JP5984730B2 - Filament winding equipment - Google Patents

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). In such a filament winding apparatus, a liner transfer device, a hoop winding device, a helical winding device, and the like move in cooperation with each other.

  By the way, the liner transfer device, the hoop winding device, the helical winding device, and the like move based on the input position data. However, the position data is created from the viewpoint that it is possible to realize the optimum winding of the fiber bundle, and the viewpoint of shortening the time required for winding the fiber bundle is not taken into account so much for the filament winding apparatus. The performance was not fully demonstrated. In addition, it has been considered extremely difficult to create position data that can realize the optimum winding of the fiber bundle and reduce the time required for winding the fiber bundle. Therefore, there has been a demand for a filament winding apparatus that can realize the optimum winding of the fiber bundle and can reduce the time required for winding the fiber bundle.

JP 2009-119732 A

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a filament winding apparatus capable of realizing the optimum winding of the fiber bundle and reducing the time required for winding the fiber bundle. .

  Next, means for solving this problem will be described.

That is, the first invention is
A control device capable of instructing operations to a plurality of drive devices that perform operations related to winding of the fiber bundle ;
In the filament winding device that winds the fiber bundle around the outer peripheral surface of the liner,
The control device converts the position data indicating the change in the target position of the operation related to the winding of the fiber bundle from the speed data indicating the change in the target speed, and extracts only the speed data closest to the allowable limit speed. Creates maximum speed data, corrects the maximum speed data for each predetermined section, creates maximum speed correction data, and adjusts the operation speed of the operation related to winding of the fiber bundle based on the maximum speed correction data To do.

The second invention is the filament winding apparatus according to the first invention,
The control device calculates a ratio of the allowable limit speed to a maximum value of the maximum speed data for each section, and creates the maximum speed correction data by multiplying the ratio.

A third invention is the filament winding apparatus according to the second invention,
The control device grasps the ratio from the maximum speed correction data for each section and adjusts the operation speed of the operation related to winding of all the fiber bundles by multiplying the ratio.

A fourth invention is the filament winding apparatus according to any one of the first to third inventions,
The control device can arbitrarily set the section.

A fifth invention is a filament winding apparatus according to any one of the first to fourth inventions,
The control device can arbitrarily set the allowable limit speed.

A sixth invention is the filament winding apparatus according to any one of the first to fifth inventions,
The driving device is a servo motor.

A seventh invention is the filament winding apparatus according to the sixth invention,
The position data is the rotational position of the output shaft of the servo motor.

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

  According to the first invention, the control device converts the position data indicating the shift of the target position to be controlled into the speed data indicating the shift of the target speed, and extracts only the speed data closest to the allowable limit speed. Create maximum speed data. And a control apparatus correct | amends maximum speed data for every predetermined area, and produces maximum speed correction data. Thereafter, the control device adjusts the operation speed of the control target based on the maximum speed correction data. Thereby, since this filament winding apparatus can optimize the operation speed of a control object for every section, it becomes possible to shorten the time required for winding of a fiber bundle certainly.

  According to the second invention, the control device calculates the ratio of the allowable limit speed to the maximum value of the maximum speed data for each section. And a control apparatus produces maximum speed correction data by multiplication of this ratio. Thereby, this filament winding apparatus can create the maximum speed correction data which becomes an index in order to adjust the operation speed of the controlled object.

  According to the third invention, the control device grasps the above-described ratio from the maximum speed correction data for each section. And a control apparatus adjusts the operation speed of all the control objects by multiplication of this ratio. Thereby, this filament winding apparatus can optimize the operation speed of all the control objects.

  According to 4th invention, the control apparatus can set the area mentioned above arbitrarily. Thereby, this filament winding apparatus can implement | achieve the optimal control aspect according to the shape of a liner.

  According to the fifth aspect, the control device can arbitrarily set the allowable limit speed described above. Thereby, this filament winding apparatus can implement | achieve the optimal control aspect according to the shape of a liner.

  According to the sixth invention, the controlled object is a servo motor. Thereby, this filament winding apparatus can comprise a simple control system.

  According to the seventh aspect, the position data is the rotational position of the output shaft of the servo motor. As a result, the filament winding apparatus can be operated as long as position data is input as before.

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 position data showing the series of operation | movement which winds a fiber bundle. (5A) The figure which converted position data into speed data. (5B) The figure which created maximum speed data from speed data. (5C) The figure which created the maximum speed correction data from the maximum speed data.

  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 T shown in the figure indicates the transfer direction of the liner 1. In addition, a direction parallel to the transfer direction of the liner 1 is defined as the front-rear direction of the FW device 100, 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 hollow container formed of, for example, a high-strength aluminum material or a polyamide resin. The liner 1 is formed by a cylindrical tube portion and a hemispherical dome portion. In the liner 1, the pressure resistance is improved by winding the fiber bundle F around the cylindrical portion and the dome portion.

