JP6342788B2 - Filament winding equipment - Google Patents

Description

  The present invention relates to a filament winding apparatus.

  A filament winding apparatus is known in which a fiber bundle is wound around an outer peripheral surface of a liner having a dome portion and a straight portion (for example, Patent Document 1). In this filament winding apparatus, the movement speed of the fiber bundle guide (also referred to as “fiber bundle supply port”) is changed in each of the dome portion and the straight portion of the liner so that the limit speed is not exceeded in each step. , Reducing the entire filament winding process time.

JP2013-63585A

  However, when the control for moving the fiber bundle guide is controlled by the position command value of the fiber bundle guide, the command speed value of the fiber bundle guide based on the position command value is finely increased and decreased, and the acceleration of the fiber bundle guide varies greatly. This variation in acceleration may become noise with respect to the speed variation of the fiber bundle guide. In such a case, the speed fluctuation of the fiber bundle guide is severe, and there is a problem that the fiber bundle guide cannot be smoothly accelerated or decelerated.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms.

(1) According to one aspect of the present invention, a filament winding apparatus is provided. The filament winding apparatus includes: a fiber feeding unit; a fiber sending device that sends the fiber to an object around which the fiber is wound; and the fiber sending device based on a position command value when the fiber is wound around the object. And a control unit for controlling the movement. The control unit calculates a speed command value from the position command value, and smoothes the speed command value so as to suppress a change in the speed command value. According to this aspect, since the speed command value of the fiber delivery device is smoothed, the speed fluctuation of the fiber delivery device is suppressed and smooth acceleration can be realized, so that the movement of the fiber delivery device can be easily increased.

(2) In the filament winding apparatus of the above aspect, the control unit may perform the smoothing for a part of all the steps of winding the fiber for the one object. By performing smoothing in a part of all the steps of winding the fiber, for example, a step of winding the fiber in a region where speed is given priority over accuracy, the fiber delivery device can be made faster.

(3) In the filament winding apparatus according to the above aspect, the object includes a straight portion having a substantially cylindrical shape in which the fiber is wound, and a dome portion having a substantially hemispherical shape in which the fiber is wound. The control unit may perform the smoothing when winding the fiber around the straight part. The straight portion has a substantially cylindrical area to be wound, and can maintain sufficient accuracy even if the speed is increased. Therefore, the effect of increasing the speed by smoothing is great.

(4) In the filament winding apparatus of the above aspect, the smoothing may be performed by calculating a moving average of the speed command values. According to this aspect, since the moving average is calculated and the fiber delivery device is controlled, fluctuations in the speed of the fiber delivery device can be suppressed.

(4) In the filament winding apparatus according to the above aspect, the control unit sets the speed command value of the second region in the vicinity of a boundary between the first region where the smoothing is performed and the second region where the smoothing is not performed. Instead of calculating the moving average, only the speed command value of the first region may be used for calculating the moving average. According to this aspect, it is possible to suppress the occurrence of speed fluctuation at the boundary between the area where smoothing is performed and the area where smoothing is not performed.

  Note that the present invention can be realized in various modes. For example, in addition to the filament winding apparatus, it can be realized in the form of a tank manufacturing method, a method of winding fibers around the tank, and the like.

Explanatory drawing which shows a filament winding apparatus. Explanatory drawing which expands and shows a fiber delivery apparatus. Explanatory drawing which shows the tank in which a fiber bundle is wound. Explanatory drawing which shows the control flowchart of a fiber delivery apparatus. Explanatory drawing which shows the position, speed, and acceleration of a fiber delivery apparatus. Explanatory drawing which shows the relationship of the area | region which performs the position and speed of the traverse direction and front-back direction of a fiber delivery apparatus, and a smoothing. Explanatory drawing which shows calculation of the moving average of the speed in the boundary of the area | region which performs smoothing, and the area | region which does not perform.

First embodiment:
FIG. 1 is an explanatory view showing a filament winding apparatus 1000. The filament winding apparatus 1000 is an apparatus that winds the fiber bundle 10 around the tank 100. In addition, the winding target of the fiber bundle 10 may not be the tank 100. The filament winding apparatus 1000 includes unwinding bobbins 12a, 12b, 12c, 12d, relay rollers 14a, 14b, 14c, 14d, 16, a dancer 18, an active dancer 20, relay rollers 22, 24, 26, and fibers. A converging jig 28, a fiber delivery device 30, and a control unit 50 are provided.

