Nozzle unit, winding machine, and winding method

Abstract

A nozzle unit (100) is provided with a nozzle (111) for drawing out a wire from a tip end thereof, a nozzle support part (110) for supporting the nozzle (111), a unit body (120), and a link shaft (140) and a slide shaft (133) being operation members connected to the nozzle support part (110). The unit body (120) is provided with a shaft (121) so that the shaft (121) rotatably supports the nozzle support part (110). In the unit body (120), a track defining a linear movement path of the slide shaft (133) is formed by wall parts (125, 126). As the slide shaft (133) moves along the track, the nozzle support part (110) rotates about the shaft (121) together with the nozzle (111). In a preferable configuration, at an intermediate position (see Fig. 5A) within a movable range, it is possible to fasten and unfasten the slide shaft (133) to and from the unit body (120), by using a steel ball (136).

Description

Nozzle Unit, Winding Machine, and Winding Method

[0001] The present invention relates to a winding machine and a winding method for winding a wire around a workpiece having a plurality of salient poles provided so as to project radially inward from an annular portion, and a nozzle unit that can be used in such a winding machine.

[0002] As a method of winding a wire around a salient pole in a workpiece, which is an armature having a plurality of salient poles provided so as to project radially inward from an annular portion, a nozzle unit having a nozzle from which a wire is fed out and a workpiece holding portion that holds the workpiece and can rotate the workpiece by indexing are each driven by a motor, and while feeding out the wire from the tip of the nozzle, the wire is wound by relatively moving the tip of the nozzle with respect to the salient pole of the workpiece. It is known that when performing this winding, the nozzle is directed in the radial direction perpendicular to the rotation axis direction of the workpiece.

[0003] Further, when continuously winding a wire around a plurality of salient poles, after winding the wire around one salient pole, the wire is wound around the workpiece from that salient pole to the next salient pole to be wound, and then winding is performed on the next salient pole. It is known. Such wiring connecting the windings formed on a plurality of salient poles is called a "jumper wire". The jumper wire is provided so as to be hung on a jumper wire locking portion provided on the axial end face of the workpiece in the annular portion located on the outer periphery of the workpiece, for example. Also, the jumper wire may be provided on the side of the wire supply source to the nozzle with respect to the workpiece when viewed in the axial direction of the workpiece, or may be provided on the opposite side.

[0004] In the following description, unless otherwise specified, the side opposite to the wire supply side to the nozzle when viewed in the axial direction of the workpiece is referred to as the "back side" of the workpiece. Correspondingly, the wire supply side is referred to as the "front side" of the workpiece. Also, unless otherwise specified, the terms "back" and "front" in this specification are used in this meaning.

[0005] When forming a connecting wire on the back side of a workpiece, the formation of the connecting wire is hindered if the nozzle is oriented radially, as it is when winding to the salient pole. Specifically, when the nozzle is oriented radially, the connecting wire locking portion that rises from the end face of the workpiece (for example, as shown by reference numeral 36 in Figure 3B of this application) becomes an obstacle, preventing the nozzle end from being brought close enough to the connecting wire formation position located radially outside the connecting wire locking portion. As a result, there was a limit to the accuracy of the connecting wire placement.

[0006] To address this problem, Patent Document 1 discloses a mechanism for positioning the nozzle in a suitable orientation for forming a connecting wire when forming a connecting wire on the back side of a workpiece, with the nozzle unit, including the nozzle, passing through the center of the workpiece and protruding to the back side of the workpiece. Specifically, as shown in Figure 4 of Patent Document 1, the nozzle rotation part 22 is rotated by a crank 24 mechanically connected to the nozzle support part 21 and a lead screw type crank drive part 26, and as shown in Figure 1 of Patent Document 1, the nozzle 12 is set at an angle with its tip pointing upward so as not to interfere with the extension part 36c, which is the connecting wire locking part. Furthermore, the nozzle 12 is attached to the nozzle support part 21 so as to be able to change from a vertical position parallel to the rotation axis of the workpiece to an angled position, exceeding 90°.

[0007] Patent No. 5630890

[0008] According to the mechanism described in Patent Document 1, by orienting the nozzle at an angle to the rotation axis of the workpiece, the connecting wire locking portion can be avoided and the nozzle end can be brought closer to the connecting wire formation position. However, since the nozzle direction is changed within a range exceeding 90°, and the drive mechanism is a lead screw type that converts rotational motion into linear motion, it is unavoidable that the speed at which the nozzle direction is changed will be slow, and as a result there is a limit to how high the winding speed can be increased. The reason why the range in which the nozzle direction is changed exceeds 90° is simply because, as shown in Figure 2 of Patent Document 1, when forming a connecting wire on the front side of the workpiece, the nozzle is set to a vertical position parallel to the rotation axis of the workpiece.

[0009] Furthermore, the mechanism described in Patent Document 1 has a complex structure in which the nozzle support and the drive mechanism (crank and crank drive unit) that changes the direction of the nozzle are integrated, and the integrated structure requires high assembly precision, making it unavoidable that manufacturing costs will increase.

[0010] This invention has been made in view of these circumstances, and its purpose is to simplify the configuration of nozzle units and winding machines and to facilitate their manufacture.

[0011] To achieve the above objectives, the nozzle unit of this invention comprises a nozzle for dispensing a wire from its tip, a nozzle support portion for supporting the nozzle, a first operating member connected to the nozzle support portion, and a unit body having a first shaft that rotatably supports the nozzle support portion by the first shaft. Furthermore, the unit body is provided with a trajectory formed therein that defines the linear movement path of the first operating member, and as the first operating member moves along the trajectory, the nozzle support portion rotates together with the nozzle around the first shaft.

[0012] Such a nozzle unit may further include a first biasing member that biases the first operating member toward the side opposite to the side connected to the nozzle support. Furthermore, when the first operating member is not being operated, the end of the first operating member opposite to the side connected to the nozzle support may protrude outside the unit body.

[0013] Alternatively, in each of the above nozzle units, the first operating member may comprise a second portion rotatably connected to the nozzle support portion by a second axis different from the first axis, and a first portion rotatably connected to the second portion. Furthermore, the orientation of the second portion may change as the first portion moves along the trajectory. In addition, a roller rotatable about the second axis may be provided for guiding the wire material fed out from the nozzle.

[0014] Furthermore, each nozzle unit may be equipped with a fixing device for fixing the first operating member to the unit body at a first position in the middle of the movable range along the trajectory. It may also be equipped with a release device for releasing the fixing. In addition, when the first operating member is in the first position, the nozzle may be oriented perpendicular to the trajectory.

[0015] Furthermore, the fixing device may include a rigid body that can be accommodated across the through-hole provided in the first operating member and the first recess provided in the unit body. Furthermore, the release device may release the fixing by removing the rigid body from the first recess. Furthermore, the release device may include a second operating member that is slidable inside the first operating member parallel to the movement path of the first operating member and has a second recess capable of accommodating a part of the rigid body. In addition, the first recess may be formed to expand toward the first operating member, at least in a direction along the movement direction of the first operating member.

[0016] Furthermore, it is preferable that the side surface of the second recess on the side in the direction of movement of the second operating member is formed smoothly, the rigid body is housed spanning the through hole and the second recess, and when the second operating member is moved so that the second recess is no longer in a position facing the first recess, the rigid body is pushed out of the second recess by the smooth side surface of the second recess and moves through the through hole, and is housed spanning the through hole and the first recess.

[0017] Furthermore, it is preferable to provide the second operating member with a second biasing portion that biases the first operating member toward the side opposite to the side on which the first operating member is connected to the nozzle support portion. In addition, when the second operating member is not being operated, it is preferable that the second recess is not positioned opposite the through hole.

[0018] Furthermore, when the second operating member is not being operated, it is preferable that the end of the second operating member opposite to the side on which the first operating member is connected to the nozzle support protrudes outside the first operating member. Also, in each of the nozzle units, it is preferable that the rotation angle range of the nozzle support and the nozzle when the first operating member moves along the entire length of the movable range along the trajectory is 90 degrees or less.

[0019] Furthermore, the winding machine of this invention includes any of the above-mentioned nozzle units, a nozzle unit holding section that holds the nozzle unit and can move the nozzle unit, a first operating section for operating the first operating member, and a workpiece holding section that holds a workpiece equipped with a plurality of salient poles provided to protrude radially inward from the annular section, and a regulating member for positioning a jumper wire that runs along the circumferential direction of the annular section and connects windings formed with different magnetic poles at one axial end of the annular section, and can move the workpiece. Furthermore, the device includes a first control unit that controls the operation of the nozzle unit holding portion and / or the workpiece holding portion, and moves the nozzle unit relative to the workpiece held by the workpiece holding portion while at least a part of the nozzle unit is inside the annular portion, thereby winding the wire unwound from the nozzle around the salient pole to form the winding, and forming the connecting wire while the nozzle unit passes inside the annular portion; and a second control unit that controls the operation of the first operating portion, and while the winding is being formed under the control of the first control unit, directs the nozzle in a first direction parallel to the protruding direction of the salient pole around which the winding is wound, and then rotates the nozzle by operating the first operating member, thereby directing the nozzle in a second direction toward the connecting wire formation side of the annular portion from a position protruding from the annular portion on the opposite side from the nozzle unit holding portion to form the connecting wire under the control of the first control unit.

