JPH10296870A - Data preparation device for filament winding machine control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prepare a control data to make the operation of a machine smoother by a method wherein when the regulating rotation speed of a mandrel is drastically changed compared with the mandrel rotation speed, the regulating rotation speed of the mandrel which enables the changed area to operate smoothly is obtained, and the regulating movement time is corrected. SOLUTION: A mandrel regulating rotation speed judging part 12 compares a regulating movement time and a mandrel regulating rotation speed (N1) using a mandrel increment value rotating angle, with a mandrel rotation speed (N), and when (N1)>(N)+2 is formed, a changed area extracting part 13 extracts the changed area by a signal from the mandrel regulating rotation speed judging part 12. An operation part 14 for mandrel rotation speed for smooth operation, operates a rotation speed for mandrel smooth operation which smoothly operates the extracted area by the changed area extracting part 13. A regulating movement time correcting part 15 performs a correction of the regulating movement time, using the rotation speed for mandrel smooth operation which is the output result of the operation part 14 for mandrel rotation speed for smooth operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an apparatus for creating data for a control device of a filament winding machine.

[0002]

2. Description of the Related Art The prior art is shown in FIGS. FIG. 7 is a block diagram of a conventional device. FIG. 8 is a flowchart of a conventional apparatus.

FIG. 9 is a diagram showing a speed distribution of a conventional filament winding machine. The filament winding machine refers to a device that forms an FRP by winding a continuous reinforcing fiber (filament) around a mandrel (winding mold) 21.

When a continuous reinforcing fiber (filament) is wound around a mandrel (winding mold) 21, a reinforcing roller (filament) 26 is guided by a delivery roller 22.
Therefore, the position of the delivery roller 22 (the coordinates X, Y, and Z of the delivery roller) and the inclination (θ) determine the position accuracy of the reinforcing fiber (filament) 26.

[0005] Creation of data for a filament winding machine control device according to the prior art has been obtained by a computer (numerical operation device) using a general-purpose or dedicated program.

Then, the data is adjusted in accordance with the effective accuracy of the control device, and the delivery roller 22 of the filament winding machine is controlled at a speed distribution as shown in FIG.
Was controlled.

[0007] The configuration of the program is as follows: (a) The coordinates of the mandrel 21 and vector data are inputted from the input device 1, the absolute coordinates (X, Y, Z) of the delivery roller 22 are calculated, and the result is output. A roller absolute coordinate calculator 3, (b) a mandrel rotation angle calculator 4 for calculating the rotation angle of the mandrel 21 from the output result and outputting the result, and (c) a mandrel rotation speed storage 16 for the output result. And (d) a storage device 2 for storing the output results of the above (a), (b) and (c). Consists of Therefore, the data generating device according to the conventional technology corresponds to a device without the components (D) to (M) shown in the claims of the present invention.

[0008]

However, the prior art has the following problems. (1) In the conventional technique, it took time to develop data creation for the following reasons. (Reason that the development of the data took a long time in the related art) For example, when the coordinate data was cut off at the minimum input unit of 0.001 mm of the NC (numerical control device), one round trip of the filament winding was performed. Since data is usually 1,000 to 2,000, an error of 1 to 2 mm appears.

[0009] In addition, the usual filament winding operation is performed by reciprocating 500 to 1,000 times.
The accumulation of errors is between 500 and 1,000 mm. In the past, this correction was performed by moving the filament winding machine and repeating trial and error, so that it took 2 to 5 times the correction time of the filament winding operation. (2) In the prior art, when controlling the filament winding machine, there was a large variation in the operation of the machine for the following reason (FIG. 9).

[0010] For this reason, intense vibration is generated in the filament winding device, and the filament winding device becomes uncontrollable or the position of the reinforcing fiber wound due to the vibration is shifted, thereby deteriorating the quality of the product.

