JP5505588B2 - Filament winding equipment - Google Patents

Description

  The present invention relates to a filament winding apparatus for winding a fiber bundle around a mandrel by hoop winding and helical winding.

  The filament winding apparatus is an apparatus that manufactures a hollow container such as a pressure tank, a pipe, and the like by a filament winding method (for example, Patent Document 1). In the filament winding method, a product (a pressure tank or the like) is manufactured by winding a fiber bundle around a mandrel (liner). The fiber bundle is made of, for example, a fiber material such as glass fiber or a fiber material using a synthetic resin.

  The filament winding apparatus winds a fiber bundle fed from a head portion around a mandrel. The head portion includes a hoop winding head wound by hoop winding and a helical winding head wound by helical winding. In the hoop winding, the fiber bundle is wound at a substantially right angle with respect to the axial direction of the mandrel (FIG. 7A). Helical winding winds a fiber bundle at a predetermined angle with respect to the axial direction of the mandrel (FIGS. 7B and 7C).

Then, for the winding mandrel around which the fiber bundle is wound, an operator performs a manual inspection to check whether there is any abnormality in shape or collapse. The operator measures the external dimensions using a caliper, a height gauge, or the like, or visually inspects for collapse or abnormality. However, in the visual inspection or the like by an operator, a determination error or variation may occur. Furthermore, in the visual inspection of the worker, it is necessary to stop the apparatus for each inspection, and since the inspection takes time due to manual work, the speed cannot be increased.
Japanese Patent No. 3671852

  The problem to be solved by the present invention is to provide a filament winding apparatus capable of improving the accuracy in appearance inspection and increasing the speed in view of the above-described problems.

The filament winding apparatus according to the present invention includes:
In a filament winding apparatus for winding a fiber bundle around a mandrel,
A hoop winding head for performing a hoop winding step of winding the fiber bundle around the mandrel by hoop winding;
A helical winding head for performing a helical winding process of winding a fiber bundle on a mandrel by helical winding;
An inspection mechanism for performing an appearance inspection of a wound mandrel in which a fiber bundle is wound around the mandrel;
A hoop winding head, a helical winding head, and a control unit for controlling the inspection mechanism,
Inspection mechanism
An acquisition unit for acquiring the contour shape of the winding mandrel as shape data;
A storage unit for storing a reference contour shape as reference data;
A comparison unit that compares the shape data with the reference data;
A determination unit that determines the quality of the contour shape of the winding mandrel based on the comparison result of the comparison unit, and
Mandrel, Ri pressure tank der having a cylindrical portion and a dome portion on both sides,
The control unit controls the inspection mechanism to perform an appearance inspection of the winding mandrel after each of the hoop winding process and the helical winding process.

  Preferably, the acquisition unit includes a measurement unit that measures a distance from the predetermined position to the winding mandrel, and acquires shape data based on a measurement result of the measurement unit.

  Preferably, the acquisition unit includes an imaging unit that captures an outline shape of the winding mandrel and an image processing unit that processes a captured image of the imaging unit, and acquires shape data based on a processing result of the image processing unit.

  According to the filament winding apparatus of the present invention, the acquisition unit acquires the contour shape of the winding mandrel as shape data, and the comparison unit compares the shape data with the reference data, so that the determination unit compares the winding mandrel. The quality of the contour shape is determined.

  Accordingly, in the filament winding apparatus according to the present invention, since the determination unit determines the quality of the contour shape by comparing the shape data and the reference data, not by the visual inspection by the operator, an inspection judgment error or variation occurs. Furthermore, since the determination can be made in a shorter time than the operator, the production line can be speeded up and automated, and the production efficiency and inspection accuracy can be improved.

  Hereinafter, a filament winding apparatus and method according to the present invention will be described with reference to the drawings.

[Device configuration]
FIG. 1 is a partially omitted perspective view showing a filament winding apparatus. The filament winding apparatus includes a winding device 1 and a supply unit 2.

  The winding device 1 winds the fiber bundle R around the mandrel M. The supply unit 2 includes a plurality of creels 20 on the creel support units 21 and 21. The creel 20 winds and stores the fiber bundle R.

  The fiber bundle R is made of, for example, a fiber material such as glass fiber or a fiber material using a synthetic resin. The supply unit 2 supplies the fiber bundle R drawn from each creel 20 to the winding device 1.

