JPH0716937A - Filament winding machine - Google Patents

Abstract

PURPOSE:To obtain a filament winding (F/W) machine molding a fiber reinforced plastic product by a filament winding method and enabling the conservation of space and desired tension control. CONSTITUTION:A creel stand (roving bobbin attaching device) 5 being a roving (elongated fiber bundled yarn) supply device, a resin bath (resin tank) 7 and a winding part 8 are constituted as an integrated structure setting a roving sending-out angle to the min. angle and a lever type tension control mechanism 6 is provided to constitute a filament winding (F/W) machine.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a filament winding machine for molding a fiber reinforced plastic product by a filament winding method.

[0002]

2. Description of the Related Art Filament winding machine (Fi
lament Winding machine: Hereinafter referred to as F / W machine is fiber reinforced plastic (FRP: Fiber Reinforced Pla)
This is a machine for molding products using a filament winding method (hereinafter referred to as F / W method), which is one of the molding methods for stics), and winds a resin-impregnated filament impregnated with a thermosetting resin around a mandrel. It is a device.
As the filament, roving (thread that bundles elongated fibers) or tape is used.

In the F / W machine, the filament is hung on the mandrel through a resin bath, which is a resin tank, and the mandrel is rotated, whereby the filament is impregnated with the resin inside the resin bath. It will be rolled up. Then, at that time, the long filament is continuously wound around the mandrel according to the set pattern. As a result, a molded product formed by being wound in the shape of the set pattern on the mandrel can be obtained.

By the way, in an existing F / W machine, for example, when roving is used as a filament, a roving supply including a creel stand (a bobbin mounting device around which the roving is wound) and a resin bath (resin bath), which is a roving (thread) supply device. The mechanical system is configured separately from the F / W machine body.

That is, the F / W machine has a roving supply mechanism system, a mandrel holding mechanism system which is a mechanism portion for holding and rotating the mandrel, and a position adjusting device for guiding the supplied roving to a desired position on the outer periphery of the mandrel. It consists of the winding part, which is a mechanism, and by positioning the mandrel winding of the roving in the winding part while rotating the mandrel, the roving is fed from the bobbin and wound around the mandrel.
The winding part is configured so that its position is moved along the mandrel.

In order to smoothly supply the roving to the winding section, the roving supply mechanism system can be arranged separately from the F / W machine body including the mandrel holding mechanism system and the winding section. It is placed separately.

Since the roving delivery angle (thread delivery angle) generated by the movement of the winding section needs to be kept below the limit angle, the roving feed mechanism system is limited to the roving delivery mechanism system with respect to the F / W machine body. The F / W machine has to be arranged at the following positions, and when the large FRP molded product is manufactured, the separation distance becomes long, so that the installation occupied area of the F / W machine becomes large.

Further, in the conventional F / W machine, since the control of the roving tension (thread tension) when winding the roving around the mandrel is also simple using a spring or the like, it is difficult to set a delicate tension. It was

[0009]

As described above, the conventional F
In the / W machine, the roving supply mechanism system is arranged separately from the main body of the F / W machine, and it is necessary to keep the roving delivery angle (yarn delivery angle) generated by the movement of the winding section below the limit angle. Therefore, in the case of a device for manufacturing a large FRP molded product, a roving supply mechanism system including a creel stand and a resin bath needs to be installed at a position sufficiently separated from the main body of the F / W machine. , F / W machine occupies a large installation area.

In the conventional F / W machine, the control of the roving tension (thread tension) when winding the roving around the mandrel is also simple using a spring or the like, so it is difficult to set the delicate tension. It was Further, the production of the high value-added FRP product requires a delicate tension setting, and thus the conventional F / W machine has a difficulty in being applied to the production of the high value added FRP product.

Therefore, the object of the present invention is to
An object of the present invention is to provide a filament winding machine that can realize a compact device and can manufacture a high-value-added FRP product that enables fine tension setting.

