US3400901A

US3400901A - Winding apparatus for forming filament wound objects

Info

Publication number: US3400901A
Application number: US506629A
Authority: US
Inventors: Arthur R Parilla; Robert C Knauer; Robert V Daigle
Original assignee: Dynetics Inc
Current assignee: Dynetics Inc
Priority date: 1965-11-08
Filing date: 1965-11-08
Publication date: 1968-09-10
Anticipated expiration: 1985-09-10

Description

A. R. PARILLA ETAL. 3,400,901

Sept. 10, 1968 WINDING APPARATUS FOR FORMING FILAMENT wouND OBJECTS Filed Nov. e, 1965 2 Sheets-Sheet 1 INVENTORS ARTHUR R. PARILLA ROBERT C. KNA UER ROBERT Y. DAIGLE A. R. PARILLA ETAL 3,400,901

Sept. 10,v 1968 WINDING APPARATUS FOR FORMING FILAMENT woUND OBJECTS Filed Nov. 8, 1965 2 Sheets-Sheet 2 .A RE. wf www 04A; u 1t, maa 0 Sv! vn .u wr N c T une Hes nu z Ann t. W .M/ nmsdl @w XQQDM,

United States Patent O 3,400,901 WINDING APPARATUS FOR FORMING FILAMENT WOUND OBJECTS Arthur R. Parilla, Mountain Lakes, Robert C. Knauer,

Millington, and Robert V. Daigle, Parsippany, N .J assignors to Dynetics, Inc., Mountain Lakes, NJ., a corporation of New Jersey Filed Nov. 8, 1965, Ser. No. 506,629 Claims. (Cl. 242--158) ABSTRACT 0F THE DISCLOSURE This invention relates to a winding machine for forming filament wound objects comprising a rotatable mandrel adapted to receive filament which forms the object and a reciprocating carriage for movement along the mandrel to deliver filament thereto. First circuit means are provided to generate a first electrical signal as a function of the mandrel Iposition and second circuit means for generating a second electrical signal as a function of the carriage position. The electrical signals are combined to produce a resultant control signal which operates means for controlling the movement of the carriage to achieve the relative movement between the carriage and mandrel which produce the desired filament wound object.

This invention relates to a method of and apparatus for winding filament and, more specifically, to an improved A control system fOr depositing filament upon a mandrel in a highly selective and controlled pattern, and which provides an improved filament feeding system that maintains controlled tension upon the filament as it is being wound to form various objects.

Many varied types of objects or articles, such as con tainers and missile components, are now formed by wound filaments. In a common type of filament winding machine used for this purpose, a mandrel having the desired shape of the article is held between two spindles and rotated. At the same time a carriage having a filament feed eye reciprocates along the length of the machine parallel to the axis of rotation of the mandrel, delivering filament or roving that is wrapped around the mandrel either helically or circumferentially or a combination of both.

The filament, usually fiberglass yarn or roving, is supplied as a wrapped package in cylindrical form, called a ball or spook It is common practice to use several spools, thus laying down multiple filaments in one opera tion.

To insure that each roving is properly wound upon the mandrel, the tension during this operation must be carefully maintained and controlled. One apparent way of accomplishing this is to place each spool adjacent the carriage and reciprocate the combination together. The r weight ofY each spool and associated tension, however, have -been found to add considerable mass to that which must already be reciprocated. The added mass, in turn, has increased the inertia loads which are incurred upon reversing the carriage, to such an extent, that this method has been found to be generally unsatisfactory. Its only remaining use is possibly on very large machines. More over, space limitations further restrict this type of 'filament delivering system.

On the other hand, when the spools are positioned at a pointspaced from the carriage and fixed relative to the reciprocating movement other problems have arisen. In particular, the rate at which the filament is paid out is due to two variables: (l) the velocity at which the filament is deposited on the mandrel; and (2) the carriage position. When the carriage position is directly opposite the fixed point from which this filament is supplied, the dis- 3,400,901 Patented Sept. 10, 1968 ICC tance to the feed eye of the carriage is a minimum. As the carriage traverses the machine in a direction away from the fixed point, this distance increases, adding to the velocity of the filament pay-Out. When the carriage reverses and moves back toward the fixed point, the velocity decreases, thereby creating an excess of filament which is relatively slack. With the desired tension thusly lacking, the filament is not laid upon the mandrel in the desired manner necessary to properly form the article.