  The fiber bundle R is impregnated with a thermosetting synthetic resin material in advance. The fiber bundle R may not be impregnated with resin. In that case, a resin impregnation device (not shown) is provided between the winding device 1 and the supply unit 2, and the resin impregnation device applies resin to the fiber bundle R drawn from the creel 20. To the winding device 1.

  A plurality of mandrels M (M1, M2) are arranged on both sides (front and back of the drawing) of the winding device 1. The mandrel M1 before winding is arranged on the front side (front side) of the winding device 1, and the mandrel M2 after winding the fiber bundle R by the winding device 1 is arranged on the rear side (back side). . And mandrel M1, M2 is arrange | positioned at the one end side (left figure) of the winding apparatus 1. FIG.

[Winding device]
FIG. 2 is an enlarged perspective view showing the winding device of FIG. The winding device 1 includes a machine base 10. The machine base 10 includes a pair of parallel first guide rail portions 10a and 10a extending in the longitudinal direction 1a. The winding device 1 includes a mandrel moving table 11 on a machine base 10. The mandrel moving base 11 can reciprocate in the longitudinal direction 1a along the first guide rails 10a and 10a.

  The mandrel M includes a mandrel spindle S extending in the mandrel axial direction Mc. The mandrel moving base 11 rotatably supports the spindle S with the rotation mechanisms 111 on both sides. The rotation mechanism 111 rotates the mandrel M around the central axis together with the spindle S.

  When manufacturing a pressure tank, the mandrel M is formed of high-strength aluminum, metal, resin, or the like, and has a shape having a cylindrical portion Ma and dome portions Mb on both sides thereof (FIG. 7). The spindle S is detachably fixed to the mandrel M. The longitudinal direction 1a of the machine base 10 is the mandrel axial direction Mc. In addition, the mandrel M can change a material, a shape, etc. according to a product.

  The winding device 1 includes a hoop winding head 12 and a helical winding head 13. The hoop winding head 12 winds the fiber bundle R around the mandrel M by hoop winding. The helical winding head 13 winds the fiber bundle R around the mandrel M by helical winding.

  The winding device 1 is driven by the control unit 6. The control unit 6 controls the reciprocating movement of the mandrel moving base 11, the rotation of the mandrel M, the reciprocating movement of the hoop winding head 12, the turning of the bobbin 12b, and the like. Moreover, the control part 6 controls the drive of the side wall parts 11b and 11b of the mandrel moving stand 11 mentioned later.

  The hoop winding head 12 includes a main body frame 12a. The main body frame 12a includes an insertion portion 12d that opens in the center. The hoop winding head 12 inserts the mandrel M through the insertion portion 12d.

  The machine base 10 includes a pair of second guide rails 10b and 10b extending in the longitudinal direction 1a in parallel. The hoop winding head 12 includes a moving base 12f and reciprocates in the longitudinal direction 1a along the second guide rails 10b and 10b. Thereby, the hoop winding head 12 reciprocates in a state where the mandrel M is inserted through the insertion portion 12d.

  The hoop winding head 12 includes a plurality of (for example, 2 to 4) bobbins 12b for winding and storing the fiber bundle R. As will be described later, the hoop winding head 12 includes a turning mechanism 120. The turning mechanism 120 turns the bobbin 12b in the mandrel circumferential direction Md. The fiber bundle R fed out from the swiveling bobbin 12b is wound around the mandrel M.

  The helical winding head 13 includes a main body frame 13a. The main body frame 13a includes an insertion portion 13d that opens in the center. The helical winding head 13 inserts the mandrel M through the insertion portion 13d. The helical winding head 13 is fixed at the center of the machine base 10 in the longitudinal direction 1a.

  In the helical winding head 13, the mandrel moving base 11 reciprocates in a state where the mandrel M is inserted through the insertion portion 13d. Accordingly, the helical winding head 13 reciprocates relative to the mandrel M in the longitudinal direction 1a.

  The helical winding head 13 winds the fiber bundle R drawn from the supply unit 2 around the mandrel M. The helical winding head 13 includes an annular guide ring portion 15 extending along the mandrel circumferential direction Md around the insertion portion 13d. The main body frame 13 a includes tension portions 13 b on both sides of the guide ring portion 15. Further, the helical winding head 13 includes guide rollers 13c on both sides of the main body frame 13a.