[0012]

In order to achieve the above object, the present invention is configured as follows. That is, a device applied to a filament winding method for molding a fiber reinforced plastic (FRP), which holds a bobbin wound with a filament in a device for molding a product by winding the filament on a rotating mandrel. A holding means, a resin tank for impregnating the filament fed from the bobbin with a resin, and a guide means for guiding the impregnated filament to a desired position on the mandrel are installed on a moving means movable along the mandrel. The holding means for holding the bobbin is provided with a lever type tension control means for applying a required tension to the filament to be fed.

[0013]

In this structure, the holding means, the resin tank, and the guide means are installed on the moving means that can move along the mandrel. Therefore, the filament fed from the bobbin on the moving means is impregnated with resin in the resin tank on the same moving means, guided by the guiding means on the same moving means, and wound around the mandrel. Since these are on the same moving means, the sending angle can be sent at the minimum angle, and since they are integrated, a space-saving structure is provided. Further, by using the lever type tension control means, the tension setting control on the filament is excellent, and it can be used for forming a high value-added FRP product which requires delicate filament tension control.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing the overall configuration of the device according to the present invention, and FIG. 2 is an enlarged view of a roving supply device portion including a tension adjusting mechanism.

In FIG. 1, 1 is an S-axis bed, 2 is a mandrel, 3 is an X-axis bed, 4 is a Y-axis bed, 5 is a creel stand, 6 is a tension adjusting mechanism, 7 is a resin bath (resin tank), and 8 is A winding unit, 9 is a Z-axis moving base, and 10 is a roving (thread).

The S-axis bed 1 holds the mandrel 2 and rotates the mandrel 2 by a rotation drive mechanism on the S-axis bed 1. The direction around the rotation axis of the mandrel 2 is herein referred to as the S-axis direction. I will call it. The X-axis bed 3 is arranged close to and parallel to the S-axis bed 1, and a guide 3a is provided on the upper surface. The guide direction of the guide 3a will be referred to as the X-axis direction. The X axis is parallel to the rotation axis of the mandrel 2.

A Y-axis bed 4 is arranged on the X-axis bed 3. The Y-axis bed 4 is guided by the guide 3a and can move on the X-axis bed 3 in the X-axis direction. Further, the Y-axis bed 4 has a moving table 4a, and this moving table 4a
Is configured to be movable in the advancing / retreating direction with respect to the mandrel 2. The moving direction of the moving table 4a will be referred to as the Y-axis direction.

A guide extending in the vertical direction is provided on the side surface of the movable table 4a (one side surface seen from the end of the X-axis bed 3), and the guide can be moved in the vertical direction (called the Z-axis direction). Is provided with a Z-axis moving base 9. Z-axis moving table 9
Can be moved in the Z-axis direction by a drive moving mechanism such as a lead screw provided on the moving table 4a. Further, the resin bath 7 is attached to the Z-axis moving base 9, and
A winding part 8 extending in the Y-axis direction is attached. The winding part 8 is the first winding arm 8
a and the second winding arm 8b, the first winding arm 8a is rotatable about its axis, and the second winding arm 8b is the first winding arm 8b.
It is attached to the tip side of the winding arm 8a,
It can be swung with respect to the first winding arm 8a.

The rotation direction of the first winding arm 8a is called rotation about the φ axis, and the swinging direction of the second winding arm 8b is called θ direction. Second
The roving 10 is attached to the tip of the winding arm 8b.
Of the mandrel 2. The drawer part of the mandrel 2 faces the side surface of the mandrel 2 depending on the position of the drawer part.
The roving 10 wound around is positioned.

A creel stand 5 is attached to the Y-axis bed 4. The creel stand 5 is a bobbin mounting device around which the roving 10 is wound, and has a structure as shown in FIG.

