JP3713771B2 - Winding device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a winding device for winding a wire around a workpiece.
[0002]
[Prior art]
For example, a deflection yoke used in a cathode ray tube such as a television receiver as a work requires a winding of a deflection coil for deflecting an electron beam. In this type of deflection yoke (bobbin), a winding device winds a wire, but in the conventional winding device, an empty bobbin is attached to one bobbin holding portion, and the bobbin is attached to the bobbin. On the other hand, after winding the wire in a predetermined pattern, the wound bobbin is discharged from the bobbin holding portion. That is, the bobbin supply / discharge operation and the wire winding operation are performed in the same one bobbin holding portion.
[0003]
[Problems to be solved by the invention]
As described above, in the conventional winding device, the bobbin supply / discharge operation and the wire winding operation are performed by one bobbin holding portion, and thus there are the following problems. In other words, a time for supplying the bobbin to the bobbin holding part, a time for winding the wire around the bobbin, and a discharging time for discharging the bobbin after winding from the bobbin holding part to the outside are required. During the bobbin feeding / discharging operation, the wire rod cannot be wound around the bobbin, resulting in a standby time. Therefore, there is a problem that the production efficiency of the winding for the bobbin is poor.
Therefore, the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a winding device that can improve the production efficiency of winding of a wire rod on a workpiece.
[0004]
[Means for Solving the Problems]
In the present invention, the above object is a winding device for winding a wire from a wire supply source around a workpiece, the workpiece conveying means, and index means for detachably holding a plurality of workpieces. Winding position for winding the wire, and index means for positioning the workpiece respectively at the supply / discharge position for supplying the workpiece to be wound and positioning the workpiece after winding the wire, and the winding position The winding means for winding the wire to the workpiece to be wound from now on and the workpiece to be wound from now on the conveying means are moved to the feeding / discharging position of the index means, and the feeding of the index means is performed. and a sheet discharge means for transferring the finished winding work the positioned wire the discharge position to the conveying means, winding means, first a of the double-arm robot A guide roller and wire rod tensioner provided in the arm portion and a nozzle unit provided at the tip of the arm, and the supply / discharge means is formed in the second arm assembly of the double-arm robot. Is achieved.
[0005]
In the present invention, the index means can position the workpiece at the winding position and the supply / discharge position, respectively. This winding position is a position where the wire is wound around the workpiece. The supply / discharge position is a position where a work to be wound on the wire is supplied and the work on which the wire has been wound is positioned. The index means can removably hold a plurality of workpieces, and positions the workpieces at the winding position and the supply / discharge position, respectively.
[0006]
The winding means is formed in the first arm assembly of the double-arm robot and has a guide roller, a wire tensioner, and a nozzle unit. It is designed to wind wire.
The feeding / discharging means is formed in the second arm assembly of the double-armed robot, and moves the workpiece to be wound from the conveying means to the feeding / discharging position of the indexing means, and is positioned at the feeding / discharging position of the indexing means. The work which has finished winding is moved to the conveying means side. The winding means winds the wire around the workpiece for the workpiece at the winding position. At the same time, the feeding / discharging means moves the already wound work at the feeding / discharging position of the index means to the conveying means side. Then, the feeding / discharging means can move a new work to be wound on the wire from the feeding means to the feeding / discharging position from the feeding means to the new feeding / discharging position of the index means.
Therefore, the winding operation of the wire around the workpiece and the supply / discharge operation of the workpiece to be wound and the workpiece after winding can be performed simultaneously.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings.
The embodiment described below is a preferred specific example of the present invention, and thus various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the following description. Unless otherwise stated, the present invention is not limited to these forms.
FIG. 1 is a plan view showing a preferred embodiment of the winding device of the present invention. This winding device winds a wire around a deflection yoke (bobbin) used for a cathode ray tube such as a television receiver as a workpiece, discharges the bobbin after winding, and supplies a new bobbin Is something that can be done.