In winding the filament upon the mandrel under controlled tension, the movement of the mandrel and carriage must also be coordinated to lay down the proper filament pattern. For this purpose previous machines for filament winding have employed mechanical drives, as illustrated for instance in Patent N0. 2,837,456. This comprises an electric motor which drives the mandrel, :and by means of a bevel gear drive, transmits power to a jack shaft. A chain and sprocket drive then reciprocates the carriage through a scotch yoke on the carriage. A double planetary gear system is also required between the bevel gear and the chain and sprocket drive to provide a speed ratio only slightly different from unity so as to displace the winding lpattern one band width to provide uniform coverage of the mandrel.

It is necessary to perform tedious engineering calculations for the required gear ratios, and to provide new gears, sprockets, etc. each time a mandrel of different geometry is to be wound. This greatly increases cost and set-up time. Also, xed gearing cannot readily correct for small discrepancies in mandrel fabrication.

This invention overcomes the difficulties previously mentioned by providing a filament winding machine comprising a moveable mandrel upon which is wound filament, a carriage for delivering the filament t0 said mandrel, and drive means operatively connected to the mandrel and the carriage for maintaining the necessary speed ratio therebetween for forming the filament wound object as well as for adjusting the speed ratio at any time during the operation without causing any delay in the winding of the filament. Moreover, the same drive means is used irrespective of the mandrel employed in forming the object. In addition, the filament is maintained under the desired tension as it is being wound upon the mandrel by feeding the filament from a source to the carriage which moves relative to said source, and maintaining the distance the filament must travel from the source to the mandrel constant irrespective of the movement of the carriage. By so doing the tension of the filament is always constant, even when the carriage is reversed. Accordingly, no excess filament accumulates and the desired tension is therefore maintained throughout the cycle.

Thus, the present invention provides an instantaneous, infinitely variable drive means for the mandrel and the carriage, and at the same time, maintains the filament under the desired tension.

In the preferred embodiment of the invention, a filament winding machine having a rotatable mandrel, a carriage having a filament feed eye and reciprocating along the length of the machine parallel to the axis of rotation of the mandrel, is provided with drive means comprising a variable speed motor for rotating the mandrel, first circuit `means connected to the mandrel providing a first electrical signal as a Ifunction of the mandrel position, a hy draulically operated double acting piston :for reciprocating the carriage, second circuit means connected to the carriage providing a second electrical signal as a function of the carriage position, and servo means connected to the hydraulically operated piston and responsive to said electrical signals for controlling the movement of said carriage to achieve the relative motion between said carriage and mandrel required to form the desired filament wound object.

The accompanying drawings referred to herein and constituting a part hereof, illustrate one embodiment of the invention, -and together with the description, serve to explain the principles thereof.

FIGURE 1 is a lfront elevation of a filament winding machine including the filament delivering system of the present invention;

FIGURE 2 is a side elevation of the filament winding machine including the lament delivering system of the present invention shown in FIGURE 1;

FIGURE 3 is a detailed view, partially in section, of the connection between the filament winding machine frame and the articulated linked assembly of the present invention;

FIGURE 4 is a detailed view, partially in section, of the connection between the carriage and the articulated linked assembly of the present invention;

FIGURE 5 schematically shows the innitely variable speed drive of the present invention.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and are not restrictive of the invention.

In accordance with the present invention there is shown in the drawings a filament winding machine including a base 12, an upright frame 14, secured to the base 12, and a pair of upright pedestals 16 secured to the base 12 spaced from opposite ends of the frame 14. Extending from each

pedestal

16 and 16 are

rotatable spindles

18 and 18 adapted to engage one end of a mandrel 20 ffor rotation in a conventional manner therewith. The mandrel 20 has the shape 0f the product to be formed and is prefi erably collapsible or dissolvable.

