JP7639365B2 - Tank Manufacturing Equipment - Google Patents

Description

The present invention relates to a tank manufacturing device.

Patent documents 1 to 5 disclose technologies relating to tank manufacturing using a filament winding device that winds fibers around a fuel tank liner for fuel cells. Patent document 1 discloses that after the fiber winding is completed, a delivery device holds the fiber, a cutting device cuts and separates the fiber from the wound mandrel, a discharge device discharges the wound mandrel, an installation device sets up the unwound mandrel, and a winding device starts winding the fiber held by the delivery device around the unwound mandrel. Patent document 2 discloses that a rotation mechanism and a turning mechanism are controlled so that the mandrel and bobbin rotate and turn in the same direction during helical winding.

Patent Document 3 discloses a method for smoothly switching from a first fiber bobbin to a second fiber bobbin. Patent Document 4 discloses that when cutting the fiber wound around the mandrel, the fiber is fixed between the existing portion wound around the mandrel and the fiber winding device, and the fiber is cut between the existing portion and the fixed portion. Furthermore, Patent Document 5 discloses that when replacing the bobbin, the diameter of the new bobbin is calculated.

JP 2009-39951 A JP 2010-692 A JP 2014-231145 A JP 2015-3405 A Patent No. 6404018

When winding fibers around a fuel tank liner using a filament winding device, it is necessary to exchange the incomplete fuel tank liner before the fibers are wound on it with the completed fuel tank liner after the fibers have been wound on it. Typically, the incomplete fuel tank liner is transported to a tank exchange device provided on the filament winding device, and the completed fuel tank liner that has been replaced by the tank exchange device is removed.

The time required for this tank replacement operation is extremely short compared to the time required for filament winding, which involves wrapping fiber around an incomplete fuel tank liner. As a result, the tank replacement device is out of operation for a long period of time during filament winding. Therefore, it is desirable to improve the operating rate of the tank replacement device.

The present invention aims to provide a tank manufacturing device that can easily improve the operating rate of a tank replacement device that replaces fuel tank liners in a filament winding device.

A first aspect of the tank manufacturing apparatus of the present invention includes a filament winding device that winds fiber around an incomplete fuel tank liner before the fiber is wound thereon, a station that transfers the incomplete fuel tank liner and the completed fuel tank liner after the fiber has been wound by the filament winding device, and a tank exchange device that moves between the filament winding device and the station to transport the incomplete fuel tank liner and the completed fuel tank liner, and supplies the incomplete fuel tank liner to the filament winding device or collects the completed fuel tank liner from the filament winding device , and the tank exchange device includes a cart that moves between the filament winding device and the station, and a transfer device connected to the cart that supplies the incomplete fuel tank liner to the filament winding device and collects the completed fuel tank liner from the filament winding device .
A tank manufacturing apparatus according to a second aspect of the present invention includes a filament winding device that winds fibers around an incomplete fuel tank liner before the fibers are wound thereon, a station that transfers the incomplete fuel tank liner and the completed fuel tank liner after the fibers have been wound thereon by the filament winding device, and a tank exchange device that moves between the filament winding device and the station to transport the incomplete fuel tank liner and the completed fuel tank liner, and supplies the incomplete fuel tank liner to the filament winding device or recovers the completed fuel tank liner from the filament winding device. The filament winding device is configured to wind a fuel tank liner around a corresponding incomplete fuel tank liner mounted on the filament winding device. The filament winding device comprises a jig unit that is attached to a predetermined position on an object and has a working element that grips the starting end of the winding of the fiber, the tank exchange device comprises a transport unit having a gripping mechanism that grips and releases the jig unit, and a transport mechanism that transports the jig unit to a predetermined position on the object by moving the gripping mechanism, the object being an incomplete fuel tank liner or an extension member connected to an incomplete fuel tank liner, the filament winding device comprises a waiting table where the jig unit is placed when the jig unit is not attached to the object, and the transport unit transports the jig unit gripped by the gripping mechanism between the waiting table and the predetermined position on the object by operating the transport mechanism.
A tank manufacturing apparatus of a third aspect of the present invention includes a filament winding device that winds fiber around an incomplete fuel tank liner before the fiber is wound thereon, a station that transfers the incomplete fuel tank liner and the completed fuel tank liner after the fiber has been wound by the filament winding device, and a tank exchange device that moves between the filament winding device and the station to transport the incomplete fuel tank liner and the completed fuel tank liner, and supplies the incomplete fuel tank liner to the filament winding device or collects the completed fuel tank liner from the filament winding device, and at the station, the incomplete fuel tank liner transported by the unmanned transport device is transferred to the tank exchange device, and the completed fuel tank liner collected by the tank exchange device is transferred to the unmanned transport device.

With this, the tank exchange device of the tank manufacturing device can move between the station and the filament winding device. Also, the tank exchange device can move to the filament winding device to supply incomplete fuel tank liners or collect completed fuel tank liners. This eliminates the need to permanently install the tank exchange device on the filament winding device, and the operating rate of the tank exchange device can be improved.

FIG. 2 is a diagram for explaining a configuration of a tank manufacturing apparatus. FIG. 2 is a plan view of a filament winding device of the tank manufacturing apparatus. FIG. 5 is a diagram showing the jig unit in a state where the release button is pressed (as viewed from the front side in FIG. 3 ). FIG. 4 is a diagram showing the jig unit in a state in which the rear end of the swing lever is pressed (as viewed from the right side of FIG. 3 ). FIG. FIG. 2 is a partial perspective view showing a fuel tank liner and an extension member. 10 is a partial cross-sectional view showing a state in which the jig unit is attached to a predetermined position (attachment portion). FIG. FIG. 2 is a plan view of a tank exchange device of the tank manufacturing device. 10 is a diagram for explaining a configuration of a delivery device of the tank exchanging apparatus. FIG. 10 is a diagram for explaining the driving of the transfer device in FIG. 9 . FIG. FIG. 2 is a partial perspective view showing the tip portion of the transport unit, and showing a transport mechanism, a jig tool, and a cutter tool. 4 is a flowchart showing the operation of the tank manufacturing apparatus. FIG. 11 is a perspective view showing the operation of the tank exchange device and illustrating the operation of retrieving a completed fuel tank liner. FIG. 11 is a perspective view showing the operation of the tank exchange device and illustrating the operation of supplying an incomplete fuel tank liner.

