JP2009066917A - Filament winding device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain total automation and high speed motion of a filament winding device by automatically exchanging a used bobbin for a new one and simultaneously automatically joining the yarn ends of the new and used bobbins. <P>SOLUTION: The filament winding device has a hoop winding device and a helical winding device, and a filament supply device for supplying a group of yarns to the helical winding device. The filament supply device is composed of a group of bobbins, a group of bobbin changing devices, and a buffer device for temporarily storing yarn. The bobbin changing device includes a chute for holding a plurality of unused bobbins, a cradle for supporting the unused bobbins received from the chute, a yarn remaining amount sensor for detecting the yarn remaining amount of the used bobbin, a splicer for joining the yarn ends of the new and used bobbins, a yarn end treatment device which captures the yarn end of the new bobbin to transfer to the splicer and a recovery device for recovering the used bobbin discharged from the cradle. The cradle reciprocally displaces between the yarn supply position and a bobbin replenishing position, and discharges the used bobbin to the recovery device between both positions. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a filament winding apparatus including a supply device that supplies a group of yarns to a yarn winding device.

  When forming the pressure vessel by the filament winding method, the reinforcing layer is formed by hoop winding the fiber bundle around the mandrel or helically winding the fiber bundle. The present applicant has proposed a filament winding apparatus that includes a hoop winding device and a helical winding device individually, and can efficiently perform the hoop winding processing and the helical winding processing using dedicated devices. According to this winding apparatus, automation and speeding up of the winding process can be realized as compared with the conventional apparatus.

  In the above-described winding apparatus, the yarn (fiber bundle) is supplied from a group of bobbins provided in the filament supply apparatus. However, automatic bobbin replacement is indispensable for realizing a series of winding processes. As this type of related technology, an automatic bobbin exchange device in a ring spinning machine is known (Patent Document 1). There, the old bobbin with the remaining amount of yarn remaining below a certain value is removed from the suspension holder by the automatic changer and passed to the holder on the recovery line, and the new bobbin with the yarn fully wound first Load the suspension holder. In the winding device of the present invention, the yarn end on the old bobbin side and the yarn end of the new bobbin are connected by a splicer. This type of splicer is known, for example, in Patent Document 2.

JP-A-1-118634 (page 5, lower left column, line 1 to page 6, upper right column, line 14, FIGS. 5 to 10) Japanese Patent Laying-Open No. 2006-52043 (paragraph number 0020, FIG. 2)

  As described above, in the device of the present invention, the yarn is supplied from a group of bobbins provided in the filament supply device. However, in order to realize automatic bobbin replacement, the following items must be satisfied. Detecting the remaining amount of yarn and determining the appropriate replacement timing of the bobbin, removing the old bobbin from the bobbin support device, loading the new bobbin into the previous support device, and replacing both bobbins For example, connecting the thread end of the new bobbin to the thread end of the bobbin. The automatic bobbin exchanging device of Patent Document 1 is basically applied to a yarn supplying device for a ring spinning machine. For this reason, even if the automatic exchange device of Patent Document 1 is applied to the winding device of the present invention, it is difficult to satisfy the above-mentioned essential matters. Even if it can be applied, it is inevitable that the entire apparatus becomes very large.

  An object of the present invention is to provide a filament winding apparatus that can replace the old and new bobbins at an appropriate replacement timing, and at the same time automatically connect the yarn ends of the old and new bobbins, thereby realizing full automation and high speed of the winding process. is there.

  The filament winding apparatus of the present invention includes a hoop winding device and a helical winding device, and a filament supply device that supplies a group of yarns to the helical winding device, for example. The filament supply device includes a group of bobbins, a group of bobbin exchanging devices that exchange old bobbins with a fully wound new bobbin, and a buffer device that temporarily stores yarns fed from the old bobbins.

  The bobbin changer has a bobbin holder that holds a plurality of fully wound new bobbins, a cradle that rotatably supports the new bobbin received from the bobbin holder, and the remaining amount of yarn in the old bobbin is below a certain value. Yarn remaining amount sensor that detects that the yarn has become a splicer, a splicer that connects the yarn end of the old bobbin and the yarn end of the new bobbin, and a yarn end processing device that captures the yarn end of the new bobbin and passes it to the splicer And a recovery device for recovering the old bobbin discharged from the cradle.