The frame 14 includes a pair of

supports

22 and 22 at its opposite ends which are welded to the base 12. Welded to the

supports

22 and 22 is a channel 24 positioned slightly above and spaced from the mandrel 20.

Welded to the top and bottom of the channel 24 are a pair of tracks 26 upon which a carriage 28 is slidably mounted. Each track 26 includes a plurality of L-shaped brackets 30 bolted to the channel 24 and a pair of shafts 32 bolted to the vertical leg of the brackets 30.

The carriage 28 includes a vertical plate 34 from which laterally and rearwardly depend support members 35. The members 35 each have a groove 36 therein which cooperates with a track shaft 32 for reciprocating the carriage 28 therealong. Bolted to the front face of the carriage 28 is an L-shaped bracket 37 with an elongated leg 38 extending partially over the -mandrel 20. At the fforward end of the leg 38 is a carriage feed eye 40 having a bore 42 therethrough over the mandrel 20.

Extending from the rear of the machine 10 is a shelf 46 having an `upright shaft (not shown) upon which a spool 48 of roving or filament 50 is rotatably mounted. In practice as the carriage reciprocates on the tracks 26, the spool 48 rotates about the shaft (not shown), delivering filament 50 to the -mandrel 20 through the carriage feed eye 40. Thus, the position of the spool 48 is fixed relative to the reciprocating movement of the carriage 20. However, the distance the roving 50 travels is maintained constant by feeding it from the spool 48 over a pair of articulated linked

tubes

52 and 54 which will be presently described. Although for simplicity only one spool is shown, it is to be understood that several spools can be similarly mounted on the shelf 46 and simultaneously fed over the linked tubes 52' and 54. In such case multiple rovings are wound upon the mandrel 20 at the same time.

The linked

tubes

52 and 54 are pivotally connected to each other above the frame 14 by overlapping U-shaped brackets 56, 56' secured to adjacent ends of the tubes. The brackets 56, 56' Iarticulate about a bolt 58 which extends through bores (not shown) in the legs of the

brackets

56, 56 and which is threaded at one end to receive a nut 60. To facilitate movement of the filament 50 over the

tubes

52 and 54, a pulley 62 for each spool 4 48 is rotatably mounted on the bolt 58 within the

brackets

56, 56.

The tube 52 is swivelly connected to the frame 14 adjacent the spool 48 -as shown in FIGURE 3. A plate 64 is welded to the rearwardly extending legs of the channel 24 adjacent the spool 48. Welded to the plate 64 is a bearing member 66 having a bore 68 therethrough. Journaled in the bore 68 is a rotatable shaft 70 that also extend above the frame 14. To maintain the shaft 70 within the bore 68, a collar 72 on the shaft 70 rests atop the member 66. In addition, the lower end of the Shaft 70 extends through the bore 68 and is threaded to receive a nut 74.

Secured to the upper end of the shaft 70 above the frame 14 is a U-shaped bracket 76. Secured to the lower end of the tube 52 is a corresponding U-shaped bracket 76 that overlaps the shaft bracket 76. As before, a bolt 78 extends through bores (not shown) in the legs of the

brackets

76, 76 and is threaded to receive a nut 80. Moreover, a pulley 82 for each spool 48 is rotatably mounted on the bolt 78 within the

brackets

76, 76.

The lower end of the tube 54 is connected to the carriage 28 as shown in FIGURE 4. Extending through the carriage bracket leg 38 adjacent the feed eye 40 is a bore 84. Journaled in the bore 84 is a rotatable shaft 86 which extends above the carriage leg 38. To maintain the shaft within the bore 82 a collar 88 on the shaft 86 rests atop the carriage leg 38. In addition, the lower end of the shaft 86 extends through the bore 84 and is threaded to receive a nut 90. The end 92 of the shaft 84 above the carriage leg 38 is bifurcated. Slidably fitted within the bifurcated end is a reduced end portion 94 of the lower end of the tube 54. A bolt 96 extends through bores (not shown) in the interconnecting ends 90, and is threaded to receive a nut 97.

