JP6113600B2 - Filament winding method and filament winding apparatus - Google Patents

Description

  The present invention relates to a filament winding method and a filament winding apparatus for unwinding a filament from a bobbin around which a filament impregnated with ceramic fiber, glass fiber, carbon fiber, or the like is wound.

In recent years, a filament is unwound at a constant tension from a bobbin around which a filament impregnated with ceramic fiber, glass fiber, carbon fiber, or the like is wound, and the unwound filament is wound around a winding object. A method for forming a reinforcing fiber preform is widely used. A filament winding apparatus is used as an apparatus for unwinding a filament from a bobbin with a constant tension.
As the filament is unwound from the bobbin, the remaining amount of filament gradually decreases. However, before the remaining amount of filament becomes zero, it is necessary to safely stop the filament winding device and replace the bobbin. is there.
Therefore, it is important how to determine immediately before the remaining amount of the filament becomes zero and what control is performed before the remaining amount of the filament becomes zero. In particular, before the remaining amount of filament becomes zero, it is preferable to lower the unwinding speed at an appropriate timing in order to safely stop the filament winding apparatus.

For example, in the filament winding apparatus described in Patent Document 1, a pair of rollers sandwiching the unwound yarn on the assumption that the total length of the yarn wound on the new bobbin (corresponding to the filament) is known in advance. The remaining amount of the yarn is grasped based on the rotation signal (the roller diameter is known).
Further, for example, in the glass fiber unwinding device described in Patent Document 2, a reflective tape is attached to the shaft portion (the portion around which the filament is wound) of the creel side (unwinding side) bobbin, and the reflected light of the reflective tape. A photoelectric sensor for receiving light is provided. In this configuration, when the remaining amount of filament wound around the bobbin is large, the reflective tape is not exposed, so the reflected light is not received, and when the remaining amount of filament wound around the bobbin decreases, the reflective tape is exposed. Thus, the case where the reflected light is received and the remaining amount is low can be detected.
In the bobbin wire drawing completion detection device described in Patent Document 3, the bobbin body is imaged with a color TV camera to obtain a color image, and the color image and pre-registered image data of the bobbin body are obtained. And the detection of one volume of the wire rod is also possible.

JP 2009-66917 A JP 2001-341940 A Japanese Utility Model Publication No. 4-37167

In order to apply the invention described in Patent Document 1 to the determination immediately before the remaining amount of the filament becomes zero, it is necessary to know the total length of the filament wound around the new bobbin. Therefore, it cannot be applied when the total length of the filament wound around the new bobbin is not known.
Moreover, in order to apply the invention described in Patent Document 2 to the determination immediately before the remaining amount of filament becomes zero, the possibility of erroneous detection described below must be avoided. A filament that is a reinforcing fiber impregnated with a resin or the like is usually almost black and very glossy, and reflects light in the same manner as a reflective tape. Therefore, even when the remaining amount of filament is large and the reflective tape is not exposed, there is a possibility that the photoelectric sensor receives the reflected light from the filament and erroneously detects that the remaining amount of filament has decreased. is there.
Further, in order to apply the invention described in Patent Document 3 to the determination immediately before the remaining amount of filament becomes zero, a relatively expensive color TV camera is required, which is not preferable. Also, the colors are compared, and there is a possibility that an error may occur when the registered bobbin body color is slightly different from the currently used bobbin body color. Moreover, in the color comparison, it may take time for the determination.
The present invention was devised in view of such points, and provides a filament winding method and a filament winding apparatus that can more accurately perform determination immediately before the remaining amount of filament becomes zero. Is an issue.

In order to solve the above problems, the filament winding method and the filament winding apparatus according to the present invention take the following means.
First, the first invention of the present invention is a bobbin rotation driving means for rotating a bobbin attached with a bobbin around which a filament is wound, a rotation detection means capable of detecting the rotation speed of the bobbin, and the bobbin An unwinding speed detecting means capable of detecting an unwinding speed which is a speed of a filament unwound from the image forming apparatus, an imaging means capable of capturing an image of a filament winding portion where the filament in the bobbin is wound, In a filament winding method using a bobbin rotation driving unit and a control unit for controlling the imaging unit, the control unit uses the bobbin rotation speed based on a detection signal from the rotation detection unit, and the unwinding. The filament winding speed based on the detection signal from the speed detection means, and the diameter of the filament winding section The bobbin diameter calculating step for obtaining a certain bobbin diameter, and the control means for obtaining image data obtained by imaging the filament winding part using the imaging means, the imaging step, and the control means for obtaining. When it is determined that the bobbin diameter is less than a predetermined diameter, and when it is determined based on the image data that the remaining amount of filament in the filament winding portion is equal to or less than a predetermined amount, unwinding of the filament is stopped. Alternatively, the filament winding method includes: an unwinding stop step of stopping unwinding of the filament after performing a predetermined unwinding process.