(Reason that there is a large variation in the machine operation in the prior art) When the moving time (T) of the delivery roller 22 is rounded to 0.01 second, for example, 1,
In the transfer time of data of 2,000 to 2,000, 0.
There is a case where there is a time of 01 second or less, and the moving speed at this time becomes approximately の before rounding when the time (T) is rounded up.

In the case where the delivery roller is cut off, the moving speed becomes infinite, and a large speed fluctuation occurs in the machine operation due to the rounding of the moving time (T) of the delivery roller. That is, (a) When inputting data created by the conventional technique to a control device such as an NC of a filament winding machine, input data is truncated or rounded according to the significant digits of the data of the control device. .

Therefore, in order to confirm the accumulation of position errors due to the truncation or rounding of the coordinate data and the speed fluctuation due to the truncation or rounding of the time data, the movement of the filament winding machine is actually performed to check the movement. While watching, the operator of the machine was modifying the input data. (B) In order to confirm the correctness of the correction, it was necessary to repeat the operation of moving the filament winding machine and observing the movement. An object of the present invention is to provide a device that can solve these problems.

[0014]

[Means for Solving the Problems]

(First Means) A data generating device for a filament winding machine control device according to the present invention comprises: (A) inputting the coordinates and vector data of a mandrel 22 from an input device 1 to input absolute coordinates (X, Y, Z) and calculates the rotation angle (S) of the mandrel 22 from the output result of the delivery roller absolute coordinate calculation unit 3, and (B) calculates the rotation angle (S) of the output from the delivery roller absolute coordinate calculation unit 3.
A mandrel rotation angle calculation unit 4 for outputting a calculation result,
(C) a delivery roller movement time calculation unit 5 that calculates the movement time (T) of the delivery roller 22 from the output result of the mandrel rotation angle calculation unit 4 and the signal of the mandrel rotation speed storage unit 16 and outputs the calculation result; (D) means for adjusting the output result of the delivery roller movement time calculation unit 5 to the effective accuracy of the equipment used, that is, an adjustment movement time conversion unit 6 for converting the movement time (T) into an adjustment movement time (T1);
(E) a movement time comparison unit 7 that compares the movement time (T) of the delivery roller 22 with the adjustment movement time (T1) to determine whether or not the two are equal, and outputs a determination result; From the comparison result, the travel time (T) is adjusted travel time (T
When not equal to 1), the interpolation coefficient (C) is calculated from the movement time and the adjusted movement time, and an interpolation coefficient calculation unit 8 that outputs a calculation result; and (G) a delivery roller based on the output result of the interpolation coefficient calculation unit 8 22. A delivery roller absolute coordinate interpolating unit 9 for interpolating the absolute coordinates (X, Y, Z) of 22 and outputting an interpolation result (X1, Y1, Z1); A mandrel rotation angle interpolator 10 for interpolating the rotation angle (S) of the mandrel 21 and outputting the interpolation result (S1); (I) incremental value coordinates (X2, Y2, Z2) of the absolute coordinates of the delivery roller 22 and the mandrel Mandrel increment, which is the increment of the rotation angle, rotation angle (S2)
And an increment value calculation unit 11 that outputs the obtained result;
(J) Mandrel 2 obtained from the rotation angle (S2) of the incremental value of the mandrel and the adjustment movement time (T1) of the delivery roller
A mandrel rotation speed fluctuation determination unit 12 that outputs a signal when the adjusted rotation speed (N1) of the second device fluctuates rapidly;
(K) a variable portion extracting unit 13 that extracts a variable portion when a signal is input from the mandrel rotation speed variation determining unit 12 and outputs an extraction result; and (L) a smooth operation in the variable portion extracting unit 13. A mandrel rotational speed calculator for smooth operation that calculates a mandrel smooth operation adjustable rotational speed (N2 = ω) that is enabled and outputs the calculated result;
(M) an adjustment movement time correction unit 15 that corrects the adjustment movement time (T1) from the output result and outputs a corrected adjustment movement time (T2); and (N) an output result of the increment value calculation unit 11. (X2, Y2, Z2, and S2) and a storage device 2 that stores the output result (T2) of the adjustment movement time correction unit 15.

