JP2013063589A - Filament winding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a filament winding device which can easily and automatically correct winding data.SOLUTION: A correction amount is calculated on the basis of a first winding operation to a first liner 11 based on the winding data and actual measurement values of arrangement positions of fiber bundles FA1, FB1 obtained from the first winding operation. In a second winding operation, a direction in which a phase difference between a plurality of guides 43, 44 is corrected is temporarily set as a first direction of a liner peripheral direction, and the fiber bundle F is wound to a second liner 12. A direction in which the correction should be performed is found on the basis of an actual measurement value of an arrangement position of the fiber bundle F obtained by the second winding operation. In the correction operation, the phase difference between the plurality of guides 43, 44 based on the winding data is corrected on the basis of the correction direction which is found by the second winding operation and the correction amount.

Description

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

  Conventionally, a hoop winding device and a helical winding device are provided, and a plurality of fiber layers are formed by winding a fiber bundle around the liner by alternately repeating the hoop winding and the helical winding on the outer peripheral surface of the liner. A filament winding apparatus is known (see, for example, Patent Document 1).

  In helical winding, the position of the helical winding device is fixed, and the fiber bundle is wound around the liner by moving in the direction of the rotation axis while rotating the liner. The fiber bundle is supplied to the liner from a fiber bundle guide provided in the helical winding device. There is also known a filament winding apparatus that includes a plurality of guide portions provided with a plurality of fiber bundle guides in a radial pattern so that a plurality of fiber bundles can be wound at the same time (see, for example, Patent Document 2).

  The filament winding apparatus includes a control unit that controls the operation of winding the fiber bundle around the liner. The control unit stores a series of operations for winding the fiber bundle around the liner as winding data including a plurality of steps, and controls the operation for winding the fiber bundle based on the winding data. Specifically, the controller is provided with a motion controller, and the motion controller creates a control signal for each process based on the winding data, thereby realizing a series of operations for winding the fiber bundle.

  By the way, the fiber bundle of each fiber layer wound by the some guide part of a helical winding apparatus is designed so that it may be wound at equal intervals mutually. For example, it is assumed that the helical winding device includes a first guide part and a second guide part. The plurality of fiber bundles wound around the plurality of fiber bundle guides of the first guide portion are wound in parallel. A plurality of fiber bundles wound around the plurality of fiber bundle guides of the second guide portion are also wound in parallel. And it is designed so that the fiber bundle wound by the 2nd guide part may be arrange | positioned in the intermediate position between each fiber bundle wound by the 1st guide part. The winding data stored in the control unit is created with the goal that each fiber bundle wound around the first guide portion and the second guide portion is wound around the liner as designed.

JP 2009-119732 A JP 2010-36461 A

  However, when a fiber bundle is actually wound around a liner by a filament winding apparatus to form a fiber layer, the fiber bundle wound by the helical winding apparatus may not be wound at equal intervals as designed. In such a case, it is conceivable that the design data and the actual measurement value are compared to correct the winding data for each fiber layer so that the fiber bundle is wound at equal intervals as designed, and the winding data is recreated. .

  However, based on the corrected winding data, whether or not the fiber bundle of a certain fiber layer is wound at equal intervals as designed cannot be determined unless the same fiber layer is formed with another liner. For example, whether or not the fiber bundle of the Nth fiber layer is wound at equal intervals as designed cannot be determined unless the same Nth fiber layer is formed with another liner. Therefore, in order to recreate the winding data, correction of the winding data and winding of the fiber bundle with another new liner are performed until the fiber bundle of the Nth fiber layer is wound at equal intervals as designed. It is necessary to repeat the work to be performed, and this must be repeated for all the fiber layers formed by the helical winding device. Thus, there is a problem that a great deal of time and labor is required to recreate the winding data.

  The present invention has been made to solve such problems. An object of the present invention is to provide a filament winding apparatus that can easily and automatically correct winding data.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  That is, the first invention is a filament winding apparatus for winding a fiber bundle around a liner, and includes a plurality of guide portions and a control portion. The plurality of guide portions radially provide a plurality of fiber bundle guides for winding the fiber bundle around the liner, and can change the phase difference in the circumferential direction of the liner. The control unit controls winding of the fiber bundle around the liner. The control unit stores a series of operations for winding the fiber bundle around the liner as winding data including a plurality of steps, and includes a first winding operation, a correction amount calculating operation, a second winding operation, Controls the correction operation. In the first winding operation, the fiber bundle is wound around the first liner based on the winding data. In the correction amount calculation operation, the correction amount of the phase difference of the guide portion is calculated based on the actual measurement value of the arrangement position of the fiber bundle wound in the first winding operation. In the second winding operation, the phase difference of the guide portion based on the winding data is corrected in the first direction of the liner circumferential direction based on the correction amount, and the fiber bundle is wound around the second liner. In the correction operation, when the difference between the measured value and the design value of the arrangement position of the fiber bundle wound by the second winding operation is reduced, the phase difference of the guide portion based on the winding data is If the difference between the measured value and the design value of the arrangement position of the fiber bundle that is corrected in the first direction in the circumferential direction of the liner based on the correction amount and is wound by the second winding operation is increased, The phase difference of the guide unit based on the data is corrected in a second direction opposite to the first direction in the liner circumferential direction based on the correction amount.