[0008]
The winding apparatus of FIG. 1 includes a conveyor 50 as an approximate conveying means, an index means 40, a winding means 100, a supply / discharge means 200, and the like. First, the conveyor 50, which is a conveying means, can sequentially feed the platen 51 at a predetermined interval in the direction of the arrow FD. These platen 51 can hold | maintain the bobbin B so that attachment or detachment is possible. The conveyor 50 can sequentially position the platen 51 at the workpiece supply position A and the workpiece discharge position B, respectively. The workpiece supply position A and the workpiece discharge position B are arranged near the supply / discharge means 200 described later.
[0009]
Next, the index means 40 includes an index table 41, two workpiece holders 43 and 43, a motor 42, and the like. The motor 42 can index the index table 41 every 180 degrees about the central axis CL along the R direction. For example, a direct drive motor (DD motor) can be used as the motor 42.
The motor 42 indexes the index table 41 by rotating it 180 ° in the positive direction and then rotating it 180 ° in the opposite negative direction. This is because energy supply wiring and piping are provided around the index table 41 and the work holders 43 and 43.
[0010]
The work holders 43 and 43 can horizontally hold a bobbin N as a work so as to be detachable. That is, the axis CL1 of the bobbin N is parallel to the index center axis CL.
As shown in FIG. 3, the index table 41 is provided with a rotating device 40a for rotating around the axis CL. The motor 40b of the rotating device 40a includes a pulley 40c. A belt 40e is provided between the pulley 40c and a pulley 40d that detachably holds the outer periphery of the bobbin N. Thus, when the motor 40b is operated, the bobbin N can be rotated or indexed in the S direction around the axis CL.
[0011]
The index table 41 in FIG. 1 can position one work holder 43 at the winding position P and the other work holder 43 at the supply / discharge position Q.
The index table 41 of the index means 40 includes the two work holders 43, 43, but it may of course be provided with three or more work holders. In this case, it is possible to index corresponding to the winding position P, the supply / discharge position Q, the inspection station, the bonding station, and the like. This inspection station has a function to check the winding state of the funnel part and neck part by a camera or the like and to check the looseness of the wire of the binding part by engaging with image processing. It denoted coating an adhesive to the wire parts, and the loosening countermeasure processing of the wire of the tied part has a function that allows also soldering the terminal pin.
[0012]
Next, the winding means 100 and the supply / discharge means 200 will be described with reference to FIGS. The winding means 100 includes a wire rod supply bobbin 7, a dancer roller 15, guide rollers 16, 17, 18, a wire rod tensioner 25, a nozzle unit 26, a guide unit 30, and the like.
A part of the winding means 100, that is, the guide rollers 16, 17, 18, the wire rod tensioner 25 and the nozzle unit 26 of the winding means 100 are provided on the first arm assembly 150 side of the double-arm robot 20. On the other hand, the second arm assembly of the double-arm robot 20 constitutes the supply / discharge means 200.
[0013]
The first arm assembly 150 of the double-arm robot 20 includes an arm part 21a and an arm part 21b.
One end side of the arm portion 21a is rotatably supported by the base 21c in FIG. The arm portion 21a rotates around the axis CL2 by the operation of the motor M1. The other end of the arm portion 21a is rotatably connected to one end of the arm portion 21b. The arm portion 21b can rotate about the central axis CL3 by the operation of the motor M2 with respect to the arm portion 21a. A motor M3 is provided at the other end of the arm portion 21b. The motor M3 can rotate the nozzle unit 26 around the central axis CL4. The nozzle unit 26 can be turned in the α direction by the operation of the motor M4.
[0014]
The guide roller 16 is attached to the arm portion 21a. The guide rollers 17 and 18 are attached to the arm portion 21b. The arm portion 21 b includes a wire rod tensioner 25 between the guide rollers 17 and 18.
