JP2013063585A - Filament winding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology which can shorten a time necessary for winding a fiber bundle without making an object to be controlled exceed an allowable limit speed.SOLUTION: In this filament winding device 100 having a control device 52 which sequentially indicates the operation of the object to be controlled from a first process by dividing a series of operations for winding the fiber bundle to the external peripheral face 1S of a liner 1 to each process, the control device 52 recognizes a process in which the object to be controlled still has a margin for the allowable limit speed, and shortens the necessary time of the corresponding process.

Description

  The present invention relates to a technique of a filament winding apparatus.

  2. Description of the Related Art Conventionally, a filament winding apparatus that winds a fiber bundle impregnated with a resin around an outer peripheral surface of a liner is known (see, for example, Patent Document 1). The filament winding apparatus is provided with a control device that sequentially instructs a control target operation from the first step by dividing a series of operations for winding the fiber bundle into each step. Specifically, the filament winding apparatus is provided with a motion controller as a control device, and the motion controller creates a control signal for each process, thereby realizing a series of operations for winding the fiber bundle.

  In order to wind a fiber bundle around the outer peripheral surface of the liner using such a filament winding apparatus, it is necessary to synchronize with a plurality of control objects such as a transfer speed and a peripheral speed of the liner, and an expansion / contraction speed of the fiber bundle guide. However, in the conventional filament winding apparatus, when the time required for winding the fiber bundle is shortened, a method for uniformly shortening the time required for each process from the first process to the final process has been adopted. When one of these exceeded the allowable limit speed, it was necessary to correct or redesign all the cam data.

  As a result, it took a great deal of development man-hours to correct or redesign the cam data, and eventually caused problems such as the time required for winding the fiber bundle could not be shortened. Therefore, there has been a demand for a technique that can reduce the time required for winding the fiber bundle without the control target exceeding the allowable limit speed.

JP 2010-36461 A

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a technique capable of reducing the time required for winding a fiber bundle without the control target exceeding an allowable limit speed. It is said.

  Next, means for solving this problem will be described.

That is, the first invention is
In a filament winding apparatus provided with a control device for sequentially instructing an operation to be controlled from the first step by dividing a series of operations for winding a fiber bundle around the outer peripheral surface of the liner into each step,
The control device recognizes a process in which the control target has a margin to an allowable limit speed, and shortens the time required for the corresponding process.

The second invention is the filament winding apparatus according to the first invention,
The control device determines whether or not the control target has a margin up to an allowable limit speed based on the feeding speed of the fiber bundle.

A third invention is the filament winding apparatus according to the second invention,
The control device determines that the process in which the feeding speed of the fiber bundle is lower than a predetermined threshold is a process in which the controlled object has a margin to the allowable limit speed.

4th invention is the filament winding apparatus which concerns on 2nd or 3rd invention,
A fiber bundle guide for guiding the fiber bundle on the outer peripheral surface of the liner;
The control device calculates the delivery speed based on the transfer speed of the liner, the peripheral speed of the liner, and the expansion / contraction speed of the fiber bundle guide.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect of the invention, the process to be controlled recognizes a process that has a margin to the allowable limit speed, and the time required for the corresponding process is shortened. As a result, the required time can be shortened in a process in which it is determined that the controlled object does not exceed the allowable limit speed, and therefore the time required for winding the fiber bundle is reduced without the controlled object exceeding the allowable limit speed. It becomes possible.

  According to the second invention, it is determined whether or not the controlled object has a margin up to the allowable limit speed based on the fiber bundle feed speed. As a result, the required time can be shortened in a process in which it is determined that the controlled object does not exceed the allowable limit speed, and therefore the time required for winding the fiber bundle is reduced without the controlled object exceeding the allowable limit speed. It becomes possible.

  According to the third aspect of the invention, the process in which the fiber bundle feed speed is lower than the predetermined threshold is determined as a process in which the controlled object has a margin to the allowable limit speed. As a result, the required time can be shortened in a process in which it is determined that the controlled object does not exceed the allowable limit speed, and therefore the time required for winding the fiber bundle is reduced without the controlled object exceeding the allowable limit speed. It becomes possible.