  The helical winding head 13 guides the fiber bundle R drawn from the creel 20 with the guide rollers 13c and 13c and guides it to the tension portions 13b and 13b. The tension portions 13b and 13b apply a predetermined resin and tension to the fiber bundle R. When the tension portions 13b and 13b apply a predetermined tension to the fiber bundle R, the fiber bundle R can be firmly wound around the mandrel M.

[Helical winding head]
FIG. 3 is a front view showing the helical winding head 13. The helical winding head 13 includes a plurality of ring-shaped auxiliary guides 13e. The auxiliary guide 13 e is disposed along the outside of the guide ring portion 15.

  The fiber bundle R drawn from the creel 20 is supplied from both sides of the helical winding head 13 to the tension portion 13b through the guide roller 13c. The plurality of fiber bundles R are guided from the tension part 13b to the guide ring part 15 through the auxiliary guides 13e. Further, the plurality of fiber bundles R are guided to the mandrel M through the plurality of guide holes 15 a provided along the guide ring portion 15.

[Opening guide]
FIG. 4 is a perspective view showing a fiber opening guide. The opening guide 16 is provided for each guide hole 15 a inside the guide ring portion 15 of the helical winding head 13. The opening guide 16 includes a pair of rotatable opening rollers 16a and 16a.

  The opening rollers 16a and 16a are provided in parallel to the radial direction of the guide hole 15a. The fiber opening guide 16 includes a rotation base 16b that is rotatable around the center of the guide hole 15a. The rotation base 16b supports the opening rollers 16a and 16a.

  In the fiber opening guide 16, the fiber bundle R is inserted between the pair of fiber opening rollers 16a and 16a. Thereby, the fiber opening guide 16 rotates freely even if the winding angle θ of the fiber bundle R around the mandrel M changes, and the fiber bundle R is opened by the fiber opening rollers 16a and 16a (the width is widened). State) and can be wound around the mandrel M.

[Hoop winding head, etc.]
FIG. 5 is a partial side view showing the winding device. FIG. 6 is a partial front view seen from the mandrel axial direction, where (a) is a hoop winding head and (b) is a helical winding head.

[Swivel mechanism]
As shown in FIGS. 5 and 6A, the hoop winding head 12 includes a turning mechanism 120 that turns the bobbin 12 b around the mandrel M. The turning mechanism 120 includes a turntable 12c. The turntable 12c is supported rotatably with respect to the main body frame 12a. The turntable 12c has an insertion portion 12d as with the main body frame 12a, and the mandrel M is inserted therethrough. The turntable 12c rotates around the mandrel M.

  The bobbin 12b is rotatably supported by the turntable 12c. The turning mechanism 120 includes a bobbin rotation drive unit 12e made of a motor or the like. The turning mechanism 120 includes a pulley 12h that is coupled to the rotation shaft of the bobbin rotation driving unit 12e. The turntable 12c and the pulley 12h are connected via an endless belt 12g.

  The hoop winding head 12 rotates the pulley 12h by driving the bobbin rotation driving unit 12e, and rotates the rotating disk 12c via the endless belt 12g. Thereby, the bobbin 12b revolves around the mandrel M while rotating, and the fiber bundle R is drawn out and wound around the mandrel M.

  The bobbin turning mechanism 120 is not limited to the belt type mechanism described above, and a gear type mechanism or the like can be employed.

[Rotation mechanism]
As shown in FIG. 5, the mandrel moving base 11 includes a rotation mechanism 111 for rotating the mandrel M around the central axis. The rotation mechanism 111 includes a mandrel rotation drive unit 11a made of a motor or the like. The mandrel rotation drive part 11a has a chuck part 11c at the end of its rotating shaft. The chuck portion 11c can be attached to and detached from the rotation restriction of the mandrel spindle S by spline coupling or the like.

  The rotation mechanism 111 rotates the mandrel M around the central axis via the mandrel spindle S connected to the chuck portion 11c by driving the mandrel rotation driving unit 11a.

[Movement mechanism]
In FIG. 5, the machine base 10 is indicated by a two-dot chain line, and its internal structure is indicated by a solid line. The machine base 10 includes a mandrel moving mechanism 101 for reciprocating the mandrel M in the longitudinal direction 1a and a hoop winding head moving mechanism 121 for reciprocating the hoop winding head 12 in the longitudinal direction 1a.