In the first invention, when the bobbin diameter is less than the predetermined diameter and the remaining amount of the filament in the image data obtained by imaging the filament winding portion is equal to or less than the predetermined amount, the unwinding is stopped, or the predetermined amount Stop the unwinding after the unwinding process.
Thus, by using the bobbin diameter calculated from the rotation speed of the bobbin and the unwinding speed of the filament, and the remaining amount of the filament determined from the image data (the remaining amount of the filament can be determined with higher accuracy), The determination immediately before the remaining amount of the filament becomes zero can be performed more accurately.

  Next, a second invention of the present invention is the filament winding method according to the first invention, wherein the control means determines the remaining amount of filament in the filament winding section based on the image data. When determining whether or not it is less than or equal to a fixed amount, a plurality of determination areas are set in the image data, and whether or not the remaining amount of filaments in the filament winding part is equal to or less than a predetermined amount in the determination area. Each of the determination areas is set to a position where reflected light of illumination provided around the bobbin is not reflected when the bobbin diameter is less than the predetermined diameter. It is.

In the second invention, the determination area in the image data is set at a position where the reflected light of the illumination provided around the bobbin does not appear when the bobbin diameter is less than the predetermined diameter.
Thereby, when the bobbin diameter is less than the predetermined diameter, it is possible to appropriately avoid an error due to reflected light of illumination in the determination using the image data, and more accurately determine the remaining amount of the filament. Can do.

Next, a third invention of the present invention is the filament winding method according to the first invention, wherein the control means determines the remaining amount of filament in the filament winding section based on the image data. When determining whether or not the amount is less than or equal to a fixed amount, whether or not the remaining amount of filament in the filament winding portion is less than or equal to a predetermined amount within the predetermined determination area by setting a plurality of determination areas in the image data Determine.
The plurality of determination areas are divided into at least two groups, and each of the groups has a different bobbin diameter when reflected light of illumination provided around the bobbin is reflected. When the reflected light is determined in the determination area of the group when the reflected light is to be reflected in the determination area of the group in the determination area of the predetermined group, the bobbin diameter Then, it is determined whether or not the remaining amount of filament in the filament winding portion is equal to or less than a predetermined amount using the determination area of the group where the reflected light should not be reflected.

In the third invention, the plurality of determination areas are divided into at least two groups, and the bobbin diameter when reflected light of illumination provided around the bobbin is different in each group.
Therefore, if it can be confirmed that the reflected light is reflected in the group where the reflected light should be reflected, the reflected light is not reliably reflected in the group where the reflected light should not be reflected with the bobbin diameter. It will be.
Thereby, in the determination of the remaining amount of the filament using the image data, an erroneous determination due to the reflected light can be avoided more reliably.

  Next, a fourth invention of the present invention is the filament winding method according to any one of the first to third inventions, wherein the bobbin diameter obtained by the control means is the predetermined value. When it determines with it being beyond a diameter, it has the unwinding speed fall step which slows unwinding speed gradually or in steps as the said bobbin diameter becomes small.

In the fourth aspect of the invention, when the bobbin diameter is equal to or larger than the predetermined diameter, the unwinding speed is gradually or stepwise reduced as the bobbin diameter decreases.
As described above, when the bobbin diameter is equal to or larger than the predetermined diameter, the filament winding device is set to be immediately before the remaining amount of the filament becomes zero by slowing the unwinding speed gradually or stepwise as the bobbin diameter decreases. It can be stopped more safely.

Next, a fifth invention of the present invention is a bobbin rotation driving unit that is attached to a bobbin around which a filament is wound and rotationally drives the bobbin, a rotation detection unit that can detect the rotation speed of the bobbin, Unwinding speed detecting means capable of detecting the unwinding speed which is the speed of the filament unwound from the bobbin, and imaging means capable of imaging the filament winding portion where the filament in the bobbin is wound; A filament winding apparatus comprising: the bobbin rotation driving means; and a control means for controlling the imaging means.
The control means is configured to determine the filament winding speed based on the rotation speed of the bobbin based on the detection signal from the rotation detection means and the filament unwinding speed based on the detection signal from the unwinding speed detection means. Calculating a bobbin diameter which is a diameter of a turning part, obtaining image data obtained by imaging the filament winding part using the imaging means, and determining that the calculated bobbin diameter is less than a predetermined diameter; and When it is determined based on the image data that the remaining amount of filament in the filament winding portion is equal to or less than a predetermined amount, the bobbin rotation is stopped after the bobbin rotation driving means is stopped or a predetermined unwinding process is performed. The driving means is stopped.

The fifth invention is an invention of a filament winding apparatus with respect to the first invention which is a filament winding method.
Accordingly, as in the first invention, the bobbin diameter calculated from the rotation speed of the bobbin and the unwinding speed of the filament, and the remaining amount of the filament determined from the image data (the remaining amount of the filament can be determined with higher accuracy) By using it, it is possible to perform the determination immediately before the remaining amount of the filament becomes zero more accurately.

  Next, a sixth aspect of the present invention is the filament winding apparatus according to the fifth aspect of the present invention, wherein a plurality of determination areas are set in the image data, and the control means includes the image data It is determined whether or not the remaining amount of filament in the filament winding portion is less than or equal to a predetermined amount within the determination area, and each of the determination areas is determined when the bobbin diameter is less than the predetermined diameter. It is set at a position where reflected light of illumination provided around the bobbin is not reflected.