  2nd invention is 1st invention, Comprising: The detection part which detects the arrangement position of the fiber bundle wound around the said liner is further provided. The control unit controls the first detection operation, the second detection operation, and the determination operation. The first detection operation is performed between the first winding operation and the correction amount calculation operation, and the arrangement position of the fiber bundle wound by the first winding operation is detected by the detection unit. The second detection operation and the determination operation are performed between the second winding operation and the correction operation. In the second detection operation, the detection unit detects the arrangement position of the fiber bundle wound in the second winding operation. The determination operation is based on the actual measurement value of the fiber bundle arrangement position in the second detection operation, and the difference or increase in the difference between the actual measurement value and the design value of the fiber bundle arrangement position wound in the second winding operation is determined. Determine.

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

According to the first invention, the correction amount is calculated based on the first winding operation with respect to the first liner based on the winding data, and the actual value of the fiber bundle arrangement position by the first winding operation. The calculated correction amount is an absolute value and is not calculated up to the direction in which the phase difference of the guide portion is corrected. This is because it is difficult to determine which guide portion wound each fiber bundle after being wound around the first liner. On the other hand, the calculation of the absolute value of the correction amount is relatively easier than the calculation of the correction amount including the correction direction.
In the second winding operation, the direction in which the phase difference of the guide portion is corrected is assumed to be the first direction in the circumferential direction of the liner, and the fiber bundle is wound around the second liner. The reason why the correction direction is the temporary direction is that the direction to be corrected is unknown at the time when the correction amount is calculated. The direction to be corrected is determined based on the actually measured value of the fiber bundle arrangement position by the second winding operation. That is, when the difference between the actual measurement value and the design value of the fiber bundle arrangement position is reduced by the second winding operation, the correction direction is determined to be the first direction in the liner circumferential direction. On the other hand, when the difference between the actually measured value and the design value of the arrangement position of the fiber bundle is increased by the second winding operation, the correction direction is not the first direction in the liner circumferential direction but the opposite second direction. It turns out that the direction is. At this point, both the direction for correcting the phase difference of the guide portion and the correction amount are found. In the correction operation, the phase difference of the guide portion based on the winding data is corrected based on the correction direction and the correction amount found in the second winding operation.
As described above, since the fiber bundle is wound around the first and second liners, both the direction and the correction amount for correcting the phase difference of the guide portion can be determined easily and automatically, so that the correction of the winding data is simplified. And it can be done automatically.

  According to the second invention, detection of the arrangement position of the fiber bundle wound by the first and second winding operations, and the actual measurement value and the design value of the arrangement position of the fiber bundle wound by the second winding operation. The determination of the decrease or increase of the difference can be made automatically. Therefore, the winding data can be corrected more easily and automatically.

FIG. 2 is a side view showing the overall configuration of the filament winding apparatus 100. (A) Front view of the helical winding device 40. FIG. (B) Side surface sectional drawing of the helical winding apparatus 40. FIG. The figure which shows the control system of the filament winding apparatus 100. FIG. The figure which shows an example of the winding data showing a series of operation | movement which winds the fiber bundle F. FIG. The side view which shows the state in which the fiber layer N was formed in the 1st liner 11 The schematic diagram which shows the arrangement position of fiber bundle FA1 of the fiber layer N formed in the 1st liner 11, and FB1. The schematic diagram which shows the arrangement position of fiber bundle FA2 of the fiber layer N formed in the 2nd liner 12, and FB2.

  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 shows the overall configuration of the FW device 100. An arrow X shown in the figure indicates the transfer direction of the liner 1. The direction parallel to the transfer direction of the liner 1 is defined as the front-rear direction of the FW device 100, the direction in which the liner 1 is transferred is defined as the front side (left side in the figure), and the opposite side of the front side is defined as the rear side (right side in the figure). 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 forms a plurality of fiber layers by winding 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 unit 51.