  The unwinding bobbins 12a, 12b, 12c, and 12d are winding portions that wind the prepreg fibers 10a, 10b, 10c, and 10d, respectively, and feed the prepreg fibers 10a, 10b, 10c, and 10d. A fiber such as carbon fiber impregnated with a resin such as epoxy is called “prepreg fiber”. The fiber may be a fiber other than carbon fiber, and the resin may be a resin other than epoxy. Further, the unwinding bobbins 12a, 12b, 12c, and 12d may feed out fibers that have not been impregnated with resin. In this case, a resin tank may be provided in the middle of the fiber delivery device 30 and the resin may be soaked by immersing the fiber in the resin tank. Hereinafter, the prepreg fiber is also simply referred to as “fiber”.

  The relay rollers 14a, 14b, 14c, 14d, 16, 22, 24, and 26 are relay rollers for transporting the fibers 10a, 10b, 10c, and 10d. The first-stage relay rollers 14a, 14b, 14c, 14d are provided independently for each of the fibers 10a, 10b, 10c, 10d, but the second-stage and subsequent relay rollers 16, 22, 24, 26 are The fibers 10a, 10b, 10c, and 10d are not provided independently but are provided in common.

  The dancer 18 has a cylinder 19 set to a predetermined pressure. The active dancer 20 has a bobbin shaft 21, and adjusts the tension of the fibers 10a, 10b, 10c, and 10d by moving the bobbin shaft 21 so that the dancer 18 is horizontal. The fiber converging jig 28 aligns the four fibers 10a, 10b, 10c, and 10d so that the four fibers 10a, 10b, 10c, and 10d can easily converge.

  The fiber delivery device 30 converges the four fibers 10a, 10b, 10c, and 10d, and sends them as a fiber bundle 10 to the tank 100, which is a fiber winding object. The fiber delivery device 30 may send out unbundled fibers instead of the fiber bundle 10. The fiber delivery device 30 has a traverse direction TR (direction parallel to the axis of the tank 100) and a front-rear direction FR (tank 100 and fiber delivery) depending on the position of the tank 100 and on which part of the tank 100 the fiber bundle 10 is wound. And the swinging direction FL (the direction of rotation about the front-rear direction FR). The tank 100 may also be movable in its traverse direction TTR (direction along the axis of the tank 100). Since the tank 100 rotates in a predetermined direction because the fiber bundle 10 is wound, the rotation speed of the tank 100 may be variable.

  The control unit 50 controls the operation of the active dancer 20, the movement of the fiber delivery device 30, and the movement and rotation of the tank 100.

  FIG. 2 is an explanatory view showing the fiber delivery device 30 in an enlarged manner. The fiber delivery device 30 includes wide rollers 32 and 34 and a guide roller 36. The surface with which the fiber bundle 10 of the wide rollers 32 and 34 is in contact has a barrel shape in which the center of the cylindrical surface swells along the circumference. On the other hand, the guide roller 36 has a substantially U-shaped groove 36a having a recessed central portion along the circumference on the cylindrical surface, and the fiber bundle 10 passes through the bottom of the groove 36a. The fiber bundle 10 can be positioned by passing the fiber bundle 10 through the groove 36a. The fiber delivery device 30 is movable in the traverse direction TR, the front-rear direction FR, and the swing direction FL.

  FIG. 3 is an explanatory view showing the tank 100 in which the fiber bundle 10 is wound. The tank 100 includes a straight portion 100a and a dome portion 100b. The straight portion 100 a is a substantially cylindrical portion at a substantially central portion in a direction along the axis of the tank 100. The dome part 100b is a substantially hemispherical part provided at both ends in the direction along the axis of the straight part 100a. Bases 102 are provided at both ends in the direction along the axis of the tank 100. When the fiber bundle 10 is wound, the rotating shaft 110 is connected to the base 102, and the rotating shaft 110 rotates to rotate the tank 100. Further, the rotating shaft 110 may be moved in the traverse direction, the front-rear direction, and the swinging direction depending on the position at which the fiber bundle 10 is wound on the tank 100. When the fiber bundle 10 is wound around the straight portion 100a, since the change in the relative position of the fiber delivery device 30 with respect to the tank 100 is small, it is preferable to wind the fiber bundle at a higher speed than the accuracy. On the other hand, when the fiber bundle 10 is wound around the dome portion 100b, since the relative position of the fiber delivery device 30 with respect to the tank 100 is largely changed, it is preferable to focus on accuracy rather than speed.