This wire rod tensioner 25 has three pulleys 21, 22 and 24. Of these three pulleys, the pulley 22 is a movable pulley that detects the tension applied to the wire W. The pulley 22 controls the tension of the wire W by the operation of the hysteresis motor MT for tension detection, and can feed the wire W to the nozzle 26 side with an appropriate tension.
[0015]
As shown in FIGS. 1 and 2, the wire W of the wire supply bobbin 7 passes through the dancer roller 15, the guide rollers 16, 17, and the pulley 21, the movable pulley 22, and the pulley 24 of the wire rod tensioner 25. Then, the wire W passes through the guide unit 26 through the guide roller 18 and is led out from the tip of the guide unit 26.
The wire W guided from the guide unit 26 is stopped at a predetermined position while being held by a wire clamp (not shown) in the nozzle unit 26 when the wire supply is stopped, so that the tension of the wire W can be maintained. It has become. As a result, the supply of the wire W is in an immediately possible state.
[0016]
Next, the guide unit 30 of the winding means 100 cooperates with the nozzle unit 26 to wind the wire W around the opening groove N1 and the neck groove N2 of the bobbin N shown in FIGS. 2 and 5, respectively. It is used for winding the wire W in a predetermined pattern on the inner peripheral side of the bobbin N along the N axial direction CLN.
[0017]
The guide unit 30 has actuators 33 and 34 as shown in FIGS. The operation of the actuator 33, mobile 33a can move in the arrow Y direction. Further, by operating the actuator 34, the guides 31 and 32 of the guide unit 30 can move in the arrow X direction along the moving body 33a.
[0018]
Next, the supply / discharge means 200 of FIG. 1 will be described.
The supply / discharge means 200 is a second arm assembly of the double-arm robot 20 and has an arm portion 22a and an arm portion 22b.
One end side of the arm portion 22a is attached to the base 21c in FIG. 2, and can be rotated around the central axis CL2 by the operation of the motor M1. The other end side of the arm portion 22a is connected to one end side of the arm portion 22b. When the motor M5 is operated, the arm portion 22b can rotate about the central axis CL5 with respect to the arm portion 22a.
A chuck portion 70 is provided on the other end side of the arm portion 22b. The chuck portion 70 is a portion that holds the bobbin N in a detachable manner as shown in FIGS. 2 and 4. The chuck portion 70 has chuck claws 70a and 70a, and these claws 70a and 70a can detachably hold the opening groove N1 side of the bobbin N with respect to the mounting plate 70b by the actuators 70c and 70c. It has become. The mounting plate 70b can be moved in the direction of the arrow D1 by an actuator 70d.
[0019]
The attachment end of the actuator 70d is attached to the other end of the arm portion 22b, and can be rotated about the central axis CL6. The actuator 70d is lowered 90 degrees vertically along the direction of the arrow T about the central axis CL6 by another actuator 70e.
When the motors M1 and M5 and the actuators 70c, 70c, and 70d of the supply / discharge means 200 are operated, the supply / discharge means 200 moves the bobbin N to be wound from the workpiece supply position A of the conveyor 50 from FIG. It moves to the work holder 43 corresponding to the supply / discharge position Q, and the bobbin N that has already been wound and is positioned at the supply / discharge position Q is discharged to the work discharge position B side of the conveyor 50.
The actuators and motors described above are controlled by control means (not shown).
[0020]
Next, the operation of the winding device described above will be described.
The conveyor 50 in FIG. 1 conveys and positions the platen 51 holding the bobbin N to the workpiece supply position A.
The motors M1 and M5 of the supply / discharge means 200 of FIG. 1 are operated, and the chuck portion 70 of the arm portion 22b reaches just above the workpiece supply position A. The actuator 70e of the chuck portion 70 in FIG. 4 contracts and the actuator 70d and the mounting plate 70b face vertically downward. The actuator 70d extends to approach the opening groove N1 side of the bobbin N to be wound in the workpiece supply position A in FIG. 1 with the claws 70a, 70a of the mounting plate 70 opened.