(1. Overview of the tank manufacturing equipment)
The tank manufacturing apparatus includes a plurality of filament winding devices that wind fibers around fuel tank liners, and a tank exchange device that transports and supplies incomplete fuel tank liners, which have not yet been wound with fibers, to the filament winding devices and receives and carries out completed fuel tank liners, which have been wound with fibers, from the filament winding devices.

One tank exchange device is provided for each of a number of filament winding devices, and moves between the filament winding device that waits for the discharge of completed fuel tank liners and the supply of incomplete fuel tank liners, and a station that receives incomplete fuel tank liners and hands over the completed fuel tank liners. For this reason, the tank exchange device is equipped with a cart and a transfer device fixed to the cart. The transfer device includes a support erected on the cart, a first arm fixed to the support and discharging the completed fuel tank liner from the filament winding device and supporting the completed fuel tank liner, and a second arm fixed to the support and supporting the incomplete fuel tank liner and supplying the incomplete fuel tank liner to the filament winding device.

The cart moves, for example, on rails laid parallel to the arrangement direction of the multiple filament winding devices. The support pillar, the first arm, and the second arm are equipped with an extension mechanism that extends and retracts the arms supporting the incomplete fuel tank liner or the completed fuel tank liner, for example, vertically and toward the filament winding device.

The first arm is then moved by the carriage to a position opposite the filament winding device, and then extended toward the filament winding device by the telescopic mechanism, supporting the completed fuel tank liner and retrieving it from the filament winding device. Meanwhile, the second arm is moved by the carriage to a position opposite the filament winding device, and then extended toward the filament winding device by the telescopic mechanism, supplying the incomplete fuel tank liner to the filament winding device.

Here, at the station, an unmanned tank exchange device (AGV) transports incomplete fuel tank liners that have been through the process prior to the fiber winding process in the tank manufacturing process, and transports completed fuel tank liners to the process following the fiber winding process. In other words, the tank exchange device transports incomplete fuel tank liners from the station to the filament winding device, and transports completed fuel tank liners from the filament winding device to the station. In this case, the first arm passes the completed fuel tank liner to the unmanned tank exchange device (AGV) at the station. Also, the second arm receives the incomplete fuel tank liner from the unmanned tank exchange device (AGV) at the station.

The tank exchange device in this example is provided with a transport unit. The transport unit has the function of transporting a jig unit provided in the filament winding device. The jig unit can hold the winding start end, and the transport unit transports the jig unit holding the winding start end to a specified position on the incomplete fuel tank liner.

The jig unit does not have an active actuator because it passively grips the winding start end. In other words, the jig unit cannot grip the winding start end unless it is operated by another device, and it will only maintain either a state in which it does not grip the winding start end or a state in which it grips the winding start end.

(2. Overall configuration of tank manufacturing device P)
The overall configuration of the tank manufacturing apparatus P will be described with reference to Fig. 1. The tank manufacturing apparatus P includes a plurality of filament winding apparatuses 10 (hereinafter referred to as "FW apparatuses 10") and one tank exchanging apparatus 100. Here, in the tank manufacturing apparatus P of this example, five FW apparatuses 10 are arranged in a row, and a case is illustrated in which one tank exchanging apparatus 100 moves from station St to any one of the FW apparatuses 10 on a rail R laid in parallel to the arrangement direction of the FW apparatuses 10.

At the tank manufacturing device P, the incomplete fuel tank liner Tb is transported to station St by an automated guided vehicle (AGV). At station St, the tank exchange device 100 receives the incomplete fuel tank liner Tb from the automated guided vehicle (AGV), places it on the tank, and moves to the FW device 10 that is requesting the supply of the incomplete fuel tank liner Tb, and hands over the incomplete fuel tank liner Tb.

Then, in the tank manufacturing equipment P, the FW device 10 receives the incomplete fuel tank liner Tb transported by the tank exchange device 100 and winds the fiber around it. Furthermore, in the tank manufacturing equipment P, the tank exchange device 100 receives the completed fuel tank liner Ta on which the fiber has been wound by the FW device 10, and passes the completed fuel tank liner Ta to an automated guided vehicle (AGV) at station St.

(3. Configuration of FW Device 10)
2, the FW device 10 is a device that winds fiber F around an incomplete fuel tank liner Tb for a fuel cell on which fiber F has not yet been wound, to manufacture a completed fuel tank liner Ta on which the winding of fiber F has been completed. In the following description, when there is no need to distinguish between the incomplete fuel tank liner Tb and the completed fuel tank liner Ta, the incomplete fuel tank liner Tb and the completed fuel tank liner Ta will be simply referred to as the "fuel tank liner T."

The fuel tank liner T comprises a tank body T1 and nozzles T2 and T3 at both ends of the tank body T1. In addition, to facilitate winding the fiber F around the fuel tank liner T (incomplete fuel tank liner Tb), an extension member E is connected to the nozzle T2 so that the nozzle T2 can rotate integrally. The extension member E is formed in an axial shape and is located on an extension line of the nozzle T2. The fiber F is primarily wound around the outer peripheral surface of the tank body T1.

The FW device 10 includes a rotation device 12 and a rotation device 13 that rotatably support and rotate the fuel tank liner T and the extension member E on a base 11. The rotation devices 12 and 13 support, for example, one of the nozzles T3 of the fuel tank liner T and the extension member E. The rotation devices 12 and 13 are then driven to rotate around the central axis of the fuel tank liner T.

