JPH0157487B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic taping device that automatically tapes an insulating tape onto a coil for electrical equipment that is composed of a straight portion and a curved portion.

Conventionally, when taping a coil consisting of a straight part and a curved part, for example, a relatively small tortoiseshell-shaped coil 1 as shown in FIG. Taping was performed by attaching insulating tape and manually moving the coil 1 so that the tape-wrapped part of the coil 1 was always located near the center of the rotating ring.

However, in recent years, due to the shortage of skilled workers and the need to improve the working environment, there has been a demand for automation of such taping work. However, with relatively small coils, the taping time per coil is short, and the work can be done quickly even by hand, so the taping process can be done as economically as or even better than when done manually. There is often a need to create automatic taping equipment that can work quickly and at low cost. On the other hand, the required machining accuracy is equivalent to or even stricter than in the conventional case.

For example, when automatically taping the tortoiseshell-shaped coil 1 shown in Fig. 1, the processing range includes the straight part 1a, all of the curved parts 1b and 1c on the left and right sides of the straight part 1a, and the end parts 1d and 1e on both sides except for the vicinity of the tip. Then, this range becomes almost horizontal, so it can be simplified. However, processing the curved parts 1b and 1c is the most difficult, and if you try to process these parts with the same precision as when taping is done manually, conventional automatic taping equipment cannot process the taping along the curved parts 1b and 1c. For this reason, one curved section can be divided into at least 10 or more small sections and approximated by a straight line, or the rotation angle of the taping can be detected in small increments with a sensor and the control target value according to the rotation angle can be calculated each time. This requires a computer with a large storage capacity and fast calculation speed, as well as a corresponding detector and control device, which is expensive. , which was a cause of loss of economic efficiency.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to eliminate the drawbacks of the prior art described above, and to easily and economically automate the winding of an insulating tape around a coin consisting of a straight part and a curved part. The purpose of the present invention is to provide an automatic taping device that obtains the desired results.

Hereinafter, the present invention will be explained in detail with reference to the drawings.

FIG. 2 shows an automatic taping apparatus according to an embodiment of the present invention, which is equipped with a table 3 that is movable in the X-axis direction and the Y-axis direction in rectangular coordinates on a pedestal 2. As shown in FIG. A taping head 4 is provided so as to be pivotable about the θ axis perpendicular to the surface of the table 3. This taping head 4 includes a ring (not shown) that is rotatable about the ω axis perpendicular to the θ axis. A coiled insulating tape is supported on one side of the ring. A pair of coil supports 5 are further provided on the pedestal 2 at positions that do not interfere with the movement of the table 3 in the X direction. A control panel 6 having an operation panel including a keyboard 11 is provided near the pedestal 2. The table 3 is driven by a DC motor 7 via a threaded rod 41 in the X-axis direction, and by a DC motor 8 in the Y-axis direction. The taping head 4 is rotated by a DC motor 9.
It is driven to turn around the axis, and is driven to turn around the ω-axis by the DC motor 10. The speed of each DC motor 7, 8, 9, 10 is controlled by a signal from the control panel 6 via a cable 6a.

FIG. 3 shows a control circuit included in the control panel 6. As shown in FIG. This control circuit consists of an arithmetic control circuit 1 configured by a microcomputer consisting of a microprocessor, memory, and input/output section.
It is equipped with 2. Necessary data, ie, operating parameters, are input from the keyboard 11 to the arithmetic control circuit 12, and D/A converters 13, 14, 15, and 16 are provided to convert the digital control signal obtained as an output signal into an analog signal. It is being The D/A converter 15 is provided with a gate circuit 43 consisting of a comparator on the input side or the output side. Gate circuit 43 and D/A converter 13,1
Each output of 4, 16 is connected to each DC motor 7, 8, 9, 1
It is supplied to drive circuits 17 to 20 for driving 0. Speed detectors 21, 22, 23, 2 to detect the speed of each DC motor 7, 8, 9, 10
4. A tachometer or rotary encoder, for example, is coupled to each DC motor. The output signal of each speed detector 21-24 is
Feedback to 0. Pulse generators 21 and 22 are directly connected to the DC motors 7 and 8, respectively.
A rotational position detector 27 made of, for example, a potentiometer is connected to the DC motor 9 in order to detect its rotational position. Rotational position detector 27
The output signal is fed back to the gate circuit 43. On the other hand, the output signals of the pulse generators 25 and 26 are counted by pulse counters 31 and 32, and these output signals are sent to the arithmetic control circuit 12.
is supplied to Drive circuits 17 to 20 control starting and stopping of each DC motor 7 to 10, and feedback signals from speed detectors 21 to 24 based on analog control signals from D/A converters 13 to 16. Control the speed of each DC motor as an amount. An origin detector 28 is provided to detect the origin of the table 3, and its output signal is supplied to the arithmetic control circuit 12.