  The liner 1 is a substantially cylindrical hollow container formed of, for example, a high-strength aluminum material or a polyamide resin. The central portion of the liner 1 is a cylindrical portion 1A having a constant radius, and dome portions 1B are formed at both ends of the cylindrical portion 1A. The dome portion 1B has a dome shape with a radius decreasing toward the end side. In the liner 1, the pressure resistance characteristics are improved by winding the fiber bundle F around the outer peripheral surface 1 </ b> S 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. At the upper part of the main base 10, a liner transfer device rail R1 is provided. The liner transfer device 20 is mounted on the liner transfer device rail R1. At the upper part of the main base 10, a hoop winding device rail R2 is provided in parallel to the liner transfer device rail R1. A hoop winding device 30 is placed on the hoop winding device rail R2.

  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. The liner transfer device 20 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.

  A pair of liner support portions 22 are provided on the upper portion of the base 21. The liner support portion 22 includes a liner support frame 23 and a rotating shaft 24. The liner support frame 23 extends upward from the base 21. The rotating shaft 24 extends from the liner support frame 23 in the front-rear direction. The liner 1 is attached to the rotating shaft 24 and 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 forms a fiber layer by winding the fiber bundle F around the outer peripheral surface 1S of the liner 1. The hoop winding device 30 performs so-called hoop winding in which the winding angle of the fiber bundle F is substantially perpendicular to the front-rear direction of the FW device 100. 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. The winding table 34 mainly performs hoop winding. The bobbin 35 supplies the fiber bundle F to the winding table 34. The fiber bundle F is guided to the outer peripheral surface 1S of the liner 1 by a fiber bundle guide provided on the winding table 34, and the winding table 34 rotates to perform hoop winding.

  With such a configuration, the hoop winding device 30 performs hoop winding in which the winding angle of the fiber bundle F is substantially perpendicular to the front-rear direction of the FW device 100 mainly on the cylindrical portion 1A of the liner 1.

  The helical winding device 40 is a device that forms a fiber layer by winding the fiber bundle F around the outer peripheral surface 1S of the liner 1. The helical winding device 40 performs so-called helical winding in which the winding angle of the fiber bundle F is a predetermined value with respect to the front-rear direction of the FW device 100. 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 first helical head 43 and a second helical head 44 as a plurality of guide portions, and performs helical winding on the outer peripheral surface 1S of the liner 1. The first helical head 43 is provided with a fiber bundle guide 80A (see FIG. 2) as a fiber supply guide, and the second helical head 44 is provided with a fiber bundle guide 80B (see FIG. 2) as a fiber supply guide. The fiber bundle guides 80A and 80B guide the fiber bundle F to the outer peripheral surface 1S of the liner 1, respectively, and the liner 1 passes while rotating to perform helical winding.

  With such a configuration, the helical winding device 40 performs helical winding with respect to the cylindrical portion 1A and the dome portion 1B of the liner 1 so that the winding angle of the fiber bundle F is a predetermined value with respect to the front-rear direction of the FW device 100. Do.

  The first helical head 43 and the second helical head 44 constituting the helical winding device 40 will be described in more detail. FIG. 2 is a side view showing the first helical head 43 and the second helical head 44. As shown in FIG. 2B, the first helical head 43 and the second helical head 44 are disposed adjacent to each other in the transfer direction of the liner 1. As shown in FIG. 2A, the first helical head 43 is provided with a plurality of fiber bundle guides 80A in a direction substantially perpendicular to the central axis Ra of the liner 1 and radially. The second helical head 44 is provided with a plurality of fiber bundle guides 80B that are substantially perpendicular to the central axis Ra of the liner 1 and radially. That is, the fiber bundle guides 80 </ b> A and 80 </ b> B provided in the first helical head 43 and the second helical head 44 are arranged in two rows in the liner 1 transfer direction.

  The first helical head 43 and the second helical head 44 are provided with a plurality of guide support devices 45. Each guide support device 45 supports the fiber bundle guide 80A or the fiber bundle guide 80B. Each guide support device 45 supports the fiber bundle guides 80A and 80B so that the fiber bundle guides 80A and 80B can expand and contract in a direction substantially perpendicular to the central axis Ra of the liner 1 and can rotate around the axis of the fiber bundle guides 80A and 80B. ing. The first helical head 43 is configured so that all the fiber bundle guides 80A can be expanded and contracted and rotated by the same amount at the same time, and the second helical head 44 is also configured so that all the fiber bundle guides 80B can be expanded and contracted and rotated by the same amount at the same time. It is configured. The fiber bundle guide 80A of the first helical head 43 and the fiber bundle guide 80B of the second helical head 44 are configured so that they can be adjusted to different expansion / contraction amounts and rotation amounts.

  Thereby, the first helical head 43 and the second helical head 44 can simultaneously guide the plurality of fiber bundles F to the outer peripheral surface 1S of the liner 1. The first helical head 43 of the FW device 100 according to the present embodiment is provided with 90 fiber bundle guides 80A, and the second helical head 44 is provided with 90 fiber bundle guides 80B. For this reason, a total of 180 fiber bundles F can be simultaneously guided to the outer peripheral surface 1S of the liner 1 and helically wound.