  The yarn end processing apparatus includes a catching arm for sucking and catching the yarn end of the new bobbin. The catch arm includes a yarn end catching position for sucking and catching the yarn end from the surface of the new bobbin held at the yarn supply position by the cradle, a relay position for passing the sucked and caught yarn end to the splicer, and a standby position. It is configured to be able to reciprocate between them.

  In the present invention, the filament winding apparatus includes the hoop winding apparatus, the helical winding apparatus, and the filament supply apparatus that supplies a group of yarns to the helical winding apparatus. Further, the filament supply device is constituted by a group of bobbins, a group of bobbin exchanging devices for exchanging old bobbins and a fully wound new bobbin, and a buffer device for temporarily storing yarns fed out from the old bobbins. Furthermore, a bobbin holder, a cradle that rotatably supports the bobbin, a yarn remaining amount sensor, a splicer that connects the yarn ends of the old and new bobbins, and a yarn end that captures the yarn ends of the new bobbin and passes them to the splicer A bobbin exchanging device was constituted by a processing device or the like. According to the filament supply device configured as described above, the replacement timing of the old and new bobbins can be appropriately determined by the yarn remaining amount sensor. Moreover, while supplying the yarn stored in the buffer device to the helical winding device, the old and new bobbins can be automatically exchanged by the bobbin exchanging device, and the yarn ends of the old and new bobbins can be automatically connected.

  As described above, according to the filament winding apparatus of the present invention, the old and new bobbins can be exchanged at an appropriate exchange timing, and at the same time, the yarn ends of the old and new bobbins can be automatically connected to realize full automation of the winding process. Moreover, the hoop winding process and the helical winding process can be efficiently performed with dedicated apparatuses, respectively, so that the winding process can be speeded up. Therefore, according to the filament winding apparatus of the present invention, it is possible to realize full automation and high speed of the winding process at the same time, improve the productivity of the winding product represented by the pressure vessel, and reduce the manufacturing cost. Since the old and new bobbins are exchanged at an appropriate exchange timing, there is an advantage that the waste of the filament wound around the old bobbin can be minimized.

  According to the yarn end processing apparatus including the catching arm, the yarn end is sucked by the catching arm from the surface of the new bobbin held by the cradle while the catching arm reciprocates between the yarn end catching position and the standby position. Can be captured and passed to the splicer. The splicer that has received the yarn ends connects the yarn ends of the old and new bobbins and makes the yarn shapes of both bobbins continuous. According to such a thread connection mode, the new bobbin thread end can be connected with a simple operation by simply passing the new bobbin thread to the splicer, so that automatic connection of both ends is always ensured. Yes.

(Example) FIG. 1 thru | or FIG. 7 shows the Example of the filament winding apparatus based on this invention. In FIG. 3, the filament winding apparatus includes a filament supply device 1 and a winding device 2.

  The winding device 2 includes a base 3 that is long on the left and right sides, a support 4 of a mandrel M that is disposed on the top of the base 3, a hoop winding device 5, a helical winding device 6, and a mandrel exchanging device (not shown). Etc. The support base 4 and the hoop winding device 5 are driven to reciprocate along the longitudinal direction of the base 3 by drive mechanisms (not shown). The helical winding device 6 is fixed to the central position of the base 3 so as to straddle the base 3, and the yarn R fed from the group of bobbins 30 provided in the previous filament supply device 1 is wound around the mandrel M. Multiply.

  When the final product is a pressure vessel, the mandrel M is formed in a container shape from a metal material such as a high-strength aluminum material or stainless steel, or a resin molded product. In this embodiment, as shown in FIG. 3, the mandrel M is integrally provided with a central cylindrical portion, a dome portion continuous with both ends of the cylindrical portion, and a mouth portion protruding from the top of the dome portion. The case will be described. The yarn R is made of, for example, a bundle of glass fibers or carbon fibers. The yarn R wound around the bobbin 30 of the previous filament supply apparatus 1 is impregnated with a thermosetting resin in advance. If necessary, the melted resin is impregnated into the yarn R fed from the bobbin 30 and then fed to the helical winding device 2.