  According to the fourth aspect of the invention, the fiber bundle delivery speed can be calculated based on the liner transfer speed, the liner circumferential speed, and the fiber bundle guide expansion / contraction speed. As a result, the required time can be shortened in a process in which it is determined that the controlled object does not exceed the allowable limit speed, and therefore the time required for winding the fiber bundle is reduced without the controlled object exceeding the allowable limit speed. It becomes possible.

The figure which shows the whole structure of a filament winding apparatus. (2A) Front view showing the configuration of the helical winding device. (2B) Side view showing the configuration of the helical winding device. The figure which shows the control system using a motion controller. The figure which shows the cam data showing a series of operation | movement which winds a fiber bundle. (5A) The figure which shows the cam data showing a series of operation | movement which winds a fiber bundle. (5B) The figure which shows the cam data which shortened the time required for winding of a fiber bundle. (6A) The figure which shows the cam data showing a series of operation | movement which winds a fiber bundle. (6B) The figure which shows the cam data which shortened the time required for winding of a fiber bundle.

  First, a filament winding apparatus 100 (hereinafter referred to as “FW apparatus 100”) according to an embodiment of the present invention will be described.

  FIG. 1 is a diagram illustrating an overall configuration of the FW device 100. An arrow X shown in the figure indicates the transfer direction of the liner 1. Further, a direction parallel to the transfer direction of the liner 1 is defined as the front-rear direction of the FW device 100, and one direction in which the liner 1 is transferred is defined as the front side (left side in the figure) and the other direction is defined as the rear side (right side in the figure). In addition, since the FW device 100 reciprocates the liner 1 in the front-rear direction, the front side and the rear side are determined according to the transfer direction of the liner 1.

  The FW device 100 is a device that winds the fiber bundle F around the outer peripheral surface 1S of the liner 1. The FW device 100 mainly includes a main base 10, a liner transfer device 20, a hoop winding device 30, a helical winding device 40, and a control device 52 (see FIG. 3).

  The liner 1 is a substantially cylindrical hollow container formed of, for example, a high-strength aluminum material or a polyamide resin. The liner 1 is improved in pressure resistance when the fiber bundle F is wound around the outer peripheral surface 1S of the liner 1. That is, the liner 1 is a base material constituting the pressure vessel.

  The main base 10 is a main structure that forms the basis of the FW device 100. A liner transfer device rail 11 is provided on the upper portion of the main base 10. A liner transfer device 20 is placed on the liner transfer device rail 11. A hoop winding device rail 12 is provided on the main base 10 in parallel with the liner transfer device rail 11. A hoop winding device 30 is placed on the rail 12 for the hoop winding device.

  With such a configuration, the main base 10 constitutes the foundation of the FW device 100 and enables the liner transfer device 20 and the hoop winding device 30 to move in the front-rear direction of the FW device 100.

  The liner transfer device 20 is a device that transfers the liner 1 while rotating it. Specifically, the liner transfer device 20 is a device that rotates the liner 1 about the front-rear direction of the FW device 100 as a central axis and transfers the liner 1 in the front-rear direction of the FW device 100. The liner transfer device 20 mainly includes a base 21 and a liner support portion 22.

  The base 21 is provided with a pair of liner support portions 22 above the base 21. The liner support portion 22 includes a liner support frame 23 and a rotary shaft 24, and rotates the liner 1. More specifically, the liner support portion 22 includes a liner support frame 23 extending upward from the base 21, a rotating shaft 24 extending from the liner support frame 23 in the front-rear direction, Consists of. The liner 1 attached to the rotating shaft 24 is rotated in one direction by a power mechanism (not shown).

  With such a configuration, the liner transfer device 20 rotates the liner 1 with the front-rear direction of the FW device 100 as the central axis, and can transfer the liner 1 in the front-rear direction of the FW device 100.

  The hoop winding device 30 is a device that winds the fiber bundle F around the outer peripheral surface 1S of the liner 1. Specifically, the hoop winding device 30 is a device that performs so-called hoop winding in which the winding angle of the fiber bundle F is substantially perpendicular to the axis L of the liner 1 (see FIG. 2B). The hoop winding device 30 mainly includes a base 31, a power mechanism 32, and a hoop winding device 33.