  Further, the helical winding device 40 is provided with a driving device 50 that drives the second helical head 44 in the circumferential direction of the liner 1 about the central axis Ra of the liner 1. The driving device 50 drives the second helical head 44 by the electric motor 54E. With such a configuration, the driving device 50 can drive the second helical head 44 and can vary the circumferential phase difference between the liners 1 of the first helical head 43 and the second helical head 44.

  The control unit 51 is a device that controls a series of operations for winding the fiber bundle F around the outer circumferential surface 1S of the liner 1 by controlling the liner transfer device 20, the hoop winding device 30, the helical winding device 40, and the like. The control unit 51 includes a CPU as a calculation unit, a ROM, a RAM, a motion controller 52 (see FIG. 3) as a storage unit, and the like. The ROM of the control unit 51 stores control software that causes hardware such as a CPU included in the control unit 51 to operate as the control unit of the FW device 100.

  The control software sets a series of operations for winding the fiber bundle F around the liner 1 as winding data including a plurality of steps. The storage unit stores the winding data. The motion controller 52 creates a control signal based on the set winding data. The winding data is an operation diagram in which the operation of the motors 54A, 54B,.

  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 the liner 1, and the helical winding device 40 rotates the second helical head 44 to rotate the first helical head 43 and the second helical head. The operation is such that the phase of the head 44 in the circumferential direction of the liner is changed, and the fiber bundle F is wound while being associated with each other.

  In the present embodiment, the control unit 51 creates a control signal for each process based on the winding data set in advance, thereby winding the fiber bundle F around the liner 1 and each fiber layer wound around the liner 1. A series of operations for correcting the phase difference between the first helical head 43 and the second helical head 44 is controlled based on the actual measurement value of the arrangement position of the fiber bundle.

  The control system of the FW device 100 will be described in detail. FIG. 3 is a diagram illustrating a control system including the control unit 51. The control unit 51 is the core of the control system in the FW device 100. The control system of the FW device 100 mainly includes a control unit 51, motor drivers 53A, 53B,..., Motors 54A, 54B,.

  The control unit 51 creates a control signal based on the winding data. Specifically, the motion controller 52 of the control unit 51 creates a pulse signal having a number of pulses and a frequency according to each numerical value of the winding data, and the pulse signals are transmitted to the motors 54A and 54B via the motor drivers 53A, 53B. Output to.

  The motors 54A, 54B,... Are pulse input type stepping motors or servo motors. The motors 54A, 54B,... Convert the pulse input from the motor drivers 53A, 53B,.

  The detection unit 55 detects the arrangement position of the fiber bundle in the formed fiber layer, creates a voltage signal corresponding to the arrangement position of the fiber bundle, and outputs the voltage signal to the control unit 51. For example, a camera may be used as the detection unit 55, and the arrangement position of the fiber bundle may be detected by processing the captured image.

  With this configuration, in the present control system, the control unit 51 creates a control signal and drives the motors 54A, 54B,... Via the motor drivers 53A, 53B,.

  Next, the winding data will be described in detail. FIG. 4 is a diagram illustrating an example of winding data representing a series of operations for winding the fiber bundle F. The horizontal axis of this figure has shown a part of process of a series of operation | movement which winds the fiber bundle F. FIG. The vertical axis in this figure indicates the operation of the motors 54A, 54B,. It is assumed that the Mth step shown in FIG. 4 is the final step of the Nth helical fiber layer N among the plurality of winding data steps.

  The winding data C1 represents the rotation operation of the liner 1. The control unit 51 creates a control signal based on the winding data C1, and drives the motor 54A 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 winding data C1 indicates a diverging operation in which the numerical value increases for each process.

  The winding data C2 represents the transfer operation of the liner 1. The control unit 51 creates a control signal based on the winding data C2, 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 winding data C2 indicates a repetitive operation that decreases again after the numerical value increases.

  The winding data C3 represents the expansion / contraction operation of the fiber bundle guides 80A and 80B. The control unit 51 creates a control signal based on the winding data C3 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 guides 80A and 80B is a direction approaching or separating from the outer peripheral surface 1S of the liner 1 (see arrow D3 in FIG. 2B), the winding data C3 is again displayed after the numerical value increases. A decreasing repetitive motion is shown.

  The winding data C4 represents a rotation operation around the axis of the fiber bundle guides 80A and 80B. The control unit 51 creates a control signal based on the winding data C4, and drives the motor 54D of the power mechanism that constitutes the helical winding device 40. Since the rotation direction of the fiber bundle guides 80A and 80B is changed to the forward rotation direction or the reverse rotation direction (see arrow D4 in FIG. 2A), the winding data C4 indicates a repetitive operation that decreases again after the numerical value increases. ing.