  The support 4 is provided on a base 8 that is guided by a rail 7 on the base 3, support arms 9 and 9 that are erected on both ends of the base 8, and upper end facing surfaces of the support arms 9 and 9. It is composed of chucks 10 and 10. In order to facilitate the replacement of the mandrel M, the support arms 9 and 9 are configured to be switchable from a standing posture to a lying posture with respect to the base 8.

  A pair of mounting jigs 11 are fixed on both the left and right sides of the mandrel M, and the mandrel M can be supported in a horizontal posture by gripping and supporting these mounting jigs 11 with the chuck 10. One chuck 10 is rotationally driven by a drive structure not shown. The mandrel after the winding process is completed by supporting the left and right mounting jigs 11 with a mandrel exchanging device (not shown), opening the chuck 10 in this state, and lying the left and right support arms 9 in an open state. M can be taken out. Further, the new mandrel M can be loaded on the support base 4 according to the reverse procedure.

  In FIG. 3, the hoop winding device 5 includes a frame 15 that is moved and guided by a rail 14 on the base 3, a disk-shaped winding table 16 that is rotatably supported by the frame 15, and a rotational drive for the winding table 16. The drive mechanism and the like are configured as a main structure. On one side of the winding table 16, there are provided four bobbins 17 that are equally arranged along the periphery of the table, a guide member that guides the yarn R fed from the bobbin 17 to the mandrel M, and the like. An insertion hole is opened at the center of the winding table 16, and the mandrel M is disposed so as to cross the winding table 16 so as to penetrate the insertion hole. The yarn R in the hoop winding device 5 is the same as the yarn R described above, but in the process of supplying the yarn R from the bobbin 17 to the mandrel M, the thermosetting molten resin is impregnated. Different. A coating apparatus for this purpose is not shown.

  3 and 4, the helical winding device 6 is arranged on a gate-shaped frame 21 having a circular insertion hole 20 in the center, a guide ring 22 disposed on the periphery of the insertion hole 20, and both sides of the guide ring 22. The tension adjusting unit 23 and the like. Although not shown, a group of auxiliary guides are arranged around the guide ring 22, and a group of guide holes are formed through the guide ring 22. Furthermore, an opening guide corresponding to each guide hole is provided on the inner surface side of the guide ring 22. The mandrel M1 is supported by the central portion of the insertion hole 20 in a state orthogonal to the frame 21.

  The yarn R fed from the filament supply device 1 is deflected and guided by a guide roller 24 (see FIG. 3) arranged on the outer side of the frame 21, and given a predetermined tension by a tension adjusting unit 23. It is guided to the guide hole of the guide ring 22. As described above, the frame 21 is fixed to the central portion of the base 3 in the longitudinal direction. Accordingly, by rotating the mandrel M1 by a predetermined angle while reciprocating, the yarn R guided by the guide ring 22 can be wound along the longitudinal direction of the peripheral surface of the mandrel M1.

  The filament supply device 1 includes a group of bobbins 30, a group of bobbin exchanging devices 31 for exchanging the old bobbins 30a and the fully wound new bobbins 30, and a buffer device for temporarily storing the yarn R fed from the old bobbins 30a. 32 or the like. 1 and 2 show an outline of the bobbin exchanging device 31. FIG.

  The bobbin exchanging device 31 is configured with a frame 34 as a base, and in order from the top, a cradle 35, a guide roller 37, a splicer 38, a yarn end processing device 39, a yarn remaining amount sensor 40, and the like. Arrange and configure. A stocker (bobbin holding body) 36 for storing the fully wound new bobbin 30 is disposed on the upper side of the frame 34. A conveyor (collecting device) 41 that collects the old bobbin 30 a is disposed on the upper surface of the frame 34, and the previous buffer device 32 is disposed below the frame 34. The conveyor 41 is disposed along the arrangement direction of the bobbin exchange devices 31. The replenishment of the new bobbin 30 to the stocker 36 is performed manually or automatically by a replenishing device (not shown).

  The cradle 35 includes a pair of L-shaped arms 44 that are supported by the frame 34 so as to be reciprocally swingable, and a pair of chucks 45 that are disposed at the distal ends of both arms 44 and are rotatably supported by both arms 44. And an arm driving structure (not shown). A swing center axis of the arm 44 is denoted by reference numeral 47. The cradle 35 can be reciprocated between the yarn supply position shown in FIG. 1 and the bobbin replenishment position shown by a solid line in FIG. As shown in FIG. 2, one of the chucks 43 disposed to face each other is configured to be able to be moved out and with an air cylinder (operator) 46.