[0020] In such a winding machine, it is preferable to further provide a third control unit which controls the operation of the nozzle unit holding part and / or the workpiece holding part, and moves the nozzle unit relative to the workpiece held by the workpiece holding part while at least a part of the nozzle unit is inside the annular part, thereby winding the wire unwound from the nozzle around the salient pole to form the winding, and forming the connecting wire without the nozzle unit passing inside the annular part; and a fourth control unit which controls the operation of the first operating part, and while the winding is being formed under the control of the third control unit, directs the nozzle in a third direction parallel to the protruding direction of the salient pole around which the winding is wound, and then rotates the nozzle by operating the first operating member, thereby directing the nozzle in a fourth direction toward the connecting wire formation side of the annular part from a position retracted from the annular part toward the nozzle unit holding part side toward the connecting wire formation side of the annular part

[0021] Furthermore, in each of the above winding machines, the nozzle unit may be equipped with a fixing device for fixing the first operating member to the unit body at a first position in the middle of the movable range along the track, and a release device for releasing the fixing. The winding machine may also be equipped with a second operating unit for operating the release device, and the nozzle may face the first direction when the first operating member is in the first position. The second control unit may, before forming the winding, move the first operating member to the first position using the first operating unit and fix it to the unit body with the fixing device, move the first operating unit away from the first operating member while forming the winding, and then, before forming the jumper wire, operate the release device with the second operating unit to release the fixing of the first operating member, and then operate the first operating member with the first operating unit to direct the nozzle in the second direction.

[0022] Alternatively, in each of the winding machines described above, the nozzle unit may include a fixing device for fixing the first operating member to the unit body at a first position in the middle of the movable range along the track, and a release device for releasing the fixing, wherein the fixing device includes a rigid body that can be accommodated across a through hole provided in the first operating member and a first recess provided in the unit body, and the release device may include a second operating member that is slidable inside the first operating member parallel to the movement path of the first operating member and has a second recess capable of accommodating a part of the rigid body. Furthermore, the second operating member may be provided with a second biasing unit that biases the first operating member toward the side opposite to the side on which the first operating member is connected to the nozzle support, wherein when the second operating member is not being operated, the second recess is positioned away from the position facing the through hole.

[0023] Furthermore, the winding machine is equipped with a second operating section for operating the second operating member, and the second control unit operates the first operating section and the second operating section in conjunction before forming the winding, moving the first operating member to the first position and the second operating member to a corresponding position while the rigid body is housed across the through hole and the second recess, and then by operating the second operating section, the rigid body is housed across the through hole and the first recess, and the first operating section is fixed to the unit body, and while forming the winding, the first operating section is operated from the first operating member It is preferable to move the first and second operating parts apart and the second operating part apart from the second operating member, and then, before forming the connecting wire, operate the second operating member with the second operating part to move the second operating member to a position where the second recess faces the through hole, and further operate the first and second operating parts in conjunction, and operate the first operating member while maintaining the relative position of the second operating member with respect to the first operating member, thereby releasing the fixing of the first operating part to the unit body so that the rigid body is housed across the through hole and the second recess, and the nozzle can be directed in the second direction.

[0024] The present invention is not limited to the nozzle unit and winding machine described above, but can be implemented in any form, such as a winding method, a system comprising multiple devices, a control program for the winding machine, a recording medium storing such a program, an armature wound by the winding machine, or a rotating electric machine equipped with such an armature. Furthermore, it can also be implemented as a nozzle unit used for purposes other than mounting on a winding machine, or as a method of using such a nozzle unit.

[0025] According to the configuration of the present invention described above, it is possible to simplify the configuration of the nozzle unit and winding machine and to facilitate their manufacture.

[0026] Figure 1 is a side view showing the schematic configuration of a winding machine according to one embodiment of the present invention. Figure 1 is a functional block diagram showing the configuration of functions related to the driving and control of the nozzle unit and workpiece in the winding machine shown in Figure 1. Figure 3A is a diagram showing the configuration of a workpiece to be wound by the winding machine shown in Figure 1, with Figure 3A being a bottom view and Figure 3B being an end view along the line 3B-3B in Figure 3A. Figures 4A to 4C are side views of the nozzle unit of the winding machine shown in Figure 1 in different states. Figures 5A to 5C are diagrams showing the configuration of the internal mechanism of the nozzle unit shown in Figures 4A to 4C, with the front side of the unit body removed, and the slide shaft 133 and its internal structure shown in cross-section. Figure 5D is a diagram showing a different state of the nozzle unit from Figures 4A to 4C in the same format as Figures 5A to 5C. Figures 6A and 6B are diagrams for explaining the operation of the lock shaft 134 in the nozzle unit in the state shown in Figure 5A by the pad drive unit 50. Figure 6C is a schematic side view showing the area around the nozzle support 110 as seen from the left side of Figure 5A, for the purpose of explaining the internal structure of the nozzle support 110. Figure 7A is an exploded view showing the configuration of the slide shaft 133 and lock shaft 134 shown in Figures 5A to 5D. Figure 7B is a bottom view of the slide shaft 133. Figure 7C is a plan view of the pad receiver 113 shown in Figure 7A. Figure 7D is a cross-sectional view along the longitudinal direction of the slide shaft 133. Figure 7E is a cross-sectional view of the slide shaft 133 along the line 7E-7E. Figure 7F is an enlarged cross-sectional view of the bolt 137 and nut 138 shown in Figures 5A to 5D. Figures 8A to 8C are diagrams showing the configuration around the nozzle support 110 of the nozzle unit in the state shown in Figures 5A to 5C, focusing on the wire supply path of the wire W. Figures 9A to 9E are diagrams showing, step by step, an example of the winding procedure using the winding machine shown in Figure 1. Figures 10A to 10C are diagrams illustrating, step by step, another example of the winding procedure using the winding machine shown in Figure 1.

[0027] One embodiment of the present invention will be described below with reference to the diagram.

[0028] First, we will describe a winding machine, which is one embodiment of the present invention, equipped with a nozzle unit, which is one embodiment of the present invention. First, we will describe the schematic configuration of this winding machine 1 with reference to Figure 1. Figure 1 is a side view showing the schematic configuration of the winding machine 1.

[0029] The winding machine 1, as will be described in detail later with reference to Figure 3A, is a device for winding a workpiece 30, which is an armature equipped with multiple magnetic poles (salliance poles) 32 that protrude radially inward from the annular portion 31. The wound workpiece 30 can be used, for example, as a stator for an inner rotor type motor.

[0030] The winding machine 1 comprises a base 2, a nozzle unit holding section 10 provided on the base 2, a workpiece holding section 20 extending to the right in the figure from the base 2, a pad drive section 50 positioned on the upper side in the figure, and a nozzle unit 100 held by the nozzle unit holding section 10. Figure 1 shows the state in which the nozzle 111 of the nozzle unit 100 is facing a first direction parallel to the protruding direction of the salient pole 32 of the workpiece 30, that is, a state suitable for forming windings on the salient pole 32, and the workpiece holding section 20 and the workpiece 30 are shown only in approximate arrangement with dashed lines.

[0031] The nozzle unit holding unit 10 is a unit that holds the nozzle unit 100 and can move the nozzle unit 100. The nozzle unit holding unit 10 includes a nozzle unit fixing unit 11 for fixedly holding the nozzle unit 100, and the nozzle unit 100 held by the nozzle unit fixing unit 11 can be independently translated in the X direction (depth direction in the figure), Y direction (horizontal direction in the figure), and Z direction (up and down direction in the figure) as shown in the figure. The drive mechanisms 12 to 14 are the mechanisms for this translational movement. The motor that serves as the drive source is provided inside the base 2.

[0032] The nozzle unit fixing part 11 holds a portion of the unit body 120 of the nozzle unit 100. The nozzle unit 100 may be easily detachable or it may be fixed with bolts or the like. The configuration of the drive mechanisms 12 to 14 and their drive sources may use known technologies as appropriate, so a detailed explanation will be omitted. The details of the configuration of the main parts of the nozzle unit 100 will be described later with reference to Figures 4A to 8C.