The sixth invention is an invention of a filament winding apparatus with respect to the second invention which is a filament winding method.
Therefore, as in the second invention, when the bobbin diameter is less than the predetermined diameter, it is possible to appropriately avoid errors due to reflected light of illumination in the determination using image data, and more accurately the remaining filament. The amount can be determined.

Next, a seventh aspect of the present invention is the filament winding apparatus according to the fifth aspect of the present invention, wherein a plurality of determination areas are set in the image data, and the control means includes the image data It is determined whether or not the remaining amount of filament in the filament winding portion is equal to or less than a predetermined amount within a predetermined determination area.
The plurality of determination areas are divided into at least two groups, and each of the groups has a different bobbin diameter when reflected light of illumination provided around the bobbin is reflected. In the determination area of a predetermined group, when the reflected light is determined in the determination area of the group when the reflected light is to be reflected in the determination area of the group, the means Using the determination area of the group where the reflected light should not appear, it is determined whether or not the remaining amount of filament in the filament winding part is equal to or less than a predetermined amount.

The seventh invention is an invention of a filament winding apparatus with respect to the third invention which is a filament winding method.
Therefore, as in the third invention, when it can be confirmed that the reflected light is reflected in the group where the reflected light should be reflected, the reflected light is surely reflected in the group where the reflected light is not reflected with the bobbin diameter. Is not reflected.
Thereby, in the determination of the remaining amount of the filament using the image data, an erroneous determination due to the reflected light can be avoided more reliably.

  Next, an eighth invention of the present invention is the filament winding apparatus according to any one of the fifth to seventh inventions, wherein the control means determines that the calculated bobbin diameter is the predetermined diameter. If it is determined as above, the bobbin rotation driving means is controlled so that the unwinding speed is gradually or stepwise reduced as the bobbin diameter decreases.

The eighth invention is an invention of a filament winding apparatus with respect to the fourth invention which is a filament winding method.
Therefore, as in the case of the fourth invention, when the bobbin diameter is equal to or larger than the predetermined diameter, the unwinding speed is gradually or stepwise reduced as the bobbin diameter becomes smaller, immediately before the remaining amount of filament becomes zero. The filament winding apparatus can be stopped more safely.

It is a figure explaining the example of the whole structure of the filament winding apparatus of this invention. In a filament winding method, it is a flowchart explaining the example of the process sequence including the determination process immediately before the residual amount of a filament becomes zero, and the process which reduces unwinding speed before the residual amount of a filament becomes zero. FIG. 3 is a diagram for explaining that the unwinding speed is lowered stepwise before the remaining amount of filament becomes zero in the processing of the flowchart shown in FIG. 2. It is a figure explaining the position of the reflected light of illumination when the remaining amount of the filament of a filament winding part is large, and the position of the reflected light of illumination when the remaining amount is small. It is a figure explaining the example of the imaged image data, the position of the determination area in image data, and the position of the reflected light of illumination. FIG. 3 is a flowchart for explaining an example of a processing procedure for gradually decreasing the unwinding speed with respect to the processing procedure of the flowchart shown in FIG. 2 in which the unwinding speed is gradually decreased. FIG. 7 is a diagram for explaining that the unwinding speed is gradually reduced before the remaining amount of filament becomes zero in the processing of the flowchart shown in FIG. 6.

EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated using drawing.
● [Overall configuration of filament winding device 1 (Fig. 1)]
First, the overall configuration of the filament winding apparatus 1 will be described with reference to FIG.
The filament winding apparatus 1 includes a bobbin rotation driving unit 20, guide rollers 41 to 45, a dancer 30, a measuring roller 40, an active dancer roller 50, a control unit 60, an input unit 61, a display unit 62, an imaging unit 70, and the like. Yes.
The filament is a linear fiber such as ceramic fiber, glass fiber, or carbon fiber impregnated with resin or the like.

The bobbin rotation driving means 20 is, for example, an electric motor, to which the bobbin 10 around which the filament is wound is attached and is driven by a control signal from the control means 60 to rotate the attached bobbin 10. Detection signals such as the rotation speed and rotation angle are output from the rotation detection means 23 such as an encoder to the control means 60.
The filament 11 unwound from the bobbin 10 is hung on the dancer roller 32 of the dancer 30 via the guide roller 41 and the guide roller 42, hung on the measuring roller 40 via the guide roller 43, and the guide roller 44. Is passed through the active dancer roller 50 and supplied to the winding object via the guide roller 45. Then, the filament 11 is wound around the wound object to form a reinforcing fiber preform.

