JPH06294055A - Method for plaiting tubular braided fabric structure - Google Patents

Abstract

PURPOSE:To enable the plaiting of both a branched or a bent part continuous to that of a linear tubular braided fabric part and enable the plating of a tubular braided fabric structure having sufficient strength in the branched or the bent part of the plaited tubular braided fabric structure. CONSTITUTION:This method for plaiting a tubular braided fabric structure is to reduce the lifting and lowering speed of a mandrel having a branched part relatively to the plaiting speed of the tubular braided fabric structure near the branched part of the mandrel and simultaneously start changing the direction of the mandrel in plaiting the tubular braided fabric structure on the surface of the mandrel while controlling the position and posture of the mandrel.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tubular braid structure having a branched portion such as a T-shape or a cross-shape by interlacing a plurality of yarns or fiber bundles, L-shape, U-shape, etc. The present invention relates to a method of forming a tubular braid structure having a bent portion or a tubular braid structure having a combination of a branched portion and a bent portion.

[0002]

2. Description of the Related Art Conventionally, for example, a T-shaped tubular braid structure having a branch portion is manufactured by joining two linear tubular braid structures having different compositions into a T-shape. It had been.

[0003]

SUMMARY OF THE INVENTION A conventional tubular assembly having a branched portion or a bent portion, which is manufactured by joining a plurality of linear tubular assembly structures having different compositions to each other by means such as stitching or gluing. In the object structure, the strength of the joint portion is not sufficient, and the productivity of the cylindrical braid structure is poor because the joining takes time, and therefore the tubular braid structure becomes expensive. There is. In addition, when the joint is thicker than other parts and the tubular braid structure is impregnated with resin or the like to manufacture a fiber reinforced plastic product, the resin is not sufficiently filled inside the joint. There is a problem that the joint does not penetrate and the strength of the joint decreases, and since the joint is thicker than other parts, the commercial value also decreases.

Further, the linear tubular braid structure is bent into, for example, an L shape to form an L-shaped tubular braid structure, and the resin is impregnated and cured to form an L-shaped tubular body. The braid structure has a problem that the bending operation reduces the density of yarns or fiber bundles in the bending portion and makes the bending portion uneven, thus lowering the strength of the bending portion.

An object of the present invention is to form a branched portion or a bent portion continuously to the composition of a linear tubular braid portion, which is excellent in productivity and has a tubular braid structure having a composition. It is an object of the present invention to provide a method for forming a tubular braid structure having sufficient strength at a branched portion or a bent portion of a body.

[0006]

In order to achieve the above-mentioned object, the present invention provides a method for constructing a tubular braid structure in which the mandrel is controlled while controlling the position and orientation of the mandrel having a branched portion or a bent portion. When composing a cylindrical braid structure on the surface, the mandrel ascending / descending speed is reduced relative to the composition speed of the cylindrical braid structure near the bifurcation or bend of the mandrel, and the mandrel direction is changed. Is to start.

[0007]

EXAMPLES The present invention will be described below based on examples in which a T-shaped tubular braid structure is formed, but the present invention is not limited to the examples without departing from the spirit of the present invention. Not something. First, FIG. 1 which is a perspective view of a tubular braid structure composition apparatus for carrying out the tubular braid structure composition method of the present invention, and mainly the drive unit and the like of the tubular braid structure composition apparatus. FIG. 2 which is an enlarged view of a main part including a partial cross section will be described.

In FIG. 1, Mb is a tubular braid structure forming device, on which a bobbin b around which yarns, strings, fiber bundles (hereinafter simply referred to as "fiber bundles") S are mounted. A plurality of bobbin carriers C (for example, in FIG.
Only one bobbin carrier C is shown. ) Is cross-traveled along an annular orbit 2 formed in the upper plate 1 of the machine base B, thereby pulling out the fiber bundle S from the bobbin b through the guide column 3, and pulling out the fiber bundle S in a T shape. Mold mandrel m (hereinafter, also simply referred to as "mandrel")
The composition is a T-shaped tubular braid structure, which is wound around while interlacing with the surface.