That is, in the apparatus of the present invention, (a) the input unit 1 is used by the delivery roller absolute coordinate calculating unit 3.
Calculates absolute coordinates (X, Y, Z) of the delivery roller using the mandrel coordinates and vector data input from, and outputs the calculation result. (B) The mandrel rotation angle calculation unit calculates the rotation angle (S) of the mandrel using the mandrel coordinates and vector data, and outputs the calculation result. (C) The delivery roller movement time calculation unit calculates the delivery roller movement time (T) from the output result and the signal (N) in the mandrel rotation speed storage unit, and outputs the calculation result. (D) The adjustment movement time conversion unit 6 that converts the movement time (T) of the delivery roller into the adjustment movement time (T1) is adjusted to the effective accuracy of the device to be used by using the output result, and the adjustment movement time (Tl) And outputs the obtained result. (E) The movement time comparison section 7 compares the output results of (c) and (d) to determine whether or not both are equal, and outputs the determination result. (F) When the moving time (T) of the delivery roller is not equal to the adjusted moving time (T1) based on the comparison result in the interpolation coefficient calculating unit 8, the moving time (T) and the adjusted moving time (T1)
, And calculates an interpolation coefficient (C), and outputs the calculation result. (G) The delivery roller absolute coordinate interpolation unit 9 interpolates the absolute coordinates (X, Y, Z) of the delivery roller from the output result, and outputs the result (X1, Y1, Z1). (H) The mandrel rotation angle interpolation unit 10 interpolates the mandrel rotation angle (S) using the output result of (f) and outputs the result (S1). (I) In the increment value calculation unit 11, the delivery roller increment value coordinates (X2, Y2, Z2), which are the increment values of the absolute coordinates (X1, Y1, Z1) of the delivery roller, and the rotation angle (S1) of the mandrel. The mandrel increment rotation angle (S2), which is the increment, is obtained, and the obtained result is output. (J) When the mandrel rotational speed fluctuation determining unit 12 rapidly changes the mandrel rotational speed (N1 = S2 / Tl) compared to the mandrel rotational speed (N), a signal is output. (K) When the signal is input to the variable portion extracting section 13, the variable portion is extracted and the extraction result is output. (L) The mandrel rotational speed calculating section 14 for smooth operation calculates an adjusted rotational speed (N2 = ω) for smooth operation of the mandrel enabling the smooth operation of the extracted portion, and outputs the obtained result. (M) The adjustment movement time correction unit 15 corrects the adjustment movement time (T1) using the output result, and outputs the adjusted movement time (T2) after the correction. (N) The output results of (i) and (m) are stored in the storage device 2.

Therefore, the operation is as follows. The mandrel coordinate data and vector data are input, and the absolute coordinates (X, Y, Z) of the delivery roller 22 and the mandrel rotation angle (S) are calculated.

Using the rotation speed (N) of the mandrel and the mandrel angle (S), the movement time (T) of the delivery roller is calculated. An adjustment movement time (T1) in which the delivery roller movement time (T) is adjusted to the effective accuracy of the used equipment is calculated.

The delivery roller movement time (T) is compared with the adjustment movement time (T1) to determine whether the value is equal. If the movement time (T) Ｔthe adjustment movement time (T1), the movement time (T) is calculated. And the adjustment coefficient (C) using the adjustment movement time (T1)
Is calculated, and the absolute coordinates (X, Y,
An interpolated value (Xl, Yl, Zl) of Z) and an interpolated value (Sl) of the mandrel rotation angle (S) are obtained.

The coordinates of the delivery roller increment value (X2, Y2, Z2) and the mandrel increment value rotation coordinate (S2) are calculated using the interpolation result. The mandrel adjustment rotation speed (N1 = S2 / T1) and the mandrel rotation speed (N) are rapidly compared with the mandrel adjustment rotation speed (N1 = S2 / T1) using the mandrel increment rotation coordinates (S2) and the adjustment movement time (T1). If the value of ()) fluctuates, a signal is output to extract a fluctuating portion.