The dancer 30 is a tension adjusting means, and includes a dancer arm 31, a dancer roller 32, a support member 33, a swing angle detecting means 34, a piston 35, an air cylinder 36, an air pipe 37, and the like, and is unwound from the bobbin 10. A predetermined tension is applied to the filament 11 thus formed. In the present embodiment, an example in which the piston 35, the air cylinder 36, and the air pipe 37 are provided as the configuration for applying the tension has been described. However, the tension may be applied in another configuration.
The support member 33 provides a fulcrum of the dancer arm 31 supported so as to be swingable.
The dancer arm 31 is swingable about a point supported by the support member (in the example of FIG. 1, it can swing up and down), and a dancer roller 32 supported rotatably is attached to the tip. . A piston 35 accommodated in an air cylinder 36 is connected to the dancer arm 31, and air of a predetermined pressure is supplied to the air cylinder 36 from an air pipe 37. With this configuration, the dancer 30 can apply a predetermined (constant) tension to the filament 11.
The swing angle detection means 34 (swing angle sensor or the like) outputs a detection signal corresponding to the angular position of the dancer arm 31 to the control means 60.

The measuring roller 40 is connected to, for example, a tension detecting means (such as a tension sensor, not shown) and an unwinding speed detecting means 40A (encoder or the like), and outputs a detection signal to the control means 60.
The active dancer roller 50 moves based on a control signal from the control means 60 so as to correct the follow-up delay (swinging delay) of the dancer 30 (moves up and down in the example of FIG. 1), Assist in applying a (constant) tension.
The control means 60 receives a detection signal from the rotation detection means 23, a detection signal from the swing angle detection means 34, a tension detection means for the measuring roller 40, a detection signal from the unwinding speed detection means 40A, and an input. A compressor (not shown) that captures input from the means 61 and image data from the imaging means 70 and supplies air to the bobbin rotation driving means 20, the active dancer roller 50, the display means 62, the air cylinder 36, A control signal is output to the imaging means 70 and the like.
For the control means 60, the input means 61, and the display means 62, for example, a personal computer can be used.

The image pickup means 70 may be a relatively inexpensive vision sensor capable of detecting white / black contrast, for example, but may be a general CCD camera or the like.
The imaging unit 70 arranges at least the filament winding portion (the shaft portion of the bobbin 10) where the filament in the bobbin 10 is wound at a position where imaging can be performed from the direction orthogonal to the rotation axis of the bobbin 10. Has been. The imaging unit 70 captures an image with a control signal from the control unit 60 and outputs image data obtained by the imaging to the control unit 60.

In the conventional filament winding apparatus, when the filament is unwound from the bobbin around which the filament is wound, the diameter of the filament wound around the bobbin is determined based on the unwinding speed of the filament and the rotation speed of the bobbin. A certain bobbin diameter is obtained as appropriate, and the remaining amount of filament is displayed.
And when the remaining amount of filament wound around the bobbin decreases, the bobbin rotation is automatically stopped immediately before the filament disappears, but when there is less filament remaining on the bobbin when it stops It is preferable without waste. Therefore, it is preferable that the remaining amount immediately before the filament wound around the bobbin disappears can be detected more accurately.
Further, when the rotation of the bobbin is automatically stopped, in order to stop the bobbin more safely, it is preferable to reduce the rotation speed of the bobbin (filament unwinding speed) before the stop.
The filament winding method and the filament winding apparatus of the present invention can detect the remaining amount immediately before the filament wound around the bobbin disappears in a processing procedure described below more accurately, and stop the rotation of the bobbin. The bobbin rotational speed (filament unwinding speed) is appropriately reduced before.
Further, the influence of the reflected light of the illumination LT provided around the bobbin when using the imaging means will be described in the following processing procedure.

● [Adjustment of filament unwinding speed and processing procedure for detecting the remaining amount of filament immediately before the filament wound around the bobbin runs out (FIGS. 2 to 5)]
Next, an example of a processing procedure for adjusting the unwinding speed of the filament and detecting the remaining amount of filament immediately before the filament wound around the bobbin disappears will be described using the flowchart shown in FIG.

In step S10, the control means 60 calculates the (current) bobbin diameter and proceeds to step S15. The bobbin diameter is a diameter of a portion (filament winding part) where the filament in the bobbin is wound, and changes depending on the remaining amount of the filament. The control means 60 detects the rotation speed of the bobbin based on the detection signal from the rotation detection means 23, the detection signal from the unwinding speed detection means 40A of the measurement roller 40, and the diameter of the measurement roller (a known diameter). ) And the current bobbin diameter is calculated. The method for calculating the bobbin diameter is the same as that in the prior art, and a detailed description thereof will be omitted.
Step S10 corresponds to a bobbin diameter calculating step.
In step S15, the control means 60 determines whether or not the calculated bobbin diameter is less than a third predetermined diameter. As shown in FIG. 3, the third predetermined diameter <the second predetermined diameter <the first predetermined diameter, and the third predetermined diameter is a state in which the remaining amount of the filament wound around the bobbin is very small, Although it is not necessary to stop the rotation of the bobbin immediately, the bobbin must be stopped soon. If the bobbin diameter is less than the third predetermined diameter (Yes), the process proceeds to step S40, and if the bobbin diameter is greater than or equal to the third predetermined diameter (No), the process proceeds to step S20.