  The winding data C5 represents the rotation operation of the second helical head 44 in the circumferential direction of the liner 1. The control unit 51 creates a control signal based on the winding data C5, and drives the motor 54E of the power mechanism that constitutes the helical winding device 40. The motor 54E rotates the second helical head 44, thereby changing the phase difference in the circumferential direction of the liner 1 between the first helical head 43 and the second helical head 44. Note that the rotation direction of the second helical head 44 in the circumferential direction of the liner 1 is changed to the forward rotation direction or the reverse rotation direction (see arrow D5 in FIG. 2A). It shows an iterative motion that decreases again.

  Next, the operation | movement which correct | amends the phase difference of the circumferential direction of the liner 1 of the 1st helical head 43 and the 2nd helical head 44 is demonstrated. The operation of correcting the phase difference between the first helical head 43 and the second helical head 44 is performed by winding the fiber bundle F around the first liner 11 and the second liner 12 and for each of the fiber layers formed by helical winding. In this operation, the phase difference between the first helical head 43 and the second helical head 44 is corrected by correcting the winding data C5. Actually, the phase difference between the first helical head 43 and the second helical head 44 is corrected for each layer from the first layer to the last layer of the helically wound fiber layer. The operation of correcting the phase difference between the first helical head 43 and the second helical head 44 for the Nth helically wound fiber layer N among the helically wound fiber layers will be described.

  The fiber bundle F is wound around the first liner 11 and the second liner 12 after all the fiber layers including the fiber layer N are formed on the first liner 11 and then the fiber layer is applied to the second liner 12. All fiber layers containing N are formed. Then, the fiber layer N of the first liner 11 and the fiber layer N of the second liner 12 are formed, and the phase difference between the first helical head 43 and the second helical head 44 is corrected for the fiber layer N. . For example, whether or not the fiber bundles F are wound at equal intervals in the fiber layer N cannot be determined by forming only the fiber layer N on the first liner 11 and the second liner 12. This is because it cannot be judged unless all the fiber layers including the hoop winding layer are formed under the bottom.

  The controller 51 first controls the first winding operation for winding the fiber bundle F on the first liner 11 based on the winding data. In the description of this embodiment, the first winding operation is an operation of forming the helically wound fiber layer N of the Nth layer in the first liner 11. The first winding operation with respect to the first liner 11 is performed based on the winding data. As described above, the Mth process of the winding data shown in FIG. 4 is the final process of the fiber layer N.

  FIG. 5 shows a state in which the Mth step of the winding data is completed and the fiber layer N is formed on the first liner 11 by the first winding operation. FIG. 6 is a schematic diagram showing the arrangement positions of the fiber bundles FA1 and FB1 of the fiber layer N formed in the cylindrical portion 1A of the first liner 11. As shown in FIG. The fiber bundle FA1 is wound by one of the first helical head 43 and the second helical head 44, and the fiber bundle FB1 is wound by either the first helical head 43 or the second helical head 44. Means a bundle of fibers. In FIG. 6, the distance between two adjacent fiber bundles FA1 and FB1 is L11, the distance between the fiber bundle FA1 and the fiber bundle FA1 which are arranged by skipping one is L12, the first helical head 43 and the second helical head 44. P is the number of fiber bundle guides 80A and 80B provided in each (in this embodiment, the number of fiber bundle guides 80A and 80B is the same, 90).

  As described above, the fiber bundles FA1 and FB1 of the fiber layer N wound by the first helical head 43 and the second helical head 44 are designed to be wound at equal intervals. The winding data stored in the controller 51 is also created with the goal that the fiber bundles FA1 and FB1 of the fiber layer N are wound around the first liner 11 at equal intervals as designed. However, actually, when the fiber bundles FA1 and FB1 are wound around the first liner 11 based on the winding data, the fiber bundles FA1 and FB1 may not be wound at regular intervals as shown in FIG.

  Therefore, after the first winding operation is completed, the control unit 51 controls the first detection operation in which the detection unit 55 detects the arrangement positions of the fiber bundles FA1 and FB1. In the present embodiment, the surface of the fiber layer N is imaged from the side of the first liner 11 by the detection unit 55, and the measured values of the arrangement positions of the fiber bundles FA1 and FB1 are obtained by processing the captured images. .

  As shown in FIG. 6, when the fiber bundles FA1 and FB1 are not wound at equal intervals as designed, the difference between the design value and the actual measurement value of the arrangement positions of the fiber bundles FA1 and FB1 is (L12 / 2-L11). It becomes. When the fiber bundles FA1 and FB1 are arranged at equal intervals as designed, the distance L12 / 2 and the distance L11 are equal in FIG.