In this configuration, data input from the keyboard 11 is processed by the arithmetic control circuit 12, and control target values for each axis are output in digital quantities. The digital quantities of each axis output in this way are sent to the D/A converters 13, 14, 15, respectively.
16, it is converted into an analog quantity and drives each DC motor 7, 8, 9, 10 via drive circuits 17, 18, 19, 20, respectively. Note that the DC motor 1 only rotates in one direction for tape winding.
Except for DC motor 0, the other three DC motors are capable of reversible operation, so the drive circuits 17, 18, 19
Also includes a rotation direction switching circuit. In addition, each DC motor 7, 8, 9, 10 is equipped with a speed detector 21, 2 so that the commanded speed can be controlled.
2, 23, and 24 are directly connected, and their outputs are fed back to drive circuits 17, 18, 19, and 20, respectively, forming a minor loop speed control system. Regarding the X-axis and Y-axis, pulse generators 25 and 26 are directly connected to DC motors 7 and 8, and generate pulses corresponding to the respective rotational speeds, which are counted by pulse counters 31 and 32. Then, by inputting this pulse count value to the microcomputer of the arithmetic control circuit 12 and interrupting it at regular intervals, a position control system is constructed that makes it possible to calculate the travel distance by pulse count. are doing. Regarding the θ-axis, the rotation angle is detected by directly connecting the rotation position detector 27 to the DC motor 9, and this is fed back to the gate circuit 43 to form an angle control system.

The origin detector 28 is placed on the pedestal 2 at a central position corresponding to the center of the straight portion 1a, and is configured such that this position is set in the arithmetic control circuit 12.

Now, when attempting to perform automatic taping on a coil 1 having the shape shown in Fig. 1, the cork 1 shown by the chain line in Fig. 2 is attached to the cork supporter 5, and the straight section 1a on which the taping work is to be performed is made horizontal. , and align its midpoint with the origin. Next, after passing the taping head 4 through this origin, the end portion 1d
Or, when moving to the starting point 1e, after the pulse from the origin detector 28 is input, the pulses from the pulse generators 25 and 26 during movement are input to the counters 31 and 32.
The coordinates of the starting point are determined based on the origin.

Next, when the coil dimensions and taping specifications are input through the keyboard 11, they are stored in the memory of the arithmetic control circuit 12. At the same time, the coordinates (X _i , Y _i ) of the end point within the section of the center of the rotating ring in the taping head 4 for one reciprocation necessary to perform taping work on both the outward and return trips, the travel of the X axis and Y axis Velocity V _Xi , V _Yi , θ-axis rotation speed V〓 _i and rotation angle φ _i ,
and the rotation speed V〓 _i of the ω-axis is calculated for each section,
It is stored in the memory of the arithmetic control circuit 12.

From the second coil of the same lot, there is no need to calculate coordinates or velocity; they can simply be read from memory.

Next, after gluing and fixing the insulating tape to the surface of the coil 1, a start button (not shown) is pressed to start the taping operation. Once the work begins,
The machine automatically calculates each round trip until the input number of layers is reached, and then continues to work, and then automatically stops.