The FW device 10 also includes a rail 14 that extends parallel to the central axis of the fuel tank liner T on the base 11, and a slider 15 that can slide along the rail 14. The slider 15 holds the fiber F. As a result, when the fuel tank liner T rotates and the slider 15 slides, the fiber F can be wound around the fuel tank liner T.

The FW device 10 includes a waiting table 16. The waiting table 16 is a place where the jig unit 20 (described later) is placed when it is not attached to the target object, the fuel tank liner T or the extension member E. The waiting table 16 includes a working mechanism 16a for operating the working elements (described later) of the jig unit 20. Here, the working elements of the jig unit 20 do not include active actuators, but are elements that passively perform a predetermined operation. In other words, the working mechanism 16a is provided at a position different from the jig unit 20, and is a drive device for performing a predetermined operation on the working elements of the jig unit 20 placed on the waiting table 16. The working mechanism 16a is an active actuator, such as a cylinder device.

The fixture unit 20 does not have an active actuator and can perform a predetermined passive operation. In this example, the fixture unit 20 performs the predetermined passive operation of gripping the tip of the fiber F. The fixture unit 20 is gripped by a fixture tool 152 of a transport unit 150 provided in the tank exchange device 100, as described below.

The fixture unit 20 is installed on the waiting table 16, and can grip the tip of the fiber F by driving the working mechanism 16a of the waiting table 16. The fixture unit 20 can also release the gripped fiber F by driving the working mechanism 16a of the waiting table 16. Furthermore, the fixture unit 20 has a structure that allows it to be attached and detached to a predetermined position of the target object, the fuel tank liner T or the extension member E. The fixture unit 20 is then transported between the waiting table 16 and the predetermined position of the target object (T, E) by the transport unit 150 of the tank exchange device 100.

(4. Configuration of jig unit 20)
The configuration of the jig unit 20 will be described with reference to Fig. 3. As shown in Fig. 3, the jig unit 20 includes a release button-equipped ball lock pin 21, an operating element 22, and a gripper 23.

The ball lock pin 21 can be engaged and disengaged with respect to the engagement recess. The engagement recess is formed at a predetermined position of the target object (T, E), as described below. In addition, although not shown, a engagement recess is also formed in the waiting table 16.

The ball lock pin 21 has a known structure. The ball lock pin 21 includes a support portion 211, a cylindrical body 212, a nut 213, a protrusion 214, and a release button 215. The support portion 211 is formed, for example, from a plate-like member. In this example, the support portion 211 is an L-shaped plate. However, the support portion 211 may be formed from a member other than a plate-like member. Also, in this example, a circular through hole (not shown) is formed in the support portion 211.

The cylindrical body 212 constitutes the majority of the exterior shape and is inserted into the through hole of the support part 211. The cylindrical body 212 has an insertion shaft part 212a having a cylindrical outer circumferential surface at the tip side. The insertion shaft part 212a of the cylindrical body 212 can be inserted into a locking recess formed at a predetermined position of the object (T, E). The insertion shaft part 212a of the cylindrical body 212 can also be inserted into a locking recess formed in the waiting table 16.

By screwing the nut 213 into the cylindrical body 212, the cylindrical body 212 and the nut 213 are fixed to the support part 211. The protrusion 214 is provided on the insertion shaft part 212a of the cylindrical body 212 so as to be operable in a state where it protrudes radially outward from the outer circumferential surface of the insertion shaft part 212a, and a state where it is housed inside the insertion shaft part 212a. The protruding state of the protrusion 214 is set as the reference state by, for example, the elastic force of a spring or the like.

The release button 215 is provided at the base end of the cylindrical body 212, i.e., the end opposite the insertion shaft portion 212a. When the release button 215 is not pressed, the protrusion 214 protrudes radially outward from the outer circumferential surface of the insertion shaft portion 212a. When the release button 215 is pressed, all or most of the protrusion 214 is housed inside the insertion shaft portion 212a.

The working element 22 is fixed to the support portion 211 of the ball lock pin 21. In this example, the working element 22 passively performs the task of gripping the fiber F. In FIG. 3, the working element 22 includes a support seat 221, a first gripping claw 222, a second gripping claw 223, a swinging support shaft 224, a swinging lever 225, and a biasing member 226. However, the working element 22 may have a configuration other than that shown in FIG. 3.

The support seat 221 functions as a positioned element that can be positioned relative to a positioning element (described later) formed at a predetermined position of the object (T, E). The support seat 221 is fixed to the support portion 211 of the ball lock pin 21. The support seat 221 has a rectangular parallelepiped portion, and includes a planar mounting seat surface 221a (lower surface in FIG. 3, first abutment surface) perpendicular to the central axis of the insertion shaft portion 212a of the cylindrical body 212 of the ball lock pin 21, and a pair of side surfaces 221b and 221c (left and right surfaces in FIG. 3, second abutment surfaces) perpendicular to the mounting seat surface 221a. The pair of side surfaces 221b, 221c are parallel surfaces that face each other back to back. One side surface 221b is located on the ball lock pin 21 side, and the other side surface 221c is located on the opposite side to the ball lock pin 21.

The first gripping claw 222 is fixed at a position (upper surface in FIG. 3) facing away from the mounting seat surface 221a of the support seat 221. The first gripping claw 222 is formed, for example, in a rectangular parallelepiped shape, but can be formed in any shape. The second gripping claw 223 is arranged so as to be able to come into contact with the surface of the first gripping claw 222 opposite the support seat 221 (upper surface in FIG. 3). The second gripping claw 223 has a rectangular parallelepiped portion similar to the first gripping claw 222 and a swinging support portion. The rectangular parallelepiped portion of the second gripping claw 223 is able to come into surface contact with the first gripping claw 222.

Furthermore, the second gripping claw 223 can move away from the first gripping claw 222 (upward in FIG. 3). That is, in FIG. 3, the fiber F is gripped between the upper surface of the first gripping claw 222 and the lower surface of the second gripping claw 223.