Calculate the rotational speed (N2 = ω) for smooth operation of the mandrel for smoothing the operation of the extraction part;
The adjustment movement time (Tl) is corrected, and the corrected adjustment movement time (T2) is obtained. The storage device 2 stores the delivery roller increment value coordinates (X2, Y2, Z2), the mandrel increment value rotation coordinates (S2), and the adjusted adjustment movement time (T2).

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) FIG. 1 shows a first embodiment of the present invention.
6 to FIG. FIG. 1 is a block diagram of an apparatus according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram of an apparatus according to the first embodiment of the present invention. FIG. 3 is a flowchart of the apparatus according to the first embodiment of the present invention. FIG. 4 is an overall view of the filament winding machine according to the first embodiment.

FIG. 5 is a detailed view of the delivery roller according to the first embodiment. FIG. 6 is a speed distribution diagram of the filament winding machine according to the first embodiment.

An object of the present invention is to automatically perform interpolation and correction of data at the time of data creation, and to operate a filament winding machine smoothly. That is, an adjustment movement time (T1) adjusted to the effective accuracy of the equipment to be used is obtained from the movement time (T) of the delivery roller, and when the movement time (T) ≠ the adjustment movement time (T1), the movement time (T) is calculated. Interpolation coefficient (C) using the adjustment movement time (Tl)
, The absolute coordinates (X, Y, Z) of the delivery roller and the mandrel rotation angle (S) are interpolated, and the coordinates (X
1, Yl, Zl) and the rotation angle (S1) after interpolation.

Further, based on the coordinates (X1, Y1, Z1) after interpolation and the rotation angle (S1) after interpolation, the increment value coordinates (X2, Y2, Z2) of the delivery roller and the increment value angle (S2) of the mandrel are calculated. Ask.

Next, the mandrel adjustment rotational speed N1 (N1
= S2 / T1) where a sharp change is seen,
The adjustment rotational speed N2 (N2 = ω) for the smooth operation of the mandrel in which the part operates smoothly is calculated, and the adjusted movement time (T2) corrected using this value is calculated.

In FIG. 1 and FIG. 2, (input device 1) The input device 1 includes coordinate data (X, Y, Z) and vector data (VX, VY, V) of the mandrel 21.
Enter Z). (Delivery Roller Absolute Coordinate Calculation Unit 3) The delivery roller absolute coordinate calculation unit 3 is configured to output coordinate data (X,
Y, Z) and the vector data (VX, VY, VZ) are used to calculate the absolute coordinates (X, Y, Z) of the delivery roller 22. (Mandrel rotation angle calculation unit 4) The mandrel rotation angle calculation unit 4 calculates the coordinate data (X, Y, Z) of the mandrel 21.
Then, the rotation angle (S) of the mandrel 21 is calculated from the vector data (VX, VY, VZ).

The mandrel rotation storage unit 16 (FIG. 2)
The rotation speed (N) of the mandrel is stored. (Delivery Roller Movement Time Calculation Unit 5) The delivery roller movement time calculation unit 5 calculates the movement time (T) of the delivery roller 22 using the rotation angle (S) of the mandrel 21 and the rotation speed (N) of the mandrel 21. . (Adjustment movement time conversion unit 6) The adjustment movement time conversion unit 6, which converts the movement time into the adjustment movement time, converts the movement time (T) of the delivery roller 22 into the adjustment movement time (Tl) adjusted to the effective accuracy of the equipment used. Convert. (Movement Time Comparison Unit 7) The movement time comparison unit 7 compares the movement time (T) of the delivery roller with the adjustment movement time (T1), and determines whether the movement time (T) is equal to the adjustment movement time (T1). The signal of is output. (Reason that the moving time (T) must be equal to the adjusted moving time (Tl)) In the filament winding device, a control unit restricted by the inertia of the mechanical system, the followability of the motor, the monitoring cycle of the control system, and the like. There is time t, and even if an operation command for a shorter time is given, correct operation cannot be performed.