Referring now to FIGURES 1 and 2 for the operation of the machine 10, the filament 50 is fed from the spool 48 to the mandrel 20 over the articulated

tubes

52, 54 and pulleys 62, 82 and through the carriage feed eye 40. The height of the

tubes

52 and 54 above the ca-rriage 28 will be at its maximum when the carriage 28 is directly opposite the spool 48, which in this embodiment is the middle of the mandrel 20. Correspondingly, this height will be at a minimum whenever the carriage is at the ends of the mandrel 20.

The starting position of the carriage 28 may be at any point along the mandrel 20. In the position shown in FIGURE l, the carriage is moving away from the spool 48, delivering filament 50 to the mandrel 20 through the feed eye 4t). In so doing the linked

tubes

52 and 54 are lowered, pivoting about their brackets 56, 56' and swiveling as a unit with their

shafts

70 and 86.

The carriage 28 will continue to be moved away from the spool 48 until it reaches the end of the mandrel 20, and will then be reversed, moving back toward the spool 48 and finally to the opposite end of the mandrel 20. In moving back the lowered linked

tubes

52 and 54 are raised until the carriage 28 is opposite the spool 48 and then they are again lowered as the carriage 28 moves to the opposite end of the mandrel 20. In so doing, the linked

tubes

52 and 54 pivot about their

brackets

56, 56 and swivel as a unit with their

shafts

70 and 86, respectively.

This operation is then repeated until the desired object is formed upon the mandrel 20. During the entire operation, the filament 50 is fed over the

links

52 and 54 and therefore will always travel a constant distance despite the constantly changing distance between the spool 48 and carriage 20. Inasmuch as the distance the filament 50 must travel is always constant, its velocity remains constant .throughout the cycle. Accordingly, there is no slack in the filament 50 at any point in the cycle that will cause it to be improperly wound upon the mandrel 20.

The drives for the mandrel 20 and carriage 28 are schematically shown in FIGURE 5. The mandrel 20 is rotated by a variable speed motor 98 housed in the pedestal 16 adjacent the spindle 18. The carriage 28 is reciprocated by a hydraulically operated double acting piston 100 connected thereto by a cable 102. The piston 100 is suitably mounted within the frame 14. The cable 102 is secured to the carriage by a jig 104 bolted to the upper member 36, as shown in FIGURE 2.

For properly synchronizing the reciprocation of the carriage 28 with the rotation of the mandrel 20, an infinitely variable speed drive 106 is connected therebetween as shown in FIGURES l and 5.

Referring first to FIGURE 1, the infinitely variable drive 106 includes a pair of manually adjustable

variable speed changers

108 and 110 connected to the mandrel spindle 18' which extends through the pedestal 16 for this purpose.

The upper variable speed changer 108 is for varying the helix angle of the filament windings, preferably from about 3 to 80, by selective movement of a manual adjuster 112. This changer 108 is connected to the spindle 18 by intermeshing gears 114 and 116 secured to the ends of the spindle 18 and the changer shaft 118, respectively.

Referring to FIGURE 5, the motor 98 drives the

spindle

18, 18 and the mandrel 20. This rotation is transmitted to the movable arm of an endless circular potentiometer 120 through the manually adjustable helical variable speed changer 108. Impressed across the diameter of the potentiometer 120 is a DC voltage produced by a power supply 125 that preferably is a constant voltage source of low voltage.

At the same time the linear reciprocating movement of the carriage 28 is transmitted to the movable a-rm of a potentiometer 124 that is also connected to a power supply 125. The potentials at the movable contacts of potentiometers 120 and 124 are then compared in the amplifier 126 which responds to the difference potential. The amplifier 126 in turn operates a servo-valve 128 which meters hydraulic fluid from a reservoir 130 and a pump 132 to either side of the double acting piston 100.

The direction the piston 100 is moved depends on the polarity of the output signal developed by amplifier 126. The system thus comprises a servo loop and the carriage 28 is made to reciprocate across the mandrel 20 by the rotation of the

spindle

18, 18 as will now be explained.

