JPH06251975A - Hook type winding machine - Google Patents

Abstract

PURPOSE:To provide a hook type winding machine which is capable of finely checking the shape or the attitude of a work such as a magnetic head core provided with a fine hole and precisely positioning it by a method wherein the image of a work picked up by a camera is processed, and a winding section is kept simple in structure. CONSTITUTION:An image processing station A is provided at a position distant from a winding station B, the image of a work 47 is picked up by a camera 64 at the image processing station A, and the image picked up by the camera 64 is processed by a computer 50. Thereafter, the work 47 is moved to a winding station B, the work 47 is accurately positioned to a hook 60, and then a winding operation is carried out.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hook type winding machine,
In particular, the present invention relates to a hook-type winding machine in which a wire is inserted through an insertion portion of a work by a hook and a clamper for gripping the wire is rotated relative to the work to perform winding.

[0002]

2. Description of the Related Art As disclosed in Japanese Patent Application Laid-Open No. 61-500819, a hook type winding machine has been proposed. In the hook type winding machine, a wire is hooked by a hook to pass the wire through an insertion hole of the head, and then the clamper is rotated relatively to the head core to wind the wire around the head core.

[0003]

When a wire is wound around the head core portion of a magnetic head of a VTR by such a hook type winding machine, the size of the insertion hole is very small, so that the head core is correctly placed. Must be positioned. This is because if the position of the head core is displaced, the wire cannot be inserted into the insertion hole by the hook.

Therefore, conventionally, an operator visually positions the head core with a microscope or the like. It may be considered to perform such positioning using an image pickup means such as a video camera, but if the image pickup position and the winding position are the same, the camera must be installed in a narrow space,
The mechanical structure becomes complicated. Further, conventionally, there is a problem in that the winding hook is damaged because the winding is performed without checking the shape of the insertion portion of the head core or the mounting posture.

The present invention has been made in view of the above problems, and enables an operator to perform accurate winding without visually positioning a work with a microscope or the like. An object is to provide a hook type winding machine.

[0006]

According to a first aspect of the invention, a wire is inserted through an insertion portion of a work by a hook, and
In a hook-type winding machine in which a clamper that holds the wire is rotated relative to the work to perform winding, a winding station that performs winding by the hook and the clamper, and the winding station. An image processing station that images the work with a camera to perform image processing before winding the wire station, and a work table that carries the work table on which the work is placed from the image processing station to the winding station. And a hook-type winding machine having a mechanism.

A second invention is the same as the first invention,
The present invention relates to a hook-type winding machine including means for calibrating the mechanical system coordinates of the work table and the optical system coordinates of the camera.

A third aspect of the invention is the same as the first aspect of the invention.
The present invention relates to a hook-type winding machine, comprising means for setting coordinates of the position of the hook by teaching.

A fourth invention is the same as the first invention,
The present invention relates to a hook-type winding machine, comprising means for checking the shape or posture of a work imaged by the camera at the image processing station and discharging a defective work.

[0010]

According to the first aspect of the invention, the work is first supplied to the image processing station, and in this image processing station, the image is picked up by the camera and the image processing is performed. After this, the work table on which the work is placed is moved from the image processing station to the winding station by the transport mechanism. Then, the winding is performed by the hook and the clamper at the winding station.

According to the second aspect of the invention, the mechanical system coordinates of the work table and the optical system coordinates of the camera are calibrated during the image processing.

According to the third aspect of the invention, the coordinates of the position of the hook are set by teaching, and the work is positioned so as to match the position thus set.

According to the fourth aspect of the present invention, the shape or posture of the work is checked and the defective work is ejected during the image processing accompanying the image pickup of the work in the image processing station.

[0014]

1 shows the essential parts of a hook type winding machine according to an embodiment of the present invention. This hook type winding machine uses a moving guide 42 to form an image processing station A and a winding station B. It has a moving base 43 which is movable between and. The movement base 43 is configured to be movable and adjustable by the X-axis drive motor 44 in the X-axis direction, that is, in the direction parallel to the axial direction of the movement guide 42. An auxiliary base 45 is placed on the moving base 43. The auxiliary base 45 is the Z-axis drive motor 4
8 is movable in the Z-axis direction, that is, in the vertical direction. A work 47 is supported on the auxiliary base 45 via a mounting plate 46. This work 4
Reference numeral 7 is composed of a head core of a magnetic head of a VTR, for example.