Therefore, the adjustment movement time (Tl) is given by an integral multiple of the control unit time t, that is, the adjustment movement time (Tl) = nt (n is an integer).

If the moving time (T) is different from this, the difference will make it impossible to control the filament winding device. In the case of travel time (T) ≠ adjusted travel time (Tl), the same thing happens with the conventional device. That is, as described in the problem (2) to be solved by the invention, when controlling the filament winding machine, there is a large variation in the operation of the machine. (Interpolation coefficient calculation section 8) The interpolation coefficient calculation section 8 uses the movement time comparison section 7 as follows: Condition (1): movement time (T) of the delivery roller ロ ー ラ adjustment movement time (T
If the condition 1) is satisfied, the interpolation coefficient (C) is calculated using the movement time (T) of the delivery roller 22 and the adjustment movement time (Tl). (Delivery Roller Absolute Coordinate Interpolator 9) The delivery roller absolute coordinate interpolator 9 interpolates the absolute coordinates (X, Y, Z) of the delivery roller 22 and calculates the operation results (Xl, Yl,
Zl) is output. (Mandrel rotation angle interpolation unit 10) The mandrel rotation angle interpolation unit 10 interpolates the rotation angle (S) of the mandrel 21 using the interpolation coefficient (C) of the interpolation coefficient calculation unit 8, and outputs the calculation result (S1). I do. (Incremental Value Computing Unit 11) The incremental value computing unit 11 outputs the output results (X1, Y) of the absolute coordinate interpolation unit 9 of the delivery roller and the mandrel rotation angle interpolation unit 10.
1, Zl) and (S1), the delivery roller increment value coordinate (X2, Y2, Z2) and the mandrel increment value rotation angle (S1)
2) is calculated. (Mandrel adjustment rotation speed determination unit 1
2) The mandrel adjustment rotation speed determination unit 12 compares the adjustment movement time (Tl) and the mandrel adjustment rotation speed (N1 = S2 / Tl) using the mandrel increment rotation angle (S2) with the mandrel rotation speed (N). Then, a signal is output when it is determined that the condition (2): mandrel adjustment rotation speed (N1)> mandrel rotation speed (N) +2 holds. (Variable Part Extraction Unit 13) The variable part extraction unit 13 extracts a variable part when a signal is input from the mandrel adjustment rotation speed variation determination unit 12. (Smooth operation mandrel rotation speed calculation unit 14) The smooth operation mandrel rotation speed calculation unit 14
The rotation speed for mandrel smooth operation (N2 = ω) for smoothly operating the extracted portion of No. 3 is calculated. (Adjustment movement time correction unit 15) Adjustment movement time correction unit 15
Uses the mandrel smooth operation rotation speed (N2 = ω) output from the smooth operation mandrel rotation speed calculation unit 14 to correct the adjustment movement time (T1), and adjusts the adjustment movement time (T2) after the correction. Is output. (Storage Device 2) The storage device 2 stores the calculation result (X2, Y2, Z2, and S2) of the increment value calculation unit 11 and the calculation result (T2) of the adjustment movement time correction unit 15.

A CPU 100 (FIG. 2) realizes the functions 3 to 15 in FIG. Next, the operation of the CPU 100 (FIG. 2) based on the processing program will be described in detail with reference to FIG.

First, at F1, the CPU 100 manually inputs the coordinate data (X, Y, Z) and vector data (VX, VY, VZ) of the mandrel 21. In F2, the absolute coordinates (X, Y, Z) of the delivery roller are calculated from the coordinate data (X, Y, Z) of the mandrel 21 and the vector data (VX, VY, VZ).

At F3, the coordinate data (X, Y, Z) and vector data (VX, VY, VZ) of the mandrel 21 are obtained.
, The rotation angle (S) of the mandrel is calculated. At F4, the rotation speed (N) of the mandrel 21 is input to the CPU 100.