  The mandrel movement mechanism 101 includes a mandrel movement drive unit 10c made of a motor or the like. The mandrel moving mechanism 101 includes a mandrel ball screw shaft 10d extending in the longitudinal direction 1a. The mandrel ball screw shaft 10d is connected to the mandrel movement drive unit 10c and is rotated by the drive of the mandrel movement drive unit 10c.

  The mandrel moving mechanism 101 includes a mandrel ball nut 10e screwed to the mandrel ball screw shaft 10d. The mandrel ball nut 10 e is connected to the mandrel moving base 11.

  Therefore, the mandrel ball screw shaft 10d rotates forward and backward, and the mandrel ball nut 10e reciprocates along the ball screw shaft 10d (longitudinal direction 1a). The mandrel moving base 11 connected to the mandrel ball nut 10e reciprocates along the first guide rail portion 10a (longitudinal direction 1a) (FIG. 2).

  The hoop winding head moving mechanism 121 includes a hoop winding head moving drive unit 10f made of a motor or the like. The hoop winding head moving mechanism 121 includes a hoop winding head ball screw shaft 10g extending in the longitudinal direction 1a. The hoop winding head ball screw shaft 10g is connected to the hoop winding head movement drive unit 10f, and rotates by driving the hoop winding head movement drive unit 10f.

  The hoop winding head moving mechanism 121 includes a hoop winding head ball nut 10h screwed to the hoop winding head ball screw shaft 10g. The hoop winding head ball nut 10 h is connected to the moving base 12 f of the hoop winding head 12.

  Accordingly, the hoop winding head ball screw shaft 10g rotates forward and backward, and the hoop winding head ball nut 10h reciprocates along the ball screw shaft 10g (longitudinal direction 1a). Then, the hoop winding head 12 (moving base 12f) connected to the hoop winding head ball nut 10h reciprocates along the second guide rail portion 10b (longitudinal direction 1a) (FIG. 2).

  The mandrel moving mechanism 101 and the hoop winding head moving mechanism 121 are not limited to the above-described ball screw type mechanism, and an actuator type mechanism or the like can be employed.

[Control unit]
The control unit 6 is connected to the bobbin rotation driving unit 12e, the mandrel rotation driving unit 11a, the mandrel movement driving unit 10c, and the hoop winding head movement driving unit 10f. Thereby, the control unit 6 controls the turning mechanism 120, the rotating mechanism 111, the mandrel moving mechanism 101, and the hoop winding head moving mechanism 121 based on preset driving data or inputted driving data.

[Hoop winding / helical winding]
As shown in FIG. 6A, the bobbin 12b turns around the mandrel M in the forward direction 60a (clockwise in the figure) while performing the hoop winding. During the hoop winding, the rotation of the mandrel M stops.

  As shown in FIG. 6B, during the helical winding, the mandrel M rotates in the reverse direction 60b (counterclockwise in the figure) around the mandrel central axis. While performing helical winding, as will be described later, the bobbin 12b turns around the mandrel M in the reverse direction 60b (counterclockwise in the figure) (FIG. 6A).

  FIG. 7 is a side view showing hoop winding and helical winding. As shown in FIG. 7A, in the hoop winding, the fiber bundle R is wound substantially perpendicular to the mandrel axial direction Mc. As shown in FIGS. 7B and 7C, the helical winding winds the fiber bundle R at a predetermined angle θ (θ1, θ2) with respect to the mandrel axial direction Mc. As described above, the hoop winding head 12 performs the hoop winding, and the helical winding head 13 performs the helical winding.

[Inspection mechanism]
(First embodiment)
8A and 8B show the inspection mechanism of the first embodiment, where FIG. 8A is a side view and FIG. 8B is a front view.
As shown in FIG. 8A, the filament winding apparatus includes a measurement unit (acquisition unit) 62. The measuring unit 62 is composed of a non-contact optical sensor. The measuring unit 62 is supported by a support arm 62a extending in the vertical direction. The measuring unit 62 includes a moving base 62b that is movable in the horizontal direction along a guide rail (not shown) provided on the ceiling T. The movement base 62b is driven and controlled by the control unit 6.