  As described above, the old and new bobbins 30 and 30a can be exchanged by operating the one chuck 43 with the air cylinder 46. Specifically, after the arms 44 are displaced to the bobbin replenishment position, the air cylinder 46 is moved out and retracted, so that the core of the new bobbin 30 positioned at the inclined lower end of the stocker 36 can be held between the pair of chucks 45. Furthermore, the winding core of the old bobbin 30a can be discharged to the conveyor 41 by operating the air cylinder 46 in the middle of the yarn supply position and the bobbin replenishment position. The stocker 36 is supported so as to be inclined downward toward the cradle 35, and a plurality of new bobbins 30 are accommodated on the upper surface thereof so as to roll toward the lower end of the inclination. The outer diameter of the bobbin 30 gradually decreases as the yarn R is unwound. Even in such a case, the guide roller 37 is provided in order to make the yarn path of the yarn R fed from the bobbin 30 constant.

  The splicer 38 is composed of, for example, an air-entangled splicer, and a pair of clamps that simultaneously suppress and hold the adjacent filaments R and a nozzle that ejects pressurized air toward the adjacent filaments R are disposed therein. is there. Above and below the splicer 38, a cutter 48 for cutting the yarn R of the old bobbin 30a and a cutter 49 for cutting the yarn of the new bobbin 30 are provided. The pressurized air ejected from the previous nozzle is preferably highly compressed air, for example, compressed air whose air velocity ejected from the nozzle reaches the speed of sound.

  As shown in FIGS. 1 and 2, the yarn end processing device 39 includes a capture arm 51 configured as a hollow body, a blower that applies a suction force to the capture arm 51, and an arm drive that reciprocally swings the capture arm 51. A structure (not shown) is used. The capture arm 51 includes a proximal arm 52, a distal arm 53, a suction nozzle 54 that sucks and captures the end of the yarn R, and a nozzle operation structure that rotates the distal arm 53 relative to the proximal arm 52 (see FIG. (Not shown).

  The proximal arm 52 is pivotally supported on one side of the frame 34, and the distal arm 53 is connected to the proximal arm 52 so as to be rotatable relative to the proximal arm 52. The catch arm 51 includes a standby position (the state shown in FIG. 1) in which the suction nozzle 54 is accommodated in the retracting recess 34a of the frame 34, and a yarn end catch position (see FIG. 7) where the suction nozzle 54 faces the surface of the new bobbin 30. The arm drive structure is used to reciprocate between the imaginary line and the imaginary line. In addition, the end of the yarn R captured by the suction nozzle 54 is transferred to the splicer 38 at the relay position immediately before the capture arm 51 returns to the standby position (indicated by an imaginary line below FIG. 7).

  The yarn remaining amount sensor 40 is composed of a pair of freely rotatable rollers 57 and 57 and a rotation sensor that converts the rotation operation of one roller 57 into an electric signal. Is held. The total length of the yarn R wound around the new bobbin 30 is known in advance. Accordingly, the length of the yarn R fed out from the new bobbin 30 is known from the output signal from the yarn remaining amount sensor 40, and the remaining yarn length is calculated from the total length of the yarn R and the length of the fed yarn R. The amount can be accurately grasped. As will be described later, the output signal from the remaining yarn amount sensor 40 is reset to zero when the splicing operation is completed and the splicer 38 returns to the standby state.

  As shown in FIG. 1, the buffer device 32 includes a group of fixed rollers 59 and a dancer roller 60 that can move toward and away from the fixed rollers 59. The yarn R is wound around the fixed roller 59 and the dancer roller 60 so as to be reversed for each of the rollers 59 and 60. Therefore, as shown in FIG. 1, by moving the dancer roller 60 to the side away from the fixed roller 59, it is possible to store the filament R that is wound around both the rollers 59 and 60. The thread R is supplied from the buffer device 32 to the helical winding device 6 until the old and new bobbins 30 and 30a are exchanged by the bobbin exchanging device 31 and the splicer 38 performs yarn splicing. At this time, the dancer roller 60 approaches the fixed roller 59 to supply the thread R, and the yarn R fed from the buffer device 32 is guided to transfer to the winding device 2 via the guide roller 62 (see FIG. 3). Is done.