  FIG. 4 is an explanatory diagram showing a control flowchart of the fiber delivery device 30. In step S <b> 100, the control unit 50 acquires a position command value for the fiber delivery device 30. This position command value is stored in advance in a memory (not shown) as the position of the fiber delivery device 30 from the start to the end of winding of the fiber bundle 10 in the tank 100.

  In step S110, the control unit 50 calculates a speed command value from the position command value. In step S120, the control unit 50 determines whether or not the target point is a point in the smoothing region. If it is within the smoothing region, the process proceeds to step S130, the smoothing process is performed, and a new speed command value is calculated. Here, examples of the smoothing process include a process for taking a moving average, a process for interpolation, a process for taking a moving average by interpolation, and the like, as will be described later.

  In step S140, the control unit 50 uses the speed command value when there is a new speed command value calculated in step S120, and calculates it in step S110 when there is no new speed command value. The fiber delivery device 30 is controlled using the speed command value. Thereafter, the control unit 50 proceeds to step S100.

  FIG. 5 is an explanatory diagram showing the position, speed, and acceleration of the fiber delivery device 30. Here, the horizontal axis of FIG. 5 indicates time. In addition, description of the straight part of FIG. 5 and a dome part means to which part of the tank 100 the fiber bundle 10 is wound at the time. (A-1) of FIG. 5 shows the traverse position and speed of the fiber delivery device 30 in the comparative example, (A-2) shows the speed and acceleration of the fiber delivery device 30 in the comparative example, and (B-1) is The traverse position and speed of the fiber delivery device 30 in this embodiment and (B-2) show the speed and acceleration of the fiber delivery device 30 in this embodiment.

  In both the comparative example and the present embodiment, when the fiber bundle 10 is wound around the dome portion 100b, the variation in the traverse position of the fiber delivery device 30 is small, but when the fiber bundle 10 is wound around the straight portion 100a, the fiber delivery device 30 The variation in traverse position is large. Of all the steps for winding the fiber around the tank 100, in the step of winding the dome portion 100b, since the fiber bundle 10 is wound around the hemisphere, the length in the traverse direction is short. Therefore, in order to wind the fiber bundle 10 with high accuracy, the speed of the fiber delivery device 30 is lowered. On the other hand, when the fiber bundle 10 is wound around the straight portion 100a, the fiber is wound around the cylinder, so that the length in the traverse direction is long. Therefore, even if the speed of the fiber delivery device 30 is increased, a certain degree of accuracy can be maintained. Therefore, the fiber bundle 10 is wound with priority on speed over accuracy.

As can be seen from the speed graph of (A-1) in FIG. 5, in the comparative example, two peaks appear almost in the middle of the straight portion 100a. During this time, the speed of the fiber delivery device 30 that has become faster is once slowed and then fast again. As can be seen from the acceleration graph of (A-2) in FIG. 5, the change in the acceleration of the fiber delivery device 30 is large in the comparative example (A-2). The difference between the maximum value in the positive direction and the maximum value in the negative direction is about 1500,000 mm / sec ² . In some cases, the acceleration changes from a positive acceleration to a negative acceleration, and conversely, the acceleration changes from a negative acceleration to a positive acceleration. Therefore, the fiber delivery device 30 may accelerate or decelerate, and the acceleration may not be smooth. As a result, it is difficult to increase the speed of the fiber delivery device 30.

  In the present embodiment, the speed command value is calculated from the position command value of the fiber delivery device 30, and when the position of the fiber delivery device 30 moves within a predetermined range, the speed command value is smoothed to obtain the speed command value. Smoothing. Specifically, the moving average of the speed command value of the fiber delivery device 30 is calculated, and the movement of the fiber delivery device 30 is controlled using this moving average. Therefore, conventionally, even when the acceleration is momentarily negative during acceleration of the fiber delivery device 30, in this embodiment, the speed is smoothed by the moving average, so that the acceleration is unlikely to be negative. It is hard to become. As a result, smooth acceleration of the fiber delivery device 30 can be realized, and the speed of the fiber delivery device 30 can be easily increased. The same applies to the case where the acceleration is momentarily positive during the deceleration of the fiber delivery device 30.