G is concentric with the circular orbit 2 and is the upper plate 1 of the machine base B.
Is an annular guide disposed on the end surface G ′ of the annular guide G, and supplies the fiber bundle S while maintaining the fiber bundle S toward the composition point in a substantially horizontal state. . In addition, in the annular guide G, the vertical or horizontal direction,
Alternatively, it is preferable that the fiber bundles S that intersect with each other on the annular guide G can be smoothly passed over by applying combined vibrations in the vertical direction and the horizontal direction.

Reference numeral R is a robot hand device for controlling the position, posture or drive of the mandrel m.
Is fixed to the tip of the mandrel support member 4 with a screw 5 as shown in FIG. 2, and the other end of the mandrel support member 4 is attached to one end of a substantially L-shaped rotary arm 6. ing. The other end of the rotary arm 6 is attached to a shaft 8 which is horizontally arranged via bearings 7 and 7'on a lift block U which can be lifted and lowered along vertical frames f1 and f1 'of a guide frame F. . As shown in FIG. 2, a gear 9 is attached to the shaft 8, and the gear 9 is mounted on the elevating block U and is capable of rotating in the forward and reverse directions.
1 meshes with the gear 11 attached to the shaft 10. Therefore, the shaft M is rotated by appropriately driving the motor M1, the shaft 8 is rotated through the gear 11 and the gear 9, and the rotary arm 6 attached to the shaft 8 is rotationally driven. There is. As shown in FIG. 3 which is a left side view of the T-shaped mandrel m in FIGS. 2 and 2, the center of rotation of the rotating arm 6 is at the center of the joint J of the T-shaped mandrel m. It is configured to match.

M2 is a horizontal frame f of the guide frame F.
The motor M2 is a motor that is placed on No. 2 and is capable of rotating in the normal and reverse directions to move the lifting block U up and down. The motor M2 is a bearing 13, 14 arranged on a bracket 12 mounted above the guide frame F, and The pulley P attached to the upper end of the threaded shaft 16 installed vertically between the bearings 15 arranged below the guide frame F,
It is configured to rotate via a belt (not shown). By changing the rotation speed of the motor M2 that can rotate forward and backward, the lifting speed of the lifting block U can be changed as appropriate. Reference numeral 16 'denotes a shaft cover attached to a portion of the threaded shaft 16 where the thread groove is not provided, and may be omitted.

Reference numeral 17 is a front plate 18 of the lifting block U.
It is a nut member attached by screws 19 and 19 '. The shaft 16 with a thread groove is screwed into the nut member 17, and therefore, the motor M2 capable of rotating in the forward and reverse directions is driven to rotate the pulley P via a belt (not shown) and is attached to the pulley P. Threaded shaft 1
By appropriately rotating 6 in the normal and reverse directions, the nut member 17 screwed onto the shaft 16 with the thread groove is moved in the vertical direction so that the lifting block U can be raised and lowered.

As described above, the motor M capable of normal and reverse rotation
The mandrel m is moved to a desired position by driving 1 to rotate the rotary arm 6 appropriately, and by driving the motor M2 capable of forward and reverse rotation to move the lifting block U up and down appropriately. , So that it can be controlled to a desired posture.

The mandrel m is formed by joining two cylindrical members in a T-shape. In the following description, one cylindrical member shown in FIGS. 1 and 2 (see FIGS. 1 and 2).
Of the mandrel m is referred to as a branched portion m2 of the mandrel m, and the other cylindrical member (see FIG. 1 and a portion in a vertical state in FIG. 2) is referred to as a main portion m1 of the mandrel m.