  The base 31 is provided with a hoop winding device 33 that is rotated by a power mechanism 32. The hoop winding device 33 includes a winding table 34 and a bobbin 35, and performs hoop winding on the outer peripheral surface 1 </ b> S of the liner 1. More specifically, the hoop winding device 33 includes a winding table 34 that mainly performs hoop winding, and a bobbin 35 that supplies the fiber bundle F to the winding table 34. Then, the fiber bundle F is guided to the outer peripheral surface 1S of the liner 1 by the fiber bundle guide provided on the winding table 34, and the winding table 34 rotates to perform the hoop winding.

  With such a configuration, the hoop winding device 30 can perform hoop winding in which the winding angle of the fiber bundle F is substantially perpendicular to the axis L of the liner 1 (see FIG. 2B).

  The helical winding device 40 is a device that winds the fiber bundle F around the outer peripheral surface 1S of the liner 1. Specifically, the helical winding device 40 is a device that performs so-called helical winding in which the winding angle of the fiber bundle F is a predetermined value with respect to the axis L of the liner 1 (see FIG. 2B). The helical winding device 40 mainly includes a base 41 and a helical winding device 42.

  The base 41 is provided with a helical winding device 42. The helical winding device 42 includes a fixed helical head 43 and a movable helical head 44, and performs helical winding on the outer peripheral surface 1 </ b> S of the liner 1. More specifically, the helical winding device 42 is mainly composed of a fixed helical head 43 that performs helical winding and a movable helical head 44 that also performs helical winding. The fiber bundle F is guided to the outer peripheral surface 1S of the liner 1 by the fiber bundle guide 45 (see FIG. 2) provided on the fixed helical head 43 and the fiber bundle guide 45 (see FIG. 2) provided on the movable helical head 44. As the liner 1 rotates, the helical winding is performed.

  With such a configuration, the helical winding device 40 can perform helical winding in which the winding angle of the fiber bundle F is a predetermined value with respect to the axis L of the liner 1 (see FIG. 2B).

  The control device 52 is a device that instructs a series of operations for winding the fiber bundle F around the outer peripheral surface 1 </ b> S of the liner 1. Specifically, the control device 52 is a motion controller that divides a series of operations for winding the fiber bundle F into each process and sequentially instructs the operation to be controlled from the first process. The series of operations for winding the fiber bundle F is, for example, that the liner transfer device 20 transfers the liner 1 while rotating it, and the helical winding device 40 rotates the movable helical head 44 to change the phase of the fiber bundle guide 45. And the operation | movement which winds the fiber bundle F in connection with each other is said.

  Here, the control system of the FW device 100 will be described in detail.

  FIG. 3 is a diagram showing a control system using the control device 52 (hereinafter “motion controller 52”). The motion controller 52 is the core of the control system in the FW device 100. The control system of the FW device 100 mainly includes application software 51, a motion controller 52, amplifiers 53a, 53b,..., Motors 54a, 54b, and feedback devices 55a, 55b,. Is done.

  The application software 51 sets a series of operations for winding the fiber bundle F around the outer peripheral surface 1S of the liner 1. Specifically, the application software 51 sets the cam data created by the system designer and defines how the cam data changes when a specific event occurs. The cam data is an operation diagram in which the operation of the motors 54a, 54b,... Is expressed numerically for each process (see FIG. 4).

  The motion controller 52 creates a control signal based on the cam data. Specifically, the motion controller 52 creates a voltage signal corresponding to each numerical value of the cam data, and outputs the voltage signal to the amplifiers 53a, 53b,. The motion controller 52 corrects the voltage signal output to the amplifiers 53a, 53b,... Based on the detection signals from the feedback devices 55a, 55b,.

  The amplifiers 53a, 53b,... Amplify the voltage signal from the motion controller 52 and convert it into a current signal. Specifically, the amplifiers 53a, 53b,... Receive and amplify the voltage signal from the motion controller 52, convert it into a current signal, and output it to the motors 54a, 54b,.

  The motors 54a, 54b,... Convert the current signals from the amplifiers 53a, 53b,. In detail, the motors 54a, 54b,... Receive current signals from the amplifiers 53a, 53b,.

  The feedback devices 55a, 55b,... Generate detection signals based on the driving states of the motors 54a, 54b,. Specifically, the feedback devices 55a, 55b,... Create a voltage signal corresponding to the driving state of the motors 54a, 54b, etc. and the position of the control target, and output the voltage signal to the motion controller 52.