At F5, the movement time (T) of the delivery roller is calculated from the mandrel rotation angle (S) and the mandrel rotation speed (N). In F6, the moving time (T) of the delivery roller is converted into an adjusted moving time (Tl) adjusted to the effective accuracy of the equipment used, and in F7, the moving time (T) ≠ the adjusted moving time (Tl) Time (T) = adjustment movement time (T
1) is determined.

In F8, when the movement time (T) ≠ the adjustment movement time (T1), the interpolation coefficient (C) is calculated from the movement time (T) of the delivery roller and the adjustment movement time (T1).
In step 9, using the interpolation coefficient C, the absolute coordinates (Xl, Yl, Zl) of the delivery roller after the interpolation and the mandrel rotation angle (Sl) after the interpolation are calculated.

At F10, using the absolute coordinates (X1, Y1, Z1) of the delivery roller after the interpolation and the mandrel rotation angle (S1) after the interpolation, the coordinate (X) of the increment value of the delivery roller is obtained.
2, Y2, Z2) and the incremental rotation angle of the mandrel (S
2) is calculated.

At F11, when the mandrel rotation speed (N1 = S2 / Tl) using the mandrel increment rotation angle (S2) and the adjustment movement time (T1) is compared with the mandrel rotation speed (N), When it is determined that the condition (2), that is, the adjustment rotation speed (N1 = S2 / Tl)> the mandrel rotation speed (N) +2, is satisfied, a part where it is determined that the condition (2) of the F11 is satisfied is extracted in F12. , F13, the rotational speed (ω) of the mandrel for smoothly operating the extraction part is calculated.

In F14, a corrected adjustment movement time (T2) obtained by correcting the adjustment movement time (T1) using the rotational speed (ω) for smooth operation of the mandrel is obtained. At F15, the delivery roller increment value coordinates (X2, Y2, Z2), the mandrel increment value angle (S2), and the adjusted adjustment movement time (T2) are stored in the storage device 2.

FIG. 6 shows an operating speed distribution of the delivery roller of the filament winding machine according to the present invention. As shown in FIG. 6, according to the present invention, it is possible to eliminate a large fluctuation portion of the machine operation existing in the operation speed distribution of the delivery roller of the filament winding machine according to the conventional technique (FIG. 9).

[0040]

Since the present invention is configured as described above, it has the following effects. (1) Control data for facilitating the operation of the filament winding machine can be created by calculation of the CPU. (2) Therefore, it is possible to improve the production efficiency.

[Brief description of the drawings]

FIG. 1 is a block diagram of an apparatus according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram of an apparatus according to the first embodiment of the present invention.

FIG. 3 is a flowchart of the apparatus according to the first embodiment of the present invention.

FIG. 4 is an overall view of the filament winding machine according to the first embodiment.

FIG. 5 is a detailed view of the delivery roller according to the first embodiment.

FIG. 6 is a speed distribution diagram of the filament winding machine according to the first embodiment.

FIG. 7 is a block diagram of a conventional device.

FIG. 8 is a flowchart of a conventional apparatus.