When it progresses to step S20, the control means 60 determines whether the calculated bobbin diameter is less than a 2nd predetermined diameter. If the bobbin diameter is less than the second predetermined diameter (Yes), the process proceeds to step S30C, and if the bobbin diameter is greater than or equal to the second predetermined diameter (No), the process proceeds to step S25.
When it progresses to step S25, the control means 60 determines whether the calculated bobbin diameter is less than a 1st predetermined diameter. If the bobbin diameter is less than the first predetermined diameter (Yes), the process proceeds to step S30B, and if the bobbin diameter is greater than or equal to the first predetermined diameter (No), the process proceeds to step S30A.
When the process proceeds to step S30A, the control means 60 sets the (unwinding) speed to, for example, 100% of the set maximum speed (Vmax in FIG. 3) and sets the bobbin so that the unwinding speed is reached. A control signal is output to the rotation driving means, and the process returns to step S10.
When the process proceeds to step S30B, the control means 60 sets the (unwinding) speed to, for example, 80% of the set maximum speed, and sends a control signal to the bobbin rotation driving means so as to be the unwinding speed. And returns to step S10.
When the process proceeds to step S30C, the control means 60 sets the (unwinding) speed to, for example, 60% of the set maximum speed, and sends a control signal to the bobbin rotation driving means so as to be the unwinding speed. And returns to step S10.
The above steps S15, S20, S25, and S30A to S30C correspond to the unwinding speed reduction step.

When the process proceeds to step S40, the control means 60 outputs a control signal to the imaging means 70 to image the filament winding part of the bobbin, acquires image data obtained by the imaging from the imaging means, and proceeds to step S45. move on. When the process proceeds to step S40, the (unwinding) speed is maintained at the speed set in step S30C.
Step S40 corresponds to an imaging step of acquiring image data obtained by imaging the filament winding unit.
In step S45, the control means 60 determines whether or not the remaining amount of filament in the image data obtained by imaging the filament winding portion is equal to or less than a predetermined amount. When it is determined that the remaining amount of filament is equal to or less than the predetermined amount (Yes), the process proceeds to step S50, and when it is determined that the remaining amount of filament is greater than the predetermined amount (No), the process returns to step S40.

Here, the determination method of the arrangement position of the imaging means 70 and the remaining amount of filament in the image data will be described with reference to FIGS.
FIG. 4 shows an example of the arrangement state of the bobbin 10, the imaging means 70, and the illumination LT (illumination provided around the bobbin). In the bobbin 10, reference numeral 10 </ b> A indicates a flange portion at both ends of the bobbin 10, reference numeral 10 </ b> B indicates a shaft portion of the bobbin 10 (where the filament is wound), and reference numeral 10 </ b> Z indicates a rotation axis of the bobbin 10. ing.
FIG. 5 shows an example of image data DG imaged by the imaging means 70.
4 and 5, the alternate long and short dash line in the bobbin 10 indicates the bobbin diameter (radius = R1) in a state where the remaining amount of filament is large (for example, the bobbin diameter is equal to or larger than the first predetermined diameter). A two-dot chain line indicates a bobbin diameter (radius = R2) in a state where the remaining amount of the filament is small (for example, a state where the bobbin diameter is less than the third predetermined diameter).
As shown in FIG. 4, when the remaining amount of filament is large (when radius = R1) and when the remaining amount of filament is small (when radius = R2), the position where the light from the illumination LT is reflected is different. Different. Since the filament is almost black and very glossy, the reflected light from the illumination LT is reflected in the image data of the imaging means. In the example of FIGS. 4 and 5, when the remaining amount of the filament is large (when radius = R1), the reflected light U1K from the illumination LT is reflected at the position U1 (position where the height is H1 from the rotation axis 10Z). When the remaining amount of the filament is small (in the case of radius = R2), it is indicated that the reflected light U2K from the illumination LT is reflected at the position U2 (position at the height H2 from the rotation axis 10Z).

In the image data DG shown in FIG. 5, each of the symbols A11 to A17 is a plurality of preset determination areas, and the control unit 60 determines the remaining amount of filament in each determination area. Adjacent determination areas are set so that the edges (left and right edges in the example of FIG. 5) overlap. The determination areas of the reference signs A21 to A27 will be described later.
Each determination area (in this case, the determination areas indicated by reference signs A11 to A17) is a region where the filament is present when the remaining amount of the filament is small and the bobbin diameter is less than the third predetermined diameter (rotation in the example of FIG. 5). The region from the axis 10Z to the radius R2) and the position where the reflected light of the illumination LT (reflected light U2K in the example of FIG. 5) does not appear. As shown in FIG. 5, each determination area (in this case, the determination areas indicated by reference signs A11 to A17) is a position where the reflected light U1K is reflected when the bobbin diameter is radius R1, but the bobbin diameter is third. Since the image data DG is acquired and determined when the diameter is less than the predetermined diameter, there is no influence of the reflected light U1K.
Note that the color of the filament is black and glossy, and the ground color of the bobbin 10 is, for example, white, and is set to a color that can be distinguished from the color of the filament.
When a vision sensor, for example, is used as the image pickup means 70, the control means 60, when a predetermined “mottle pattern” is detected in the determination area with the color of the filament and the ground color of the bobbin, in step S45. It is determined that the remaining amount of filament is not more than a predetermined amount.
For example, the control unit 60 detects the white / black contrast of the “mottled pattern” in each determination area in the image data, and determines that white is N% and black is M% (100% −N%). Then, it is determined whether or not a predetermined “mottle pattern” has been detected by obtaining a white / black ratio of the entire shaft portion of the bobbin 10 or an average value of the white / black ratios. Therefore, the remaining amount of filament in the filament winding part can be known by obtaining the ratio of white / black.

