JP4409751B2 - Winding device and winding method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a winding apparatus and method for winding a wire led out from a nozzle path of a nozzle body around a wound body, for example, a tooth formed on a stator.
[0002]
[Prior art]
The stator of the motor is formed in a cylindrical shape, and teeth are formed on the inner peripheral surface thereof at predetermined intervals in the circumferential direction. A wire rod such as a copper wire is wound around the teeth by a winding device.
[0003]
In a stator with such a structure, in order to improve the performance and miniaturization of the motor, the spacing between adjacent teeth is made as small as possible to eliminate uneven rotation due to cogging torque, and the amount of wire wound around each tooth To increase the space factor of the winding.
[0004]
As shown in FIG. 8, the winding device has a nozzle body 1, and the nozzle body 1 is clockwise along the peripheral surface of the teeth 2 formed on the inner peripheral surface of the stator 6 as indicated by an arrow. By revolving, the wire 4 led out from the nozzle path 3 of the nozzle body 1 is wound around the winding portion 5 having a smaller diameter than the tip of the tooth 2 as shown in FIG. ing.
[0005]
In the conventional winding device, the nozzle body 1 is revolved along the circumference of the tooth 2 along the locus shown in FIG. 8, and the wire 4 is wound around the winding part 5 having a smaller diameter than the tip part of the tooth 2. I was trying to do it.
[0006]
Therefore, on one side 2a of the tooth 2, one side 1a of the nozzle body 1 faces this one side 2a, and on the other side 2b, the other side 1b of the nozzle body 1 faces this other side 2b.
[0007]
The wire rod 4 led out from the nozzle passage 3 of the nozzle body 1 is curved in the lead-out direction along the curved surface 3a at the tip of the nozzle passage 3 as shown in FIG. The lower limit of the radius of curvature of the curved surface 3 a is determined by the material and diameter of the wire 4 that is the configuration of the wire 4, the insulating member coated on the surface, and the like. That is, the lead-out direction of the wire 4 extends over the entire circumferential direction of the nozzle path 3 because the nozzle body 1 revolves around the entire length of the tooth 2. Therefore, unless the curved surface 3 a is formed around the entire length of the nozzle path 3, tension is applied to the wire 4 led out from the nozzle path 3 and the wire 4 is damaged by contact with the nozzle body 1. is there.
[0008]
[Problems to be solved by the invention]
By the way, when the curved surface 3a is formed over the entire length in the circumferential direction of the nozzle path 3, in order to form the curved surface 3a, a wall thickness corresponding to the curvature radius of the curved surface 3a is secured at least outside the nozzle path 3. Must.
[0009]
Therefore, since the thickness dimension of the nozzle body 1 indicated by T in FIG. 9 is increased, the distance d between the side surfaces of the tips of the adjacent teeth 2 must be increased according to the thickness dimension T. As a result, cogging torque is greatly generated in the motor, and the performance is likely to deteriorate due to uneven rotation.
[0010]
Further, when the thickness T of the nozzle body 1 is increased, when the wire 4 is wound around the winding portion of each tooth 2, a space portion corresponding to the thickness T of the nozzle body 1 is left between the adjacent teeth 2. The winding of the wire 4 must be finished.
[0011]
Therefore, if the thickness dimension of the nozzle body 1 is increased, the space factor of the wire 4 between the pair of teeth 2 is reduced accordingly, so that the stator 6 must be enlarged in order to obtain a motor with a desired output. Sometimes it was necessary.
[0012]
It is an object of the present invention to provide a winding apparatus and method that can be wound around a tooth without damaging the wire and can reduce the thickness of the nozzle body.
[0013]
[Means for Solving the Problems]
The invention of claim 1 is a winding apparatus for winding a wire rod led out from a nozzle path provided in a nozzle body around a wound body,
The nozzle path is formed biased to one end side in the thickness direction of the nozzle body,
The nozzle body relatively revolves around the wound body while rotating so that the side surface on the other end side in the thickness direction always faces the circumferential surface of the wound body, The winding device is characterized by being wound around the wound body .