The potentiometer 120 has a continuous winding around its circumference. A voltage from the supply 125 is then applied across its diameter. When this voltage is sensed by the arm of the potentiometer 120, this voltage will be a linear function of the angular position of the arm. If this arm is driven at a constant rate of speed, as it is in this machine, the voltage on the arm will change from the maximum at the top terminal, to the minimum at the bottom terminal, and will then rise as the arm sweeps upward. The resulting voltage is therefore triangular in wave form having a period equal in time to one revolution of the potentiometer 120 and having an amplitude equal to the voltage applied across the input terminals of the potentiometer 120.

Since a servo system embodies a command signal, and a follower signal, the voltage output from the carriage potentiometer 124 follows the voltage output from the mandrel potentiometer 120. Each time the command signal reverses (as the arm reaches the extremities of the mandrel potentiometer 120) the carriage travel must also reverse to follow.

In operation the servo-device continually moves the carriage 28 in an attempt to minimize the differential potential being fed to the amplifier 126. Accordingly, the potentiometer arms will move across their respective potentiometers 120 and 124 in synchronism. The difference potential, or error signal, which determines the output signal provided to the servo valve 128 by the amplifier 126, is caused by a slight lag by the arm of potentiometer 124 as it attempts to follow the arm of potentiometer 120.

When the carriage 28 begins to fall behind, there will be an increase in the differential voltage supplied to the amplifier 126. This will cause the servo valve 128 to feed fluid from the reservoir 130 to the piston 100 thereby moving the carriage 28 at a greater rate until the desired relative speed is established. Correspondingly, when `the carriage 28 begins to move too fast there will be a decrease in the differential voltage to the amplifier 126. This will cause the servo-valve 128 to decrease the amount of fluid being fed to the piston 100, thereby decreasing the rate of carriage movement until the desired relative speed is once again established.

In the embodiment shown in the drawings, the carriage 28 travels one complete cycle for each revolution of the potentiometer 120. This occurs because the potentiometer 124 follows the potentiometer 120. However, the desired speed ratio between the mandrel 20 and the carriage 28 is determined from the mandrel geometry.. Thus, the number of revolutions of the mandrel 20 for one traverse (half cycle) of the carriage 28 depends upon the length of the mandrel 20. For example, if the length of the mandrel 20 is doubled while maintaining its diameter and helix angle constant, the mandrel 20 must make more revolutions before the carriage 28 reverses. Therefore, the ratio between revolutions of the mandrel 20 and revolutions of the potentiometer 120 `must also be doubled.

Since the potentiometer 120 is driven by an infinitely Variable speed drive, it can accommodate any mandrel geometry within the machine specifications.

The variable speed drive 106 also serves another important function. When the winding pattern repeats, successive layers of the roving must be slightly displaced, i.e. one filament width, so as to provide uniform coverage over the circumference of the mandrel 20 This incremental change in position of the roving with each successive filament winding requires changing the speed ratio either slightly more or slightly less than the ratio which would cause the roving to pile up on itself. With the present variable speed drive 106, this can be done experimentally very conveniently, greatly reducing machine setup time for developing the pattern for a new mandrel geometry.

The potentiometer 133 is a manual control and together with the adjustment of the mechanical ratio of the changer 108 provides adjustment of the machine for the helix angle and for the span of the carriage motion. In practice the potentiometer 133 varies the applied voltage to the command poentiometer 120 while the voltage to the follower potentiometer 124 is held constant. In this way, if the command voltage span is small, the resulting carriage travel will be small, and if the command voltage span is made larger, the carriage span will be correspondingly increased.

When level (circumferential) windings are desired, the mandrel 20 must make many revolutions with a very slow advance of the carriage 28. The speed ratio for level winding must then be very large compared to helical winding. While theoretically the same unit could be adjusted to provide the ratios, to obtain longer life and reliable operation it is preferred to provide a second speed changer for level winding, as shown in FIGURES l and 5.

The lower variable speed changer 110 also has a manual adjuster 134 (FIG. 2), but this is for varying the circumferential filament windings, preferably from a lead of 0 inch per revolution of the mandrel to about 2 inches per revolution of the mandrel 20. The changer 108 is connected to the spindle 18 through its shaft 136 which extends into the pedestal 16 and has a pulley 138 thereon for receiving a belt 140 that also goes about the pulley 142 vmounted on the spindle 18. In the embodiment shown in the drawings, the step down ratio between the pulleys 138 and 142 is 20: 1.