In step S50, the control means 60 performs a delay process (corresponding to a predetermined unwinding process) immediately before stopping bobbin unwinding, and proceeds to step S55. The delay process is performed immediately before stopping the bobbin rotation, for example, a specified length (3 [m], 0 [m], etc.) of the filament, or a specified rotation (3 [rotation], 0 [rotation]). Etc.), and is a process for further reducing the waste of filaments. Note that the delay process in step S50 may be omitted.
In step S55, the control means 60 outputs a control signal for stopping the bobbin rotation driving means to the bobbin rotation driving means, stops the bobbin rotation (unwinding), and ends the processing.
Steps S50 and S55 correspond to the unwinding stop step.

In the processing procedure described above, the unwinding speed at which the filament is unwound from the bobbin is gradually decreased as the bobbin diameter becomes smaller as shown in FIG. Unwind at a more appropriate speed. In FIG. 3, the horizontal axis represents the bobbin diameter, and the vertical axis represents the filament unwinding speed.
Also, as the bobbin diameter decreases, the filament unwinding speed is gradually reduced, so the bobbin unwinding is decelerated to an appropriate speed at the timing at which bobbin unwinding should be stopped, and can be stopped more safely. .
Further, in the filament winding method described in the present embodiment, it is determined using the image data from the imaging means that the remaining amount of the filament is equal to or less than a predetermined amount. Therefore, the determination immediately before the remaining amount of the filament becomes zero. Can be performed more accurately. Further, by determining the remaining amount of filament in the determination area that does not overlap with the reflected light of the illumination in the image data when the bobbin diameter is less than the third predetermined diameter so as not to be affected by the reflected light of the illumination, It is possible to reduce the error and more accurately determine the remaining amount of filament.
Further, since a relatively inexpensive vision sensor that can determine the white / black contrast can be used as the imaging means, an increase in the cost of the filament winding apparatus can be suppressed.
In the processing procedure described above, an example in which the processing (imaging step) of acquiring image data using the imaging unit in step S40 is performed when the bobbin diameter is less than a predetermined diameter (in this case, the third predetermined diameter). As described above, the timing of acquiring the image data using the imaging unit is not limited to the case where the bobbin diameter is less than the predetermined diameter, and the image data is always acquired (similar to the calculation of the bobbin diameter in step S10). May be. That is, step S40 shown in FIG. 2 may be arranged immediately below step S10.
However, as in the processing procedure described above, when the bobbin diameter is less than the predetermined diameter, it is more difficult to capture images and acquire image data than to always capture images and acquire image data. Since it is reduced, it is more preferable.

In the processing procedure described above, when the bobbin diameter is less than the predetermined diameter (third predetermined diameter), a determination area (reference numerals A11 to A17 in FIG. 5) in which the reflected light of the illumination is not reflected is set in advance. When the bobbin diameter is less than the predetermined diameter, the remaining amount of the filament is determined using the determination area. However, the processing in step S45 may be changed as follows.
First, a plurality of determination areas are set, and each determination area is divided into at least two groups. Each group is divided so that the diameter of the bobbin when the reflected light of the illumination provided around the bobbin is reflected is different.
For example, the example of FIG. 5 shows an example in which each determination area is divided into a first group of reference signs A11 to A17 and a second group of reference signs A21 to A27. For example, in FIG. 5, the bobbin diameter when the reflected light U1K is reflected in the determination area of the first group (reference numerals A11 to A17) is R1, and the reflected light U2K in the determination area of the second group (reference numerals A21 to A27). The bobbin diameter when is reflected is R2.
Then, in step S45 shown in FIG. 2, when the bobbin diameter is less than the third predetermined diameter, the reflected light U2K is reflected in the determination area (reference numerals A21 to A27) of the second group as shown in FIG. Therefore, the control means first determines whether or not the reflected light U2K is reflected in the determination area (reference numerals A21 to A27) of the second group. By determining the white / black contrast ratio, the control unit can determine whether or not the reflected light U2K is reflected.
When the control means determines that the reflected light U2K is not reflected in the determination area of the second group, the control means returns to step S40.
Further, when the control unit determines that the reflected light U2K is reflected in the second group determination area, the reflected light U1K may not be reflected in the first group determination area (reference numerals A11 to A17). Since it is clear, it is determined whether the remaining amount of the filament is equal to or less than a predetermined amount using the determination area (reference numerals A11 to A17) of the first group.
When the control means determines that the remaining amount of the filament is not less than the predetermined amount as a result of the determination using the determination area of the first group (the determination area of the group in which reflected light should not be reflected with the bobbin diameter) Returning to step S40, if it is determined that the remaining amount of the filament is equal to or less than the predetermined amount, the process proceeds to step S50.
Thereby, the erroneous determination of the remaining amount of the filament due to the reflected light can be avoided more reliably.
The unwinding speed can be gradually reduced instead of gradually, and an example will be described below.