The mandrel m is preferably constructed so that the main part m1 and the branch part m2 can be disassembled so that the tubular braid structure composed of the surface of the mandrel m can be removed from the mandrel m. In addition, the mandrel m can be dissolved in a specific solvent or molded with a water-soluble resin to form a cylindrical braid structure on the surface of the mandrel m, and then the mandrel m is dissolved by a solvent or water to form a cylinder. It is also possible to take out the braid structure. Further, the mandrel m is molded with a thermoplastic resin, the tubular braid structure is formed on the surface of the mandrel m, and then the mandrel m is heated and softened to be eluted to take out the tubular braid structure. You can also

In FIG. 1, reference numeral 20 denotes an operation panel, and the operation of the operation panel 20 controls the operation of the tubular braid structure composition device Mb including the robot hand device R. In particular, the robot hand device R is configured to be controlled by a teaching method, and once the mandrel m is driven manually by the operation panel 20, the control program thereof is stored, and thereafter the control program is stored according to the stored control program. The mandrel m is automatically driven.

The composition steps for composing the cylindrical braid structure using the cylindrical braid structure composition device Mb described above will be described below with reference to FIGS. 4 to 13 showing the sequence of the composition steps. To do.

(1) [FIGS. 4 (a) and 4 (b)] As shown in FIG. 4 (a), first, the mandrel m
One end X of the main portion m1 of the mandrel m is fixed to the mandrel supporting member 4 of the robot hand device R (for convenience of description, the end of the mandrel m fixed to the mandrel supporting member 4 is marked with an inverted triangle (▽). The rotation arm 6 and the lifting block U are driven by the motors M1 and M2 of the robot hand device R to drive the main part m1 of the mandrel m.
4 is positioned at the composition point W indicated by the intersection of the two orthogonal dashed lines L1 and L2 in FIG. 4A, and the axis of the main part m1 of the mandrel m is vertically aligned.
Further, the mandrel m is positioned so that the axis of the branch part m2 of the mandrel m is positioned in the horizontal direction.

A dash-dotted line L1 indicates a vertical line extending upward from the center point of the ring-shaped orbit 2 and the ring-shaped guide G,
The alternate long and short dash line L2 is a horizontal line indicating the position where the fiber bundle S is supplied to the surface of the mandrel m. Further, the composition point W is located slightly above the annular guide G when the mandrel m is pulled up by the lifting of the lifting block U, and from the annular guide G when the mandrel m is pulled down by the lowering of the lifting block U. Located slightly below.

From the state shown in FIG. 4 (a), the bobbin carrier C, which has been stopped, is cross-traveled along the circular orbit 2 and the lifting block U is raised, and the mandrel m is vertically moved at a constant speed Vh. The composition of the tubular braid structure is started by moving upward in the direction, and as shown in FIG. 4B, the composition is performed up to the vicinity of the joint J between the main part m1 of the mandrel m and the branch part m2.

(2) [FIGS. 5 (a) and 5 (b)] As shown in FIG. 4 (b), after composition up to the vicinity of the joint J between the main part m1 and the branch part m2 of the mandrel m, The rotation speed of the motor M2 is decreased to increase the rising speed of the lifting block U, that is, the pulling speed of the mandrel m is a speed Vs slower than Vh (here, speed Vh> speed Vs, and these speeds Vh and Vs are respectively , "Fast speed Vh"
Also referred to as "slow speed Vs". 5), the rotating arm 6 is rotated by the motor M1 as shown in FIG. 5A to rotate the mandrel m counterclockwise around the center point a of the joint J. (B)
As shown in FIG. 5, when the axis of the main part m1 of the mandrel m is inclined by a predetermined angle θ with respect to the vertical direction, the rotation of the rotary arm 6 is stopped. In the present embodiment, the predetermined angle θ is approximately 45 degrees, and when referred to as the predetermined angle θ in the following description, the predetermined angle θ is approximately 45 degrees.

The mandrel m is continuously pulled up at a slow speed Vs, and as shown in FIG. 5 (b), the lifting of the lifting block U is stopped at the place where the composition is performed up to the joint J,
The pulling up of the mandrel m is stopped and the crossing traveling of the bobbin carrier C is stopped to interrupt the composition. The reason why the pulling-up speed of the mandrel m is slow in the vicinity of the joint J and the joint J is to increase the composition density in the vicinity of the joint J and the joint J to increase the strength of the joint J.