By the way, when it comes to taping like this,
There is a distance L _r in the taping work direction from the tape winding point on the surface of the coil 1 to the position on the coil surface corresponding to the tape feeding position of the insulating tape reel attached to the rotating ring in the taping head 4 for taping. You have to keep progressing. This advancement distance L _r is determined from the taping specifications of half overlap winding, 1/3 overlap winding, or butt winding, and the width of the insulating tape used, to determine the distance the rotating ring travels on the coil surface at the tape winding point when it makes one revolution. , is determined by the relationship between the coil circumference including the thickness of the already wound insulating tape layer and the radius from the center of the rotating ring to the tape feeding position on the rotating ring. When calculating the coordinates for setting the center position of the rotating ring, the position is determined by taking into consideration the advance distance L _r , and the fourth
As shown in the explanatory diagram of the figure, for example, 14
Set a point. Figure 4 is an example of the locus of the center position of the rotating ring, which approximates the working section of the coil curved sections 1b and 1c with one straight line, and the direction of movement is A→B→C→D.
→E→F→G→H→I→J→K→E→D→L→M
Since the order is →N→A, a total of 16 sections are set. Here, since the X-axis is always in operation over the entire area, the position is identified by counting the pulses generated from the pulse generator 25 with the X-axis as a reference, and the existing section is determined. It can be determined. On the other hand, sections A-B, G-H, I-
J, MN are end portions, and taping is performed by a rotary ring while moving on the Y axis as well as the X axis. In addition, in sections H-I and N-A, only the rotating ring is stationary due to the direction change, and the X-axis, Y-axis
The axis is working. Since there is often a difference of 1 mm or more in the travel distance L _r between the outbound and return trips, calculate the travel distance for both the outbound and return trips, and calculate the distance M-
For N, consider the distance between insulation gaps. In addition, in the sections B-C, FG, J-K, and LM, which correspond to the curved sections, all elements related to the X, Y, θ, and ω axes are operated, but among the straight sections 1a, the sections K-- E, C-D
is immediately after exiting the curved section, and control is performed to remove offsets occurring on the Y axis. Also section E-
F and DL are just before entering the curved section, and are operated at the same speed as the end section, if necessary. Also,
In sections DE and ED, only the X axis is operated, and since this section is the longest and is easy to control, it is operated at the highest speed. In addition, since the number of objects to be controlled increases in other sections, the speed is approximately 1/3 that of sections D-E and ED, so that even if the processing speed of the arithmetic control circuit 12 is slow, it can be sufficiently coped with. .

As described above, all four axes have a minor loop speed control system and control is performed using instantaneous values as targets, so quick response is high and speed fluctuations can be suppressed to a small level. Therefore, the burden on the microcomputer is reduced and the speed of the taping work can be increased.

Now, in the circuit configuration shown in FIG. 3, a method is adopted in which calculations are performed and stored one round trip at a time so that the storage capacity of the computer of the arithmetic control circuit 12 is small and the arithmetic processing speed is slow.
Then, within the set interval, the rotation speed of the ω axis is
The speed of each axis is calculated based on V〓 _i , and control is performed based on this speed. In addition, the speed of each axis is set to a constant value in any section, and elements that change as a function of time are not included. In addition, the arithmetic control circuit 12 instructs each axis as a speed command, but the angles and rotational speeds of the θ-axis and ω-axis are not fed back to the arithmetic control circuit 12, as shown in enlarged view of Fig. 5. Required rotation angle φ _i shown in the explanatory diagram
is given as input data. Therefore, the θ-axis starts rotating at the same time it enters B-C, FG, J-K, and LM, and if it is detected via the rotational position detector 27 that it has rotated by φ _i , the gate circuit 43, and the drive circuit 19 stops the operation. In that case, a rotation speed is commanded to the θ-axis such that the vehicle rotates exactly through the rotation angle φ in the time it takes to travel from the start point to the end point of the curved section. Furthermore, since the travel distances of both the X and Y axes are fed back to the arithmetic control circuit 12, the Y-axis can be operated in synchronization with the X-axis while being corrected according to the actual travel distance of the standard X-axis. It is becoming possible to do this.
Furthermore, when a plurality of different types of coils with close ranges φ _i are to be targeted, the rotation speed V _i of the θ-axis can be fixed and set in advance in the θ-axis drive circuit 19.

Next, taking the section BC, that is, the case where i=2, as an example, the curved portion 1b will be explained with reference to the enlarged explanatory diagram of FIG. Here, assuming that the center position of the rotary ring corresponding to the angle φ ₂ /2 is P, the work performance will be improved if it is made to follow the locus of the curve BPC. However, for that purpose, V _X2 ,
If the time for both V _Y2 is t, then sin(φ ₂ − V〓 ₂ t),
cos (φ ₂ - V〓 ₂ t), which changes over time, is included, so the speed is calculated as it progresses, and if the calculation processing speed of the computer in the calculation control circuit 12 is slow, The taping speed will be slower than the manual processing speed. However _, if point P traces _the trajectory _{of the string} , _V
is (Y ₃ −Y ₂ )V〓 ₂ /φ ₂ , and since the speeds of the X-axis and Y-axis do not change over time, they can be calculated in advance and stored.

