; a second drive unit for moving the rotating shaft parallel to the central axis of the armature; a nozzle for paying out wire; and a nozzle support unit capable of supporting the nozzle at an inclination angle of a first angle, which is half the angle formed by adjacent magnetic poles of the armature with respect to the rotating shaft. and a control unit that controls the first drive unit and the second drive unit so that, while paying out the wire from the nozzle, the rotating shaft is moved linearly together with the nozzle supported by the nozzle support unit in a first direction parallel to the central axis of the armature, the outer peripheral surfaces of the axes of the multiple magnetic poles including a pair of first and third portions parallel to a central axis direction of the armature, and a second and fourth portion respectively between ends of the first and third portions, the nozzle reaches a vicinity of an end of the first portion on the second portion side, the nozzle is rotated approximately 180° in a second direction around the rotating shaft, the nozzle is then moved linearly together with the nozzle in a direction opposite to the first direction, and the nozzle reaches a vicinity of an end of the third portion on the fourth portion side, the nozzle is rotated approximately 180° in the second direction around the rotating shaft, thereby winding one revolution of the magnetic poles.

6. A winding machine as claimed in claim 5, characterized in that the control unit controls the first drive unit and the second drive unit to wind the wire around the first portion of the magnetic pole by linearly moving the rotating shaft together with the nozzle in the first direction, winding the wire around the second portion of the magnetic pole by rotating the nozzle approximately 180° in the second direction around the rotating shaft after the nozzle reaches the vicinity of the end of the first portion on the second portion side, thereafter winding the wire around the third portion of the magnetic pole by linearly moving the rotating shaft together with the nozzle in the direction opposite to the first direction, and winding the wire around the fourth portion of the magnetic pole by rotating the nozzle approximately 180° in the second direction around the rotating shaft after the nozzle reaches the vicinity of the end of the third portion on the fourth portion side.

7. A winding machine as described in claim 5, wherein the nozzle support unit has a transport path that can support the nozzle so that it can slide in a direction having an inclination angle of the first angle with respect to the rotation axis, and a third drive unit is provided for sliding the nozzle supported within the transport path, and the control unit controls the third drive unit to slide the nozzle a predetermined distance on the transport path while winding one revolution of the magnetic pole.

8. A winding machine as described in claim 5, characterized in that the first drive unit comprises a first pulley fixed to the rotating shaft, a motor, a second pulley fixed to the motor, a belt looped between the first pulley and the second pulley, a link supporting the first pulley so that it can rotate freely relative to the second pulley, and a coupling provided between the second pulley and the rotating shaft of the motor, transmitting the rotation of the motor to the second pulley while allowing for positional deviation of the second pulley in a direction perpendicular to the movement direction of the rotating shaft by the second drive unit.

9. A winding machine according to claim 8, characterized in that the first pulley and the second pulley have the same number of teeth, the belt is a timing belt, and the coupling is an Oldham coupling.

10. A winding machine as claimed in claim 7, characterized in that the rotating shaft comprises an outer tube rotated by the first driving unit, and an inner shaft inside the outer tube and rotated together with the outer tube, the nozzle support unit comprises a base member fixed to the outer tube and comprising the transport path, and a nozzle support body arranged to be slidable along the transport path and supporting the nozzle, the nozzle support body is formed with an arm extending in a direction perpendicular to the direction of the sliding movement, the arm engages via a cam follower with an annular groove formed in the tip of the inner shaft on the armature side, the nozzle support body slidingly moves as the inner shaft moves in the axial direction, and the third driving unit moves the inner shaft in its axial direction, thereby sliding the nozzle via the nozzle support body.

11. A winding machine as claimed in claim 10, further comprising a rail member extending in the direction of the central axis of the armature to be wound, the rear end of the inner shaft opposite the armature being supported by the rail member, and the third drive unit sliding the rail member in the axial direction of the inner shaft, thereby moving the inner shaft in that axial direction.

12. A winding machine as claimed in claim 5, characterized in that a cross section of the nozzle perpendicular to the longitudinal direction has a shape having a long axis and a short axis with the wire outlet located approximately at the center, and the surface of the longitudinal end of the nozzle is formed with a curved guide surface having a larger radius of curvature on the long axis side than on the short axis side.

13. A winding machine as claimed in any one of claims 5 to 12, characterized in that, when winding one revolution of the magnetic pole, the nozzle rotates together with the rotating shaft in the same direction and by the same angle as the rotation of the rotating shaft.

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