  When the measured values of the arrangement positions of the fiber bundles FA1 and FB1 are obtained and it is found that the fiber bundles FA1 and FB1 of the fiber layer N are not wound at equal intervals, the control unit 51 performs a correction amount calculation operation. The correction amount calculation operation is an operation for calculating a correction amount of the phase difference between the first helical head 43 and the second helical head 44 based on the actually measured values of the arrangement positions of the fiber bundles FA1 and FB1. The calculated correction amount is an absolute value of the rotation angle of the second helical head 44. The direction in which the second helical head 44 is rotated is not calculated.

  The reason why the controller 51 does not calculate the direction in which the second helical head 44 is rotated is because it is difficult to determine whether the phase difference between the first helical head 43 and the second helical head 44 is excessive or insufficient. . This is because it is difficult to determine which one of the first helical head 43 and the second helical head 44 is used for the fiber bundles FA1 and FB1 after being wound around the first liner 11.

  On the other hand, the fiber bundle guides 80A and 80B provided in the first helical head 43 and the second helical head 44 are arranged in two rows in the transfer direction of the liner 1, and the first helical head 43 and the second helical head 44 The fiber bundles FA1 and FB1 to be wound are wound next to each other. Therefore, in FIG. 6, it is determined that one of the two adjacent fiber bundles FA1 and FB1 is wound by the first helical head 43 and the other is wound by the second helical head 44. . Further, it is determined that the fiber bundle FA1 and the fiber bundle FA1 that are arranged by skipping one are fiber bundles wound by either the first helical head 43 or the second helical head 44, respectively.

  The difference between the design value of the arrangement position of the fiber bundles FA1 and FB1 and the actual measurement value is (L12 / 2-L11) as described above. The fiber bundle FA1 and the fiber bundle FA1 that are arranged by skipping one are fiber bundles wound by either of two fiber bundle guides 80A or fiber bundle guides 80B adjacent in the circumferential direction of the liner 1. The fiber bundle guide 80A or the fiber bundle guide 80B is provided with P pieces (90 pieces in the present embodiment) radially in the circumferential direction of the liner 1, so that two fiber bundle guides adjacent in the circumferential direction of the liner 1 are provided. 80A or fiber bundle guide 80B is provided at every angle (360 / P). For this reason, when the first helical head 43 or the second helical head 44 is rotated by an angle (360 / P) and the fiber bundle guide 80A or the fiber bundle guide 80B is displaced by an angle (360 / P), the fiber is moved by a distance L2. The position of the bundle FA1 is shifted.

  Therefore, from these relationships, the first helical head 43 and the second helical are necessary to correct the difference (L12 / 2−L11) between the design value and the actual measurement value of the arrangement positions of the fiber bundles FA1 and FB1 to zero. The phase difference correction amount θ of the head 44 is calculated by the following equation (1).

  Next, the control unit 51 corrects the phase difference between the first helical head 43 and the second helical head 44 based on the winding data in the circumferential direction of the liner 1 based on the calculated correction amount. Specifically, the data of the portion related to the fiber layer N is corrected in the winding data C5 that defines the rotational operation of the second helical head 44 in the circumferential direction of the liner 1 in the winding data. The correction angle is the calculated correction amount. The correction direction is the first direction, that is, the tentative direction, and may be either the direction in which the rotation of the second helical head 44 is increased or the direction in which the rotation is decreased. The reason for correcting the temporary direction is that the direction to be corrected is unknown when the correction amount is calculated. In this embodiment, the correction direction is a direction in which the rotation of the second helical head 44 is increased.

  The timing when the control unit 51 corrects the data of the portion related to the fiber layer N in the winding data C5 is after the fiber layer N is formed on the first liner 11 and the fiber layer of the second liner 12. It may be before N is formed. For example, it may be immediately after the fiber layer N is formed on the first liner 11 or after all the fiber layers including the fiber layer N are formed on the first liner 11.

  After correcting the winding data, the control unit 51 controls the second winding operation of winding the fiber bundle F around the second liner 12 based on the corrected winding data. In the description of this embodiment, the second winding operation is an operation for forming the fiber layer N in the second liner 12. The second winding operation on the second liner 12 is performed based on the winding data corrected in the direction (temporary direction) in which the rotation of the second helical head 44 is increased by the correction amount calculated in the correction amount calculation operation. Is called.

  FIGS. 7A and 7B are schematic views showing the arrangement positions of the fiber bundles FA2 and FB2 of the fiber layer N formed on the cylindrical portion 1A of the second liner 12 by the second winding operation. In FIG. 7A and FIG. 7B, the distance between two adjacent fiber bundles FA2 and FB2 is L21, and the distance between the fiber bundle FA2 and the fiber bundle FA2 that are arranged by skipping one is L22.