[0014]
Invention of Claim 2 is the winding apparatus which winds a wire around a wound body,
A nozzle body having a predetermined thickness dimension and having a biased nozzle path formed on one end side in the thickness direction, and the wire rod is led out from the nozzle path, and a side surface on the other end side in the thickness direction of the nozzle body Nozzle rotating means for rotating so as to face the circumferential surface of the wound body ;
A table for holding the object to be wound body so as to be opposed to the nozzle body,
At least one of the nozzle body and the table holding the wound body is driven so that the nozzle body rotated by the nozzle rotating means revolves relatively along the peripheral surface of the wound body. And a driving means for winding the wire led out from the nozzle path around the wound body.
[0015]
According to a third aspect of the present invention, in the winding device according to the first or second aspect, the nozzle path is partially open on a side surface on one end side in the thickness direction of the nozzle body.
[0016]
According to a fourth aspect of the present invention, the cross-sectional shape of the wound body is an angular shape having an opposing plane, and the locus of the nozzle body when moving from one side of the opposing plane to the opposite side is an arc. The winding device according to claim 1 or claim 2, wherein
[0017]
The invention of claim 5 is a winding method of winding a wire around teeth formed at a predetermined interval around a stator of a motor.
Distance between adjacent teeth in a state in which the other end side is opposed to one side of the tooth to be wound with the nozzle body having a nozzle path for guiding the wire formed biased to one end side in the thickness direction and the step of over-through the,
The nozzle body is moved to the other side of the tooth to be wound along an arcuate locus, and the nozzle body is rotated so that the other end side of the nozzle body faces the other side of the tooth to be wound. And a process of
A step of over-passing the interval between adjacent teeth in a state of being opposed to the other end of the nozzle body to the other side of the teeth to turn the winding,
The nozzle body is moved to one side of the tooth to be wound along an arcuate locus, and the nozzle body is rotated so that the other end side of the nozzle body faces the one side of the tooth to be wound. A winding method characterized by comprising the steps of:
[0018]
According to the present invention, the nozzle body is rotated at a predetermined revolution position while relatively revolving around the teeth, and therefore, the wire rod is led out from the nozzle path biased to one end in the thickness direction of the nozzle body. In the thickness direction of the nozzle body, it can be made only from the other end side.
[0019]
Therefore, since it is not necessary to secure a curved surface for bending the derived wire with a predetermined curvature at one end in the thickness direction, the thickness dimension of the nozzle body can be reduced accordingly.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described below with reference to FIGS.
[0021]
1 to 3 show a winding device of the present invention, which has a rectangular base 11. A support column 12 is erected on one end of the base 11, and an arcuate guide member 13 is horizontally provided on the upper end of the support column 12. The guide member 13 is provided with a table 14. A pair of rollers 14 a that are in rolling contact with the side surfaces of the guide member 13 are provided at both ends of the lower surface of the table 14. Thereby, the table 14 is provided so as to be movable (oscillated) in an arc along the guide member 13.
[0022]
A holder 15 is provided on the upper surface of the table 14, and a stator 17 indicated by a chain line in the figure is detachably provided on the holder 15. As shown in FIGS. 5 and 6, the stator 17 has teeth (winding bodies) 16 provided on the inner surface at a predetermined pitch P in the circumferential direction. Further, the stator 17 may be integrally formed in a ring shape, or may be a split type having a plurality of teeth integrally. The radius of curvature of the inner surface of the stator 17 and the radius of curvature of the guide member 13 are the same.
[0023]
At a position facing the inner peripheral surface of the stator 17 held on the table 14 on the base 11, a rotation mechanism 19 for rotating a nozzle body 18 described later and the nozzle body 18 are in contact with the stator 17. A feed mechanism 21 for pitch-feeding in the direction of separation is provided.
[0024]
The feed mechanism 21 has a feed servo motor 22 fixed to the base 11 as shown in FIGS. A ball screw 24 rotatably supported on the base 11 is connected to an output shaft of the feeding servo motor 22 by a coupling 23.
[0025]
A forward / backward movable body 25 movably provided on the base 11 is screwed to the ball screw 24. The front / rear movable body 25 is driven in the direction indicated by the arrow in FIG. 2, that is, the direction X (shown in FIG. 2) that is in contact with and away from the table 14 as the ball screw 24 rotates.
[0026]
An upper and lower guide body 26 is erected on the movable body 25 with its lower end fixed and the guide direction being substantially vertical. A vertical movable body 27 is slidably supported on the vertical guide body 26. A main shaft 28 (shown in FIG. 1) constituting the rotation mechanism 19 is supported on the upper end of the vertical movable body 27 so as to be rotatable along the moving direction of the front / rear movable body 25.