A camera 64 for taking an image is attached to the image processing station A side. This camera 64 is connected to the computer 50,
The image signal picked up in (1) is processed, whereby the X-axis control and the Z-axis control are performed. For the X-axis control, the moving base 43 is moved to the X-axis drive motor 44.
Is a control for moving in the X-axis direction by. On the other hand, Z-axis control is control for moving and adjusting the auxiliary base 45 in the Z-axis direction by the Z-axis drive motor 48.

Next, above the winding station B, a mechanism for winding is provided. That is, the winding station B is provided with a clamper drive unit 19, and a rack 20 is provided which is composed of a revolving arm that revolves around a pinion 35 that constitutes the output shaft of the clamper drive unit 19. A clamper 21 is attached to the tip side of 20.

A hook 60 for winding in cooperation with the clamper 21 has a work 47 on the winding station B.
It is arranged at a position opposed to and can be moved back and forth by a support body 59. A microscope 61 is arranged at a position symmetrical to the hook 60 with respect to the work 47. The microscope 61 is for visually confirming the position of the work 47 as necessary.

Next, the operation of the hook-type winding machine configured as described above will be described. The work 47 is mounted on the mounting plate 46 and is transferred to the auxiliary base 45, and the image pickup of the winding portion of the work 47 is performed by the camera 64 at the image processing station A. Then, the captured image is processed by the computer 50, and the position of the winding portion is converted into the X-axis and Z-axis coordinate system of the auxiliary base 45. The position of the winding portion at this time is (X ₁ , Z ₁ ).

After this, the moving base 43 is moved to the moving guide 42.
Moves from the image processing station A to the winding station B. Hook 60 at winding station B
The coordinates of are stored in the computer 50 in advance by teaching. This coordinate is set to (X ₂ , Z ₂ ) here.

When the auxiliary base 45 is moved from the image processing station A to the winding station B by the moving base 43, the X-axis driving motor 44 and the Z-axis driving motor 48 are driven to wind the work 47. The coordinates (X ₁ , Z ₁ ) of the line portion are offset to the coordinates (X ₂ , Z ₂ ) so that the work 47 is positioned and the work 47 is correctly positioned in front of the hook 60.

Camera 6 in image processing station A
In relation to the imaging in 4, the displacement between the mechanical system coordinate of the auxiliary base 45 and the optical system coordinate captured by the camera 64 (see FIG. 2) is calibrated as shown in FIG. Let That is, an arbitrary point of the work 47 imaged by the camera 64, for example, the edge portion at the lower end of the projecting portion projecting to the left of the work is set as a point, which is the coordinate reference of the optical system (X ₀ , Z ₀ ). , (X ₁ ,
Z ₀ ), (X ₀ , Z ₁ ) are sequentially adjusted, and the movement amounts of the X-axis and Z-axis of each auxiliary base 45 at that time are electrically counted. Then, the computer 50 performs arithmetic processing based on the movement amounts of the X axis and the Z axis to correct the mechanical system coordinates and the optical system coordinates.

After performing the above correction, the work 47 is moved to the winding station B, and is visually observed by the microscope 61 on the extension of the hook 60 in the forward direction.
The X-axis and Z-axis are taught so that the holes of the winding part of are aligned. By this, winding station B
The positioning coordinates (X ₂ , Z ₂ ) of the work 47 at the position can be obtained.

Next, as shown in FIG. 4, the shape of the insertion hole 67 of the work 47 is checked for height, width, and area based on the data picked up by the camera 64 and image-processed. Then, these values are respectively compared with preset reference values. Then, control is performed to discharge those that do not meet the reference value as defective work. Further, as shown in FIG.
Even when 7 is held obliquely, the same process is performed and the discharge control is performed.

Accordingly, the defective work 47 is discharged, and the defective work 47 is also discharged, and only the good work 47 is supplied to the winding station A. Then, in the winding station B, the work 47 is correctly positioned in front of the hook 60 by the X-axis control and the Z-axis control by the computer 50. Work 47 like this
The operation of the winding will be described. The hook 60 is inserted into the insertion hole 67 of the work 47 as shown in FIG. As a result, the wire 52 is hooked by the hook 60, and the insertion hole 67, which is a small hole, is inserted as shown in FIGS. 10 and 6.

After the wire 52 is inserted through the insertion hole 67 of the work 47, the wire 52 is gripped by the clamper 21 and swung with respect to the work 47 as shown in FIG.

Insertion hole 67 of work 47 by hook 60
Of the wire 52 to the core 47 of the magnetic head by repeating the inserting operation of the
Can be wound to form a coil. Therefore, with such a winding machine, the wire 52 can be wound around the core 47 to manufacture a VTR magnetic head.