  With this configuration, in the present control system, the motion controller 52 generates a control signal based on the settings of the application software 51, and drives the motors 54a, 54b,... Via the amplifiers 53a, 53b,. . Further, since the motion controller 52 corrects the control signal based on the driving state of the motors 54a, 54b, etc., the position of the control target, etc., it is possible to perform control with high accuracy.

  Next, cam data will be described in detail.

  FIG. 4 is a diagram showing cam data representing a series of operations for winding the fiber bundle F. The horizontal axis of this figure has shown the process of a series of operation | movement which winds the fiber bundle F. FIG. The vertical axis in the figure indicates the operation of the motors 54a, 54b,. In addition, this figure shows an example of the cam data used for the FW apparatus 100, and may be cam data representing another control mode.

  The cam data Ca represents the rotation operation of the liner 1. The motion controller 52 creates a control signal based on the cam data Ca and drives the motor 54 a of the power mechanism that constitutes the liner transfer device 20. Since the rotation direction of the liner 1 is always constant (see arrow D1 in FIG. 2B), the cam data Ca indicates a diverging operation in which the numerical value increases for each process.

  The cam data Cb represents the transfer operation of the liner 1. The motion controller 52 creates a control signal based on the cam data Cb, and drives the motor 54b of the power mechanism that constitutes the liner transfer device 20. Since the transfer direction of the liner 1 is changed to the front-rear direction (see arrow D2 in FIG. 2B), the cam data Cb indicates a repetitive operation that decreases again after the numerical value increases.

  The cam data Cc represents the expansion / contraction operation of the fiber bundle guide 45. The motion controller 52 creates a control signal based on the cam data Cc, and drives the motor 54c of the power mechanism that constitutes the helical winding device 40. In addition, since the expansion / contraction direction of the fiber bundle guide 45 is changed to a direction in which the fiber bundle guide 45 approaches or separates from the outer peripheral surface 1S of the liner 1 (see arrow D3 in FIG. 2B), the cam data Cc is again after the numerical value increases. A decreasing repetitive motion is shown.

  The cam data Cd represents the rotation operation of the fiber bundle guide 45. The motion controller 52 creates a control signal based on the cam data Cd, and drives the motor 54d of the power mechanism that constitutes the helical winding device 40. Since the rotation direction of the fiber bundle guide 45 is changed to the normal rotation direction or the reverse rotation direction (see arrow D4 in FIG. 2A), the cam data Cd indicates a repetitive operation that decreases again after the numerical value increases. .

  The cam data Ce represents the rotational operation of the movable helical head 44. The motion controller 52 creates a control signal based on the cam data Ce, and drives the motor 54e of the power mechanism that constitutes the helical winding device 40. Since the rotation direction of the movable helical head 44 is changed to the normal rotation direction or the reverse rotation direction (see arrow D5 in FIG. 2A), the cam data Ce indicates a repetitive operation that decreases again after the numerical value increases. .

  Here, as in a conventional filament winding apparatus, the time required for winding the fiber bundle F is shortened by uniformly shortening the time required for each process from the first process to the final process. Will be described. The time required for each process has a correlation with the feeding speed of the fiber bundle F guided from the fiber bundle guide 45 to the liner 1, and the feeding speed of the fiber bundle F depends on the transfer speed, peripheral speed, and fiber bundle of the liner 1. It is correlated with the expansion / contraction speed of the guide 45. Here, for the sake of simplicity, description will be made by paying attention to the cam data Cb representing the transfer operation of the liner 1.

  FIG. 5A is a diagram showing cam data Cb representing the transfer operation of the liner 1. FIG. 5B is a diagram illustrating the cam data Cb when the time required for winding the fiber bundle F is shortened. In addition, the elapsed time from a 1st process is written together on the horizontal axis of FIG. 5A and 5B.

  As shown in FIG. 5A, the cam data Cb indicates a repetitive operation that decreases again after the numerical value increases. This is because, as described above, when the helical winding is performed, the transfer direction of the liner 1 is changed to the front-rear direction (see arrow D2 in FIG. 2B).

  It can be seen that the transfer speed of the liner 1 in the first region R1 is relatively low. This is because a numerical value corresponding to the movement amount of the liner 1 is small with respect to the elapsed time from the first step to the Na-th step. In addition, 1st area | region R1 is a process group at the time of winding the fiber bundle F around one dome part of the liner 1. FIG.