(3) [FIGS. 6 (a) and 6 (b)] Next, the rotating arm 6 is rotated while the crossing traveling of the bobbin carrier C is stopped, as shown in FIG. 6 (a). First, the mandrel m is rotated counterclockwise until the axis of the main part m1 of the mandrel m is horizontal, and the lifting block U is lifted to move the mandrel m vertically at a speed V.
After pulling up at s, after the bobbin carrier C starts to cross and run, the elevator block U is stopped for a while,
6 (b), the composition of the branch part m2 of the mandrel m is started, and the pulling-up speed of the mandrel m is decreased at a certain distance from the joint J as shown in FIG. 6 (b). The composition is continued by switching from Vs to the higher speed Vh.

(4) [FIGS. 7 (a) and 7 (b)] As shown in FIG. 7 (a), when the composition of the branch m2 of the mandrel m is performed up to the end Z of the branch m2. , The lifting of the mandrel m is stopped, and the crossing traveling of the bobbin carrier C is stopped to suspend the composition. Then, the mandrel m is rotated 180 degrees in the horizontal plane, and the result is shown in FIG.
As shown in FIG. 3, the end portion Y of the main portion m1 is fixed to the mandrel support member 4 of the robot hand device R in place of the end portion X of the main portion m1 of the mandrel m. As will be described later, the rotation of the mandrel m is performed in order to make the composition density in the joint portion J of the mandrel m uniform, and may be performed manually by an operator or by providing another robot hand device. After fixing the end portion Y of the main part m1 of the mandrel m to the mandrel supporting member of the robot hand device, the mandrel m is removed from the mandrel supporting member 4 of the robot hand device R, and the mandrel m is moved in the subsequent composition step, The attitude control can be performed by another robot hand device.

180 in the horizontal plane of the above mandrel m
After the completion of the rotation, the cross traveling of the bobbin carrier C is restarted, and at the same time, the elevating block U is lowered at a high speed Vh to lower the mandrel m in the vertical direction and restart the composition of the branch portion m2 of the mandrel m.

(5) [FIGS. 8 (a) and 8 (b)] As shown in FIG. 8 (a), the composition of the branch portion m2 of the mandrel m is performed up to the vicinity of the joint J of the mandrel m. Then, the lifting block U is lowered to the speed Vh, that is, the composition speed is decreased to the speed Vs slower than the speed Vh. And FIG. 8 (b)
As shown in FIG. 1, after the composition up to the joint J of the mandrel m is performed at a slow speed Vs, the bobbin carrier C
The composition is interrupted by stopping the crossing running of.

(6) [FIGS. 9 (a), (b), (c),
(D)] Then, the rotating arm 6 is rotated while the crossing traveling of the bobbin carrier C is stopped so that the axis of the main part m1 of the mandrel m becomes vertical as shown in FIG. 9 (a). On the other hand, the mandrel m is rotated clockwise so as to be tilted at a predetermined angle θ, and is lowered at a slow speed Vs. Then, the crossing traveling of the bobbin carrier C is restarted and the rotating arm 6 is rotated, as shown in FIG. 9B. As shown, the mandrel m is pulled down at a slow speed Vs while rotating clockwise to resume composition of the main portion m1 of the mandrel m. After that, as shown in FIG. 9C, the rotation of the rotary arm 6 is stopped when the axis of the main part m1 of the mandrel m is oriented in the vertical direction, and further shown in FIG. 9D. As described above, the composition is performed by increasing the descending speed to the speed Vh to the end portion Y of the main portion m1 of the mandrel m.

(7) [FIG. 10] As shown in FIG. 9D, after the composition up to the end Y of the main portion m1 of the mandrel m is completed, as shown in FIG. , Raise the lifting block U to increase the speed V
At h, the composition of the main part m1 of the mandrel m is performed again.