Rotation is transmitted through the level speed changer 110 to a potentiometer 144 in parallel with the potentiometer used for helical windings which may range from a helix angle of about 3 to 80. As before, the potentiometer 144 has a DC voltage impressed across its diameter, and since it is a linear device, the output voltage appearing at the wiper contact 146 is an oscillating voltage of triangular shape.

The remaining portion of the servo device is the same as before, and it is connected to potentiometer 144 by a switch 148. In practice, when a level winding is desired the switch 146 is moved out of contact with the wiper contact of potentiometer 120 for helical windings and into contact with the wiper contact of potentiometer 144 for level windings.

In some cases, it is desired to wind with alternating layers of helical and level windings. This can readily be done with the dual

variable speed changers

108 and 110, by just switching from a helical winding potentiometer 120 to the level winding potentiometer 144 through the switch 148. In such instance the setting for each

variable speed changer

108 and 110 is -maintained throughout the winding operation, eliminating errors due to improper resetting of a single variable speed drive.

As before the manually adjustable potentiometer 133 can be used to vary the carriage span of the machine 10.

The invention in its broader aspects is not limited to the specific embodiment herein shown and described but departures may be made therefrom within the scope of the accompanying claims, without departing from the principles of the invention and without sacrificing its chief advantages.

What is claimed is:

1. A winding machine for forming filament wound objects, comprising a rotatable mandrel adap-ted to receive filament which forms the object, a reciprocating carriage, means for delivering the filament to said mandrel wherein said carriage moves relative to said filament delivering means, means operatively connected between said delivering means and said carriage for feeding the filament from said delivering means to said carriage and for maintaining the filament length therebetween constant irrespective of the carriage position, first circuit means providing a first electrical signal as a function of the mandrel position, second circuit means providing a second electrical signal as a function of the carriage position, and, servo means responsive to said electrical signals for controlling said carriage to achieve the relative motion between said carriage and mandrel required to form the desired filament wound object.

2. A winding machine for forming filament wound objects, comprising a rotatable mandrel adapted to receive the filament forming the objects, a reciprocating carriage adjacent to said mandrel and moveable along an axis parallel to the axis of rotation of said mandrel, means for supplying the filament to said mandrel through said reciprocating carriage, a motor connected to said mandrel for rotation thereof, first circuit means operatively connected to said rotating mandrel providing a first electrical signal as a function of the mandrel position, drive means connected to said carriage for reciprocation thereof, second circuit means operatively connected to said reciprocating carriage providing `a second electrical signal as `a function of the carriage position, and servo means connected to said drive means and responsive to said electrical signals for controlling said carriage to achieve the relative motion between said carriage and mandrel required to form the desired filament wound object.

3. The filament winding machine recited in claim 2 wherein said servo means relatively moves said carriage in relation to said mandrel so that the filament can be wound upon the mandrel in a helical pattern having a helix angle from about 3 to 80.

4. FBhe filament winding machine reci-ted in claim 2 wherein said servo means relatively moves said carriage in relation to said mandrel so that the filament can be wound upon the mandrel in circumferential pattern with a lead between filaments of about inch per revolution of the mandrel to about 2 inches per revolution of the mandrel.

5. A filament winding machine, comprising a rotatable mandrel upon which is wound the filament to form the desired object, a carriage for delivering filament to the mandrel which reciprocates along the length of the machine parallel to the axis of rotation of the mandrel, a variable speed motor connected to said mandrel for rotation thereof, a hydraulically operated double acting piston connected to said carriage for reciprocation thereof, a reservoir of fiuid for said piston, and servo means operatively connected to said carriage and piston for regulating the amount of hydraulic fiuid that is fed to said piston for controlling the relative movement between said carriage and said mandrel to thereby obtain the desired filament pattern that is to be wound upon said mandrel.