  It can be seen that the transfer speed of the liner 1 in the second region R2 is relatively high. This is because the numerical value corresponding to the amount of movement of the liner 1 is large with respect to the elapsed time from the Nath step to the Nbth step. In addition, 2nd area | region R2 is a process group at the time of winding the fiber bundle F around the cylinder part of the liner 1. FIG.

  Similarly, it can be seen that the transfer speed of the liner 1 is slow in the third region R3, and the transfer speed of the liner 1 is fast in the fourth region R4. In addition, 3rd area | region R3 is a process group at the time of winding the fiber bundle F around the other dome part of the liner 1. FIG. The fourth region R <b> 4 is a process group when the fiber bundle F is wound around the cylindrical portion of the liner 1.

  In the cam data Cb representing such operation characteristics, if the time required for each step is shortened uniformly, the transfer speed of the liner 1 in the second region R2 and the fourth region R4 exceeds the allowable limit speed. More specifically, as shown in FIG. 5B, the increase in the numerical value corresponding to the amount of movement of the liner 1 becomes excessive with respect to the elapsed time from the Na process to the Nb process. The speed exceeds the allowable limit speed. Further, since the numerical value corresponding to the movement amount of the liner 1 becomes excessive with respect to the elapsed time from the Nc step to the Nd step, the transfer speed of the liner 1 exceeds the allowable limit speed.

  In such a case, it takes a great deal of development man-hours to correct or redesign the cam data Ca · Cb... And ultimately the time required for winding the fiber bundle F cannot be shortened. It was.

  Next, a description will be given of a control mode that can reduce the time required for winding the fiber bundle F without causing the control target to exceed the allowable limit speed. In the following, the description will be given focusing on the cam data Cb representing the transfer operation of the liner 1. However, even if it is another control object, it belongs to the technical scope of the present invention.

  FIG. 6A is a diagram showing cam data Cb representing the transfer operation of the liner 1. FIG. 6B is a diagram illustrating the cam data Cb when the time required for winding the fiber bundle F is shortened. In addition, the elapsed time from a 1st process is written together on the horizontal axis of FIG. 6A and 6B.

  As shown in FIG. 6B, the feature of this control mode is that only the time required for the steps corresponding to the first region R1 and the third region R3 is shortened. Specifically, the time required for the process corresponding to the first region R1 and the third region R3 is shortened, and the time required for the process corresponding to the second region R2 and the fourth region R4 is not changed. This is because, in the process group for winding the fiber bundle F around the dome portion of the liner 1 (process group constituting the first region R1 and the third region R3), the controlled object has a margin to the allowable limit speed, whereas the liner 1 In the process group (process group which comprises 2nd area | region R2 and 4th area | region R4) which winds the fiber bundle F around this cylinder part, it is because a control object does not have a margin to an allowable limit speed.

  By such a control mode, it is determined that the object to be controlled (the transfer speed of the liner 1 in this control mode) does not exceed the allowable limit speed (in this control mode, steps corresponding to the first region R1 and the third region R3) ), The required time can be shortened, so that the control target does not exceed the allowable limit speed, and the time required for winding the fiber bundle F can be shortened.

  In addition, it is possible to grasp the process that can shorten the required time based on the feeding speed of the fiber bundle F guided from the fiber bundle guide 45 to the liner 1. If it demonstrates concretely, since the sending speed of the fiber bundle F has a correlation with the transfer speed of the liner 1, it becomes possible to grasp | ascertain the process which can shorten a required time by utilizing this correlation. That is, when the delivery speed of the fiber bundle F is low, the transfer speed of the liner 1 is also low, so that it is determined that the process can shorten the required time.

  By such a control mode, it is determined that the object to be controlled (the transfer speed of the liner 1 in this control mode) does not exceed the allowable limit speed (in this control mode, steps corresponding to the first region R1 and the third region R3) ), The required time can be shortened, so that the control target does not exceed the allowable limit speed, and the time required for winding the fiber bundle F can be shortened.

  Furthermore, it is also possible to set a threshold value for the feeding speed of the fiber bundle F, and to grasp a process that can shorten the required time based on the feeding speed of the fiber bundle F with respect to the threshold value. If it demonstrates concretely, since the sending speed of the fiber bundle F has a correlation with the transfer speed of the liner 1, it becomes possible to grasp | ascertain the process which can shorten a required time by utilizing this correlation. That is, when the feeding speed of the fiber bundle F does not exceed the threshold value, the transfer speed of the liner 1 is low, so that it is determined that the process can shorten the required time.