[0033] The workpiece holding unit 20 is a unit that holds the workpiece 30 and can move the workpiece 30. The workpiece holding unit 20 includes a workpiece mounting unit 21 for detachably holding the workpiece 30, and the workpiece 30 held by the workpiece mounting unit 21 can be independently translated in the radial direction (Y direction) and the rotation axis direction (Z direction) of the workpiece 30, as well as rotated (indexed rotation) around the rotation axis. A known configuration can be appropriately adopted for the workpiece holding unit 20, so a detailed explanation is omitted. In the arrangement shown in Figure 1, the rotation axis of the workpiece 30 is oriented in the Z direction, but the arrangement is not limited to this.

[0034] Furthermore, although this description explains how both the nozzle unit 100 and the workpiece 30 can be moved in the rotational axis direction of the workpiece 30, axial movement may be limited to only one of them. In this case, it is generally preferable to move the lighter nozzle unit 100, from the viewpoint of simplifying the apparatus.

[0035] The pad drive unit 50 is a unit that operates the nozzle unit 100, which is held in the nozzle unit holding unit 10, to change the orientation of the nozzle 111. The pad drive unit 50 is fixed to the base 2 via a vertical frame 3 that rises from the base 2 and a horizontal frame 4 fixed to the top of the vertical frame 3.

[0036] The pad drive unit 50 comprises a housing 51, a first drive source 52a and a second drive source 52b arranged inside the housing 51, and an outer rod 53a and an inner rod 53b. Linear drive sources such as air cylinders and solenoids can be used as the first drive source 52a and the second drive source 52b, respectively.

[0037] The first drive source 52a drives the outer rod 53a and the inner rod 53b together in the Z direction relative to the housing 51. The second drive source 52b is provided connected in series to the tip of the first drive source 52a and drives the inner rod 53b relative to the outer rod 53a in the Z direction. The drive sources are configured in this way because the main operations performed when operating the nozzle unit 100, which will be described later, are the operation of moving the outer rod 53a and the inner rod 53b together, and the operation of moving only the inner rod 53b. However, by combining the operations of the first drive source 52a and the second drive source 52b, it is possible to drive the outer rod 53a and the inner rod 53b independently in the Z direction as desired. Alternatively, the first drive source 52a and the second drive source 52b may individually drive the outer rod 53a and the inner rod 53b relative to the housing 51 in the Z direction.

[0038] In the diagram of the outer rod 53a, an outer pad 55a is provided at the lower end. The inner rod 53b is positioned inside the outer rod 53a, and an inner pad 55b is provided at the end of the inner rod 53b. The inner pad 55b has the same or slightly smaller diameter as the inner rod 53b and can be accommodated in the gap 56 (see Figure 6A) that is formed inside the outer rod 53a as the inner rod 53b retracts.

[0039] The outer pad 55a corresponds to the first operating part and is used to press the slide shaft 133 (which actually contacts the pad receiver 113), which is the first operating member in the nozzle unit 100. The inner pad 55b corresponds to the second operating part and is used to press the lock shaft 134 (which actually contacts its tip 134d), which is the second operating member in the nozzle unit 100. The outer rod 53a and inner rod 53b are driven by the first drive source 52a and the second drive source 52b, and by appropriately operating the slide shaft 133 and lock shaft 134, the nozzle unit 100 can be operated to change the direction of the nozzle 111 or fix it in a predetermined position. Details of this operation will be described later.

[0040] The pad drive unit 50 only needs to be able to drive the outer rod 53a and inner rod 53b in the Z direction; driving in other directions is not essential. However, if the nozzle unit 100 moves in the X and Y directions during winding onto the workpiece 30, and it is necessary to operate the slide shaft 133 and lock shaft 134 at different positions in the X and Y directions, it is conceivable to provide the pad drive unit 50 with a mechanism that moves the outer rod 53a and inner rod 53b in the X and Y directions in accordance with the nozzle unit 100. In addition, the inner pad 55b should be configured with a diameter similar to that of the tip portion 134d of the lock shaft 134. In this embodiment, it is not necessary to push the lock shaft 134 into the pad receiver 113, so the inner pad 55b may have a diameter slightly larger than the tip portion 134d.

[0041] When winding the workpiece 30, the nozzle 111 is moved relative to the workpiece 30. This relative movement can be achieved by any of the following methods: (1) moving only the nozzle unit 100, (2) moving both the nozzle unit 100 and the workpiece 30, or (3) moving only the workpiece 30.

[0042] However, from the standpoint of simplifying the configuration of the pad drive unit 50, it is preferable to achieve relative movement in the X and Y directions using method (3). In this case, if the position is aligned in advance, the orientation of the nozzle 111 can be changed at any time during winding by driving only the outer rod 53a and the inner rod 53b in the Z direction. Of course, even in this case, there is no prejudice to adopting methods (1) or (2) for movement in the Z direction.

[0043] Next, the functional block diagram of FIG. 2 shows the functional configuration related to the driving and control of the nozzle unit and the work 30 in the winding machine 1 shown in FIG. 1. As shown in FIG. 2, the nozzle unit holding portion 10 includes a horizontal linear driving portion 16 for causing the nozzle unit 100 to translate in the X and Y directions, and a vertical linear driving portion 17 for causing the nozzle unit 100 to translate in the Z direction. These correspond to the driving mechanisms 12 to 14 in FIG. 1 and the motors serving as their driving sources. Further, the wire supply portion 18 is a unit that supplies a wire to be discharged from the nozzle 111 to the nozzle unit 100.

[0044] The work holding portion 20 includes a rotational driving portion 26 for causing the work 30 to index-rotate, a radial linear driving portion 27 for causing the work 30 to translate in the radial direction, and an axial linear driving portion 28 for causing the work 30 to translate in the axial direction. Each of these driving portions includes a motor serving as a driving source. The pad driving portion 50 includes a first driving portion 57a for moving the outer rod 53a and the inner rod 53b integrally in the Z direction, and a second driving portion 57b for moving the inner rod 53b in the Z direction. These respectively correspond to the first driving source 52a and the second driving source 52b in FIG. 1.

[0045] The winding machine 1 includes a control unit 60 that operates by executing software, a dedicated control circuit, or a combination thereof. The control unit 60 controls the operations of the respective parts in FIG. 2 according to the settings input to the winding machine 1 or stored in advance, so that the winding machine 1 can wind a wire including the formation of a crossover wire around the work 30.

[0046] Next, FIGS. 3A and 3B show an example of the configuration of the work 30. FIG. 3A is a bottom view of the work 30, and FIG. 3B is an end view taken along the line 3B-3B in FIG. 3A. That is, FIG. 3A is a view of the work 30 seen from the arrow 3A side in FIG. 3B. Further, in FIG. 3B, a part of the contour of the work 30 that can be seen on the back side of the end face appearing on the line 3B-3B is shown by a phantom line.

[0047] The workpiece 30 includes a plurality of magnetic poles (salient poles) 32 provided so as to project radially inward from the annular portion 31. Here, nine salient poles 32 are provided. The annular portion 31 and the salient poles 32 are configured as a continuous integral metal component as shown in FIG. 3B. Insulating materials 43 and 33 made of resin are disposed on the front side and the back side of this metal component, respectively. In FIG. 3A, all that is shown in the figure other than a part of the annular portion 31 is the insulating material 33 provided on the back side of the workpiece 30.

[0048] The insulating material 33 on the back side includes a winding arrangement portion 34, an inner flange portion 35, an outer flange portion 36, a claw portion 37, and a base portion 38. The insulating material 43 on the front side includes a winding arrangement portion 44, an inner flange portion 45, an outer flange portion 46, a claw portion 47, and a base portion 48. The winding arrangement portion 34 of the insulating material 33 is a generally flat region sandwiched between the inner flange portion 35 and the outer flange portion 36, and the same applies to the winding arrangement portion 44 of the insulating material 43. The windings around the salient poles 32 are wound around the peripheries of these winding arrangement portions 34 and the winding arrangement portion 44.

[0049] The jumper wire can be formed circumferentially along the outer flange portion 36 on the radially outer side of the outer flange portion 36 on the back side of the workpiece 30. In this case, the outer flange portion 36 functions as a regulating member for positioning the jumper wire. Also, the claw portion 37 formed radially outward at the end of the outer flange portion 36 and the base portion 38 having substantially the same thickness as the winding arrangement portion 34 and extending outside the outer flange portion 36 also function as regulating members for regulating the axial position of the jumper wire. Instead of or in addition to the claw portion 37 and the base portion 38, it is also conceivable to provide a recess for accommodating the jumper wire on the radially outer surface of the outer flange portion 36.

[0050] Further, the outer flange portion 36 is provided with a slit 36a for pulling out the wire after winding around the salient pole 32 to the outside for forming the jumper wire, and a slit 36b for pulling in the wire after forming the jumper wire to the inside for winding around the next salient pole 32. The slit 36a is formed at a position corresponding to between adjacent salient poles 32, and the slit 36b is formed at a position corresponding to the salient pole 32.