  After the second winding operation is completed, the control unit 51 controls a second detection operation in which the detection unit 55 detects the arrangement positions of the fiber bundles FA2 and FB2 wound by the second winding operation. Similarly to the first detection operation, the surface of the fiber layer N is imaged from the side of the second liner 12 by the detection unit 55, and the measured values of the arrangement positions of the fiber bundles FA2 and FB2 are processed by processing the captured images. Seeking.

  Subsequently, based on the actual measurement values of the arrangement positions of the fiber bundles FA2 and FB2 by the second detection operation, the control unit 51 determines the actual measurement values and design values of the arrangement positions of the fiber bundles FA2 and FB2 wound by the second winding operation. A determination operation for determining a decrease or an increase in the difference is performed. The difference between the design value of the arrangement position of the fiber bundles FA2 and FB2 and the actual measurement value is (L22 / 2-L21).

  In the case of FIG. 7A, the difference (L22 / 2-L21) between the design value and the measured value of the arrangement position of the fiber bundles FA2 and FB2 wound by the second winding operation is the fiber bundle FA1 wound by the first winding operation. , The difference between the design value of the arrangement position of FB1 and the actual measurement value (L12 / 2−L11) is larger. In the case of FIG. 7A, the control unit 51 determines that the difference between the actually measured value and the design value of the arrangement positions of the fiber bundles FA2 and FB2 wound by the second winding operation is increasing.

  On the other hand, in the case of FIG. 7B, the difference (L22 / 2-L21) between the design value and the measured value of the arrangement position of the fiber bundles FA2 and FB2 wound by the second winding operation is the fiber wound by the first winding operation. It is smaller than the difference (L12 / 2−L11) between the design value and the actual measurement value of the arrangement position of the bundles FA1 and FB1. In the case of FIG. 7B, the control unit 51 determines that the difference between the actually measured value and the design value of the arrangement positions of the fiber bundles FA2 and FB2 wound by the second winding operation is decreasing.

  As in the case of FIG. 7A, when it is determined that the difference between the actually measured value and the design value of the arrangement position of the fiber bundles FA2 and FB2 wound in the second winding operation is increased, the correction amount calculating operation is performed. Although the calculated correction amount is correct, it is found that the first direction in which the second helical head 44 is temporarily rotated (the direction in which the rotation of the second helical head 44 is increased) is not correct. In this case, the control unit 51 performs a correction operation for correcting again the data of the portion related to the fiber layer N in the winding data C5 that defines the rotation operation of the second helical head 44 in the circumferential direction in the winding data. Do. The correction angle is a correction amount calculation operation. The direction to be corrected is a second direction opposite to the first direction (the direction in which the rotation of the second helical head 44 is increased), that is, the direction in which the rotation of the second helical head 44 is decreased.

  On the other hand, as in the case of FIG. 7B, when it is determined that the difference between the measured value and the design value of the arrangement position of the fiber bundles FA2 and FB2 wound in the second winding operation is reduced, the correction amount is calculated. It is found that the correction amount calculated by the operation is correct, and the first direction in which the second helical head 44 is temporarily rotated (the direction in which the rotation of the second helical head 44 is increased) is also correct. In this case, the control unit 51 performs a correction operation to leave the data of the portion related to the fiber layer N out of the winding data C5 that defines the rotation operation of the second helical head 44 in the circumferential direction in the winding data. Do. The correction angle is a correction amount calculation operation. The correction direction is the same as the first direction (the direction in which the rotation of the second helical head 44 is increased).

  The FW device 100 according to the present embodiment described above has the following effects.

  The correction amount is calculated based on the first winding operation on the first liner 11 based on the winding data and the actual measurement values of the arrangement positions of the fiber bundles FA1 and FB1 by the first winding operation. The calculated correction amount is an absolute value and is not calculated up to the direction in which the phase difference between the first helical head 43 and the second helical head 44 is corrected. This is because it is difficult to determine whether the fiber bundles FA1 and FB1 after being wound around the first liner 11 are wound by the first helical head 43 or the second helical head 44, respectively. On the other hand, the calculation of the absolute value of the correction amount is relatively easier than the calculation of the correction amount including the correction direction.

  In the second winding operation, the direction in which the phase difference between the first helical head 43 and the second helical head 44 is corrected is assumed to be the first direction in the liner circumferential direction (for example, the direction in which the rotation of the second helical head 44 is increased). The fiber bundle F is wound around the second liner 12. The reason why the correction direction is the temporary direction is that the direction to be corrected is unknown at the time when the correction amount is calculated. The direction to be corrected is determined based on the actually measured value of the arrangement position of the fiber bundle F by the second winding operation. That is, when the difference between the actual measurement value and the design value of the arrangement position of the fiber bundles FA2 and FB2 is reduced by the second winding operation, the correction direction is the first direction in the liner circumferential direction (for example, the first 2 is a direction in which the rotation of the helical head 44 is increased. On the other hand, when the difference between the actually measured value and the design value of the arrangement position of the fiber bundles FA2 and FB2 is increased by the second winding operation, the correction direction is not the first direction in the liner circumferential direction, but the opposite direction. In the second direction (for example, the direction in which the rotation of the second helical head 44 is reduced). At this point, both the direction and the correction amount for correcting the phase difference between the first helical head 43 and the second helical head 44 are known. In the correction operation, the phase difference between the first helical head 43 and the second helical head 44 based on the winding data is corrected based on the correction direction and the correction amount found in the second winding operation.