The winding operation will be described in more detail. As shown in FIG.
The insertion hole 67 is inserted. After this, the clamper 21 is turned 90 degrees as shown in FIG. In this state, the clamper 21 releases the end of the wire 52.

As a result, the hook 60 inserts the released portion of the wire 52 into the insertion hole 67 of the work 47 and pulls it to the opposite side, that is, the hook 60 side. Figure 1 at this time
As shown in FIG. 1, the spectacle guide 66 is used so that the loop of the wire 52 does not spread.

After this, as shown in FIG. 12, the clamper 2
1 rotates 180 degrees clockwise, and the insertion hole 6 of the work 47
The distal end portion of the wire 52 that has been inserted through 7 is gripped.

After this, as shown in FIGS. 13 and 14, the clamper 21 turns about 270 degrees. As a result, the wire 52 is wound through the insertion hole 67 of the work 47 and wound one turn. By repeating this operation for the number of turns, a coil is formed on the core 47.

[0031]

According to the first aspect of the present invention, a winding station for performing winding with a hook and a clamper, and an image processing for performing image processing by picking up an image of a work with a camera prior to winding at the winding station. The present invention relates to a hook-type winding machine including a station and a transfer mechanism that transfers a work table on which a work is placed from an image processing station to a winding station.

Therefore, it is not necessary to dispose a camera or the like for performing image processing at the winding station, and it is possible to dispose an image processing device such as a camera for performing image processing and the winding device separately. . This simplifies the mechanical design and simplifies the mechanical structure.

According to the second aspect of the invention, since the mechanical system coordinates of the work table and the optical system coordinates of the camera are calibrated, errors in positioning the work due to the deviation of the two kinds of coordinate systems are caused. It becomes possible to lose it.

In the third invention, the coordinates of the position of the hook are set by teaching. Therefore, the coordinate position of the hook can be set very easily, and the work can be correctly positioned with respect to the hook by aligning the position of the winding portion of the work with the coordinate position.

A fourth aspect of the present invention is to check the shape or posture of a work imaged by a camera at an image processing station and eject a defective work. Therefore, the defective work is discharged, and only the correct work is supplied to the winding station, so that the damage rate of the winding hook is reduced, and the yield and the operating rate are improved.

[Brief description of drawings]

FIG. 1 is a perspective view of a main part of a hook-type winding machine.

FIG. 2 is a plan view showing mechanical system coordinates and optical system coordinates.

FIG. 3 is a plan view showing an image of an imaged work.

FIG. 4 is an enlarged plan view of an image of a work.

FIG. 5 is an enlarged plan view showing a picked-up image of a workpiece that is not properly attached.

FIG. 6 is a perspective view of a main part showing a winding operation.

FIG. 7 is a perspective view of a main part showing a winding operation.

FIG. 8 is a perspective view of a main part showing a winding operation.

FIG. 9 is a plan view showing a winding operation.

FIG. 10 is a plan view showing a winding operation.

FIG. 11 is a plan view showing a winding operation.

FIG. 12 is a plan view showing a winding operation.

FIG. 13 is a plan view showing a winding operation.

FIG. 14 is a plan view showing a winding operation.

[Explanation of symbols]

 A image processing station B winding station 19 clamper drive unit 20 rack (swivel arm) 21 clamper 35 pinion 42 movement guide 43 movement base 44 X-axis drive motor 45 auxiliary base 46 mounting plate 47 work (head core) 48 Z-axis drive Motor 50 Computer 52 Wire 59 Support 60 Hook 61 Microscope 64 Camera 65 Second Clamper 66 Glasses Guide

Claims (4)

[Claims] 1. A hook-type winding machine in which a wire is inserted through an insertion portion of a work by a hook, and a clamper for gripping the wire is rotated relative to the work to perform winding. A winding station that performs winding with the hook and the clamper, an image processing station that performs image processing by capturing an image of the work with a camera before performing the winding in the winding station, and the work is mounted. A hook-type winding machine comprising: a transfer mechanism that transfers the placed work table from the image processing station to the winding station. 2. The hook-type winding machine according to claim 1, further comprising means for calibrating the mechanical system coordinates of the work table and the optical system coordinates of the camera. 3. The hook-type winding machine according to claim 1, further comprising means for setting the coordinates of the position of the hook by teaching. 4. The hook-type winding according to claim 1, further comprising means for checking the shape or posture of a work imaged by the camera at the image processing station and discharging a defective work. Machine.