● [Example of processing procedure for gradually lowering unwinding speed instead of stepwise (Figs. 6 and 7)]
Next, an example of a processing procedure for gradually decreasing the unwinding speed instead of gradually decreasing will be described with reference to the flowchart shown in FIG.
The flowchart shown in FIG. 6 is different in that the processing of steps S20, S25, S30A to S30C in the flowchart shown in FIG. 2 is changed to steps S70, S75, S80A, and S80B, and the other steps are the same. is there.
Hereinafter, differences from the flowchart shown in FIG. 2 will be mainly described.
Since the process of step S10 is the same as step S10 of FIG. 2, description is abbreviate | omitted.
In step S15, the control means 60 determines whether or not the calculated bobbin diameter is smaller than the third predetermined diameter. If the bobbin diameter is smaller than the third predetermined diameter (Yes), the process proceeds to step S40. If the diameter is greater than or equal to the third predetermined diameter (No), the process proceeds to step S70.

In step S70, the control means 60 determines whether or not the calculated bobbin diameter is less than the first predetermined diameter. When the bobbin diameter is less than the first predetermined diameter (Yes), the process proceeds to step S75, and when the bobbin diameter is greater than or equal to the first predetermined diameter (No), the process proceeds to step S80A.
When the process proceeds to step S80A, the control means 60 sets the (unwinding) speed to, for example, 100% of the set maximum speed (Vmax in FIG. 7) and rotates the bobbin so that the unwinding speed is reached. A control signal is output to the driving means, and the process returns to step S10.
When the process proceeds to step S75, the control means 60 calculates the deceleration coefficient G based on the current bobbin diameter. For example, G = 60 [%] + 40 [%] * so that G = 100% when the current bobbin diameter is the first predetermined diameter, and G = 60% when the current bobbin diameter is the third bobbin diameter. The deceleration coefficient G is obtained from [(current bobbin diameter−third predetermined diameter) / (first predetermined diameter−third predetermined diameter)].
In step S80B, the control means 60 sets the (unwinding) speed to a value obtained by multiplying the set maximum speed by the deceleration coefficient G, and sends a control signal to the bobbin rotation driving means so as to be the unwinding speed. And returns to step S10.
Accordingly, as shown in FIG. 7, the speed can be gradually decreased as the bobbin diameter becomes smaller (in the example of FIG. 7, the bobbin diameter is gradually increased from the first predetermined diameter to the third predetermined diameter. Slowing down). In FIG. 7, the horizontal axis indicates the bobbin diameter, the vertical axis indicates the filament unwinding speed, and Vmax, V2, the first predetermined diameter, and the third predetermined diameter are the same values as in FIG.
The above steps S70, S75, S80A, and S80B correspond to the unwinding speed reduction step.
Note that the processing in steps S40, S45, S50, and S55 is the same as the processing in steps S40, S45, S50, and S55 in FIG.

In the processing procedure described above, the speed at which the filament is unwound from the bobbin is reduced as the bobbin diameter becomes smaller as shown in FIG. 7 (in the example of FIG. 7, between the first predetermined diameter and the third predetermined diameter). B) It is gradually slowing down and can be unwound at a more appropriate speed.
Further, the filament winding apparatus for performing the filament winding method described with reference to the flowchart of FIG. 2 or FIG. 6 can be realized with the configuration shown in FIG.

Various changes, additions, and deletions can be made to the processing, configuration, structure, shape, and the like of the filament winding method and the filament winding apparatus 1 of the present invention without changing the gist of the present invention.
In the description of the present embodiment, the example in which the unwinding speed detecting means is provided in the measuring roller 40 has been described. However, the unwinding speed detecting means may be realized at other positions and in other configurations. Good.
Further, the above (≧), the following (≦), the greater (>), the less (<), etc. may or may not include an equal sign.
The numerical values used in the description of the present embodiment are examples, and are not limited to these numerical values.