[0027]
A driven pulley 29 is fitted in the middle portion of the main shaft 28. As shown in FIG. 1, the vertical movable body 27 is provided with a rotating servo motor 31. A timing belt 33 is stretched between the drive pulley 32 that is rotationally driven by the rotation servomotor 31 and the driven pulley 29. Therefore, the main shaft 28 is rotationally driven by the servo motor 31 for rotation.
[0028]
A holder 34 is provided at the tip of the main shaft 28, and the nozzle body 18 is detachably held by the holder 34. That is, the nozzle body 18 includes a disk-shaped base 181 and a plate having a rectangular cross-section having a predetermined thickness provided on one side surface of the base 181 as shown in FIGS. A shape portion 182.
[0029]
A nozzle path 183 is formed in the base portion 181 and the plate-like portion 182. The nozzle path 183 is formed in the center portion of the base portion 181, and a part of the plate-like portion 182 is exposed on one side surface in the thickness direction. That is, the nozzle path 183 is formed in the plate-like portion 182 so as to be deviated from the center in the thickness direction toward the one side surface 18a.
[0030]
Further, as shown in FIG. 6, the wire 36 that is led out from the nozzle path 183 of the nozzle body 18 and is wound around the teeth 16 of the stator 17 causes the nozzle body 18 to be rotated by the rotation mechanism 19 during winding. Thus, in the thickness direction of the plate-like portion 182, as shown by a chain line in FIG. 4C, the plate-like portion 182 is led out only from the other side surface 18 b side.
[0031]
Therefore, in the thickness direction of the plate-like portion 182, it is only necessary to secure a wall thickness for forming the curved surface portion 184 to be bent and led out with a predetermined curvature without damaging the wire 36 only on the other side surface 18 b. Since it is not necessary to ensure the thickness for forming the curved surface portion 184 on the side surface 18a side, the thickness dimension of the plate-like portion 182 of the nozzle body 18 can be reduced accordingly.
[0032]
In addition, the method of biasing the nozzle path 183 toward the one side surface 18a from the central portion in the thickness direction of the plate-like portion 182 is by shifting the nozzle passage 183 from the central portion in the thickness direction of the plate-like portion 182 to the one side surface 18a side in advance. Although the nozzle path 183 may be formed, the nozzle path 183 is biased by forming the nozzle path 183 at the center in the thickness direction of the plate-like portion 182 and then scraping one side 18a in the thickness direction of the plate-like portion 182. You may make it make it.
[0033]
The degree of exposure from one side surface 18a of the plate-like portion 182 of the nozzle path 183 is preferably equal to or greater than the radius of the nozzle path 183 so that the wire 36 is not easily detached from the nozzle path 183. The wire 36 is inserted into the nozzle path 183 of the nozzle body 18 through a through hole (not shown) formed in the main shaft 28.
[0034]
A drive mechanism 41 for driving the table 14 and the vertical movable body 27 is disposed on the side of the table 14 and the vertical movable body 27. The drive mechanism 41 has a power shaft 43 as shown in FIG. The power shaft 43 is arranged with its axis line along the moving direction of the front / rear movable body 25 and is rotatably supported by three bearings 42.
[0035]
A driving servo motor 44 is connected to one end of the power shaft 43 and is driven to rotate by the servo motor 44. A left and right cam board 45 and an upper and lower cam board 46 are fitted and fixed in the middle of the power shaft 43. As shown in FIG. 2, cam grooves 45a and 46a are formed on the opposing side surfaces of the cam panels 45 and 46, respectively.
[0036]
As shown in FIG. 3, a first support member 47 is provided below the table 14. An intermediate portion of the L-shaped left / right swing lever 48 is pivotally attached to the first support member 47. A left and right cam follower 49 that engages with the cam groove 45 a of the left and right cam panel 45 is rotatably provided at one end of the left and right swing lever 48. As shown in FIG. 3, a pair of engaging pins 51 project from the other end of the left / right swing lever 48 at a predetermined interval in a direction perpendicular to the plate surface of the lever 48. A driven pin 52 suspended from the lower surface of the table 14 is inserted and locked between the pair of engaging pins 51.
[0037]
When the power shaft 43 is rotationally driven by the drive servo motor 44 and the left and right cam panel 45 is interlocked with the rotation, the other end of the left and right swing lever 48 swings in the left and right direction indicated by an arrow in FIG. As a result, the table 14 performs an arc motion in the left-right direction along the arc-shaped guide member 13. The left-right stroke at this time is set to be substantially the same as the pitch P of the teeth 16 of the stator 17 as shown in FIG.