  The filament winding apparatus configured as described above forms a reinforcing layer around the mandrel M by repeatedly performing hoop winding by the hoop winding apparatus 5 and helical winding by the helical winding apparatus 6 on the mandrel M. Specifically, the support 4 is moved so that the entire mandrel M protrudes to one side of the helical winding device 6, and the support 4 is gradually slid while rotating the winding table 16 in this state. Thus, a hoop winding layer is formed. Further, as shown in FIG. 3, the hoop winding device 5 is placed close to the helical winding device 6, and the helical winding layer can be formed by rotating the mandrel M little by little with the chuck 10 while reciprocating the support base 4. .

  As described above, when the hoop winding and the helical winding are performed by the dedicated hoop winding device 5 and the helical winding device 6, respectively, the reinforcing layer can be efficiently formed on the outer peripheral surface of the mandrel M in a short time. The mandrel M after the winding process is removed from the support 4 and sent to the next heating step. A new mandrel M is loaded on the support 4 and the yarn R is wound around it again. In the heating step, the resin impregnated or attached to the yarn R is thermally cured to cure the reinforcing layer. Finally, the mounting jig 11 can be removed from the mandrel M to obtain a front body of the pressure vessel.

  Next, the automatic replacement operation of the old and new bobbins 30 and 30a by the bobbin replacement device 31 and the yarn splicing operation of both the bobbins 30 and 30a will be described. When the remaining amount of yarn in the old bobbin 30a that is feeding the yarn R is reduced to a predetermined amount, this is detected by an output signal from the remaining yarn amount sensor 40, and the old bobbin 30a as shown in FIG. The yarn R fed out from the bobbin 30a is cut by the cutter 48. Thereafter, the yarn R stored in the buffer device 32 is supplied to the helical winding device 6. At the same time, the cradle 35 is swung from the yarn supply position, and the old bobbin 30a is positioned directly above the conveyor 41 as indicated by an imaginary line in FIG. In this state, by retracting the air cylinder 46, the core of the old bobbin 30a held by both chucks 45 can be discharged to the conveyor 41.

  The cradle 35 after releasing the old bobbin 30a is further swung to the bobbin replenishment position as shown by the solid line in FIG. By moving the air cylinder 46 in this state, the core of the new bobbin 30 held by the stocker 36 can be captured and fixed by the pair of chucks 45. Thereafter, the cradle 35 is returned to the yarn supply position by the return swing operation. In parallel with the return of the cradle 35 to the yarn supply position, the catching arm 51 of the yarn end processing device 39 is swung from the standby position to the yarn end catching position.

  As shown in FIG. 7, the swinging trajectory of the catching arm 51 intersects the yarn path of the yarn R captured by the splicer 38. In order to avoid this yarn path, the distal arm 53 and the suction nozzle 54 are rotated 90 degrees around the cylinder axis of the proximal arm 52 in the nozzle operation structure, as indicated by the imaginary line below FIG. . Next, the preceding yarn path can be overcome by swinging the catch arm 51 about the swing center shaft 47 to the yarn end catch position. Subsequently, while the capture arm 51 is swung upward, the distal end arm 53 and the suction nozzle 54 are turned 90 degrees around the cylinder axis of the proximal end arm 52 in the reverse direction to capture the suction end 54. Displacement operation can be performed to the position. In this state, since the nozzle port 54a of the suction nozzle 54 faces the surface of the new bobbin 30, the end portion of the free thread R can be sucked and captured. The fact that the end of the filament R has been captured can be recognized by a capture sensor provided inside the suction nozzle 54.

  Using the capture signal from the previous capture sensor as a start signal, the capture arm 51 is returned and swung from the yarn end capture position toward the relay position, while the tip arm 53 and the suction nozzle 54 are connected to the cylinder of the base end arm 52. It is turned 90 degrees around the axis to get over the yarn path. Thereby, the yarn R captured by the suction nozzle 54 is delivered to the splicer 38. Inside the splicer 38, the middle part of the yarn R of the new bobbin 30 is guided so as to be adjacent to the yarn R of the old bobbin 30a, and the upper and lower sides of both yarns R and R are clamped and fixed by clamps. As a result, preparation for piecing is completed, and the lower cutter 49 is operated to cut off the excess yarn R, and the suction nozzle 54 discharges the yarn to the outside. Further, the distal arm 53 and the suction nozzle 54 are turned back to return the capture arm 51 to the standby position.