That is, it is constituted by an arm-shaped member, and the bobbin 5a can be attached to the tip thereof, and the rovings 10 wound on the attached bobbin 5a are arranged on the arm with a space. The plurality of pulleys 5b are hung and guided to the Z-axis moving base 9,
It is configured to be pulled out from the winding portion 8 to the mandrel 2 through the lead-out portion of the second winding arm 8b via the resin bath 7.

A tension adjusting mechanism 6 is attached to the creel stand 5. The tension adjusting mechanism 6 is a roving (thread) 1.
It is a mechanism to adjust the tension of 0 and adopts a lever type automatic tension control system. The tension adjusting mechanism 6 has a structure in which a pulley 6a is provided at the tip of a lever, the roving 10 hung on the pulley 5b is hooked on the pulley 6a, and the tension is adjusted by rotating the lever.

The portions of the above-mentioned components that are rotated, rotated, or moved are configured so that a required amount of rotation, rotation, or movement can be performed by a driving operation system (not shown).

FIG. 5 is a block diagram showing the system configuration of an F / W machine according to an embodiment of the present invention. The F / W machine 55 in the figure has the structure described in FIGS. 1 and 2, and is a manipulator unit (movable element part in the F / W machine, that is, a rotating part and a moving part).
It has an axis (X-axis, Y-axis, Z-axis, φ-axis, θ-axis described above) and a mandrel rotation axis (S).

FIG. 3 is a diagram showing the correspondence relationship between the mandrel of the shaft element of the F / W machine including the filament locus data (roving locus data) in an easy-to-understand manner. Further, FIG. 4 is a diagram showing filament locus data and machine parameters, and shows the relationship seen from the side surface of the mandrel 2.

In FIGS. 3 and 4, x is the X axis, y is the Y axis, z is the Z axis, φ is the φ axis, θ is the θ axis, and s is the S axis which is the mandrel rotation axis. Pn 'is the nth winding coordinate (after rotation by the skipping angle) (Pnx, Pny, Pnz), v
n'is a tangential vector in the winding direction at Pn (after rotation by the skipping angle) (vnx, vny, vnz), that is, a vector obtained by rotating vn by the mandrel rotation angle, WP is the winding angle position, s is the mandrel rotation angle, x is the amount of movement in the X-axis direction, y
Is the amount of movement in the Y axis direction, z is the amount of movement in the Z axis direction, φ is the rotation angle around the Y axis, θ is the rotation angle around the Z axis, Lφ is the length of the φ axis, and Lθ is the length of the θ axis. , L Roving is the distance between the tip of the manipulator and the winding point, L Offset is the offset between the right end of the mandrel 2 and the origin of the mandrel 2, O is the origin of the manipulator (= reference coordinate system origin), O ′ is the origin of the mandrel 2, WP is the winding angle position, Pn is the nth winding coordinate (after rotation by the skip angle) (Pnx, Pny, Pnz), Vn is the winding direction tangent vector at Pn (after rotation by the skip angle) (vnx, vny) , Vnz), L Roving is the distance between the manipulator tip and the winding point, and a is a vector representing the tip axis posture.

However, Pn and vn are coordinates and vectors on the stationary mandrel, and Pn 'and vn' are coordinates and vectors on the mandrel during winding (while rotating).

These data and parameters enable the calculation of machine axis values. In the system of the present invention shown in FIG. 5, the F / W machine 55 is controlled by the F / W machine controller including the online controller 53, the local controller 54 and the offline controller 51.
Drive control of the axis and the S axis is performed.

The control device in FIG. 5 is composed of such three computers, and the function of each is as follows. The off-line controller 51 is installed on the office side, and is an apparatus that performs filament locus data generation and winding simulation on the mandrel 2 by three-dimensional graphics.

The offline controller 51 has a floppy drive and a communication interface, and the data generated by the above simulation can be transferred to the online controller 53 via the floppy disk 52 (or communication interface).

The online controller 53 is installed on the factory side and has a function of calculating an axis value within a control cycle and transmitting the data to the local controller 54. In addition to the online function, it also has a function of simulating axis movement using a triangular projection (see FIG. 6).