  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. The liner transfer device 20 moves on the liner transfer device rail 11 when the servo motor moves the ball screw mechanism. 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. The hoop winding device 30 moves on the hoop winding device rail 12 as the servomotor moves the ball screw mechanism.

  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, It consists of The liner 1 attached to the rotary shaft 24 is rotated in one direction by a power mechanism provided with a servo motor.

  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 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 having a servo motor. 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. The hoop winding device 30 performs hoop winding by moving the hoop winding device 33 while rotating it.

  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 front-rear direction of the FW device 100.

  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 substantially oblique 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 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 liner 1 is composed of a plurality of fiber bundle guides 45 (see FIGS. 2A and 2B) provided on the fixed helical head 43 and a plurality of fiber bundle guides 45 (see FIGS. 2A and 2B) provided on the movable helical head 44. The fiber bundle F is guided to the outer peripheral surface 1S. The helical winding device 40 performs helical winding by sending the fiber bundle F to the liner 1 that passes while rotating. Since the helical winding device 40 can expand and contract the fiber bundle guide 45 in the direction approaching or separating from the outer peripheral surface 1S of the liner 1, the fiber bundle F can be guided appropriately according to the shape of the liner 1.

  With such a configuration, the helical winding device 40 can perform helical winding in which the winding angle of the fiber bundle F is substantially oblique to the front-rear direction of the FW device 100.

  The control device 52 is a motion controller that can instruct operations to a plurality of control objects. Specifically, the control device 52 is a motion controller that can instruct a series of operations for winding the fiber bundle F around the outer peripheral surface 1S of the liner 1 for a plurality of control objects. Here, “a series of operations for winding the fiber bundle F” means, for example, that the liner transfer device 20 transfers the liner 1 and the helical winding device 40 expands and contracts the fiber bundle guide 45 according to the transfer of the liner 1. The operation of winding the fiber bundle F in relation to each other.

  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 referred to as “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, servo motors 54a, 54b, and feedback devices 55a, 55b, and so on. It is configured.

  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 position data created by the system designer and defines how the position data changes when a specific event occurs. The “position data” is information indicating a change in the target position to be controlled (see FIG. 4). The “target position to be controlled” is the target rotational position of the output shaft of the servo motors 54a, 54b,.

  The motion controller 52 creates a control signal based on the position data. Specifically, the motion controller 52 creates a voltage signal corresponding to each numerical value of velocity data obtained by differentiating the position 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 servo motors 54a, 54b,.

  Servo motors 54a, 54b,... Convert current signals from the amplifiers 53a, 53b,. In detail, the servo motors 54a, 54b,... Receive current signals from the amplifiers 53a, 53b,..., Excite the electromagnets, and convert them into rotational power using a tensile force and a repulsive force.

  The feedback devices 55a, 55b,... Generate detection signals based on the drive states of the servo motors 54a, 54b,. Specifically, the feedback devices 55a, 55b,... Create a voltage signal corresponding to the rotational position of the output shaft of the servo motors 54a, 54b, and output the voltage signal to the motion controller 52.

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

  Next, the position data will be described in detail.

  FIG. 4 is a diagram illustrating position data representing a series of operations for winding the fiber bundle F. The horizontal axis of this figure shows the step which divided | segmented the series of operation | movement which winds the fiber bundle F for every predetermined time. The vertical axis in this figure indicates the target rotational position of the output shaft of the servo motors 54a, 54b. This figure shows an example of position data used in the FW device 100, and may be position data representing another control mode.

  The position data Pa represents the rotation operation of the liner 1. Specifically, the position data Pa indicates a change in the rotational position of the servo motor 54a. The motion controller 52 creates a control signal based on the velocity data Va (see FIG. 5A) obtained by differentiating the position data Pa, and drives the servo 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 position data Pa indicates a diverging operation in which the numerical value increases at each step.

  The position data Pb represents the transfer operation of the liner 1. Specifically, the position data Pb indicates a change in the rotational position of the servo motor 54b. The motion controller 52 creates a control signal based on the velocity data Vb (see FIG. 5A) obtained by differentiating the position data Pb, and drives the servo 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 position data Pb indicates a repetitive operation that decreases again after the numerical value increases.

  The position data Pc represents the expansion / contraction operation of the fiber bundle guide 45. Specifically, the position data Pc indicates a change in the rotational position of the servo motor 54c. The motion controller 52 creates a control signal based on the velocity data Vc (see FIG. 5A) obtained by differentiating the position data Pc, and drives the servo 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 approaching or separating from the outer peripheral surface 1S of the liner 1 (see arrow D3 in FIG. 2B), the position data Pc is again after the numerical value increases. A decreasing repetitive motion is shown.