In this embodiment, the fiber delivery device 30 does not frequently change from a positive acceleration to a negative acceleration, and conversely, from a negative acceleration to a positive acceleration. As can be seen from FIG. 5 (B-2), when the speed of the fiber delivery device 30 increases in the negative direction (the region where the graph falls to the right), the acceleration is a negative value and exceeds zero. However, even if it becomes positive, the value is small. In addition, when the speed of the fiber delivery device 30 increases in the positive direction (the area where the graph rises to the right), the acceleration is a positive value, and rarely exceeds 0 and becomes negative. Its value is slight. In the present embodiment, the difference between the maximum value in the positive direction and the maximum value in the negative direction is about 800,000 mm / sec ^2, which is about half of the comparative example. Therefore, smooth acceleration can be realized. As a result, it is easy to increase the speed of the fiber delivery device 30.

  As described above, according to the present embodiment, the control unit 50 smoothes the speed command value of the fiber delivery device 30 and smoothes the speed command value. Therefore, the fiber delivery device 30 can be accelerated smoothly. The speed of 30 can be increased.

  The smoothing is preferably performed when the fiber bundle 10 is wound around the straight portion 100 a of the tank 100. When the fiber bundle 10 is wound around the straight portion 100a, since the fiber is wound around the cylinder, the length in the traverse direction is relatively long, and the accuracy can be maintained even when the speed of the fiber delivery device 30 is increased.

  In the above-described embodiment, the movement in the traverse direction of the fiber delivery device 30 has been described. However, smoothing may be similarly performed for the movement in the front-rear direction.

Second embodiment:
In the first embodiment, the smoothing has been described by taking the movement of the fiber delivery device 30 in the traverse direction as an example. The fiber delivery device 30 moves not only in the traverse direction but also in the front-rear direction (the direction in which the fiber delivery device 30 and the tank 100 approach each other). In the second embodiment, smoothing is performed in a region where smoothing is performed in both the traverse direction and the front-rear direction. When the smoothing condition is satisfied only in either the traverse direction or the front-rear direction, the smoothing is not performed.

  FIG. 6 is an explanatory diagram showing the relationship between the position and speed in the traverse direction and the front-rear direction of the fiber delivery device 30, and the area where smoothing is performed. The horizontal axis of FIG. 6 shows time as in FIG. FIG. 6A shows the position, speed, and smoothing region of the fiber delivery device 30 when smoothing is performed only in the traverse direction. Regions A1, A3, and A5 are regions where smoothing is performed, and regions A2 and A4 are regions where smoothing is not performed. FIG. 6B shows the position, speed, and smoothing region of the fiber delivery device 30 when smoothing is performed only in the front-rear direction. Regions B1, B3, and B5 are regions where smoothing is performed, and regions B2 and B4 are regions where smoothing is not performed. As can be seen from the figure, the regions A1 and B1 are mostly overlapped, but some are not overlapped. The area where smoothing is performed is the straight part 100 a of the tank 100, and the area where smoothing is not performed is the dome part 100 b of the tank 100. However, in the vicinity of the boundary between the straight portion 100a and the dome portion 100b, smoothing is performed only in the traverse direction, smoothing is not performed in the front-rear direction, or smoothing is performed only in the front-rear direction, and in the traverse direction, Smoothing may not be performed. In the second embodiment, as described above, smoothing is performed in a region where smoothing is performed in both the traverse direction and the front-rear direction, and the condition for performing smoothing only in either the traverse direction or the front-rear direction is satisfied. No smoothing is performed.

  FIG. 6C shows a region where smoothing is performed in the second embodiment. In the second embodiment, smoothing is performed in a region where smoothing is performed in both the traverse direction and the front-rear direction. Specifically, in the second embodiment, smoothing is performed in the regions C1, C3, and C5. Here, the region C1 is a region where the regions A1 and B1 overlap, the region C3 is a region where the regions A3 and B3 overlap, and the region C5 is a region where the regions A5 and B5 overlap.

  As described above, in the second embodiment, since the smoothing is performed in the region where the smoothing is performed in both the traverse direction and the front-rear direction, the fiber delivery device 30 can be accurately controlled.

Third embodiment:
In the present embodiment, a moving average of speed is used for smoothing. In this embodiment, when switching from a region where smoothing is performed to a region where smoothing is not performed, the moving average is performed using only the velocity data of the region where smoothing is performed.

  FIG. 7 is an explanatory diagram illustrating calculation of a moving average of speeds at a boundary between a region where smoothing is performed and a region where smoothing is not performed. As will be described below, in the present embodiment, the target of moving average of the speed is a region where smoothing is performed as a normal moving average time in a case where all smoothing is performed, and a region where smoothing is not performed is shown. A range in which the moving average is taken as a moving average time for connection is shown by a broken line. Normal moving average time> moving average time for connection. Further, the speed used for calculating the moving average is not an actual speed of the fiber delivery device 30 but a speed command value calculated from the position command value.