The online controller 53 also has a teaching data collection button for collecting teaching data (CP, PTP), and by pressing this teaching data collection button, the axis value at that time is saved. be able to. Moreover, teaching playback can be performed.

The local controller 54 is also installed on the factory side, and based on the control axis value data given from the online controller 53, the target value interpolation calculation and the soft servo calculation are performed to control the machine of the F / W machine 55. It is something to do. Further, the local controller 54 alone can perform position display and inching operation by reading a push button input on the operation panel surface.

As described above, the F / W machine control device has a filament locus generation function composed of three-dimensional coordinate data and three-dimensional vector data, a machine axis value calculation function generated from the locus, and an axis value by feedback control. It has a control function and a teaching function.

By inputting mandrel shape information, filament information, and winding information, a point sequence (three-dimensional coordinates) and a vector sequence (three-dimensional vector) on the mandrel 2 and angle data called a flying angle are formed. To generate a filament locus.

The filament locus data has the following format. Winding coordinates POn = (POnx, POny, POnz) Winding direction vector vOn = (vOnx, vOny, vO
nz) n = 0 to (reciprocating frequency-1) Flying angle Jfm (forward), Jbn (returning) m = 0 to (reciprocating frequency-1) The POn is a coordinate on the stationary mandrel.

That is, by generating such a filament locus by the offline controller 53 and inputting the generated locus and various machine parameters to the online controller 53, the online controller 53 sets the control axis value within the control cycle. calculate. The local controller 54 performs target value interpolation and soft servo calculation based on this control axis value calculated by the online controller 53.

Generated filament locus and machine control parameters (angle of winding, distance between winding position and machine tip (tip of winding arm 8b), machine tip (tip of winding arm 8b) axis angle:
The machine axis value is calculated within the control cycle by using the conventional robot control method by inputting (all variable above). Then, the target value interpolation calculation and the soft servo calculation are performed by the control axis value, and the machine control is performed.

Teaching data (CP; Continuous Patb, P
TP; Point To Point) The axis value at that point is saved by pressing the collection button. In F / W machine control, in addition to the well-known robot control technology that performs work such as cutting and welding, due to the nature that continuous filaments must be continuously wound according to the set pattern on the mandrel. , A control parameter in consideration of the above properties is required. It is also necessary to specify the winding pattern with a small amount of data and efficiently in calculation.

In view of the above properties, this control device can perform the most suitable control for F / W machine control. Next, the operation of the present apparatus having such a configuration will be described.

First, the mandrel 2 is attached to the S-axis bed 1 (see FIG. 1) of the F / W machine 55. And
A plurality of rovings 10 are attached to a Y-axis bed 4 that moves on the X-axis bed 3 and are integrated with the Y-axis bed 4, and a plurality of rovings 10 are provided through a tension adjusting mechanism 6 of a lever type automatic tension control system. The winding unit 8 is guided to the Z-axis moving base 9 and the resin bath 7 on the Z-axis moving base 9 is used to wind the winding unit 8.
Of the roving 10 is connected to the mandrel 2.

Then, by the combination with the control device shown in FIG. 5, simultaneous control of 6 axes (X axis, Y axis, Z axis, φ axis, θ axis, S axis) is performed, and the mandrel is operated under optimum winding conditions. The roving 10 is wrapped around the 2 to make the product.

In the apparatus of this embodiment, the Y-axis bed 4 is provided with the creel stand 5 having an integral structure, and the resin bath 7 and the winding section 8 provided on the Z-axis moving table 9 mounted on the Y-axis bed 4 at the same time. Since the mandrel 2 is moved to the winding position, it is possible to set the feeding angle of the roving (thread) 10 to the minimum angle.

Further, a constant tension can be maintained by the tension adjusting mechanism 6 by the lever type automatic tension control system against the looseness or tension of the roving 10 which occurs when the roving 10 is wound, and the roving 10 is attached to the mandrel 2. It is possible to wind it evenly.