[0038]
As shown in FIG. 3, a second support member 50 is erected on the opposite side of the first support member 47 in the radial direction around the axis of the power shaft 43. The base end portion of the vertical movement lever 53 is rotatably connected to the upper end portion of the second support member 50.
[0039]
A vertical cam follower 55 that engages with the cam groove 46 a of the vertical cam board 46 is rotatably provided in the middle of the vertical movement lever 53. A U-shaped engagement groove 56 is formed at the tip of the vertical lever 53, and the engagement groove 56 is formed on an interlocking pin 57 that protrudes from the side surface of the vertical movable body 27 that faces the table 14. Is engaged.
[0040]
Accordingly, when the power shaft 43 is rotationally driven and the vertical cam follower 55 is interlocked, the vertical lever 53 swings in the vertical direction indicated by the arrow in FIG. The vertical movable body 27 and the nozzle body 18 provided on the vertical movable body 27 are driven in the vertical direction via an interlocking pin 57 engaged with the engagement groove 56.
[0041]
An encoder 61 for detecting the rotation angle of the power shaft 43 is provided at the other end of the power shaft 43 as shown in FIGS. The encoder 61 detects the rotation angle of the power shaft 43 and inputs the detection signal to the control device 62 shown in FIG. When this control device 62 detects that the power shaft 43 has made one rotation (360 ° rotation), it outputs a drive signal to the feed servo motor 22 and drives the ball screw 24 to rotate by a predetermined angle to move the front and rear movable body 25 to the table. 14 is sent at a predetermined pitch in the forward / backward direction (X direction).
[0042]
That is, when the power shaft 43 is rotated once, the nozzle body 18 is driven at a predetermined pitch in a direction in which the nozzle body 18 is moved toward and away from the stator 17 held by the table 14 together with the front and rear movable body 25. This pitch is set to be substantially the same as the diameter of the wire 36 wound around the stator 17.
[0043]
When the power shaft 43 makes one rotation, the stator 17 held on the table 14 with respect to the nozzle body 18 has teeth of the stator 17 in the left and right direction (Y direction) due to the shape of the cam groove 45a formed in the left and right cam panel 45. It is reciprocated at the same distance as the pitch P of 16.
[0044]
Further, when the power shaft 43 rotates once, the nozzle body 18 reciprocates once in the vertical direction at a distance larger than the height dimension of the teeth 16 in the vertical direction. By combining the vertical movement of the nozzle body 18 and the horizontal movement of the stator 17, the power shaft 43 rotates 360 degrees, so that the nozzle body 18 makes one rotation (one round) around the teeth 16. ). That is, the nozzle body 18 revolves around the teeth 16.
[0045]
Further, when the nozzle body 18 moves from one side of the rectangular tooth 16 to the other side during one rotation around the teeth 16, the nozzle body 18 performs an arc motion with a radius R curvature as shown in FIG. 5.
[0046]
When the nozzle body 18 is positioned between the pair of teeth 16, the wire body 36 is wound around the side surface 18 a where a part of the nozzle path 183 is exposed in the radial direction, as shown in FIG. 5. It moves in the vertical direction toward the opposite direction (opposite side) of the outer peripheral surface of the teeth 16. In this state, when the nozzle body 18 protrudes upward or downward as indicated by A and B in FIG. 5 between the pair of teeth 16, the nozzle body 18 rotates 90 degrees in the clockwise direction indicated by the arrow (rotates), and then the radius R Further, it rotates 90 degrees in the clockwise direction (spins) while moving in an arc with a curvature of.
[0047]
That is, the rotation angle of the power shaft 43 is detected by the encoder 61, and the angle is a predetermined angle, that is, the nozzle body 18 is moved upward or downward from the gap between the pair of teeth 16 shown in FIGS. When projecting to the position, a drive signal is output from the control device 62 to the servo motor 31 for rotation. As a result, the nozzle body 18 rotates 90 degrees, and further rotates 90 degrees clockwise while revolving with a curvature of radius R.
[0048]
The nozzle body 18 rotates 180 degrees while revolving, so that the nozzle body 18 rotates around the tooth 16 with the one side surface 18a where the nozzle path 183 is exposed always facing the opposite side of the outer peripheral surface of the tooth 16 (revolution). ).