(8) [FIGS. 11 (a) and 11 (b)] As shown in FIG. 10, the joint J of the mandrel m is joined.
When the composition is performed up to near, the rising speed of the mandrel m is decreased from the fast speed Vh to the slow speed Vs, and the rotating arm 6 is driven to move the mandrel m counterclockwise as shown in FIG. 11 (a). Rotate in the direction. afterwards,
As shown in FIG. 11B, when the axis of the main part m1 of the mandrel m is inclined at a predetermined angle θ with respect to the vertical direction, the rotating arm 6 is stopped and the bobbin carrier C is stopped.
Stop the crossing running of.

(9) [FIGS. 12 (a) and 12 (b)] Next, the rotary arm 6 is driven while stopping the cross traveling of the bobbin carrier C, and as shown in FIG. 12 (a). , While rotating the mandrel m clockwise by 90 degrees, the mandrel m is pulled up at a slow speed Vs so that the axis of the main part m1 of the mandrel m is inclined at a predetermined angle θ with respect to the vertical direction, and then the bobbin carrier C is rotated. Resume crossing. After that, set the mandrel m to the slow speed Vs.
As shown in FIG. 12 (b), the mandrel m is rotated counterclockwise while being pulled up by the mandrel m.
The composition of the main part m1 is performed.

(10) [FIGS. 13 (a) and 13 (b)] After that, as shown in FIG. 13 (a), when the axis of the main portion m1 of the mandrel m is oriented in the vertical direction, the rotary arm is 6 is stopped to stop the rotation of the mandrel m, the ascending speed of the lifting block U, that is, the ascending speed of the mandrel m is changed to a high speed Vh, and composition is performed up to the end X of the main part m1 of the mandrel m. The entire composition process of the tubular braid structure is completed.

As described above in (4) FIGS. 7A and 7B, the mandrel m is the mandrel m.
After the composition of the branch m2 of FIG. 14 is performed up to the end Z of the branch m2, the branch m2 is rotated 180 degrees in the horizontal plane. If this rotation is not performed, the state shown in FIG. After that, the composition of the joint portion J of the mandrel m is performed. That is, in order to increase the strength of the joint portion J of the mandrel m, the composition on the Y side of the main portion m1 of the mandrel m is superimposed on the composition on the X side as much as possible.
However, in this case, since the mandrel m is rotated 135 degrees clockwise from the state shown in FIG.
Tension acts in the direction of unraveling the composition, which hinders the composition due to the uniform composition density.

On the other hand, when rotated 180 degrees,
Since the mandrel m is rotated 45 degrees clockwise from the state shown in FIG. 15 (a) to the state shown in FIG. 15 (b), the tension acting on the fiber bundle S hinders uniform composition. There is no.

In the above composition step, the mandrel m
Although the composition of the main part m1 of the above is doubled, the composition of the main part m1 of the mandrel m can be made single by omitting the steps after the above composition step shown in FIG.

FIG. 16 shows the rising speed of the mandrel m, the rotation angle, and the state of the cross traveling of the bobbin carrier C in the composition process shown in FIGS. 4 (a) to 6 (b) of the tubular braid structure. It is a time chart which shows change over time.

Further, in the present embodiment, two motors M1 and M2 which are drive sources are provided to drive the mandrel m by the robot hand device R in two types, that is, vertical elevation and rotation in a vertical plane. , By providing another drive source and driving the mandrel m in another direction such as rotation in a horizontal plane or reciprocation on a straight line orthogonal to the vertical plane, the mandrel m is not limited to the above T-shaped mandrel m. It is also possible to form a tubular braid structure on a more complicated mandrel m such as a Y type or a tetrapot type.

By the way, in the above-described embodiment, when the composition speed of the tubular braid structure, that is, the moving speed of the bobbin carrier C is constant, the ascending / descending speed of the mandrel m is set near the joint J of the mandrel m. However, the composition speed of the cylindrical braid structure, that is, the moving speed of the bobbin carrier C is increased in the vicinity of the joint J of the mandrel m.
The mandrel m may be configured to be relatively slowed down. In short, relative to the composition speed of the tubular braid structure, that is, the moving speed of the bobbin carrier C, the ascending / descending speed of the mandrel m is relatively large.
The composition density of the joint portion J of the tubular braid structure can be increased by arranging it so as to drop in the vicinity.