(1) Calculation of moving average of speed in normal moving average time:
In the case where all the objects on which the moving average of speeds is to be smoothed are, for example, a moving average of nine speeds is used from time t1 to t7. For example, at time t5, the control unit 50 uses an average value of nine speeds from the speed v1 at time t1 to the speed v9 at time t9 as the speed, and at time t6, the speed v2 at time t2 to the speed at time t10. The average value of the nine speeds up to v10 is used as the speed, and at time t7, the average value of the nine speeds from the speed v3 at time t3 to the speed v11 at time t11 is used as the speed. Thus, the control unit 50 obtains a moving average of speeds.

(2) Calculation of moving average of speed in moving average time for connection:
When a part of the nine points of data includes data of a region where smoothing is not performed, the control unit 50 calculates the average excluding the data. For example, at time t8, an average value of seven speeds from speed v5 at time t5 to speed v11 at time t11 is used as the speed, and speed v12 at time t12 and speed v13 at time t13 are not used. At time t17, an average value of five speeds from speed v15 at time t15 to speed v19 at time t19 is used as a speed, speed v11 at time t11, speed v12 at time t12, and speed v13 at time t13. And the speed v14 at time t14 are not used. When approaching an area where smoothing is not performed, the controller 50 reduces the number of data used for the moving average. As a result, when a transition is made from a region where smoothing is performed to a region where smoothing is not performed, when moving from a region where smoothing is not performed to a region where smoothing is performed, the moving average value and the moving average are not performed at the boundary. It can suppress that a speed fluctuation generate | occur | produces between speed command values.

  In the present embodiment, the speed command value calculated from the position command value is used as the speed used for calculating the moving average. However, when the past data, for example, the current time is t10, the speed v9 at time t9 or at time t8 is used. For the speed v8 and the like, the actual speed of the fiber delivery device 30 may be used instead of the speed command value. In this embodiment, the moving average is calculated using 9 points of data, but data of n points (n is an integer of 2 or more) may be generally used.

Variations:
In the above embodiment, the control unit 50 calculates the speed command value from the position command value of the fiber delivery device 30, and performs smoothing by taking a moving average of the speed command values. The control unit 50 may increase the number of position command value data by performing spline interpolation on the position command value of the fiber delivery device 30. The order of the function used for the spline interpolation may be cubic.

  In the above description, a simple moving average is used as the moving average. However, a weighted moving average obtained by changing the weighting of each point may be used.

  The embodiments of the present invention have been described above based on some examples. However, the above-described embodiments of the present invention are for facilitating the understanding of the present invention and limit the present invention. It is not a thing. The present invention can be changed and improved without departing from the spirit and scope of the claims, and it is needless to say that the present invention includes equivalents thereof.

10 ... Fiber bundle 10a, 10b, 10c, 10d ... Prepreg fiber (fiber)
12a, 12b, 12c, 12d ... Bobbin 14a, 14b, 14c, 14d, 16, 22, 24, 26 ... Relay roller 18 ... Dancer 19 ... Cylinder 20 ... Active dancer 21 ... Bobbin shaft 28 ... Fiber converging jig 30 ... Fiber Feeder 32 ... Wide roller 36 ... Guide roller 36a ... Groove 50 ... Control part 100 ... Tank 100a ... Straight part 100b ... Dome part 102 ... Base 110 ... Rotating shaft 1000 ... Filament winding apparatus

Claims (2)

A filament winding device,
A fiber feeding section;
A fiber delivery device for delivering the fiber to an object on which the fiber is wound;
A control unit that controls movement of the fiber delivery device based on a position command value when winding the fiber around the object;
With
The object has an approximately cylindrical straight part in which the fiber is wound, and an approximately hemispherical dome part in which the fiber is wound,
The control unit calculates a speed command value from the position command value, and suppresses a change in the speed command value by calculating a moving average of the speed command value when the fiber is wound around the straight portion. As described above, a filament winding apparatus for smoothing the speed command value. The filament winding apparatus according to claim 1 , wherein
The controller does not use the speed command value of the second area for calculating the moving average near the boundary between the first area where the smoothing is performed and the second area where the smoothing is not performed. A filament winding apparatus that uses only a speed command value in a region of 1 for calculating the moving average.

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