[0051] The connecting wires can be formed to pass through these slits 36a and 36b and run along the outer circumferential surface of the outer flange portion 36, for example, as shown by the dashed arrow L in Figure 3A. It is arbitrary which slit 36a the connecting wires are drawn from and which slit 36b the connecting wires are drawn from. In addition, the dashed lines in Figure 3B represent the outlines of the outer flange portions 36, 46, inner flange portions 35, 45 and salient poles 32 located on the inner side of the end face, as well as the outline of the outer flange portion 36 located on the inner side of slit 36b in the lower right of the figure, and the outline of the outer flange portion 46 located on the inner side of slit 46b in the upper right of the figure. Furthermore, on the outer side, i.e., the insulating material 43 side, slits 46a and 46b corresponding to slits 36a and 36b are also provided in the outer flange portion 46 (see also Figure 10A), and it is possible to form connecting wires on the insulating material 43 side in the same way as on the insulating material 33 side. It is also possible to form connecting wires alternately on the insulating material 33 side and the insulating material 43 side.

[0052] Next, the configuration and operation of the nozzle unit 100 will be described with reference to Figures 4A to 8C. Figures 4A to 4C are side views of the nozzle unit 100 provided in the winding machine shown in Figure 1. Figure 4A shows the nozzle 111 facing in a direction suitable for winding onto the salient pole 32, Figure 4B shows the nozzle 111 facing in a direction suitable for forming a connecting wire on the front side of the workpiece 30, and Figure 4C shows the nozzle 111 facing in a direction suitable for forming a connecting wire on the back side of the workpiece 30.

[0053] Figures 5A to 5C show the internal mechanism of the nozzle unit 100 shown in Figures 4A to 4C, respectively, with the front side of the unit body 120 removed, and the slide shaft 133 and its internal structure shown in a cross-section along its central axis parallel to the plane of the paper. Figure 5D shows a different state of the nozzle unit 100 from that shown in Figures 4A to 4C, in a similar format to Figures 5A to 5C.

[0054] Figures 6A and 6B are diagrams illustrating the operation of the lock shaft 134 in the nozzle unit 100 in the state shown in Figure 5A by the pad drive unit 50, respectively. Figure 6C is a schematic side view showing the area around the nozzle support unit 110 as seen from the left side of Figure 5A, illustrating the internal configuration of the nozzle support unit 110. In Figure 6C, the shaft 121 and nozzle 111 located towards the back of the figure are not shown. Figures 4A to 6B show the nozzle unit 100 in a state where it is not holding the wire W.

[0055] Figure 7A is an exploded view showing the configuration of the slide shaft 133 and lock shaft 134 shown in Figures 5A to 5D. Figure 7B is a bottom view of the slide shaft 133. Figure 7C is a plan view of the pad holder 113 shown in Figure 7A. Figure 7D is a cross-sectional view of the slide shaft 133 along the longitudinal direction. Figure 7E is a cross-sectional view of the slide shaft 133 along the line 7E-7E. Figure 7F is an enlarged cross-sectional view showing the cross-sections of the bolt 137 and nut 138 shown in Figures 5A to 5D. Figures 8A to 8C are diagrams showing the configuration near the nozzle support portion 110 of the nozzle unit in the state shown in Figures 5A to 5C, focusing on the wire supply path of the wire W. In Figures 8A to 8C, the front surfaces of the unit body 120 and nozzle support portion 110 shown in Figure 4A, etc., have been removed to make the wire supply path of the wire W easier to understand.

[0056] First, the configuration of the nozzle unit 100 will be described. As shown in these figures, the nozzle unit 100 comprises a nozzle 111 that feeds out wire from its tip, a nozzle support part 110 that supports the nozzle 111, and a slide shaft 133 and a link shaft 140 which are operating members for operating the nozzle support part 110. These are arranged inside the unit body 120 with a portion exposed. The slide shaft 133 and the link shaft 140 constitute the first operating member, with the slide shaft 133 being its first part and the link shaft 140 being its second part.

[0057] The nozzle 111 can discharge wire W, such as a conductor, for forming windings and jumper wires from the opening at its tip. The nozzle 111 has a generally cylindrical shape and is equipped with a transport path 111a (see Figures 8A to 8C), which is a cavity for passing the wire W through. One side of the unit body 120 is shown in Figures 4A to 4C. Its outer shape is such that the upper part of the figure, where the bolts 127 and nuts 128 described later are provided, is cylindrical and coaxial with the slide shaft 133 housed inside, while the other parts are columnar when the surface shown in Figures 4A to 4C is considered the bottom surface. It also has a cavity between the internally formed walls 125 and 126, as shown in Figures 5A to 5D. It is also equipped with an axis 122a and a roller 122 that can rotate around the axis 122a. The roller 122 is for guiding the wire W fed out from the nozzle 111 (see Figures 8A to 8C), and may be a driven roller.

[0058] The nozzle support portion 110 is supported by a first shaft, shaft 121, which is provided at one longitudinal end (lower side in the figure) of the unit body 120, so as to be rotatable around shaft 121. Shaft 121 penetrates the unit body 120, and its end is exposed to the outside of the nozzle unit 100 as shown in Figures 4A to 4C. The back surface of the nozzle unit, as shown in Figure 5A, etc., has the same shape as the surface shown in Figure 5, etc. As shown in Figure 6C, the portion sandwiched between these surfaces is generally hollow, and a part of the nozzle 111, various shafts, rollers, etc., are arranged within this hollow.

[0059] The nozzle support portion 110 has a second shaft 132 formed at a different position from the shaft 121, and the link shaft 140 is connected to the nozzle support portion 110 so that one end of it can rotate around this shaft 132. The other end of the link shaft 140 is connected by shaft 131 to the connecting portion 133b on one end of the slide shaft 133 so that it can rotate around shaft 131.

[0060] Furthermore, a transport path for passing the wire W supplied to the nozzle 111 is also formed inside the nozzle support section 110 (see Figures 8A to 8C). As this transport path, the nozzle support section 110 is equipped with rollers 123 and 124 for guiding the wire W toward the nozzle 111. Roller 123 is rotatable around shaft 123a. Roller 124 is rotatable around shaft 132, which is common to the link shaft 140. As shown in Figure 6C, the tip of the link shaft 140 through which shaft 132 passes has bifurcated legs 142, 142, and roller 124 is positioned between these legs 142, 142. Rollers 123 and 124 may be driven rollers.

[0061] As shown in Figures 7A and 7D, a connecting portion 133b for connecting the link shaft 140 is formed at one end (lower side in the figure) of the slide shaft 133, and a through hole 133c for inserting the shaft 131 is provided in the connecting portion 133b. A male threaded portion 133a for screwing the pad receiver 113 is provided at the other end (upper side in the figure) of the slide shaft 133. The central part of the slide shaft 133, sandwiched between the connecting portion 133b and the male threaded portion 133a, is cylindrical and has a cylindrical inner hole 133d. Furthermore, as shown in Figure 7E, three through holes 133e are formed on the side surface of this cylindrical part at positions 120 degrees apart. In Figures 5A to 5D, only one of the three through holes 133e is shown.

[0062] As shown in Figures 5A to 5D, the slide shaft 133 is inserted into a cylindrical passage formed between the wall portions 125 and 126 that constitute the side surface of the unit body 120, and is positioned inside the unit body 120 so as to be movable along this passage. This passage functions as a trajectory that defines the linear movement path of the slide shaft 133 in the Z direction. Since the slide shaft 133 is connected to the link shaft 140, it cannot rotate freely within the trajectory, and can only move translationally in the direction along the trajectory.

[0063] Figures 5B and 5C show the ends of the expected range of motion of the slide shaft 133 when the nozzle unit 100 is in use. As can be seen from these figures, no matter where the slide shaft 133 is located within the range of motion, a portion of the slide shaft 133 opposite to the link shaft 140 protrudes outside the unit body 120.

[0064] A pad receiver 113 is attached to the end of the slide shaft 133 that protrudes from the unit body 120. The pad receiver 113 has a female threaded portion 113a on the inner surface of one end that screws into the male threaded portion 133a of the slide shaft 133, and a through hole 113b is formed at the other end. In addition, four flat chamfered portions 113c are formed on the outer circumferential surface of the pad receiver 113 for turning with a monkey wrench or the like (see Figure 7C). This pad receiver 113 is attached to the slide shaft 133 by screwing it in after the lock shaft 134, which will be described later, is housed inside the slide shaft 133.