[0049]
Before the nozzle body 18 reaches the positions indicated by A and B in FIG. 5 and starts to revolve with the curvature of the radius R, the wire 4 does not come off from the nozzle passage 183 when it revolves, or the nozzle passage 183 When one side is not open, it is not necessary to rotate it to 90 degrees as long as it rotates within a tension that can be supported by the thin wall on the other side.
[0050]
Next, the case where the wire 36 is wound around the teeth 16 of the stator 17 by the winding device having the above-described configuration will be described.
[0051]
When the wire 36 is led out from the nozzle path 183 of the nozzle body 18, the end of the wire 36 is fixed to the stator 17 around which the wire 36 is wound or in the vicinity thereof, and the winding operation is started by the control device 62. When the winding operation is started, the power shaft 43 is rotationally driven by the drive servo motor 44. As a result, the left and right cam panels 45 and the upper and lower cam panels 46 rotate integrally, so that the vertical movement of the nozzle body 18 and the left and right swinging movement of the stator 17 are combined. 18 revolves around the teeth 16 relatively.
[0052]
The nozzle body 18 rotates 180 degrees during the revolution, that is, when the nozzle body 18 moves from one side of the tooth 16 to the other side. Therefore, the wire 36 is wound around the one side surface 18a where the nozzle path 183 is exposed by the rotation. It always revolves toward the opposite side with respect to the outer peripheral surface of the rotating tooth 16.
[0053]
Therefore, the lead-out direction of the wire 36 derived from the tip surface of the nozzle body 18 in the nozzle path 183 is derived only from the width direction intersecting with the other side surface 18b and the thickness direction as shown in FIG. become.
[0054]
That is, the nozzle body 18 has a curved surface 184 for curving the wire rod 36 led out from the nozzle passage 183 with a radius of curvature of a predetermined value or more in the thickness direction as shown in FIG. It is not necessary to secure it only on one side 18a side. Therefore, since the nozzle path 183 can be biased toward the one side surface 18a in the thickness direction of the nozzle body 18, the thickness dimension of the nozzle body 18 can be reduced according to the bias.
[0055]
If the thickness dimension of the nozzle body 18 can be reduced, the gap between the adjacent teeth 16 can be reduced, so that not only can the cogging torque of the motor be reduced, but also the winding dose to each tooth 16 is increased. The space factor can be increased.
[0056]
When the nozzle body 18 protrudes upward or downward from one side of the tooth 16 and moves to the other side, the nozzle body 18 is rotated 90 degrees in advance, and then rotated 90 degrees while performing an arc motion with a radius R curvature. I did it.
[0057]
Therefore, when the nozzle body 18 moves from one side of the tooth 16 to the other side, the wire body 36 is prevented from loosening due to the circular movement of the nozzle body 18. It becomes possible to wind around the winding part 16a having a smaller diameter without slack.
[0058]
In addition, since the nozzle body 18 is rotated 90 degrees in advance and then revolved with a curvature having a radius R, the direction in which the wire 36 is led out becomes the other side surface 18b in the thickness direction of the nozzle body 18 as shown in FIG. . Therefore, at that time, the wire rod 36 may not easily come off from the nozzle path 183.
[0059]
When the nozzle body 18 relatively rotates around the teeth 16 and is detected by the encoder 61, a drive signal is output from the control device 62 to the feeding servo motor 22 based on the detection signal. As a result, the vertical movable body 27 provided with the nozzle body 18 is pitch-fed by a distance corresponding to the diameter of the wire rod 36 in a direction in which the nozzle body 18 contacts and separates from the stator 17.
[0060]
As described above, the revolution, rotation, and pitch feed of the nozzle body 18 are repeated, whereby the wire 36 is aligned and wound around the winding portion 16 a of the tooth 16.
[0061]
7A to 7C show modifications of the nozzle body of the present invention. In the nozzle body 18A in this modification, a concave portion 191 penetrating in the thickness direction is formed in the front end portion of the plate-like portion 182 with a predetermined length in the width direction. A roller 192 is directed to the recess 191 along the width direction of the plate-like portion 182. The roller 192 may be provided on the plate-like portion 182 in either a rotatable state or a fixed state.