The swing support shaft 224 is fixed to the support seat 221 and the first gripping claw 222. The swing lever 225 is swingably supported by the swing support shaft 224. The swing lever 225 can swing around an axis in the left-right direction in FIG. 2. Furthermore, one end of the swing lever 225 (the front side in FIG. 3) swingably supports the second gripping claw 223. Therefore, as the swing lever 225 swings around the swing support shaft 224, the second gripping claw 223 approaches or moves away from the first gripping claw 222.

The biasing member 226 is supported by the support seat 221. The biasing member 226 is formed in an axial shape with a central axis in the vertical direction in FIG. 3, and exerts a biasing force in the upward direction in FIG. 3. The upper end of the biasing member 226 in FIG. 3 is in contact with the rear end of the swing lever 225.

The gripping portion 23 is an L-shaped plate, similar to the support portion 211 of the ball lock pin 21. However, the gripping portion 23 may be a member other than a plate. The gripping portion 23 is fixed to the side surface 221c of the support seat 221 opposite the support portion 211 of the ball lock pin 21. The gripping portion 23 is gripped by the jig tool 152 of the transport unit 150.

(5. Operation of the jig unit 20)
Next, a description will be given of the operation of the jig unit 20. When no external force is acting on the jig unit 20, the jig unit 20 is in a state in which the protrusion 214 of the ball lock pin 21 protrudes radially outward from the outer circumferential surface of the insertion shaft portion 212a of the cylindrical main body 212, as shown in FIG.

In this case, the biasing member 226 biases the rear end of the swing lever 225 upward, causing the front end of the swing lever 225 to move downward, and the second gripping claw 223 presses the first gripping claw 222. If a fiber F is interposed between the first gripping claw 222 and the second gripping claw 223, the fiber F is gripped by the first gripping claw 222 and the second gripping claw 223.

As shown in FIG. 4, when the release button 215 of the ball lock pin 21 is pressed by an external force from a member other than the jig unit 20, all or most of the protrusion 214 is housed inside the insertion shaft portion 212a of the cylindrical main body 212. In other words, the protrusion 214 does not protrude radially outward from the outer circumferential surface of the insertion shaft portion 212a of the cylindrical main body 212, or the amount of protrusion is very small.

Furthermore, as shown in FIG. 5, when the rear end of the swing lever 225 is pressed downward by an external force from a member other than the jig unit 20, the swing lever 225 presses the biasing member 226 while swinging around the swing support shaft 224. In other words, the rear end of the swing lever 225 moves downward and the front end moves upward. Since the second gripping claw 223 is supported on the front end of the swing lever 225, the second gripping claw 223 moves away from the first gripping claw 222. Therefore, when a fiber F is interposed between the first gripping claw 222 and the second gripping claw 223, the fiber F is separated from the first gripping claw 222 and the second gripping claw 223.

(6. Configuration of Predetermined Positions of Objects T and E)
A predetermined position of an object to which the jig unit 20 can be attached will be described with reference to Figures 6 and 7. As described above, the axial extension member E is integrally connected to the mouthpiece T2 of the fuel tank liner T. In this example, the object to which the jig unit 20 can be attached is the mouthpiece T2 or the extension member E of the fuel tank liner T, and the predetermined position on the object is the attachment portion 30 formed on the extension member E. However, the attachment portion 30 of the object may be provided on the mouthpiece T2.

As shown in Figs. 6 and 7, the mounting portion 30 has a planar first seating surface 31. The first seating surface 31 is a surface that corresponds to the support portion 211 and the nut 213 of the ball lock pin 21 of the jig unit 20. A locking recess 32 is formed in the first seating surface 31 and extends in a direction perpendicular to the first seating surface 31. As shown in Fig. 6, the opening diameter of the locking recess 32 is smaller than the bottom diameter. The locking recess 32 may be formed by machining one member, or may be formed by assembling multiple members.

As shown in FIG. 7, the insertion shaft portion 212a of the ball lock pin 21 of the jig unit 20 is inserted into the locking recess 32. However, unless all or most of the protrusion 214 of the ball lock pin 21 is housed in the insertion shaft portion 212a, the insertion shaft portion 212a cannot be inserted into the locking recess 32. When the insertion shaft portion 212a of the ball lock pin 21 is inserted into the locking recess 32, the protrusion 214 engages with the locking recess 32, thereby fixing the ball lock pin 21 to the locking recess 32. In this way, the ball lock pin 21 can be engaged and disengaged with respect to the locking recess 32.

The mounting portion 30, which serves as a predetermined position, is provided with a positioning element 33 for positioning the jig unit 20. Specifically, the positioning element 33 of the mounting portion 30 can position the jig unit 20 on the mounting portion 30 by engaging with the support seat 221, which serves as a positioned element of the jig unit 20.

In particular, the positioning element 33 of the mounting portion 30 and the support seat 221 as the positioned element of the jig unit 20 restrict the jig unit 20 from rotating around the central axis of the ball lock pin 21 when the ball lock pin 21 of the jig unit 20 is engaged in the engagement recess 32. In other words, the ball lock pin 21 is engaged in the engagement recess 32 of the mounting portion 30, and the support seat 221 as the positioned element is positioned by the positioning element 33 of the mounting portion 30, thereby fixing the jig unit 20 to the mounting portion 30.

In this example, the positioning element 33 of the mounting portion 30 includes a second seating surface 331, two shoulder surfaces 332, and a shoulder surface 333. The second seating surface 331 is a surface parallel to the first seating surface 31 and perpendicular to the axial direction of the locking recess 32. The second seating surface 331 is formed adjacent to the first seating surface 31. The two shoulder surfaces 332, 333 are formed continuously with the second seating surface 331 so as to sandwich the second seating surface 331, and have surfaces that are angled with respect to the second seating surface 331.