The measuring unit 62 is arranged at a predetermined distance above the winding mandrel M2, which is an object to be inspected. The measuring unit 62 is held at a fixed distance T1 from the horizontal ceiling T by the support arm 62a. And the measurement part 62 moves along the longitudinal direction 1a (axial direction Mc) via the movement base 62b.
The “winding mandrel M2” is not only the mandrel that is the final product, but also the mandrel M around which the fiber bundle R is wound, and includes mandrels after each winding step and in the middle.

  As shown in FIG. 8B, the measuring unit 62 irradiates the laser beam in the vertical direction, and measures the distance 620 from the measuring unit 62 to the winding mandrel M2. While the distance 620 is measured by the measuring unit 62, the winding mandrel M2 is rotated once about the axial center while the position of the measuring unit 62 is stopped.

  Thereby, the shape of the circumference of the winding mandrel M2 at the predetermined position can be recognized. Then, the measuring unit 62 is moved by a predetermined pitch P (for example, 0.5 to 10 mm) in the longitudinal direction 1a (Mc) and stopped. At that position, the winding mandrel M2 is rotated once while measuring the distance 620 by the measuring unit 62. By repeating this, the shape around the winding mandrel M2 at each predetermined pitch P can be recognized.

  As shown in FIG. 8A, the filament winding apparatus includes a calculation unit 61. The calculation means 61 acquires data from the measurement unit 62 and outputs a control signal to the control unit 6 so as to perform predetermined driving based on the determination result.

  As shown in FIG. 8B, the calculation means 61 includes a measurement data storage unit 61a. The measurement data storage unit 61 a is connected to the measurement unit 62. For example, the measurement unit 62 measures the distance 620 to the winding mandrel M2 by measuring the time until the reflected light is detected by irradiating the laser beam. The measurement data storage unit 61a captures and stores the distance 620 at predetermined time intervals. Thereby, the outline (periphery) of winding mandrel M2 is acquired as shape data.

  The computing means 61 includes a reference data storage unit 61b. The reference data storage unit 61b stores reference data of the outline (periphery) of the winding mandrel M2 for each predetermined pitch P set in advance. The reference data is obtained by measuring the winding mandrel M2 that has passed the inspection in advance, or obtained based on the design data.

  The calculation means 61 includes a comparison unit 61c. The comparison unit 61c acquires shape data and reference data from the measurement data storage unit 61a and the reference data storage unit 61b at predetermined time intervals. Then, the comparison unit 61c compares the shape data with the reference data and calculates difference data.

  The calculation means 61 includes a determination unit 61d. The determination unit 61d acquires the difference data from the comparison unit 61c, determines whether or not the difference data is within a preset allowable range (good or bad), and when it is out of the allowable range, the contour of the winding mandrel M2 It is determined that the shape is abnormal, and a predetermined error signal is output to the control unit 6.

  The filament winding apparatus includes notifying means 65 such as an alarm for notifying an operator of an abnormality. The control unit 6 that has acquired the error signal from the calculation unit 61 stops driving the filament winding apparatus and activates the notification unit 65. Thereby, the operator recognizes a shape abnormality such as collapse of the winding mandrel M2 and performs a predetermined operation.

  In addition, by rotating the winding mandrel M2 and measuring the distance 620 while moving the measuring unit 62 in the longitudinal direction 1a (Mc), the contour shape of the winding mandrel M2 can be inspected in a spiral shape. .

  The measurement unit 62 can apply a magnetic field type and a sound wave type non-contact sensor in addition to the optical sensor. Further, the measuring unit 62 may be a contact-type displacement meter that measures a distance 620 by contacting a roller or the like with the mandrel M2. The type of measurement unit 62 can be selected in consideration of the type of fiber in the winding mandrel M2, the inspection accuracy, and the like.

(Second Embodiment)
FIG. 9 shows an inspection mechanism according to the second embodiment, in which (a) is a side view and (b) is a front view.
The inspection mechanism of the second embodiment will be described, but the description of the same configuration as that of the first embodiment will be omitted.

  As illustrated in FIG. 9A, the filament winding apparatus includes an imaging unit (acquisition unit) 63. The imaging unit 63 includes a CCD camera or the like. The imaging unit 63 is supported by a support arm 63a extending in the vertical direction. The imaging unit 63 includes a moving base 63b that is movable in the horizontal direction along a guide rail (not shown) provided on the ceiling T. The movement base 63b is driven and controlled by the control unit 6.