6. In a filament winding machine having a rotatable mandrel, a .housing adjacent said mandrel, a carriage mounted on said housing which reciprocates along the length of said mandrel parallel to the axis of rotation thereof and wherein said carriage has a filament feed eye through which is fed said filament onto the mandrel, and a stationary spool spaced from the carriage, the impovement which comprises a plurality of rigid articulately connected linked members over which the filament is fed from said stationary spool and through said carriage feed eye onto said mandrel, the links being pivotally connected to one another above the filament winding machine and having the lower end of yone link adjacent the machine housing swivelly connected thereto and the lower end of the link adjacent the carriage swivelly connected thereto such that the llinks are raised and lowered with the movement of the carriage to maintain the length of the filament between said spool and carriage feed eye constant, irrespective of the reciprocating movement of said carriage.

7. A winding machine for forming filament wound objects in yaccordance with claim 1 wherein:

the carriage includes a feed-eye extending therethrough for feeding the filament from the carriage to the mandrel and means are provided for horizontally dise placing the carriage in `a predetermined manner during its reciprocating movement.

8. A winding machine for forming filament wound objects comprising:

a rotatable mandrel adapted to receive filament which forms the object,

a reciprocating carriage,

a filament supply for delivering filament from said supply through the carriage to the mandrel,

first circuit means providing a first electrical signal as a function of the mandrel position,

second circuit means providing a second electrical signal as a function of the Icarriage position, and,

servo means responsive to said electrical signals for controlling said carriage to achieve the relative motion between said carriage and mandrel required to form the desired filament wound object.

9. A winding machine for forming filament wound 0bjects comprising:

a movable mandrel adapted to receive the filament that forms the objects,

a movable carriage,

means for delivering the filament to said mandrel through said carriage,

first circuit means providing a first electrical signal as a function of the mandrel movement,

second circuit means providing a second electrical signal as a function of the carriage position,

means for combining the first and second electrical signals to produce a resultant control signal, and, control means responsibe to said control signal for controlling the relative movement of the carriage and mandrel to form the desired filament wound object.

10. A winding machine for forming filament wound objects in accordance with claim 9 wherein:

the first circuit means includes a power supply, at least one variable speed drive connected to the movable mandrel, a potentiometer operatively connected to the variable speed drive, and circuit means connecting the power supply to the potentiometer to produce a first electrical signal as a function of the mandrel movement. 11. A winding machine for forming filament wound objects in accordance with claim 10 further including:

rst and second variable Speed drives, and, means for switching between the variable speed drives to produce a predetermined filament wound object. 12. A winding machine for producing filament Wound objects in accordance with claim 10 wherein:

the variable speed drive operates the potentiometer at a lesser rotational speed than the mandrel to produce a predetermined helically wound filament object. 13. A winding machine for forming filament wound objects in accordance with claim 9 wherein:

the second circuit means comprises a power supply, a potentiometer coupled to the movable carriage and to the power supply to produce a second electrical signal as a function of the carriage position. 14. A winding machine for forming lilament wound articles in'accordance with claim 9 wherein:

the firstcircuit means includes a first and a second variable speed drive, a potentiometer operatively connected to each of said drives, a power supply, and means for connecting either the first or the second variable speed drive to the power supply to produce a lirst electrical signal as a function of mandrel movement, one of said potentiometers being operated at a relatively low rotational speed to produce a signal resulting in a predetermined circumferentially wound filament.

15. A filament winding machine comprising:

a rotatable mandrel upon which is wound the tilament to form the desired object,

a carriage for delivering filament to said mandrel which reciprocates along the length of said mandrel parallel to the axis of rotation thereof,

a pair of tracks positioned adjacent the top and bottom of said carriage, said carriage having means extending therefrom which are mounted for movement along said tracks,

a stationary spool of filament spaced from the carriage,

and,

a plurality of articulated rigid links between said mandrel and spool over which the roving is fed from the spool to the carriage, said articulated links having one end connected to the carriage for movement therewith.

References Cited UNITED STATES PATENTS 1,641,300 9/1927 spencer 242-158 2,950,068 8/1960 Rutgers 242-43 2,988,292 6/1961 Bliss 242-1584 X FRANK I. COHEN, Primary Examiner.

NATHAN L. MINTZ, Assistant Examiner.