  The position data Pd represents the rotation operation of the fiber bundle guide 45. Specifically, the position data Pd indicates a change in the rotational position of the servo motor 54d. The motion controller 52 creates a control signal based on the velocity data Vd (see FIG. 5A) obtained by differentiating the position data Pd, and drives the servo 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 position data Pd indicates a repetitive operation that decreases again after the numerical value increases. .

  The position data Pe represents the rotation operation of the movable helical head 44. Specifically, the position data Pe indicates a change in the rotational position of the servo motor 54e. The motion controller 52 creates a control signal based on the velocity data Ve (see FIG. 5A) obtained by differentiating the position data Pe, and drives the servo 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 position data Pe indicates a repetitive operation that decreases again after the numerical value increases. .

  Below, the control method of this FW apparatus 100 is demonstrated.

  FIG. 5A is a diagram in which position data Pa · Pb... Is converted into speed data Va · Vb. FIG. 5B is a diagram in which the maximum speed data Vm is created from the speed data Va, Vb. FIG. 5C is a diagram in which the maximum speed correction data Vr is created from the maximum speed data Vm. The horizontal axis of each figure has shown the step which divided | segmented the series of operation | movement which winds the fiber bundle F for every predetermined time. In each figure, the vertical axis indicates the target rotational speed of the output shaft of the servo motors 54a, 54b,.

  First, the motion controller 52 converts the position data Pa · Pb... Into speed data Va · Vb... (See FIG. 5A). The speed data Va, Vb,... Are created based on the required time per step and the amount of change of the control target. Therefore, the “speed data” can be said to be information indicating a change in the target speed to be controlled. The “target speed to be controlled” is the target rotational speed of the output shaft of the servo motors 54a, 54b,.

  Next, the motion controller 52 creates maximum speed data Vm from the speed data Va, Vb... (See FIG. 5B). The maximum speed data Vm is created by connecting speed data Va, Vb... Closest to the allowable limit speed Lv in each step. For example, as shown in a region X of FIG. 5B, the maximum speed data Vm is created by connecting speed data Vd and speed data Vb that are closest to the allowable limit speed Lv. At this time, the motion controller 52 grasps a predetermined section (eight sections S1, S2,... In the present FW device 100).

  Next, the motion controller 52 creates maximum speed correction data Vr from the maximum speed data Vm (see FIG. 5C). The maximum speed correction data Vr is created by correcting the maximum speed data Vm for each of the sections S1, S2,. For example, as shown in a section S7 in FIG. 5C, the maximum speed correction data Vr is created so that the maximum value Vrp of the maximum speed correction data Vr becomes the allowable limit speed Lv. However, the maximum value Vrp of the maximum speed correction data Vr is not limited, and it is sufficient if it does not exceed the allowable limit speed Lv.

  As described above, the motion controller 52 converts the position data Pa · Pb... Indicating the change of the target position to be controlled into the speed data Va.Vb... Indicating the change of the target speed (see FIG. 5A). Only the speed data Va, Vb... Closest to the allowable limit speed Lv is extracted to create the maximum speed data Vm (see FIG. 5B). Then, the motion controller 52 corrects the maximum speed data Vm for each predetermined section S1, S2,... To create the maximum speed correction data Vr (see FIG. 5C). Thereafter, the motion controller 52 adjusts the operation speed of the control target based on the maximum speed correction data Vr. As a result, the FW device 100 can optimize the operation speed of the control target for each of the sections S1, S2,..., So that it is possible to reliably reduce the time required for winding the fiber bundle F.

  Next, a more specific control method of the FW device 100 will be described.

  As described above, the maximum speed correction data Vr is created such that the maximum value of the maximum speed correction data Vr (the maximum value Vrp in the section S7) is the allowable limit speed Lv. A specific control method is as follows.

First, the motion controller 52 grasps the difference between the maximum value of the maximum speed data Vm (the maximum value Vmp in the section S7) and the allowable limit speed Lv for each of the sections S1, S2,. Specifically, the motion controller 52 calculates the ratio R between the maximum value of the maximum speed data Vm and the permissible limit speed Lv for each of the sections S1, S2,. For example, in the section S7, the mathematical formula M1 at this time can be expressed as follows.
Formula M1: R = Lv / Vmp

Next, the motion controller 52 creates maximum speed correction data Vr from the maximum speed data Vm using the calculated ratio R as a correction coefficient (see FIG. 5C). For example, in the section S7, the mathematical formula M2 at this time can be expressed as follows. Then, the maximum value Vrp of the maximum speed correction data Vr can also be expressed as the following formula M3.
Formula M2: Vr = Vm × R
Formula M3: Vrp = Vmp × R = Lv

  As described above, the motion controller 52 calculates the ratio R of the allowable limit speed Lv to the maximum value of the maximum speed data Vm for each of the sections S1, S2,. Then, the motion controller 52 creates the maximum speed correction data Vr by multiplication of the ratio R. Thereby, the FW device 100 can create the maximum speed correction data Vr that serves as an index for adjusting the operation speed of the control target.