  As shown in FIGS. 9A and 9B, the imaging unit 63 captures the entire side surface of the winding mandrel M2 and acquires the entire image 630. Then, the winding mandrel M2 is rotated by a predetermined pitch angle Pθ (for example, 0.5 to 10 degrees). In this state, the entire image 630 is acquired by the imaging unit 63. By repeating this, an outline image of the entire surface of the winding mandrel M2 is obtained for each predetermined pitch angle Pθ.

  As shown in FIG. 9B, the imaging unit 63 includes an image processing unit 63c. As illustrated in FIG. 9C, the image processing unit 63c binarizes the acquired image 630 into a mandrel unit 630a and a background unit 630b, and performs image processing. Then, the image processing unit 63c acquires the image 630 as shape data. The imaging unit 63 is connected to the calculation means 61. The image processing unit 63 c outputs the shape data to the calculation unit 61.

  The measurement data storage unit 61a stores shape data of the image 630 for each predetermined pitch angle Pθ. The reference data storage unit 61b stores reference data of the contour image of the winding mandrel M2 for each predetermined pitch angle Pθ. The reference data is acquired by imaging the winding mandrel M2 that has passed the inspection in advance, or acquired based on the design data.

  Then, the comparison unit 61c compares the shape data with the reference data for each predetermined pitch angle Pθ and calculates difference data. For example, the image 630 is divided into a plurality of sections, and difference data between the shape data and the reference data is calculated for the area of the mandrel section 630a for each section.

  Then, the determination unit 61d determines whether or not the difference data from the comparison unit 61c is within a preset allowable range, and determines that the contour shape of the winding mandrel M2 is abnormal when it is outside the allowable range. Then, an error signal is output to the control unit 6. And the control part 6 stops a filament winding apparatus, and starts the alerting | reporting means 65. FIG.

  Furthermore, the winding mandrel M2 can be divided into a plurality of sections, and the imaging unit 63 can be moved to capture a divided image 630 'for each section. The above determination can also be made for each divided image 630 '. Further, the image processing unit 63c or the like can connect the divided images 630 'to obtain the entire image 630, and perform the above determination.

  Further, when the appearance inspection is performed in the middle of the winding process, the fiber bundle R cannot be cut, so that only the image 630 from one direction is acquired by the imaging unit 63 without rotating the winding mandrel M2, or the imaging unit 63 can be moved to acquire and determine images 630 from a plurality of directions.

[Winding process]
10 and 11 are side views showing the winding operation of the filament winding apparatus.

  As shown in FIG. 10A, when performing hoop winding, the control unit 6 causes the hoop winding head 12 to operate as follows. As the hoop winding head 12 moves from the other end (right in the figure) of the mandrel M to one end (left in the figure), the bobbin 12b rotates. Since the mandrel moving base 11 is stopped, the mandrel M does not move and rotate.

  Thereby, the fiber bundle R is drawn out from each bobbin 12b. The fiber bundle R is wound parallel to the mandrel axial direction Mc (FIG. 7) in a direction substantially orthogonal (slightly inclined) without gaps so as not to overlap each other. The moving speed of the hoop winding head 12 and the turning speed of the bobbin 12b are determined so as to wind in this way.

  As the hoop winding head 12 moves from the other end (right in the figure) to the other end (left in the figure) of the mandrel cylindrical part Ma (FIG. 7), one layer of fiber bundle R is stacked on the mandrel cylindrical part Ma. The hoop winding head 12 reciprocates between one end (left side in the figure) and the other end (right side in the figure) of the mandrel cylindrical part Ma until the fiber bundle R of the necessary layer is stacked.

  After completion of the hoop winding, as shown in FIG. 10B, the hoop winding head 12 is retracted to one end side (left side in the figure) of the mandrel moving base 11. The hoop winding head 12 is disposed on the mandrel spindle S at a predetermined distance W from the mandrel M.

  As shown in FIG. 11A, when performing helical winding, the control unit 6 causes the mandrel moving base 11 to operate as follows. The mandrel moving base 11 moves so that the helical winding head 13 relatively moves from the other end (right side in the figure) to one end (left side in the figure) of the mandrel M. Along with this movement, the mandrel rotation driving units 11a and 11a rotate the mandrel M.