The mounting seat surface 221a of the support seat 221 of the working element 22 of the jig unit 20 abuts against the second seat surface 331 of the mounting portion 30 of the object (T, E). One side surface 221b of the support seat 221 abuts against one shoulder surface 332 of the mounting portion 30, and the other side surface 221c of the support seat 221 abuts against the other shoulder surface 333. In this way, the rotation of the jig unit 20 is restricted by the support seat 221 of the working element 22 and the positioning element 33 of the mounting portion 30.

The positioning configuration between the working element 22 and the mounting part 30 is not limited to the above-mentioned configuration of the support seat 221 and the positioning element 33. For example, the working element 22 may have a surface equivalent to the second seat surface 331 and the shoulder surfaces 332 and 333, and the mounting part 30 may have a member equivalent to the support seat 221.

In addition, if the rotation restriction configuration is adopted, the following configuration can be adopted. For example, a configuration in which the pin and the recess can be locked at a position different from the locking between the ball lock pin 21 and the locking recess 32 may be adopted. That is, when the ball lock pin 21 is locked in the locking recess 32, the positioned element (221) of the jig unit 20 is a second pin (not shown) having a central axis parallel to the central axis of the ball lock pin 21, and the positioning element 33 in the mounting portion 30 of the object (T, E) is a second recess into which the second pin is inserted. Alternatively, the positioned element (221) of the jig unit 20 may be the second recess, and the positioning element 33 in the mounting portion 30 of the object (T, E) may be the second pin.

(7. Configuration of Tank Exchange Device 100)
8, the tank exchange device 100 includes a cart 110, a support 120, a first arm 130, a second arm 140, and a transport unit 150. Here, the support 120, the first arm 130, and the second arm 140 form a "transfer device."

As shown in FIG. 9, the cart 110 moves on a rail R that is laid on a platform D installed on the floor surface so as to be parallel to the arrangement direction of the multiple FW devices 10. The cart 110 is equipped with a drive unit 111. The drive unit 111 is, for example, a motor.

The support 120 is erected on the upper surface of the cart 110. The support 120 comprises a first support portion 121 whose base end is fixed to the upper surface of the cart 110, and a second support portion 122 that is slidably connected to the first support portion 121 and moves relative to it in the vertical direction. Furthermore, the support 120 comprises an extension mechanism 123 that moves the second support portion 122 in the vertical direction, i.e., that extends and retracts the support 120. The extension mechanism 123 is, for example, a cylinder device.

The first arm 130 and the second arm 140 are connected to the support 120, more specifically, to the second support portion 122. The first arm 130 is connected to the second support portion 122 so as to be vertically lower than the second arm 140.

The first arm 130 comprises a pair of support members 131 fixed to the second support portion 122, and a mounting member 132 that moves horizontally relative to the support members 131 and supports the completed fuel tank liner Ta. A holding member 133 is fixed to the tip side (right side in FIG. 9) of the mounting member 132 to hold the extension member E connected to the completed fuel tank liner Ta without rolling. The holding member 133 is, for example, a V-shaped bevel (V-block). Furthermore, the first arm 130 comprises an extension mechanism 134 that moves the mounting member 132 horizontally, i.e., extends and retracts the mounting member 132 toward the FW device 10.

As shown in FIG. 10, the telescopic mechanism 134 mainly comprises one cylinder device 134a (located on the right side in FIG. 10) with one end connected to a chain, a power transmission device 134b having four sprockets and a chain hung on the four sprockets arranged on each of a pair of mounting members 132, and a shaft 134c that rotates and connects the left and right sprockets to connect each power transmission device 134b. As a result, the telescopic movement of one cylinder device 134a is transmitted to the power transmission device 134b of one mounting member 132 (left side in FIG. 10) via the chain, and is also transmitted to the power transmission device 134b of the other mounting member 132 (right side in FIG. 10) via the shaft 134c. Then, the pair of mounting members 132 connected to the chain of the power transmission device 134b telescopically expand and contract in the horizontal direction in sync.

The second arm 140 comprises a pair of support members 141 fixed to the second support column 122, and a mounting member 142 that moves horizontally relative to the support members 141 and mounts the incomplete fuel tank liner Tb. A holding member 143 is fixed to the tip side (right side in FIG. 9) of the mounting member 142 to hold the extension member E connected to the incomplete fuel tank liner Tb without rolling. The holding member 143 is, for example, a V-shaped bevel (V-block). Furthermore, the second arm 140 comprises an extension mechanism 144 that moves the mounting member 142 horizontally, i.e., extends and retracts the mounting member 142 toward the FW device 10.

As shown in FIG. 10, the telescopic mechanism 144 mainly comprises one cylinder device 144a (located on the left side in FIG. 10) with one end connected to a chain, a power transmission device 144b having four sprockets and a chain hung on the four sprockets arranged on each of a pair of mounting members 142, and a shaft 144c that rotates and connects the left and right sprockets to connect each power transmission device 144b. As a result, the telescopic movement of one cylinder device 144a is transmitted to the power transmission device 144b of one mounting member 142 (on the right side in FIG. 10) via the chain, and is also transmitted to the power transmission device 144b of the other mounting member 142 (on the left side in FIG. 10) via the shaft 144c. Then, the pair of mounting members 142 connected to the chain of the power transmission device 144b telescopically expand and contract in the horizontal direction in sync.

The transport unit 150 will be described with reference to FIG. 11. FIG. 11 shows the end effector portion of the transport unit 150, as well as the jig unit 20 in a gripped state. Therefore, the transport unit 150 shown in FIG. 11 is the tip portion of the transport mechanism 151, the jig tool 152, and the cutter tool 153.

In this example, the tip portion of the transport mechanism 151 is approximately an isosceles triangle, with the base of the isosceles triangle located on the base end side of the transport mechanism 151. A jig tool 152 is fixed to one of the other two sides of the isosceles triangle at the tip portion of the transport mechanism 151 (the right side in FIG. 11), and a cutter tool 153 is fixed to the other of the other two sides (the left side in FIG. 11).