When the actuators 70c and 70c in FIG. 4 are operated and the claws 70a and 70a firmly hold the bobbin N at the workpiece supply position A in FIG. 1, the actuator 70d is contracted to move the bobbin N from the platen 51 at the workpiece supply position A. Pull out.
[0021]
Thereafter, the motors M1 and M5 of the supply / discharge means 200 of FIG. 2 are operated, and the arm portion 22b faces the supply / discharge position Q side of the index means 40. Thereby, the chuck | zipper part 70 faces the workpiece holder 43 located in the supply / discharge position Q in the state shown in FIG. 2 and FIG. 4 is extended in the direction D1, the neck portion groove N2 side of the nozzle N fits into the hole of the work holder 43.
Thereafter, the actuators 70c and 70c are operated again to separate the claws 70a and 70a from the bobbin N, and the cylinder 70d is contracted to move the chuck portion 70 away from the bobbin N.
[0022]
The motor 42 rotates the index table 41 by 180 °, and the work holder 43 having the bobbin is indexed from the supply / discharge position Q to the winding position P. For the bobbin N at the winding position P, the winding means 100 performs winding according to a predetermined winding pattern of the wire W.
[0023]
The wire W supplied from the wire supply bobbin 7 of the winding means 100 passes through the dancer roller 15, the guide rollers 16 and 17, the wire tensioner 25, and the guide roller 18 to the nozzle unit 26. The wire W coming out of the nozzle unit 26 winds the wire in a predetermined pattern around the bobbin N as follows in cooperation with the guides 31 and 32 of the guide unit.
[0024]
That is, the wire W reaches the nozzle unit 26 in a state where a predetermined tension is applied by the wire tensioner 25, and the cooperation of the nozzle unit 26 and the guide 31 of the guide unit 30 causes the locking piece N3 of the bobbin N of FIG. The wire W is wound around the opening groove N1 of the bobbin N shown in FIG. 5 in a direction perpendicular to the axis CLN of the bobbin N. The nozzle unit 26 passes through the bobbin N and reaches the neck groove N2 side. The wire W is wound around the locking piece N4 of the neck groove N2 of the bobbin N, and the guide 32 of the nozzle unit 26 and the guide unit 30 is connected. In cooperation with the wire rod W, the wire rod W is wound in a direction perpendicular to the central axis CLN with respect to the neck groove N2 of the bobbin N in FIG.
By repeating such an operation along the entire circumference of the bobbin N, the wire W can be wound around the bobbin N with a predetermined winding pattern.
[0025]
On the other hand, while the wire W is wound around the bobbin N as described above, the supply / discharge means 200 shown in FIGS. 1 and 2 is an empty workpiece holder corresponding to the supply / discharge position Q. 43, a new bobbin N to be wound from the platen 51 of the conveyor 50 is supplied in the same manner as described above. As a result, the bobbin N of the work holder 43 at the winding position P is wound with the wire W, and the bobbin N to be wound is mounted on the work holder 43 at the supply / discharge position Q. Will be. Moreover, the conveyor 50 positions the empty platen 51 from the workpiece supply position A to the workpiece discharge position B.
[0026]
When the winding of the bobbin N at the winding position P is completed, the nozzle unit 26 moves out of the bobbin N and moves out of the bobbin N of the guide unit 30. Then, the motor 42 of the index means 40 is operated, and the index table 41 is inverted by 180 °. Thus, the wound bobbin N is positioned at the supply / discharge position Q, and the bobbin N to be wound is positioned at the winding position P. Then, the bobbin N, which has already finished winding, in which the feeding / discharging means 200 is positioned at the feeding / discharging position Q is performed in the reverse operation to the above-described bobbin supply operation, so that the bobbin having winding finished from the workpiece holder 43. N is extracted, and the bobbin N that has been wound is fitted into the platen 51 at the work discharge position of the conveyor 50.