[0065] Furthermore, as shown in Figures 4A to 4C, a coil spring 114 is provided on the outer circumference of the portion of the slide shaft 133 that protrudes from the unit body 120. One end of the coil spring 114 abuts against the lower end of the pad receiver 113, and the other end abuts against the end face of the unit body 120. The coil spring 114 is a first biasing part that biases the slide shaft 133 in the Z1 direction in Figure 5D, that is, in the direction that protrudes outwards from the unit body 120 on the side opposite to the side connected to the nozzle support portion 110 via the link shaft 140. In Figures 5A to 6B, this coil spring 114 is shown by a dashed line.

[0066] The positions shown in Figures 4B and 5B represent the Z1-direction end of the expected range of motion of the slide shaft 133 when the nozzle unit 100 is in use. At this position, the coil spring 114 is slightly compressed, and the position of the slide shaft 133 can be controlled by the distance the outer pad 55a pushes the slide shaft 133 in. However, it is also possible to allow the coil spring 114 to be in its natural state at this position.

[0067] On the other hand, the positions shown in Figures 4C and 5C are the ends of the expected range of motion of the slide shaft 133 on the Z2 side. On this side as well, the range of motion of the slide shaft 133 can be controlled by the distance the outer pad 55a pushes the slide shaft 133 in. The maximum range of motion of the slide shaft 133 may be wider than the expected range of motion of the slide shaft 133 when the nozzle unit 100 is in use.

[0068] Furthermore, as shown in Figures 5A to 5D, three through-holes with screw threads are formed in the wall portions 125 and 126 of the unit body 120, at circumferential positions corresponding to each through-hole 133e of the slide shaft 133 and perpendicular to the longitudinal direction of the unit body 120. A bolt 137 is screw-connected to each through-hole so as to penetrate radially from the outer surface, and is fixed with a nut 138. Figures 5A to 5D show only one set of bolts 137 and nuts 138 screw-connected to the wall portion 125. Figures 4A to 4C show another set of bolts 137 and nuts 138 on the front left side in addition to this. As shown in Figure 7F, a first recess 137a is formed at the tip of each bolt 137.

[0069] As shown in Figure 5A, a rigid steel ball 136 can be accommodated in each through-hole 133e (see Figure 7D) of the slide shaft 133 and in the corresponding first recess 137a of the bolt 137, and in this state, the slide shaft 133 cannot slide along the track within the unit body 120. That is, the slide shaft 133 is fixed to the unit body 120, and the steel ball 136 functions as a fixing device responsible for this fixation. In this example, the surface of the first recess 137a is formed to be part of a sphere, corresponding to the size and shape of the portion of the steel ball 136 that is accommodated in the first recess 137a. However, it may also be formed as a polygonal shape consisting of multiple planes. In any case, it is preferable that the end of the first recess 137a on the slide shaft 133 side is formed to expand toward the slide shaft 133 in at least the Z1 and Z2 directions, and this is done in this example.

[0070] A lock shaft 134, which is a second operating member, is inserted into the inner bore 133d of the slide shaft 133. The lock shaft 134 is a generally cylindrical member with approximately the same diameter as the inner bore 133d, and can move within the inner bore 133d in the Z direction parallel to the direction of movement of the slide shaft 133. A tapered surface 134a is formed at the tip of the lock shaft 134 in the direction of insertion into the inner bore 133d to facilitate insertion. Furthermore, an annular second recess 134b is formed near the tapered surface 134a by tapering the side surface of the lock shaft 134.

[0071] The second recess 134b has approximately the same depth as the first recess 137a of the bolt 137 and is intended to accommodate a portion of the steel ball 136 along with each through hole 133e when releasing the fixation of the slide shaft 133 to the unit body 120. The second recess 134b is provided around the entire circumference of the lock shaft 134 so that the accommodation of the steel ball 136 is not hindered even if the lock shaft 134 rotates within the inner hole 133d. However, if a mechanism to prevent the rotation of the lock shaft 134 is provided, it is sufficient to provide the second recess 134b within an angular range that is sufficient to accommodate the steel ball 136.

[0072] Furthermore, a flange portion 134c and a spring 134e are provided near the end of the lock shaft 134 opposite to the tapered surface 134a. The flange portion 134c has a larger diameter than the through hole 113b of the pad receiver 113 and is a restricting member for restricting the upward movement range of the lock shaft 134 in the diagram. The part of the lock shaft 134 that is further forward than the flange portion 134c is the tip portion 134d, which protrudes from the pad receiver 113 mounted on the slide shaft 133 and is operated by the inner pad 55b described above (see Figure 5A). The tip portion 134d may have a different diameter from the part located inside the slide shaft 133.

[0073] The spring 134e has one end in contact with or fixed to the flange portion 134c, and the other end in contact with the end of the slide shaft 133. This spring 134e is a second biasing part that biases the lock shaft 134 in the Z1 direction, that is, in the direction that it protrudes from inside the slide shaft 133 toward the outside of the unit body 120. Even in the state shown in Figure 5A, the spring 134e is slightly compressed and biases the lock shaft 134 in the Z1 direction, and the lock shaft 134 is held with the flange portion 134c in contact with the Z1 side surface of the pad receiver 113.

[0074] The nozzle unit 100 having the above configuration is expected to operate as follows when winding wire onto the workpiece 30. In basic operation, the outer pad 55a and the inner pad 55b are operated in conjunction to control the slide shaft 133 and the lock shaft 134, moving both in the Z direction. As the slide shaft 133 moves, the link shaft 140 also moves in the Z direction, which moves the axis 132 of the nozzle support part 110 connected to the link shaft 140 roughly in the Z direction, causing the nozzle support part 110 to rotate around the axis 121. When the nozzle support part 110 rotates, the nozzle 111 also rotates simultaneously, thereby changing the orientation of the nozzle 111.

[0075] Figures 4A to 4C show three typical nozzle orientations. Figure 4A shows the nozzle 111 facing in the P1 direction, which is perpendicular to the longitudinal direction of the unit body 120. This direction is perpendicular to the movement direction of the outer pad 55a and inner pad 55b, as well as the movement direction of the slide shaft 133 and lock shaft 134 that are associated with them. In this state, the position of the slide shaft 133 is the first position, which is an intermediate position within the range of motion of the slide shaft 133.

[0076] It is preferable to position the nozzle unit 100 such that direction P1 is parallel to the protruding direction of the salient pole 32 around which the winding is wound (this also corresponds to a third direction), and to perform winding around the salient pole 32 in this state. This allows the movement of the workpiece 30 in the rotation axis direction and the movement of the outer pad 55a and inner pad 55b for operating the nozzle unit 100 to be controlled on the same axis, making it easier to control the entire winding machine 1. However, this arrangement is not essential, and it is also possible to arrange the nozzle 111 so that it faces a direction parallel to the protruding direction of the salient pole 32 around which the winding is wound when the nozzle 111 faces a direction different from P1.

[0077] Figure 4B shows the state in which the nozzle 111 is rotated clockwise by an angle θ1 from the P1 direction to face the P2 direction. The P2 direction is a state suitable for forming a connecting line on the front side of the workpiece 30, in a state in which the nozzle unit 100 does not pass inside the annular portion 31 of the workpiece 30, as will be described later using Figure 10C. This P2 direction is a fourth direction from the position where the nozzle has retracted from the annular portion 31 toward the nozzle unit holding portion 10 side toward the connecting line formation position side of the annular portion 31 (radially outward of the outer flange portion 46).

[0078] Figure 4C shows the state in which the nozzle 111 is facing the P3 direction, which is rotated counterclockwise by an angle θ2 from the P1 direction. The P3 direction is a state suitable for forming a connecting line on the back side of the workpiece 30, as the nozzle unit 100 has passed inside the annular portion 31 of the workpiece 30, as will be described later using Figure 9E. This P3 direction is a second direction from the position where the nozzle protrudes from the annular portion 31 toward the connecting line formation position side of the annular portion 31 (radially outward of the outer flange portion 36).

[0079] The values ​​of θ1 and θ2 can be appropriately determined according to the size, structure, etc., of the workpiece 30. They may be set arbitrarily by the operator. The values ​​of θ1 and θ2 do not need to be equal. For example, the inventors' experiments have confirmed that even if θ1 and θ2 are each around 45 degrees or slightly smaller, there is usually no problem in forming the connecting wires. Therefore, even if the movable range of the nozzle 111 is around 90 degrees or less, connecting wires can be formed on both the front and back sides of the workpiece 30.

[0080] Furthermore, when forming the jumper wire, the winding machine 1 operates with the outer pad 55a and inner pad 55b pressing the slide shaft 133 and the lock shaft 134 in the Z2 direction. In this state, the pad drive unit 50 must move simultaneously with the movement of the nozzle unit 100, which limits the speed at which the nozzle unit 100 and the workpiece 30 can be moved relative to each other. However, the jumper wire is usually only wound around the annular portion 31 at an angle less than one full turn, so operating in this state does not significantly affect the winding speed.