FIG. 9 is a speed distribution diagram of a conventional filament winding machine.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Input device 2 ... Storage device 3 ... Absolute coordinate operation part of a delivery roller 4 ... Rotation angle operation part of a mandrel 5 ... Movement time operation part of a delivery roller 6 ... Conversion part of movement time → adjustment movement time 7 ... Comparison of movement time Unit 8: Interpolation coefficient calculation unit 9: Absolute coordinate interpolation unit of the delivery roller 10: Mandrel rotation angle interpolation unit 11: Incremental value calculation unit 12: Mandrel adjustment rotation speed fluctuation determination unit 13: Fluctuating part extraction unit 14: Mandrel for smooth operation Rotation speed calculation unit 15 Adjustment movement time correction unit 16 Mandrel rotation speed storage unit 21 Mandrel (winding type) 22 Delivery roller (reinforcing fiber outlet) 23 Creel stand (sets reinforcing fiber bobbin) Place) 24 ... tail stock 25 ... bobbin of reinforcing fiber 26 ... wound reinforcing fiber (filament) 27 ...リ 28 軸 Shaft 29 ベ ア リ ン グ Bearing 100 ＣＰＵ CPU C 補 間 Interpolation coefficient N 回 転 Mandrel rotation speed N1 マ ン Mandrel adjustment rotation speed (N1 = S2 / T1) N2 マ ン Mandrel smooth operation adjustment rotation speed (N2 =
ω) S: Mandrel rotation angle S1: Interpolation value of mandrel rotation angle S2: Mandrel incremental value rotation angle (S2 = △ S) T: Movement time of delivery roller T1: Adjustment movement time T2: Adjustment movement time after correction X, Y, Z: absolute coordinates of the delivery roller X1, Y1, Z1: interpolation values of the absolute coordinates of the delivery roller X2, Y2, Z2: incremental value coordinates of the delivery roller VX, VY, VZ: vector data of the delivery roller

Claims (1)

[Claims] (A) An input device (1) is connected to a mandrel (2).
2) a delivery roller absolute coordinate calculation unit (3) that receives the coordinates and vector data, calculates the absolute coordinates (X, Y, Z) of the delivery roller (22) and outputs the calculation result;
(B) a mandrel rotation angle calculation unit (4) that calculates the rotation angle (S) of the mandrel (22) from the output result of the delivery roller absolute coordinate calculation unit (3) and outputs the calculation result; Mandrel rotation angle calculation unit (4)
A delivery roller movement time calculation unit (5) for calculating the movement time (T) of the delivery roller (22) from the output result of the above and the signal of the mandrel rotation speed storage unit (16), and outputting the calculation result; Means for adjusting the output result of the delivery roller movement time calculation unit (5) to the effective accuracy of the equipment used, that is, an adjustment movement time conversion unit (6) for converting the movement time (T) into an adjustment movement time (T1); E) The movement time (T) of the delivery roller (22) and the adjustment movement time (T)
1) to determine whether or not the two are equal and to output a determination result; and (F) From the comparison result, the travel time (T) is adjusted to the adjusted travel time (T1). ), The interpolation coefficient (C) is calculated from the movement time and the adjusted movement time, and the calculation result is output. (G) The output result of the interpolation coefficient calculation section (8). To the absolute coordinates (X, Y, Z) of the delivery roller (22)
And (H) a mandrel (21) from the output result of the interpolation coefficient calculator (8), which outputs the interpolation result (X1, Y1, Z1).
And (I) incremental value coordinates (X2, Y) of the absolute coordinates of the delivery roller (22).
(2, Z2) and the mandrel rotation angle (S2), which is the incremental value of the mandrel rotation angle, and an increment value calculation unit (11) that outputs the obtained result; and (J) the mandrel rotation angle ( S2) and a mandrel rotation speed fluctuation determination unit (12) that outputs a signal when the adjustment rotation speed (N1) of the mandrel (22) calculated from the adjustment movement time (T1) of the delivery roller rapidly changes. K) a variable portion extracting unit (13) that extracts a variable portion when a signal is input from the mandrel rotation speed variation determining unit (12) and outputs an extraction result; and (L) the variable portion extracting unit (1).
In 3), a mandrel smoothing operation adjustment rotation speed N2 (N2 = ω) that enables smooth operation is obtained, and the obtained operation result mandrel rotation speed calculation unit (14) is output.
(M) an adjustment movement time correction unit (15) for correcting the adjustment movement time (T1) from the output result and outputting a corrected adjustment movement time (T2), and (N) the increment value calculation unit. The output result of (11) (X2, Y2, Z2, and S
2) and the output result (T
A data storage device for a filament winding machine control device, comprising: a storage device (2) for storing (2).