  By such a control mode, it is determined that the object to be controlled (the transfer speed of the liner 1 in this control mode) does not exceed the allowable limit speed (in this control mode, steps corresponding to the first region R1 and the third region R3) ), The required time can be shortened, so that the control target does not exceed the allowable limit speed, and the time required for winding the fiber bundle F can be shortened.

  In the above control mode, the feeding speed of the fiber bundle F is evaluated with respect to one preset threshold value. For example, a plurality of threshold values are set and the fiber bundle F is stepwise. The feed rate may be evaluated.

  Next, a method for calculating the delivery speed of the fiber bundle F will be described in detail.

Assuming that the transfer speed of the liner 1 is Vt, the peripheral speed of the liner 1 is Vc, and the expansion / contraction speed of the fiber bundle guide 45 is Ve, the delivery speed of the fiber bundle F is calculated from the following mathematical formula. In addition, A, B, and C included in the mathematical formula indicate constants determined by conditions for winding the fiber bundle F.
Feeding speed of fiber bundle F = A × Vt + B × Vc + C × Ve

  As a result, the delivery speed of the fiber bundle F has a correlation with the transfer speed of the liner 1. Specifically, the delivery speed of the fiber bundle F includes the transfer speed and peripheral speed of the liner 1, and the expansion and contraction of the fiber bundle guide 45. It can be seen that there is a correlation with speed.

  Therefore, it is possible to realize the above control mode, assuming that the feeding speed of the fiber bundle F has a correlation with the transfer speed and peripheral speed of the liner 1 and the expansion / contraction speed of the fiber bundle guide 45. In this case, the fiber bundle F can be wound with higher accuracy.

  By such a control mode, it is determined that the object to be controlled (the transfer speed of the liner 1 in this control mode) does not exceed the allowable limit speed (in this control mode, steps corresponding to the first region R1 and the third region R3) ), The required time can be shortened, so that the control target does not exceed the allowable limit speed, and the time required for winding the fiber bundle F can be shortened.

  In any of the above-described control modes, there is an effect that fluctuations in the feeding speed of the fiber bundle F are reduced. In other words, if the required time is shortened in a predetermined process so that fluctuations in the feeding speed of the fiber bundle F are reduced, the controlled object (the transfer speed of the liner 1 in this control mode) does not exceed the allowable limit speed, and the fibers The time required for winding the bundle F can be shortened.

  In any of the above control modes, the cam data Ca · Cb... Is not changed only by adjusting the required time in a predetermined process, so that the winding state of the fiber bundle F is constant. For this reason, the pressure resistance characteristics of the liner 1 are not affected.

1 Liner 10 Main Base 20 Liner Transfer Device 30 Hoop Winding Device 40 Helical Winding Device 43 Fixed Helical Head 44 Movable Helical Head 45 Fiber Bundle Guide 51 Application Software 52 Motion Controller (Control Device)
53a Amplifier 54a Motor 55a Feedback device Cb Cam data Vf Feeding speed F Fiber bundle

Claims (4)

In a filament winding apparatus provided with a control device for sequentially instructing an operation to be controlled from the first step by dividing a series of operations for winding a fiber bundle around the outer peripheral surface of the liner into each step,
The filament winding apparatus characterized in that the control device recognizes a process in which the control target has a margin to an allowable limit speed and shortens the time required for the corresponding process.   2. The filament winding apparatus according to claim 1, wherein the control device determines whether or not the control target has a margin to an allowable limit speed based on a fiber bundle feed speed.   The filament winding apparatus according to claim 2, wherein the control device determines that the process in which the feeding speed of the fiber bundle is lower than a predetermined threshold is a process in which the control target has a margin to an allowable limit speed. A fiber bundle guide for guiding the fiber bundle on the outer peripheral surface of the liner;
The said control apparatus calculates the said delivery speed based on the transfer speed of the said liner, the peripheral speed of the said liner, and the expansion-contraction speed of the said fiber bundle guide, The Claim 2 or Claim 3 characterized by the above-mentioned. Filament winding apparatus as described in 1.

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