[0062]
As described above, when the roller 192 is provided at the tip of the nozzle body 18 </ b> A, the wire rod 36 led out from the nozzle path 183 is curved along the roller 192. Therefore, since the wire 36 is smoothly curved, it can be prevented from being damaged. If the roller 192 is rotatably provided at the tip of the plate-like portion 182, it is possible to reliably prevent the wire rod 36 from being damaged as compared with the case where the roller 192 is fixedly provided.
[0063]
In the above embodiment, in order to revolve the nozzle body around the teeth, the stator is driven in the left-right direction and the nozzle body is driven in the up-down direction. However, only the nozzle body is driven, Alternatively, the nozzle body may be swung in the horizontal direction and the stator may be driven in the vertical direction so that the nozzle body relatively revolves around the teeth.
[0064]
In the above embodiment, the shape of the wound body has been described as being substantially rectangular. However, the shape may be substantially square, elliptical, circular, or the like, and the shape is not limited.
[0065]
【The invention's effect】
As described above, according to the present invention, the thickness dimension of the nozzle body can be reduced. Therefore, since the interval between the teeth formed along the circumferential direction on the inner peripheral surface of the stator can be reduced according to the thickness dimension of the nozzle body, the cogging torque, the space factor, etc. A high motor can be provided.
[Brief description of the drawings]
FIG. 1 is a front view in which a winding device according to an embodiment of the present invention is partially omitted.
FIG. 2 is also a plan view.
FIG. 3 is a side view of the same.
4A is a perspective view of a nozzle body, FIG. 4B is a cross-sectional view, and FIG. 4C is a plan view.
FIG. 5 is an explanatory view of the movement of the nozzle body when a wire is wound around a tooth.
FIG. 6 is a plan view showing a part of the stator.
7A is a plan view showing a modification of the nozzle body of the present invention, FIG. 7B is a front view, and FIG. 7C is a side view.
FIG. 8 is an explanatory diagram for explaining the movement of a nozzle body during conventional winding.
FIG. 9 is a sectional view of a part of a conventional nozzle body.
[Explanation of symbols]
14 ... Table 16 ... Teeth 17 ... Stator 18 ... Nozzle body 183 ... Nozzle path 31 ... Servo motor for rotation (nozzle rotating means)
36 ... Wire 45 ... Left and right cam (drive means)
46. Vertical cam (drive means)

Claims (5)

In the winding device for winding the wire derived from the nozzle path provided in the nozzle body on the wound body,
The nozzle path is formed biased to one end side in the thickness direction of the nozzle body,
The nozzle body relatively revolves around the wound body while rotating so that the side surface on the other end side in the thickness direction always faces the circumferential surface of the wound body, A winding device that is wound around the wound body . In a winding device for winding a wire around a wound body,
A nozzle body having a predetermined thickness dimension and having a biased nozzle path formed on one end side in the thickness direction, and the wire rod is led out from the nozzle path, and a side surface on the other end side in the thickness direction of the nozzle body Nozzle rotating means for rotating so as to face the circumferential surface of the wound body ;
A table for holding the object to be wound body so as to be opposed to the nozzle body,
At least one of the nozzle body and the table holding the wound body is driven so that the nozzle body rotated by the nozzle rotating means revolves relatively along the peripheral surface of the wound body. And a driving means for winding the wire led out from the nozzle path around the wound body.   The winding device according to claim 1 or 2, wherein a part of the nozzle path is open to a side surface on one end side in the thickness direction of the nozzle body. The cross-sectional shape of the wound body is an angular shape having an opposing plane, and the locus of the nozzle body when moving from one side of the opposing plane to the opposite side is an arc shape. The winding device according to claim 1 or 2. In a winding method of winding a wire around teeth formed at a predetermined interval on the stator of the motor,
Distance between adjacent teeth in a state in which the other end side is opposed to one side of the tooth to be wound with the nozzle body having a nozzle path for guiding the wire formed biased to one end side in the thickness direction and the step of over-through the,
The nozzle body is moved to the other side of the tooth to be wound along an arcuate locus, and the nozzle body is rotated so that the other end side of the nozzle body faces the other side of the tooth to be wound. And the process of
A step of over-passing the interval between adjacent teeth in a state of being opposed to the other end of the nozzle body to the other side of the teeth to turn the winding,
The nozzle body is moved to one side of the tooth to be wound along an arcuate locus, and the nozzle body is rotated so that the other end side of the nozzle body faces the one side of the tooth to be wound. A winding method comprising the steps of:

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