  In the above-described state, spouted air is spouted from the nozzle of the splicer 38 toward the adjacent thread R to vibrate the single fibers of both the threads R and R violently in a random direction and entangle the single fibers. As a result, the yarn ends of the old and new bobbins 30 and 30a can be connected. After that, by releasing the restraint of the thread form R by the clamp, the thread form R caught in the new bobbin 30 can be fed out and supplied. The yarn R can be stored in the buffer device 32 without any trouble even while the yarn R is being supplied to the helical winding device 6. Further, the yarn roller R may be stored by operating the dancer roller 60 while the hoop winding device 5 is operating. Thereafter, by repeating the above-described procedure, the automatic replacement of the old and new bobbins 30 and 30a and the automatic connection of the yarn ends of both bobbins 30 and 30a can be realized to realize fully automatic and high-speed winding processing. it can.

  In the above embodiment, the cradle 35 is reciprocally swung between the yarn supply position and the bobbin replenishment position. However, this is not necessary, and the cradle 35 is reciprocated linearly to move the yarn supply position and the bobbin. It is possible to switch to the replenishment position. Similarly, it is not necessary for the yarn end processing device 39 to reciprocate and swing, and the suction nozzle 54 is reciprocated up and down, and further retracted at each of the upper and lower positions, and the end of the yarn R of the new bobbin 30 is moved. Can be aspirated and passed to the splicer 38. In that case, the entire structure of the yarn end processing device 39 can be simplified by arranging the entire yarn end processing device 39 along the outside of the yarn path of the yarn R captured by the splicer 38.

  The bobbin holding / retracting 36 does not need to be formed in a chute shape, and can be configured, for example, in a hopper shape. The collection device 41 does not need to be the conveyor 41, and can be configured by a chute that guides the old bobbin 30a to drop by its own weight. In that case, a chute is provided for each bobbin changer 31. In the above embodiment, the filament R is fed from the filament supply device to the hoop winding device. However, the filament supply device may feed the yarn R to the helical winding device.

It is a side view of a bobbin exchange apparatus. It is a front view of a bobbin exchange device. It is a schematic plan view of a filament winding apparatus. It is an AA arrow directional view in FIG. It is a side view of the bobbin exchange apparatus which shows the initial state of bobbin exchange. It is a side view of the bobbin exchanging device showing a new bobbin capturing operation. It is a side view of the bobbin exchanging device showing the yarn splicing operation.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Filament supply apparatus 2 Winding apparatus 5 Hoop winding apparatus 6 Helical winding apparatus 30 Bobbin 30a Old bobbin 31 Bobbin exchange apparatus 32 Buffer apparatus 35 Cradle 36 Chute (bobbin holding body)
38 Splicer 39 Yarn end processing device 40 Yarn remaining amount sensor 41 Conveyor (collecting device)
R yarn

Claims (3)

A filament winding apparatus comprising: a hoop winding device and / or a helical winding device; and a filament supply device for supplying a group of yarns to the hoop winding device and / or the helical winding device,
The filament supply device includes a group of bobbins, a group of bobbin exchanging devices for exchanging old bobbins and a fully wound new bobbin, and a buffer device for temporarily storing yarn fed out from the old bobbins. Filament winding device characterized by.   The bobbin exchanging device has a bobbin holding body that holds a plurality of fully wound new bobbins, a cradle that rotatably supports the new bobbin received from the bobbin holding body, and the remaining thread amount of the old bobbin is constant. Yarn remaining amount sensor that detects when the value is less than the value, a splicer that connects the end of the old bobbin and the end of the new bobbin, and a yarn that captures the end of the new bobbin and passes it to the splicer The filament winding apparatus according to claim 1, further comprising an end processing device and a collecting device that collects the old bobbin discharged from the cradle. The yarn end processing device is provided with a catching arm for sucking and catching a yarn end of a new bobbin;
The catching arm has a yarn end catching position for sucking and catching the yarn end from the surface of the new bobbin held at the yarn supply position by the cradle, a relay position for passing the sucked and caught yarn end to the splicer, and standby. The filament winding apparatus according to claim 2, wherein the filament winding apparatus is configured to be able to reciprocate between positions.

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