  Thereafter, the motion controller 52 grasps the ratio R from the maximum speed correction data Vr for each of the sections S1, S2,. That is, the motion controller 52 grasps the ratio R used to create the maximum speed correction data Vr for each of the sections S1, S2,.

Thereafter, the motion controller 52 adjusts the operation speeds of all the controlled objects by multiplication of the ratio R. For example, the speed data Va · Vb... Is converted into speed data Va ′ · Vb ′. Equations Ma, Mb... At this time can be expressed as follows.
Formula Ma: Va ′ = Va × R
Formula Mb: Vb ′ = Vb × R
Formula Mc: Vc ′ = Vc × R
Formula Md: Vd ′ = Vd × R
Formula Me: Ve ′ = Ve × R

  As described above, the motion controller 52 grasps the above-described ratio R from the maximum speed correction data Vr for each of the sections S1, S2,. Then, the motion controller 52 adjusts the operation speed of all the controlled objects by multiplication of the ratio R. Thereby, this FW device 100 can optimize the operation speed of all the controlled objects.

  Next, other characteristic points of the FW device 100 will be described.

  The motion controller 52 of the FW device 100 can arbitrarily set the sections S1, S2,. Therefore, the FW device 100 can set the sections S1, S2,... According to the shape of the liner 1 and the like. That is, the FW device 100 can realize an optimal control mode according to the shape of the liner 1 and the like.

  Furthermore, the motion controller 52 of the FW device 100 can arbitrarily set the allowable limit speed Lv described above. For this reason, the FW device 100 can set the allowable limit speed Lv according to the shape of the liner 1 and the like. That is, the FW device 100 can realize an optimal control mode according to the shape of the liner 1 and the like.

  In addition, the control target is the servo motors 54a, 54b,. For this reason, this FW device 100 can constitute a simple control system. Further, the position data Pa · Pb... Is the rotational position of the output shaft of the servo motors 54a, 54b. Therefore, the FW device 100 can be operated by inputting the position data Pa · Pb.

  The FW device 100 according to the present embodiment is as described above. The FW device 100 can realize the optimum winding of the fiber bundle F and can reduce the time required for winding the fiber bundle F.

1 Liner 10 Main Base 20 Liner Transfer Device 30 Hoop Winding Device 40 Helical Winding Device 52 Control Device (Motion Controller)
100 Filament winding device (FW device)
F Fiber bundle S1 section S2 section S3 section S4 section S5 section S6 section S7 section S8 section Pa position data Pb position data Pc position data Pd position data Pe position data Va speed data Vb speed data Vc speed data Vm speed data Vm speed data Ve Maximum speed data Vr Maximum speed correction data Lv Allowable limit speed

Claims (7)

A control device capable of instructing operations to a plurality of drive devices that perform operations related to winding of the fiber bundle ;
In the filament winding device that winds the fiber bundle around the outer peripheral surface of the liner,
The control device converts the position data indicating the change in the target position of the operation related to the winding of the fiber bundle from the speed data indicating the change in the target speed, and extracts only the speed data closest to the allowable limit speed. Creates maximum speed data, corrects the maximum speed data for each predetermined section, creates maximum speed correction data, and adjusts the operation speed of the operation related to winding of the fiber bundle based on the maximum speed correction data A filament winding apparatus characterized by that.   The control device calculates a ratio of the allowable limit speed to a maximum value of the maximum speed data for each section, corrects the maximum speed data by multiplication of the ratio, and creates the maximum speed correction data. The filament winding apparatus according to claim 1. The said control apparatus grasps | ascertains the said ratio from the said maximum speed correction data for every said section, and adjusts the operation speed of the operation | movement relevant to winding of all the fiber bundles by the multiplication of this ratio, It is characterized by the above-mentioned. 2. A filament winding apparatus according to 2.   The filament winding device according to any one of claims 1 to 3, wherein the control device can arbitrarily set the section.   The filament winding device according to any one of claims 1 to 4, wherein the control device can arbitrarily set the allowable limit speed. 6. The filament winding apparatus according to claim 1, wherein the driving device is a servo motor.   The filament winding apparatus according to claim 6, wherein the position data is a rotational position of an output shaft of the servo motor.

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