  Thus, by winding the fiber bundle F around the first liner 11 and the second liner 12, the direction and amount of correction for correcting the phase difference between the first helical head 43 and the second helical head 44 can be easily and automatically performed. Since both can be obtained, the winding data can be corrected easily and automatically.

  Further, the arrangement positions of the fiber bundles FA1, FB1, fiber bundles FA2, FB2 wound by the first and second winding operations are detected, and the arrangement positions of the fiber bundles FA2, FB2 wound by the second winding operation are measured. By automatically determining the decrease or increase in the difference between the value and the design value, the winding data can be corrected more easily and automatically.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made. For example, after the first winding operation is completed, the correction amount calculating operation or the like is not necessarily performed. If actual values of the arrangement positions of the fiber bundles FA1 and FB1 are obtained and it is found that the fiber bundles FA1 and FB1 of the fiber layer N are wound at equal intervals, the correction amount calculation operation and the like are not necessarily performed. . The operation after the correction amount calculation operation may be performed only when the fiber bundles FA1 and FB1 of the fiber layer N are not wound at equal intervals.

  Further, in the first detection operation and the second detection operation, the arrangement position of the wound fiber bundle FA1, FB1, etc. is detected by the detection unit 55, but the operator manually sets the arrangement position of the fiber bundle FA1, FB1, etc. Measurement may be performed, and a correction amount calculation operation or the like may be performed based on the actually measured value.

  Moreover, the 1st liner 11 and the 2nd liner 12 mean the order of the liner 1 which winds the fiber bundle F, and the 1st liner 11 and the 2nd liner 12 do not necessarily have the fiber bundle F continuously. There is no need to wrap around. The second liner 12 may be a liner around which the fiber bundle F is wound after the first liner 11. The first liner 11 and the second liner 12 may be plural.

DESCRIPTION OF SYMBOLS 10 Main base 11 1st liner 12 2nd liner 20 Liner transfer apparatus 30 Hoop winding apparatus 40 Helical winding apparatus 43 Fixed helical head 44 Movable helical head 51 Control part 55 Detection part F Fiber bundle

Claims (2)

A filament winding device for winding a fiber bundle around a liner,
A plurality of fiber bundle guides for wrapping the fiber bundle around the liner are provided radially, and a plurality of guide portions capable of varying the phase difference in the liner circumferential direction;
A controller for controlling winding of the fiber bundle around the liner,
The controller is
While storing a series of operations for winding a fiber bundle around the liner as winding data comprising a plurality of steps,
A first winding operation for winding the fiber bundle around the first liner based on the winding data;
A correction amount calculating operation for calculating a correction amount of the phase difference of the guide portion based on an actual measurement value of the arrangement position of the fiber bundle wound in the first winding operation;
A second winding operation of correcting the phase difference of the guide portion based on the winding data in the first direction of the liner circumferential direction based on the correction amount, and winding the fiber bundle around the second liner;
When the difference between the measured value and the design value of the arrangement position of the fiber bundle wound by the second winding operation is reduced, the phase difference of the guide portion based on the winding data is based on the correction amount. If the difference between the measured value and the design value of the arrangement position of the fiber bundle that is corrected in the first direction of the liner circumferential direction and is wound in the second winding operation is increased, the winding data is based on the winding data. A correction operation for correcting the phase difference of the guide portion in a second direction opposite to the first direction in the liner circumferential direction based on the correction amount;
A filament winding apparatus characterized by controlling the temperature. The filament winding apparatus according to claim 1,
A detection unit for detecting an arrangement position of the fiber bundle wound around the liner;
The controller is
A first detection operation in which the detection unit detects an arrangement position of the fiber bundle wound in the first winding operation, which is performed between the first winding operation and the correction amount calculation operation;
A second detection operation for detecting an arrangement position of the fiber bundle wound by the second winding operation, which is performed between the second winding operation and the correction operation, by the detection unit, and the second detection operation. A determination operation for determining a decrease or an increase in the difference between the measured value and the design value of the arrangement position of the fiber bundle wound in the second winding operation, based on the actual measurement value of the arrangement position of the fiber bundle by
A filament winding apparatus characterized by controlling the temperature.

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