The jig tool 152 includes a gripping mechanism 160 and a pressing mechanism 170. The gripping mechanism 160 grips and releases the jig unit 20. In detail, the gripping mechanism 160 includes a drive device 161 as an active actuator, and a pair of gripping claws 162 and 163. The drive device 161 is, for example, a cylinder device. The pair of gripping claws 162, 163 can grip the gripping portion 23 of the jig unit 20. The pair of gripping claws 162, 163 move toward and away from each other by the drive of the drive device 161. In other words, the drive of the drive device 161 switches the pair of gripping claws 162, 163 between a state in which the jig unit 20 is gripped and a state in which the jig unit 20 is released.

The pressing mechanism 170 is capable of pressing the release button 215 of the ball lock pin 21 in the jig unit 20 held by the holding mechanism 160. The pressing mechanism 170 includes a driving device 171 as an active actuator, and a pressing member 172. The driving device 171 is, for example, a cylinder device.

The pressing member 172 moves in a direction to increase the amount of protrusion or in a direction to decrease the amount of protrusion by being driven by the driving device 171. Here, when the gripping portion 23 of the jig unit 20 is gripped by the pair of gripping claws 162, 163 of the gripping mechanism 160, the pressing member 172 is positioned opposite the release button 215 of the ball lock pin 21 of the jig unit 20.

Therefore, the pressing member 172 can press the release button 215 by moving in a direction that increases the amount of protrusion when driven by the drive device 171. Also, the pressing member 172 can move away from the release button 215 by moving in a direction that decreases the amount of protrusion when driven by the drive device 171. In other words, when the pressing member 172 presses the release button 215, the protrusion 214 of the ball lock pin 21 can be housed in the cylindrical main body 212. On the other hand, when the pressing member 172 moves away from the release button 215, the protrusion 214 of the ball lock pin 21 can be protruded radially outward from the cylindrical main body 212.

The cutter tool 153 can cut the fiber F while gripping it. The cutter tool 153 includes a cutting drive device 181 as an active actuator, a cutter 182, a gripping drive device 183 as an active actuator, and a pair of gripping claws 184 and 185. The cutting drive device 181 is, for example, a cylinder device. The cutter 182 can be driven by the cutting drive device 181 and cuts the fiber F.

The gripping drive device 183 is, for example, a cylinder device. The pair of gripping claws 184, 185 are located near the cutter 182, and are moved toward and away from each other by the drive of the gripping drive device 183. In other words, the drive of the gripping drive device 183 switches the pair of gripping claws 184, 185 between a state in which they grip the fiber F and a state in which they are released.

Therefore, the transport unit 150 can transport the jig unit 20 held by the gripping mechanism 160 between the waiting table 16 and the mounting portion 30 of the target object (T, E) by operating the transport mechanism 151. Furthermore, the transport unit 150 can move the cutter tool 153 to any position by operating the transport mechanism 151.

(8. Operation of Tank Manufacturing Apparatus P)
The operation (filament winding method) of the above-mentioned tank manufacturing apparatus P will be described with reference to Fig. 12 and, where appropriate, with reference to Figs. 1 to 11. In the tank manufacturing apparatus P, first, the tank exchange device 100 carries the incomplete fuel tank liner Tb to the FW device 10 and performs a tank exchange process S1 in which the tank exchange device 100 carries the completed fuel tank liner Ta out of the FW device 10.

Specifically, the tank exchange device 100 waits at station St as an initial position, and receives at station St an incomplete fuel tank liner Tb that has been transported by an automated guided vehicle (AGV) after processing in the previous process has been completed. At this time, the tank exchange device 100 drives the telescopic mechanism 123 to lower the support 120.

The tank exchange device 100 extends the second arm 140 by the telescopic mechanism 144 so that the extension member E of the incomplete fuel tank liner Tb placed on the automated guided vehicle (AGV) is supported by the holding member 143 of the second arm 140. The tank exchange device 100 then raises the lowered support column 120 so that the extension member E of the incomplete fuel tank liner Tb is supported by the holding member 143 of the second arm 140 (see FIG. 9).

Then, the tank exchange device 100 supplies the incomplete fuel tank liner Tb supported by the second arm 140 to the FW device 10 that is requesting the supply of the incomplete fuel tank liner Tb among the multiple FW devices 10. Specifically, the tank exchange device 100 drives the drive device 111 of the cart 110 to move the cart 110 toward the corresponding FW device 10.

When the tank exchange device 100 moves to a position opposite the corresponding FW device 10, it supplies the incomplete fuel tank liner Tb supported by the second arm 140 to the FW device 10. At this time, if a completed fuel tank liner Ta is present in the FW device 10, the tank exchange device 100 first retrieves the completed fuel tank liner Ta and then supplies the incomplete fuel tank liner Tb to perform the exchange.

Specifically, the tank exchange device 100 first lowers the support 120, for example, so that the height of the holding member 133 of the first arm 130 from the floor surface is lower than the height of the extension member E of the completed fuel tank liner Ta. The tank exchange device 100 extends the first arm 130 toward the FW device 10 by the telescopic mechanism 134 so that the extension member E of the completed fuel tank liner Ta, which is supported by the rotation devices 12 and 13 of the FW device 10, is supported by the holding member 133.

Then, as shown by the two-dot chain line in FIG. 9, the support pillar 120 is raised while the holding member 133 is in contact with the extension member E of the completed fuel tank liner Ta. As a result, as shown in FIG. 13, the completed fuel tank liner Ta (i.e., the extension member E) is released from the rotation devices 12, 13 of the FW device 10 and supported by the holding member 133. Furthermore, with the completed fuel tank liner Ta (extension member E) supported by the holding member 133, the tank exchange device 100 moves (retracts) the extended first arm 130 toward the support pillar 120 by the telescopic mechanism 134. This completes the recovery of the completed fuel tank liner Ta from the FW device 10 as shown in FIG. 14.