  The plurality of fiber bundles R fed out from the helical winding head 13 are wound in parallel with no gap so as not to overlap each other at a winding angle θ1 with respect to the mandrel axial direction Mc (FIG. 7) at the mandrel parallel portion. The moving speed of the mandrel moving base 11 (helical winding head 13) and the rotating speed of the mandrel rotation driving unit 11a (mandrel M) are determined so as to wind in this way.

  As the helical winding head 13 moves from the other end (right in the figure) to the other end (left in the figure), a single fiber bundle R is stacked on the mandrel M. The helical winding head 13 reciprocates between one end (left side in the figure) and the other end (right side in the figure) of the mandrel M until the fiber bundle R of the necessary layer is stacked.

  Further, the hoop winding head 12 moves in synchronization with the mandrel moving base 11 so as to maintain a predetermined distance W from the mandrel M. Further, the bobbin 12b rotates in the same direction as the mandrel in synchronization with the rotation of the mandrel M so that the extra fiber bundle R is not drawn out from the bobbin 12b and wound around the spindle S by the rotation of the mandrel M.

  Then, as shown in FIG. 11B, when performing helical winding at a winding angle θ2 (> θ1), and thereafter performing helical winding at a winding angle θ1 again, the mandrel moving base is similar to the above. 11 and the hoop winding head 12 operate.

[Inspection process]
The appearance inspection process of the winding mandrel M2 is performed on the winding mandrel M2 that is the final product in which all the fiber bundles are wound using the above-described inspection mechanism. Further, in (i) hoop winding process, (ii) helical winding process, (iii) final process, an inspection process is performed after each process of (i) to (iii), or an inspection process is performed either after each process. You can go. Furthermore, it may be performed in the middle of each step of (i) and (ii).

It is a partially-omission perspective view which shows a filament winding apparatus. It is an expansion perspective view which shows the winding apparatus of FIG. FIG. 3 is a front view showing a helical winding head 13. It is a perspective view which shows a fiber opening guide. It is a partial side view which shows a winding apparatus. It is the partial front view seen from the mandrel axial direction, (a) is a hoop winding head, (b) is a helical winding head. It is a side view which shows a hoop winding and a helical winding. The inspection mechanism of a 1st embodiment is shown, (a) is a side view and (b) is a front view. The inspection mechanism of 2nd Embodiment is shown, (a) is a side view, (b) is a front view. It is a side view which shows the winding operation | movement of a filament winding apparatus. It is a side view following FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Winding device 10 Machine base 11 Mandrel moving base 12 Hoop winding head 12b Bobbin 13 Helical winding head 6 Control part 61 Calculation means 61a Measurement data storage part 61b Reference data storage part 61c Comparison part 61d Determination part 62 Measurement part (acquisition part)
63 Imaging unit (acquisition unit)
63c Image processing unit 1a Longitudinal direction Mc Mandrel axial direction M Mandrel S Mandrel spindle R Fiber bundle

Claims (3)

In a filament winding apparatus for winding a fiber bundle around a mandrel,
A hoop winding head for performing a hoop winding step of winding the fiber bundle around the mandrel by hoop winding;
A helical winding head for performing a helical winding step of winding the fiber bundle around the mandrel by helical winding;
An inspection mechanism for performing an appearance inspection of a wound mandrel in which the fiber bundle is wound around the mandrel;
A control unit for controlling the hoop winding head, the helical winding head, and the inspection mechanism;
The inspection mechanism is
An acquiring unit that acquires front Kimaki with mandrel contour as the shape data,
A storage unit for storing a reference contour shape as reference data;
A comparison unit for comparing the shape data and the reference data;
A determination unit that determines the quality of the contour shape of the winding mandrel based on the comparison result of the comparison unit;
The mandrel, Ri pressure tank der having a cylindrical portion and a dome portion on both sides,
The filament winding apparatus , wherein the control unit controls the inspection mechanism to perform an appearance inspection of the winding mandrel after each of the hoop winding step and the helical winding step .   The filament according to claim 1, wherein the acquisition unit includes a measurement unit that measures a distance from a predetermined position to the winding mandrel, and acquires the shape data based on a measurement result of the measurement unit. Winding device.   The acquisition unit includes an imaging unit that captures an outline shape of the winding mandrel and an image processing unit that processes a captured image of the imaging unit, and acquires the shape data based on a processing result of the image processing unit. The filament winding apparatus according to claim 1, wherein:

Images