[0081] On the other hand, when winding a winding on the salient pole 32, the winding machine 1 operates with the nozzle 111 facing the P1 direction, the slide shaft 133 fixed to the unit body 120, and the outer pad 55a and inner pad 55b separated from the slide shaft 133 and lock shaft 134. Furthermore, winding is performed mainly by moving the nozzle unit 100 rather than the workpiece 30. As a result, winding can be performed by moving only the lightweight nozzle unit 100, without moving the heavy pad drive unit 50 or the workpiece 30, thus enabling extremely high-speed winding. Since index rotation of the workpiece 30 can be performed relatively easily and at high speed, relative movement in the Z direction may be achieved by moving the nozzle unit 100, and relative rotational movement may be achieved by moving the workpiece 30.

[0082] Next, we will explain the operation of fixing and releasing the slide shaft 133 to the unit body 120. This explanation will be given with reference to the movement of the steel balls 136 shown in Figures 5A to 5D, but the other two steel balls 136 not shown in Figures 5A to 5D operate in a similar manner.

[0083] First, in the state shown in Figures 4A and 5A, the through hole 133e of the slide shaft 133 is positioned opposite the first recess 137a of the bolt 137, and the steel ball 136 is housed spanning both the through hole 133e and the first recess 137a. In this state, the slide shaft 133 cannot slide along the track and is fixed to the unit body 120. To ensure this fixation is relatively strong, the inner diameter of the through hole 133e is made approximately the same size as the outer diameter of the steel ball 136.

[0084] Furthermore, in the states shown in Figures 4A and 5A, the second recess 134b of the lock shaft 134 is positioned away from the position opposite the through hole 133e. Therefore, even if the steel ball 136 is in contact with the surface of the first recess 137a that expands toward the slide shaft 133, the side wall of the lock shaft 134 acts as an obstruction, preventing it from rolling out of the first recess 137a.

[0085] When attempting to release the lock of the slide shaft 133 from the state shown in Figures 4A and 5A, the inner pad 55b pushes the tip 134d of the lock shaft 134 in the Z2 direction. When the tip 134d is pushed down to a position where it aligns with the end of the pad receiver 113 in the Z direction, as shown in Figure 5D, the second recess 134b comes into a position opposite the through hole 133e and the first recess 137a (the second recess 134b is formed in this position).

[0086] As a result, the steel ball 136 rolls out of the first recess 137a, and the steel ball 136 is able to be accommodated across the through hole 133e and the second recess 134b. If the shape of the first recess 137a (for example, the way the side facing the slide shaft 133 widens) is such that a force is applied to roll the steel ball 136 toward the lock shaft 134 in the state shown in Figure 5A, then it is also possible to accommodate the steel ball 136 across the through hole 133e and the second recess 134b simply by moving the second recess 134b to a position opposite the through hole 133e. Figure 5D shows this state. As a result, the slide shaft 133 can move freely in the Z direction, and its fixation to the unit body 120 is released. The lock shaft 134 that performs this function corresponds to a release device.

[0087] On the other hand, even if the shape of the first recess 137a is not such that it applies a force to roll the steel ball 136 toward the lock shaft 134 in the state shown in Figure 5A, if the slide shaft 133 and the lock shaft 134 are moved slightly in the Z1 direction while maintaining the state in which the second recess 134b and the through hole 133e face each other, that is, while maintaining the relative position of the slide shaft 133 and the lock shaft 134, the steel ball 136 is gradually pushed toward the lock shaft 134 by the side of the first recess 137a that widens toward the slide shaft 133 on the Z1 side, and becomes housed across the through hole 133e and the second recess 134b. As a result, the slide shaft 133 becomes freely movable in the Z direction, and its fixation to the unit body 120 is released. After that, if the slide shaft 133 and the lock shaft 134 are moved by a sufficient distance, the state shown in Figure 5B can be achieved. The side surface of the first recess 137a widens toward the slide shaft 133, which allows the steel ball 136 to move smoothly.

[0088] During the above movement, the outer pad 55a is moved in the Z1 direction at an appropriate speed, and the slide shaft 133 moves in the Z1 direction due to the biasing force of the coil spring 114. If the position of the inner pad 55b in the Z direction is aligned with that of the outer pad 55a, the lock shaft 134 moves in the Z1 direction together with the slide shaft 133, with its tip 134d remaining in contact with the inner pad 55b due to the biasing force of the spring 134e.

[0089] Conversely, if the slide shaft 133 and lock shaft 134 are moved slightly in the Z2 direction while maintaining the state in which the second recess 134b and the through hole 133e face each other from the state in Figure 5D, the steel ball 136 is gradually pushed out toward the lock shaft 134 by the side of the first recess 137a that widens toward the slide shaft 133 on the Z2 side, and becomes housed across the through hole 133e and the second recess 134b. As a result, the slide shaft 133 becomes freely movable in the Z direction, and its fixation to the unit body 120 is released. After that, if the slide shaft 133 and lock shaft 134 are moved a sufficient distance, the state in Figure 5C can be achieved.

[0090] During the above movement, the outer pad 55a is moved in the Z2 direction, and consequently the slide shaft 133 is moved against the biasing force of the coil spring 114. If the position of the inner pad 55b in the Z direction is aligned with that of the outer pad 55a, the lock shaft 134 moves in the Z2 direction together with the slide shaft 133, with its tip 134d remaining in contact with the inner pad 55b due to the biasing force of the spring 134e.

[0091] Furthermore, the side surface of the second recess 134b on the side in the direction of movement of the lock shaft 134 (Z direction) is formed smoothly. For this reason, even if the steel ball 136 is housed across the through hole 133e and the second recess 134b, the slide shaft 133 cannot be firmly fixed to the lock shaft 134. However, if the lock shaft 134 is moved by the same amount when the slide shaft 133 is operated to move it, the slide shaft 133 can be moved while substantially maintaining its relative position with the lock shaft 134, even if the slide shaft 133 is not fixed.

[0092] Furthermore, if you want to transition from the state shown in Figure 5B or Figure 5C to the state shown in Figure 5A, first move the slide shaft 133 and lock shaft 134 in the opposite direction to the above, to the state shown in Figure 5D. From this state, move the inner pad 55b in the Z1 direction and release only the pressure on the lock shaft 134, and the lock shaft 134 will move in the Z1 direction due to the biasing force of the spring 134e. At this time, the steel ball 136 is gradually pushed out of the second recess 134b by the smooth side surface of the second recess 134b and pushed into the first recess 137a. As a result, the steel ball 136 returns to a state where it is housed across the through hole 133e and the first recess 137a, and the slide shaft 133 is fixed to the unit body 120. That is, it returns to the state shown in Figure 5A. The side surface of the second recess 134b should be formed to a degree that allows the movement of the steel ball 136.

[0093] Furthermore, the fact that the side surface of the second recess 134b is formed smoothly also means that even if the force moving the lock shaft 134 in the Z1 direction is weak, the steel ball 136 can be moved toward the first recess 137a. This is because the spring 134e that biases the lock shaft 134 is difficult to make strong due to space limitations, making it difficult to apply a strong force to the steel ball 136.

[0094] On the other hand, with respect to the slide shaft 133, there is sufficient space to arrange the coil spring 114 that biases in the Z1 direction, so the coil spring 114 can be made relatively strong, and since movement in the Z2 direction is performed by the driving force of the pad drive unit 50, a relatively large force can be applied. Therefore, the shape and size of the first recess 137a (and 133e) should be determined with an emphasis on strongly fixing the slide shaft 133 and the unit body 120, so that the steel ball 136 can be accommodated without gaps to the extent that the aforementioned movement is possible.

[0095] When transitioning from the state shown in Figure 5A to the state shown in Figure 5D, the positions of the outer pad 55a and the inner pad 55b at the start of pressing the lock shaft 134 may be as shown in Figure 6A or as shown in Figure 6B. In the example shown in Figure 6A, the outer pad 55a is in contact with the pad receiver 113, and the inner pad 55b is in contact with the tip portion 134d of the lock shaft 134 at a position further back. The tip portion 134d is housed in the recess in the center of the outer pad 55a, which serves as the movement path for the inner pad 55b.

[0096] From this state, by driving only the inner pad 55b in the Z2 direction, the lock shaft 134 can be moved in the Z2 direction, transitioning to the state shown in Figure 5D. Subsequently, by simultaneously driving the inner pad 55b and the outer pad 55a by the same distance in the Z1 or Z2 direction, the state can be transitioned to the state shown in Figure 5B or Figure 5C.

[0097] In the example shown in Figure 6B, the outer pad 55a is spaced apart from the pad receiver 113, and the inner pad 55b is in contact with the tip 134d of the lock shaft 134 at a position aligned with the outer pad 55a. In the state shown in Figure 5A, the slide shaft 133 is fixed to the unit body 120, so even in this state, the slide shaft 133 will not move in the Z1 direction.