Then, as shown in FIG. 14, the tank exchange device 100 extends the second arm 140 supporting the incomplete fuel tank liner Tb toward the FW device 10 by the telescopic mechanism 144. Then, the tank exchange device 100 lowers the support 120 to attach the extension member E of the incomplete fuel tank liner Tb to the rotation devices 12, 13 of the FW device 10. This completes the supply of the incomplete fuel tank liner Tb from the tank exchange device 100 to the FW device 10, i.e., the tank exchange process S1.

As described above, when the tank exchange process S1 by the tank exchange device 100 is completed, i.e., in the initial state of the FW device 10, the rotation devices 12 and 13 support the extension member E of the completed fuel tank liner Ta. Furthermore, the jig unit 20 is positioned on the waiting table 16. Also, as described below, the tip of the fiber F is gripped by a pair of gripping claws 184 and 185 of the cutter tool 153 of the transport unit 150.

Next, in the tank manufacturing device P, the FW device 10 and the tank exchange device 100 cooperate to carry out the following preliminary work process S2 shown in FIG. 12. First, in the waiting table 16, the working mechanism 16a of the waiting table 16 is driven to separate the first gripping claw 222 and the second gripping claw 223 of the working element 22 of the jig unit 20. Specifically, as shown in FIG. 5, the working mechanism 16a presses the rear end of the swing lever 225 of the jig unit 20 downward.

Furthermore, the cutter tool 153 is transported to the waiting table 16 by driving the transport mechanism 151 of the transport unit 150 of the tank exchange device 100. Here, the cutter tool 153 is gripping the tip of the fiber F. Then, the fiber F gripped by the cutter tool 153 is positioned between the first gripping claw 222 and the second gripping claw 223 of the jig unit 20 located on the waiting table 16. Next, the working mechanism 16a of the waiting table 16 is driven to bring the first gripping claw 222 and the second gripping claw 223 closer to each other, and the fiber F is gripped by the first gripping claw 222 and the second gripping claw 223. Then, the cutter tool 153 releases the grip of the fiber F with the fiber F being gripped by the first gripping claw 222 and the second gripping claw 223.

Next, in the tank manufacturing device P, the FW device 10 and the tank exchange device 100 cooperate to perform the following jig unit installation process S3. The drive device 161 of the gripping mechanism 160 of the transport unit 150 is driven to move the pair of gripping claws 162, 163 in a direction separating them. The transport mechanism 151 is driven to bring the pair of gripping claws 162, 163 of the gripping mechanism 160 closer to the gripping portion 23 of the jig unit 20 positioned on the waiting table 16. Then, the drive device 161 of the gripping mechanism 160 is driven to move the pair of gripping claws 162, 163 in a direction to bring them closer together, causing the pair of gripping claws 162, 163 to grip the gripping portion 23 of the jig unit 20.

By driving the transport mechanism 151, the jig unit 20 is transported from the waiting table 16 to the mounting portion 30 of the extension member E. At this time, the ball lock pin 21 faces the opening of the locking recess 32, and the mounting seat surface 221a of the support seat 221 of the working element 22 faces the second seat surface 331 of the mounting portion 30.

As shown in FIG. 4, the driver 171 of the pressing mechanism 170 is driven to press the release button 215 of the ball lock pin 21 in a direction that increases the amount of protrusion of the pressing member 172. In other words, the protrusion 214 of the ball lock pin 21 is housed in the insertion shaft portion 212a of the cylindrical main body 212. The operation of the pressing mechanism 170 may be performed when the jig unit 20 is positioned on the waiting table 16 or during transport.

Furthermore, as shown in FIG. 7, the transport mechanism 151 is driven to insert the insertion shaft portion 212a of the ball lock pin 21 into the locking recess 32. The mounting seat surface 221a of the support seat 221 is brought into contact with the second seat surface 331 of the mounting portion 30. At this time, the side surfaces 221b and 221c of the support seat 221 come into contact with the shoulder surfaces 332 and 333. Therefore, the jig unit 20 is restricted from rotating around the central axis of the ball lock pin 21 relative to the mounting portion 30.

Furthermore, by driving the driving device 171 of the pressing mechanism 170, the pressing member 172 moves in a direction that reduces the amount of protrusion, and the pressing member 172 moves away from the release button 215 of the ball lock pin 21. As a result, as shown in FIG. 7, the protrusion 214 engages with the engagement recess 32. Therefore, the jig unit 20 is prevented from coming off the mounting portion 30 of the extension member E.

Then, by driving the drive device 161 of the gripping mechanism 160, the pair of gripping claws 162, 163 are moved in a direction separating them, causing the pair of gripping claws 162, 163 to release their grip on the jig unit 20. In other words, at the completion of the jig unit attachment process S3, the working element 22 of the jig unit 20 is gripping the tip of the fiber F, and the jig unit 20 is attached to the attachment portion 30 of the extension member E.

Next, in the tank manufacturing device P, the FW device 10 performs the following initial winding step S4 shown in FIG. 12. By driving the rotation devices 12 and 13 and the slider 15, the fiber F is wound around the outer circumference of the incomplete fuel tank liner Tb while rotating the incomplete fuel tank liner Tb and the extension member E. Here, the initial winding step S4 is a step in which the fiber F wound around the incomplete fuel tank liner Tb is not unraveled even if the winding start end of the fiber F held by the working element 22 of the jig unit 20 is cut.

Next, in the tank manufacturing device P, the FW device 10 and the tank exchange device 100 work together to perform the following jig unit removal process S5. By driving the conveying mechanism 151, the cutter tool 153 is moved between the jig unit 20 attached to the mounting portion 30 and the incomplete fuel tank liner Tb. By driving the cutting drive device 181 of the cutter tool 153, the fiber F is cut by the cutter 182. Even if the fiber F is cut, since the fiber F is in a state where it cannot be unraveled in the initial winding process S4, the fiber F remains wound around the incomplete fuel tank liner Tb.