On the other hand, as shown in the explanatory diagram of FIG. 6, when the coil 1 is located at the center of the concentric circle 29 created by the rotation of the rotating ring, even if the coil side swings vertically and horizontally due to the taping operation, at least the coil If it is inside the circle 30 shown by the broken line whose radius is the height, the influence of runout will hardly appear. Therefore, even if the center position of the rotating ring in Fig. 5 deviates by the difference between point P and the midpoint Q of the string, as long as it remains at least within the coil width, the angle of the rotating ring will be at point P. The same is true for point Q, so curve B
-It will be possible to process with the same accuracy as when passing P-C.

On the other hand, the distance between point P and point Q is coil 1
When opening more than the width of
All you have to do is control the PC to draw. That is, P
Since the coordinates of a point can be expressed using a mathematical formula that is not a function of time t, it is possible to pre-calculate the two straight lines , , and the like as constant velocities, as in the case of one straight line. Of course, when the rotation angle φ _i becomes larger than the example shown in FIG. 5, three or more linear approximations may be used.

Although the above embodiments have been explained using taping of a hexagonal coil as an example, the present invention is not limited thereto, and can be fully applied to rectangular plate coils, circular coils, bar windings, etc. It's something you get. Further, although the drive motor has been described as being a DC motor, it can also be replaced with an AC servo or the like.

As described above, according to the present invention, data entry and calculation can be performed only once for each lot. Attach the coil and press the start button.
Since no human intervention is required until the coil is removed after work is completed, one person can work on multiple machines.

Thus, according to the present invention, it is possible to obtain an automatic taping device that employs a control system that is compatible with the speed and storage capacity of the arithmetic control unit consisting of a microcomputer, and that is highly economical and can ensure sufficient taping accuracy. be able to.

[Brief explanation of drawings]

Fig. 1 is a plan view showing an example of a coil to be taped, Fig. 2 is a plan view of an automatic taping device according to an embodiment of the present invention, and Fig. 3 is a circuit configuration diagram of the control panel shown in Fig. 2. , Fig. 4 is an explanatory diagram of the center point locus of the taping head in Fig. 2, Fig. 5 is an explanatory diagram of an enlarged left curved part of Fig. 4, and Fig. 6 is an explanation of the deflection of the coil side during taping work. It is a diagram. DESCRIPTION OF SYMBOLS 1... Coil, 2... Frame, 3... Table, 4... Taping head, 5... Coil supporter, 6... Control panel, 6a... Cable, 12... Arithmetic control circuit, 1
3, 14, 15, 16...D/A converter, 17, 1
8, 19, 20...drive circuit, 21, 22, 23,
24... Speed detector, 25, 26... Pulse generator,
27... Rotational position detector, 31, 32... Pulse counter, 43... Gate circuit.

Claims (1)

[Claims] 1. An automatic taping device that automatically tapes an insulating tape to a coil for electrical equipment consisting of a straight part and a curved part, which includes a support that holds the straight part of the coil horizontally, and a support around the coil. a taping head that performs taping while rotating; a first drive means that moves the taping head linearly in parallel to the linear portion of the coil; a second drive means for moving the taping head; a third drive means for rotating the taping head around the θ axis perpendicular to the coil holding plane; and a third drive means for rotating the taping head around the θ axis perpendicular to the θ axis. a fourth driving means for rotating around the center; and a fourth driving means driven by the first driving means, the second driving means, the third driving means and the fourth driving means, respectively; A driving means, a plurality of detection means for feeding back speed signals to the second driving means, the third driving means, and the fourth driving means, and setting the taping position and taping section of the coil during taping, and Each time, the taping head is driven at a predetermined speed in a direction parallel to the straight part of the coil and in a direction perpendicular thereto via the first driving means and the second driving means, respectively. 1. An automatic taping apparatus comprising: arithmetic and control means for rotating by a predetermined angle at a predetermined speed via the third drive means and the fourth drive means.