[0098] From this state, by simultaneously driving the outer pad 55a and the inner pad 55b by the same distance in the Z2 direction, the lock shaft 134 is first moved in the Z2 direction, and the state shown in Figure 5D can be achieved. In this state, the outer pad 55a is in contact with the pad receiver 113, so then, by simultaneously driving the inner pad 55b and the outer pad 55a by the same distance in the Z1 or Z2 direction, the state shown in Figure 5B or Figure 5C can be achieved.

[0099] When transitioning from the state shown in Figure 5D to the state shown in Figure 5A, the lock shaft 134 is moved in the Z1 direction while the slide shaft 133 is kept in a position where the through hole 133e faces the first recess 137a. As a result, when transitioning to the state shown in Figure 5A, the positions of the outer pad 55a and the inner pad 55b are as shown in Figure 6A.

[0100] With the nozzle unit 100 described above, the nozzle 111 can be rotated around the axis 121 and its orientation controlled by an extremely simple operation of linear movement of the slide shaft 133. For this reason, the configuration of the nozzle unit 100 can be simple, and the configuration of the pad drive unit 50 that drives the nozzle unit 100 can also be simplified. As a result, the configuration of the nozzle unit 100 and the winding machine 1 can be simplified and their manufacturing can be made easier.

[0101] Furthermore, by providing a coil spring 114 to bias the slide shaft 133, the nozzle 111 can be positioned to face a specific direction when the slide shaft 133 is not being operated. Also, at least when the slide shaft 133 is not being operated, the end of the slide shaft 133 opposite to the nozzle support portion 110 protrudes outside the unit body 120. As a result, the slide shaft 133 can be operated with an extremely simple action of pressing with the outer pad 55a, and the configuration of the pad drive unit 50 can be simplified.

[0102] In addition to the slide shaft 133 which is directly operated, a link shaft 140 that changes direction in response to the operation of the slide shaft 133 is provided as a component connected to the nozzle support 110. This allows the operation of the slide shaft 133 to be easily absorbed while the positional changes corresponding to the rotational movement of the nozzle support 110 are transmitted to the nozzle support 110. A roller 124 for guiding the wire W is also provided on the shaft 132 for connecting the link shaft 140 to the nozzle support 110. Therefore, even if the nozzle support 110 rotates significantly, the wire W can be supplied to the nozzle 111 without the link shaft 140 or the nozzle support 110 becoming an obstacle.

[0103] Since a fixing device is provided to secure the slide shaft 133 to the unit body 120 in the middle of its movement path, the outer pad 55a and inner pad 55b for operation can be separated from the slide shaft 133 when there is no need to change the orientation of the nozzle 111. In this state, the nozzle unit 100 is lightweight and can be easily operated at high speed, so winding can be done at high speed. In addition, since orientations suitable for forming a connecting wire on the front side of the workpiece 30 and orientations suitable for forming a connecting wire on the back side can be set on either side of this fixing position, it is also possible to easily perform the operation of forming connecting wires on both the front and back sides of the workpiece 30.

[0104] Furthermore, by enabling the lock shaft 134, which moves inside the slide shaft 133, to fix and release the slide shaft 133, the fixing and release operations can be performed solely by coaxial operation with the slide shaft 133, thus simplifying the configuration of the pad drive unit 50.

[0105] Next, with reference to Figures 9A to 10C, an example of the procedure in which the winding machine 1 winds wire onto the workpiece 30 using the nozzle unit 100 will be described. Figures 9A to 9E show an example of forming jumper wires on the front side of the workpiece 30, and Figures 10A to 10C show an example of forming jumper wires on the back side of the workpiece 30, starting from the steps after Figure 9B. The procedure described here is one embodiment of the winding method of this invention.

[0106] In Figures 9A to 10C, the nozzle unit 100 is shown in the same state as in Figures 4A to 4C, but only near the end on the nozzle support portion 110 side. The outline of the workpiece 30 is schematically shown. Also, for the sake of simplicity, the winding process will be described here as moving either the nozzle unit 100 or the workpiece 30. Unless otherwise specified, all movements described using each figure are relative movements that change the relative positional relationship between the nozzle 111 and the nozzle unit 100 and the workpiece 30, and can be performed by moving either the nozzle unit 100 or the workpiece 30, or both. Furthermore, the procedure described here is executed by the control unit 60 shown in Figure 2 controlling the operation of each drive unit and the wire supply unit 18.

[0107] When winding wire onto the workpiece 30, the winding machine 1 first operates the pad drive unit 50 as shown in Figure 9A to fix the direction of the nozzle 111 to position P1 as shown in Figure 4A. Then, the nozzle unit 100 is inserted into the central space 40 of the workpiece 30 in the direction of arrow D, and the nozzle 111 is moved to the vicinity of the salient pole 32 to be wound. Prior to this, it is often necessary to wrap the end of the wire W around the end wire holding part provided on the workpiece 30, but this explanation will be omitted.

[0108] Subsequently, the wire W is fed out from the nozzle 111 and made to circle around the salient pole 32, thereby winding the wire W around the salient pole 32 and forming a winding 41 on the salient pole 32 as shown in Figure 9B. At this time, by moving the position of the nozzle 111 along the protruding direction of the salient pole 32 as the winding progresses, the winding 41 can be formed evenly on the salient pole 32. Once winding on one salient pole 32 is complete, the winding machine 1 stops the nozzle unit 100 with the nozzle 111 positioned on the back side of the workpiece 30, as shown in Figure 9C, in order to form a connecting wire on the back side of the workpiece 30.

[0109] Subsequently, the winding machine 1 translates the nozzle unit 100 toward the radially outward direction of the workpiece 30, and as shown in Figure 9D, the nozzle 111 passes through the slit 36a of the outer flange 36, causing the nozzle 111 to protrude radially outward from the outer flange 36. In this state, if the workpiece 30 is rotated around the rotation axis to form a connecting wire, the nozzle 111 will come into contact with the outer flange 36.

[0110] Therefore, the pad drive unit 50 is operated in the state shown in Figure 9D, causing the nozzle unit 100 to move through the state shown in Figure 5D to the state shown in Figure 4C, and the nozzle 111 to rotate. The state after this rotation is shown in Figure 9E, and in this state, even if the workpiece 30 is rotated around the rotation axis to form the connecting wire, the nozzle 111 will not come into contact with the outer flange 36. Thus, by rotating the workpiece 30 by an arbitrary angle, a connecting wire can be formed radially outward of the outer flange 36 over that angular range. Note that if the position of the nozzle unit 100 is constant, the position of the tip of the nozzle 111 will fluctuate according to its rotation. For this reason, when transitioning from the state shown in Figure 9D to the state shown in Figure 9E, it is preferable to translate the entire nozzle unit 100 together with the pad drive unit 50 so as to cancel out this fluctuation and keep the tip position of the nozzle 111 approximately constant.

[0111] Furthermore, the reason for first moving the nozzle 111 to the position shown in Figure 9D and then rotating it is that, due to placement constraints, the width of the slit 36a cannot be made very wide, and there is not enough clearance relative to the width of the nozzle 111, requiring precise position adjustment. It is easier to adjust the position if the nozzle passes through the slit 36a in the winding position. However, it is also possible to first rotate the nozzle support 110 to change the position of the nozzle 111, and then translate the nozzle unit 100 toward the radially outward direction of the workpiece 30, allowing the nozzle 111 to pass through the slit 36a.

[0112] The jumper wire is formed up to the position of the slit 36b corresponding to the salient pole 32 to be wound next, and the winding machine 1 stops the rotation of the workpiece 30 at this position. Then, the pad drive unit 50 is operated to bring the nozzle unit 100 to the state shown in Figure 4A, so that the nozzle 111 enters the slit 36b and is in the arrangement corresponding to Figure 9D. At this time as well, it is preferable to move the entire nozzle unit 100 in translation together with the pad drive unit 50 so as to cancel out fluctuations caused by the rotation of the nozzle 111 and keep the tip position of the nozzle 111 approximately constant.

[0113] Subsequently, the winding machine 1 translates the nozzle unit 100 toward the radially inward side of the workpiece 30, withdrawing the nozzle 111 from the slit 36b and moving it radially inward of the outer flange portion 36. That is, it returns to the state corresponding to Figure 9C. After that, while discharging the wire W from the nozzle 111, the nozzle 111 is made to circumvent the salient pole 32, thereby winding the wire W around the next salient pole 32.

[0114] By repeating the above steps, the winding machine 1 can form windings 41 for multiple salient poles 32 and connecting wires between these windings on the workpiece 30. In the above operation, the control unit 60 functions as a first control unit and a second control unit. The procedure for rotating the nozzle 111 corresponds to the first step. The procedure for fixing, releasing, and changing the direction of the nozzle 111, including the rotation of the nozzle in the first step, corresponds to the second step. In the above operation, by utilizing the rotation mechanism of the nozzle support part 110 provided in the nozzle unit 100, the effects described with reference to Figures 4A to 8C can be obtained.