DESCRIPTION OF SYMBOLS 1 Filament winding apparatus 10 Bobbin 20 Bobbin rotation drive means 23 Rotation detection means 30 Dancer 31 Dancer arm 32 Dancer roller 34 Swing angle detection means 40 Measuring roller 40A Unwinding speed detection means 41-45 Guide roller 50 Active dancer roller 60 Control Means 61 Input means 62 Display means 70 Imaging means A11 to A17, A21 to A27 Determination area LT Illumination U1K, U2K Reflected light

Claims (8)

A bobbin rotation driving means for rotating the bobbin by attaching a bobbin around which a filament is wound;
Rotation detection means capable of detecting the rotation speed of the bobbin;
Unwinding speed detecting means capable of detecting the unwinding speed which is the speed of the filament unwound from the bobbin;
An imaging means capable of imaging a filament winding portion which is a portion where the filament in the bobbin is wound;
In the filament winding method using the bobbin rotation driving means and the control means for controlling the imaging means,
In the control means, the filament winding based on the rotation speed of the bobbin based on the detection signal from the rotation detection means and the unwinding speed of the filament based on the detection signal from the unwinding speed detection means. A bobbin diameter calculating step for obtaining a bobbin diameter which is a diameter of the turning part;
An imaging step of acquiring image data obtained by imaging the filament winding unit using the imaging unit in the control unit;
When it is determined by the control means that the obtained bobbin diameter is less than a predetermined diameter, and when it is determined based on the image data that the remaining amount of filament in the filament winding portion is not more than a predetermined amount An unwinding stop step for stopping unwinding of the filament, or stopping unwinding of the filament after performing a predetermined unwinding process,
Filament winding method. The filament winding method according to claim 1,
When determining whether or not the remaining amount of filament in the filament winding portion is equal to or less than a predetermined amount based on the image data, the control means sets a plurality of determination areas in the image data and In the determination area, determine whether the filament remaining amount of the filament winding portion is a predetermined amount or less,
Each of the determination areas is set at a position where reflected light of illumination provided around the bobbin is not reflected when the bobbin diameter is less than the predetermined diameter.
Filament winding method. The filament winding method according to claim 1,
When the control means determines whether or not the remaining amount of filament in the filament winding portion is equal to or less than a predetermined amount based on the image data, a plurality of determination areas are set in the image data and predetermined Determining whether or not the remaining amount of filament in the filament winding part is less than or equal to a predetermined amount in the determination area,
The plurality of determination areas are divided into at least two groups,
In each of the groups, the bobbin diameter when reflected light of illumination provided around the bobbin is different,
When the reflected light is determined in the determination area of the group when the reflected light is to be reflected in the determination area of the group in the determination area of the predetermined group in the control means, In the bobbin diameter, using the determination area of the group where the reflected light should not be reflected, it is determined whether the remaining amount of the filament wound portion is less than a predetermined amount,
Filament winding method. The filament winding method according to any one of claims 1 to 3,
When it is determined by the control means that the obtained bobbin diameter is equal to or larger than the predetermined diameter, there is an unwinding speed reduction step of gradually or stepwise decreasing the unwinding speed as the bobbin diameter decreases. ,
Filament winding method. A bobbin rotation driving means for rotating the bobbin by attaching a bobbin around which a filament is wound;
Rotation detection means capable of detecting the rotation speed of the bobbin;
Unwinding speed detecting means capable of detecting the unwinding speed which is the speed of the filament unwound from the bobbin;
An imaging means capable of imaging a filament winding portion which is a portion where the filament in the bobbin is wound;
In a filament winding apparatus comprising the bobbin rotation driving means and a control means for controlling the imaging means,
The control means includes
The diameter of the filament winding section based on the rotation speed of the bobbin based on the detection signal from the rotation detection means and the filament unwinding speed based on the detection signal from the unwinding speed detection means. Calculate the bobbin diameter
Obtain image data obtained by imaging the filament winding part using the imaging means,
When it is determined that the calculated bobbin diameter is less than a predetermined diameter, and when it is determined based on the image data that the remaining amount of filament in the filament winding portion is equal to or less than a predetermined amount, the bobbin rotation driving means Or after stopping the bobbin rotation driving means after performing a predetermined unwinding process,
Filament winding device. The filament winding apparatus according to claim 5,
A plurality of determination areas are set in the image data,
The control means determines whether or not the remaining amount of filament of the filament winding portion is equal to or less than a predetermined amount in the determination area in the image data,
Each of the determination areas is set at a position where reflected light of illumination provided around the bobbin is not reflected when the bobbin diameter is less than the predetermined diameter.
Filament winding device. The filament winding apparatus according to claim 5,
A plurality of determination areas are set in the image data,
The control means determines whether or not the remaining amount of filament in the filament winding portion is equal to or less than a predetermined amount within a predetermined determination area in the image data,
The plurality of determination areas are divided into at least two groups,
In each of the groups, the bobbin diameter when reflected light of illumination provided around the bobbin is different,
When the reflected light is determined in the determination area of the group when the reflected light is to be reflected in the determination area of the group in the determination area of the predetermined group, the control means By using the determination area of the group where the reflected light should not be reflected in the diameter, it is determined whether the remaining amount of the filament of the filament winding portion is a predetermined amount or less,
Filament winding device. It is a filament winding apparatus as described in any one of Claims 5-7,
If the control means determines that the obtained bobbin diameter is equal to or greater than the predetermined diameter, the control means controls the bobbin rotation driving means so as to gradually or stepwise decrease the unwinding speed as the bobbin diameter decreases. Control,
Filament winding device.

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