As described above in detail, the present invention is a winding part which is a constituent part of a roving (thread) supply device,
The creel stand and resin bath have been integrated into one structure, and the lever type automatic tension control system has been adopted to control the tension on the roving (thread). Since the winding part, which is a constituent part of the roving (thread) supply device, the creel stand, and the resin bath are integrally structured, the distance for keeping the roving (thread) feed-out limit angle or less is unnecessary, and the installation space can be saved. .

For controlling the tension on the roving (thread),
By adopting the lever type automatic tension control system, it is possible to set the fine tension for roving. In the conventional F / W machine, since the creel stand and the resin bath, which are roving (thread) supplying devices, are separately placed from the main body of the device, the occupying area of the entire device becomes large, and a wide installation place is required. In addition, since the roving tension mechanism is simple, there is a problem that it cannot be applied to the production of high value-added FRP products that require delicate tension setting because it cannot be delicately set. However, the present invention solves this problem. To be done. It should be noted that the present invention is not limited to the above-described embodiments, but can be carried out by being modified appropriately within the scope of the invention.

[0047]

As described above in detail, according to the present invention,
By placing the creel stand and resin bath in the winding part and making it an integrated structure, roving (thread)
The delivery angle can be minimized and the device can be made compact. Also, by adopting the lever type automatic tension control system for the roving (thread) tension mechanism, it becomes possible to set the delicate tension, and it is possible to manufacture higher value-added FRP products.

[Brief description of drawings]

FIG. 1 is an external view of an F / W machine according to an embodiment of the present invention.

FIG. 2 is a diagram for explaining an embodiment of the present invention,
FIG. 2 is an enlarged view of a creel stand of the F / W machine in FIG. 1 and a tension adjusting mechanism portion of a lever type automatic tension control system.

FIG. 3 is a diagram for explaining an embodiment of the present invention,
The figure which showed easily the correspondence with the mandrel of the axis element of the F / W machine containing filament locus data (roving locus data).

FIG. 4 is a diagram for explaining an embodiment of the present invention,
The figure showing filament locus data and machine parameters.

FIG. 5 is a diagram for explaining an embodiment of the present invention,
The block diagram which shows the system configuration of a F / W machine.

FIG. 6 is a diagram for explaining an embodiment of the present invention,
The figure which showed the simulation result by the simulation function of the axis operation | movement using the triangular projection which the online controller 53 has.

[Explanation of symbols]

 1 ... S-axis bed 2 ... Mandrel 3 ... X-axis bed 4 ... Y-axis bed 4a ... Moving stand 5 ... Creel stand 5a ... Bobbin 5b, 6a ... Pulley 6 ... Lever type automatic tension control mechanism 7 ... Resin bath 8 ... winding part 8a ... first winding arm 8b ... second winding arm 9 ... Z-axis moving base 10 ... roving (thread) 51 ... offline controller 52 ... floppy disk 53 ... online controller 54 ... local controller 55 ... F / W machine.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Katsuto Takada 1-1-1, Wadasaki-cho, Hyogo-ku, Kobe-shi, Hyogo Mitsubishi Heavy Industries Ltd. Kobe Shipyard (72) Inventor Kyoko Morii Hyogo-ku, Kobe-shi, Hyogo 1-1-1 Wadazakicho Mitsubishi Heavy Industries Ltd. Kobe Shipyard

Claims (1)

[Claims] 1. A device applied to a filament winding method for molding a fiber reinforced plastic (FRP), which is a device for molding a product by winding a filament on a rotating mandrel. Holding means for holding, a resin tank for impregnating the filament fed from the bobbin with a resin, and a guide means for guiding the impregnated filament to a desired position on the mandrel are provided as moving means movable along the mandrel. A filament winding machine, characterized in that the holding means for holding the bobbin is provided with a lever-type tension control means for applying a required tension to the filament to be fed out.