[0115] When forming a jumper wire on the front side of the workpiece 30, the operation up to Figure 9B is the same as described above. Then, once winding to one salient pole 32 is complete, the winding machine 1 stops the nozzle unit 100 with the nozzle 111 positioned on the front side of the workpiece 30, as shown in Figure 10A, in order to form a jumper wire on the front side of the workpiece 30.

[0116] Subsequently, the winding machine 1 translates the nozzle unit 100 toward the radially outward direction of the workpiece 30, and as shown in Figure 10B, the nozzle 111 passes through the slit 46a of the outer flange 46, causing the nozzle 111 to protrude radially outward from the outer flange 46. In this state, if the workpiece 30 is rotated around the rotation axis to form a connecting wire, the nozzle 111 will come into contact with the outer flange 46.

[0117] Therefore, the pad drive unit 50 is operated in the state shown in Figure 10B, and the nozzle unit 100 is moved to the state shown in Figure 4C via the state shown in Figure 5D, and the nozzle 111 is rotated. The state after this rotation is shown in Figure 10C, and in this state, even if the workpiece 30 is rotated around the rotation axis to form the connecting wire, the nozzle 111 will not come into contact with the outer flange portion 46. Furthermore, as a result of experiments conducted by the inventors, it has been confirmed that when forming the connecting wire on the front side of the workpiece 30, it is not always necessary to position the nozzle 111 parallel to the rotation axis of the workpiece 30, and that there is no problem even if it is positioned diagonally from a position closer to the inside of the workpiece 30 towards the connecting wire formation position, as shown in Figure 10C.

[0118] Therefore, by rotating the workpiece 30 by an arbitrary angle in the state shown in Figure 10C, a connecting line can be formed on the radially outer side of the outer flange portion 46 over that angular range. In this case, it is preferable to translate the entire nozzle unit 100 so that the tip position of the nozzle 111 can be kept approximately constant, as in the case of Figure 9E. The reason for moving the nozzle 111 to the position shown in Figure 10B before rotating it is also the same as in the case of Figure 9E, etc.

[0119] The jumper wire is formed up to the position of the slit 46b corresponding to the salient pole 32 to be wound next, and the winding machine 1 stops the rotation of the workpiece 30 at this position. Then, when the pad drive unit 50 is operated to bring the nozzle unit 100 to the state shown in Figure 4A, the nozzle 111 enters the slit 46b and is arranged in the position corresponding to Figure 10B. At this time as well, it is preferable to move the entire nozzle unit 100 in translation together with the pad drive unit 50 so as to cancel out fluctuations caused by the rotation of the nozzle 111 and keep the tip position of the nozzle 111 approximately constant.

[0120] Subsequently, the winding machine 1 translates the nozzle unit 100 toward the radially inward side of the workpiece 30, withdrawing the nozzle 111 from the slit 46b and moving it radially inward of the outer flange portion 46. That is, it returns to the state corresponding to Figure 10A. After that, while discharging the wire W from the nozzle 111, the nozzle 111 is made to circumvent the salient pole 32, thereby winding the wire W around the next salient pole 32.

[0121] In this case as well, the winding machine 1 can form windings 41 for multiple salient poles 32 and connecting wires between these windings on the workpiece 30 by repeating the above process. In this operation, the rotation mechanism of the nozzle support portion 110 provided in the nozzle unit 100 can be used to obtain the effects described with reference to Figures 4A to 8C. In the above operation, the control unit 60 functions as the third control unit and the fourth control unit.

[0122] By using the nozzle unit 100, the formation of connecting wires to the front side and connecting wires to the back side can be performed in any order within the winding for a single workpiece 30. Furthermore, the rotatable range of the nozzle 111 in this case can be limited to 90 degrees or less. When the rotatable range is limited to this extent, the space required around the nozzle support 110, the stroke of the slide shaft 133, the length of the coil spring 114, and the space required to hold it are smaller than when rotations greater than 90 degrees are required. This leads to miniaturization of the nozzle unit 100 and increased design flexibility.

[0123] Although preferred embodiments of the present invention have been described above, the present invention is not limited to these specific embodiments, and various further modifications and changes are possible. For example, in the above embodiment, the slide shaft 133 is pressed by a pad drive unit 50 that is not mechanically connected to it, but the outer rod 53a or outer pad 55a may be connected to the slide shaft 133. In this case, the coil spring 114 is not required. Similarly, the inner rod 53b or inner pad 55b may be connected to the lock shaft 134. In these cases as well, the configuration of the nozzle unit and winding machine can be simplified and manufacturing can be facilitated.

[0124] Furthermore, the rigid body used to fix the slide shaft 133 does not necessarily have to be a steel ball 136. For example, even if the member is cylindrical or prismatic instead of spherical, as long as it can move in the same way as shown in Figures 5A to 5D by sliding, the slide shaft 133 can be fixed and released in the same way. It is not essential to be able to fix the slide shaft 133. Also, it is not essential to release it using a lock shaft 134. Instead of the steel ball 136 and bolt 137, a reciprocating shaft may be used, and the lock and release may be performed by inserting it into the through hole 133e and pulling it out from the through hole 133e.

[0125] Furthermore, although the above-described embodiment explained an example using three sets of through holes 133e, steel balls 136, and bolts 137, the number is not limited to this, and a certain degree of fixing is possible even with only one set. However, if fixing is performed at multiple positions as in the above-described embodiment, and if those positions divide the circumference evenly, it becomes possible to fix the slide shaft 133 in an extremely stable manner. Even when fixing is performed at multiple locations with different positions in the circumferential direction in this way, the fixing and release of the slide shaft 133 can be performed all at once by moving the lock shaft 134 as explained using Figures 5A to 5D.

[0126] Furthermore, although the above-described embodiment described a winding machine that uses one nozzle unit 100 to perform winding, it is also possible to configure a winding machine that uses two nozzle units 100 to perform winding on two workpieces 30 simultaneously. In this case, each nozzle unit 100 and the corresponding pad are connected to a common rod, and a single drive source for the pad drive unit 50 is used, which is common to both nozzle units 100.

[0127] Furthermore, although the above embodiment shows an example where the workpiece 30 is the stator of an inner rotor type motor, the same can be implemented with the windings of the rotor of an outer rotor type motor. Also, the application of the nozzle unit 100 and the mechanism for rotating the nozzle support part 110 is not limited to windings. From the embodiments described above, it is also possible to take only the nozzle unit 100 and the mechanism for rotating the nozzle support part 110 and use them for other purposes.

[0128] Furthermore, the configurations of the embodiments of the present invention described above can be implemented in part, and the configurations described above can be arbitrarily combined and applied as long as they do not contradict each other. The effects described in the embodiments of the present invention are merely examples of the most preferred effects that can result from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

[0129] 1...Winding machine, 2...Base, 3...Vertical frame, 4...Horizontal frame, 10...Nozzle unit holder, 11...Nozzle unit fixing part, 12-14...Drive mechanism, 16...Horizontal linear drive unit, 17...Vertical linear drive unit, 18...Wire supply unit, 20...Workpiece holder, 21...Workpiece installation unit, 26...Rotational drive unit, 27...Radial linear drive unit, 28...Axial linear drive unit, 30...Workpiece, 31...Annular part, 32...Sailing pole, 33, 43 ...insulating material, 34, 44...winding arrangement section, 35, 45...inner flange section, 36, 46...outer flange section, 36a, 36b, 46a, 46b...slit, 37, 47...claw section, 38...base section, 40...space, 41...winding, 50...pad drive section, 51...housing, 52a...first drive source, 52b...second drive source, 53a...outer rod, 53b...inner rod, 55a...outer pad, 55b...inner pad, 56...gap, 57a...first drive section, 57b...second drive Part, 60...control unit, 100...nozzle unit, 110...nozzle support part, 111...nozzle, 111a...conveyor path, 113...pad receiver, 113a...female screw part, 113b...through hole, 113c...chamfered part, 114...coil spring, 120...unit body, 121...shaft, 122, 123, 124...rollers, 122a, 123a...shaft, 125, 126...wall part, 130...first member, 131, 132...shaft, 133...slide shaft, 1 33a...Male threaded portion, 133b...Connecting portion, 133c...Through hole, 133d...Inner hole, 133e...Through hole, 134...Lock shaft, 134a...Tapered surface, 134b...Second recess, 134c...Flange portion, 134d...Tip portion, 134e...Spring, 136...Steel ball, 137...Bolt, 137a...First recess, 138...Nut, 140...Link shaft, P1-P3...Direction of nozzle 111, W...Wire, θ1, θ2...Angle of rotation of nozzle 111

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