[0027]
As described above, the winding apparatus according to the embodiment of the present invention uses the index means 40 to supply the bobbin N to be wound from now on, discharge the bobbin N after winding, and the wire W to the bobbin. Since the winding operation can be performed simultaneously, the efficiency of the winding work can be improved. Moreover, by using the double arm robot 20, the first arm assembly 150 side is adopted as a part of the winding means 100, and the second arm assembly side of the double arm robot 20 is made to function as the supply / discharge means 200. Thus, the apparatus can be made compact as compared with the case where the winding means and the supply / discharge means function using separate horizontal articulated robots.
[0028]
In the embodiment of the present invention, the winding operation of the wire W around the bobbin-shaped workpiece such as the deflection yoke and the work loading / unloading operation are performed in parallel by the combined operation of the double-arm robot 20 and the index means 40. Can do. Accordingly, the tact time of the winding work is shortened, and the production efficiency can be dramatically improved.
In addition, using a double-arm robot, the wire winding and workpiece feeding and discharging operations are simultaneously performed on the workpiece, so the wire winding and workpiece feeding and discharging operations on the space and workpiece can be performed with separate articulated robots. It can be downsized and space efficient.
[0029]
By the way, the present invention is not limited to the above embodiment.
For example, in the embodiment of FIG. 1, the tensioner 25 is set on the arm portion 21 b side of the first arm assembly 150. However, as shown in FIG. 6, the tensioner 25 may of course be arranged on the arm portion 21a side. In this case, the pulley 24 of the tensioner 25 is located along the central axis CL3 of the arm portions 21a and 21b.
[0030]
In the embodiment shown in FIG. 7, the tensioner 25 is located at the center of the arm portion 21a.
In the illustrated embodiment, the deflection yoke used for the cathode ray tube is used as a workpiece, and the wire W is wound around the workpiece. However, the present invention is not limited to this, and the present invention can also be applied to a case where a wire is wound around a workpiece in another field.
[0031]
【The invention's effect】
As described above, according to the present invention, it is possible to improve the production efficiency of the winding of the wire material with respect to the workpiece.
[Brief description of the drawings]
FIG. 1 is a plan view showing a preferred embodiment of a winding device of the present invention.
2 is a perspective view showing winding means and supply / discharge means of the winding apparatus of FIG. 1; FIG.
FIG. 3 is a diagram showing a rotating device for rotating bobbins in index means.
4 is a perspective view showing a chuck portion of the supply / discharge means of FIG. 2. FIG.
FIG. 5 is a diagram showing a part of a state in which a wire is wound around a bobbin.
FIG. 6 is a diagram showing another embodiment of the present invention.
FIG. 7 is a diagram showing another embodiment of the present invention.
[Explanation of symbols]
20 Double-arm robot 26 Nozzle unit 30 Guide unit 40 Index means 41 Index table 43 Work holder 50 Conveyor (conveyance means)
70 Chuck part 100 Winding means 150 First arm assembly 200 Supply / discharge means (second arm assembly)
N bobbin (work)
W wire rod

Claims (2)

In a winding device for winding a wire from a wire supply source around a workpiece,
Conveying means of said workpiece,
Indexing means for detachably holding a plurality of workpieces, a winding position for winding the wire around the workpiece, and a supply / discharge position for supplying the workpiece to be wound from now on and positioning the workpiece after winding the wire And index means for positioning each workpiece,
And winding means for winding the wire to the work to be MAKO from wire positioned in said winding position,
Wherein the workpiece to be now Mako the wire transport means and transferred to the sheet discharge position of the indexing means, the sheet discharging for transferring the winding finished workpiece in the positioned wire in the sheet discharge position of the indexing means to said conveyor means and means, the,
The winding means is formed in the first arm assembly of the double-arm robot, and has a guide roller and a wire tensioner provided in the arm portion, and a nozzle unit provided at the tip of the arm. A winding device formed on a second arm assembly of a double-arm robot . The winding device according to claim 1, wherein the index means includes a plurality of workpiece holders, and each workpiece holder can rotate the workpiece.

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