[0038]

Since the present invention is constructed as described above, it has the following effects.

Since the branch portion or the bent portion can be formed continuously with the composition of the linear tubular braid portion, the strength of the branched portion or the bent portion of the constituted tubular braid structure is sufficient. A tubular braid structure can be constructed.

By lowering the ascending / descending speed of the mandrel at the bifurcation or the bend relative to the composition speed of the tubular braid structure, the composition density of the bifurcation or the flex is increased. Strength can be increased.

Since the branch portion or the bent portion can be formed continuously with the composition of the linear tubular braid portion, the productivity of the tubular braid structure is improved.

Since the composition speed is increased by increasing the ascending / descending speed of the mandrel except near the branched portion or the bent portion, the productivity of the tubular braid structure can be improved.

[Brief description of drawings]

FIG. 1 is a perspective view of a tubular braid structure forming device.

FIG. 2 is an enlarged view of an essential part mainly including a partial cross section of a driving part and the like of the tubular braid structure forming device.

FIG. 3 is a side view of the T-shaped mandrel m in FIG.

FIG. 4 is a schematic view showing the movement of a mandrel in each composition step of composing a tubular braid structure.

FIG. 5 is a schematic view showing the movement of the mandrel in each composition step of similarly composing the tubular braid structure.

FIG. 6 is a schematic view showing the movement of the mandrel in each composition step for composing the tubular braid structure.

FIG. 7 is a schematic view showing the movement of the mandrel in each of the composition steps for similarly composing the tubular braid structure.

FIG. 8 is a schematic view showing the movement of the mandrel in each composition step of similarly composing the tubular braid structure.

FIG. 9 is a schematic view showing the movement of the mandrel in each composition step of similarly composing the tubular braid structure.

FIG. 10 is a schematic view showing the movement of the mandrel in each of the composition steps for similarly composing the tubular braid structure.

FIG. 11 is a schematic view showing the movement of the mandrel in each composition step of similarly composing the tubular braid structure.

FIG. 12 is a schematic view showing the movement of the mandrel in each composition step of composing the tubular braid structure.

FIG. 13 is a schematic view showing the movement of the mandrel in each of the composition steps of composing the tubular braid structure.

FIG. 14 is a schematic view showing the positional relationship between the mandrel and the fiber bundle when the grip of the mandrel is not changed in the composition process of the tubular braid structure.

FIG. 15 is a schematic diagram showing the positional relationship between the mandrel and the fiber bundle when the grip of the mandrel is changed in the composition step of the tubular braid structure.

FIG. 16 is a time chart showing changes with time of the rising speed of the mandrel m, the rotation angle, and the state of the cross traveling of the bobbin carrier C.

[Explanation of symbols]

 C ・ ・ ・ ・ ・ ・ ・ Bobbin carrier CG ・ ・ ・ ・ ・ ・ ・ Annular guide Mb ・ ・ ・ ・ ・ ・ Cylindrical braid structure composition device S ・ ・ ・ ・ ・ ・・ ・ Fiber bundle U ・ ・ ・ ・ ・ ・ ・ Elevating block m ・ ・ ・ ・ ・ ・ ・ ・ ・ Mandrel 2 ・ ・ ・ ・ ・ ・ ・ Round orbit 4 ・ ・ ・ ・ ・ ・ ・ ・ ・ Mandrel Support member 6 ...

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] June 15, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be amended] Claims

[Correction method] Change

[Correction content]

[Claims]

Claims (1)

[Claims] 1. When a tubular braid structure is formed on the surface of a mandrel while controlling the position and orientation of a mandrel having a bifurcation or a bend, the tubular braid near the bifurcation or the bend of the mandrel. A method for composing a tubular braid structure, characterized in that the mandrel ascending / descending speed is lowered relative to the composition speed of the object structure and the mandrel direction change is started.