Then, the transport mechanism 151 is driven to move the jig tool 152 to the vicinity of the jig unit 20 attached to the mounting portion 30. Then, the drive device 161 of the gripping mechanism 160 is driven to cause the pair of gripping claws 162, 163 of the gripping mechanism 160 to grip the gripping portion 23 of the jig unit 20.

Furthermore, by driving the drive device 171 of the pressing mechanism 170, the pressing member 172 presses the release button 215 of the ball lock pin 21. In other words, the protrusion 214 of the ball lock pin 21 is released from the locking recess 32. Then, by driving the transport mechanism 151, the jig unit 20 is removed from the attachment portion 30 of the extension member E.

Then, the conveying mechanism 151 is driven to return the jig unit 20 to the waiting table 16. In the waiting table 16, the working mechanism 16a is driven to separate the first gripping claw 222 from the second gripping claw 223, and the cut pieces of fiber F are detached from the first gripping claw 222 and the second gripping claw 223 and then discarded.

Next, in the tank manufacturing device P, the FW device 10 performs the following main winding process S6. By driving the rotation devices 12 and 13 and the slider 15, the fiber F is wound around the outer circumference of the incomplete fuel tank liner Tb while rotating the incomplete fuel tank liner Tb and the extension member E. At the end of the winding, the fiber F is in a state where it does not come loose.

Next, in the tank manufacturing device P, the FW device 10 and the tank exchange device 100 work together to perform the following fiber cutting process S7. By driving the conveying mechanism 151, the cutter tool 153 is moved between the completed fuel tank liner Ta that has undergone the main winding process S6 and the slider 15. By driving the gripping drive device 183 of the cutter tool 153, the fiber F is gripped by the pair of gripping claws 184, 185 of the cutter tool 153.

At this time, the fiber F is located in a position sandwiched between the cutter 182 of the cutter tool 153. Then, by driving the cutting drive device 181 of the cutter tool 153, the fiber F is cut by the cutter 182. At this time, the pair of gripping claws 184, 185 of the cutter tool 153 are in a state of gripping the tip of the cut fiber F. Even if the fiber F is cut, the fiber F is in a state where it cannot be unwound from the completed fuel tank liner Ta in the main winding process S6, so the fiber F remains wound around the completed fuel tank liner Ta.

In this way, the series of steps is completed, and the steps are repeated again from the tank replacement step S1. That is, the tank replacement device 100 transports the incomplete fuel tank liner Tb to the FW device 10 that has completed up to the fiber cutting step S7, i.e., the FW device 10 that holds the completed fuel tank liner Ta, and retrieves the completed fuel tank liner Ta from the FW device 10. Then, the FW device 10 wraps the fiber F around the incomplete fuel tank liner Tb that has been supplied, i.e., replaced, from the tank replacement device 100.

At this time, the tank exchange device 100 drives the conveying mechanism 151 to move the cutter tool 153, with the tip of the fiber F being gripped by the cutter tool 153, to the vicinity of the jig unit 20 positioned on the waiting table 16 of the FW device 10. Then, the first gripping claw 222 and the second gripping claw 223 of the jig unit 20 grip the tip of the fiber F. That is, after the tank exchange device 100 performs the start of winding process of the fiber F around the incomplete fuel tank liner Tb, the FW device 10 winds the fiber F around the incomplete fuel tank liner Tb.

As can be understood from the above explanation, the tank exchange device 100 of the tank manufacturing device P can move between station St and each of the multiple FW devices 10. The tank exchange device 100 can also move to the FW device 10 to supply incomplete fuel tank liners Tb or collect completed fuel tank liners Ta. This eliminates the need to permanently install the tank exchange device 100 at each FW device 10, and can improve the operating rate of the tank exchange device 100.

The FW device 10 constituting the tank manufacturing device P can utilize the jig unit 20 to fix the winding start end of the fiber F to the extension member E connected to the nozzle T2 of the fuel tank liner T so that the end can rotate together with the extension member E. The FW device 10 can transport the jig unit 20 to the attachment portion 30 of the extension member E by the tank exchange device 100 transport unit 150, and can also make the jig unit 20 detachable from the attachment portion 30.

The fixture unit 20 also has a ball lock pin 21 with a release button 215, which makes it easy to engage and disengage the extension member E. Furthermore, the fixture unit 20 has a working element 22, which can passively grip the fiber F. Therefore, the working element 22 of the fixture unit 20 does not have an active actuator, and the fixture unit 20 can be configured compactly.

In order to hold the fiber F in the extension member E as the target object, according to the FW device 10 described above, if the fiber F is held in advance by the working element 22 of the jig unit 20 on the waiting table 16, it is sufficient to transport the jig unit 20 to the attachment portion 30 of the extension member E by the transport unit 150.

In other words, the jig unit 20 does not need to perform an operation to grip the fiber F near the attachment portion 30 of the extension member E, and the jig unit 20 can perform an operation to grip the fiber F on the waiting table 16 away from the extension member E. Therefore, since there is no need to perform an operation to grip the fiber F near the attachment portion 30 of the extension member E, there is no need to secure a large space near the attachment portion 30 of the extension member E. In other words, the FW device 10 can be made smaller. In addition, by adopting the ball lock pin 21, the time required to fix the jig unit 20 to the attachment portion 30 of the extension member E is also shortened.

10...filament winding device, 11...base, 12...rotating device, 13...rotating device, 14...rail, 15...slider, 16...waiting table, 16a...working mechanism, 20...jig unit, 21...ball lock pin, 211...support portion, 212...cylindrical main body, 212a...insertion shaft portion, 213...nut, 214...protrusion, 215...release button, 22...working element, 221...support seat, 221a...mounting seat surface, 221b...side surface, 221c...side surface, 222...first grip Claw, 223...second gripping claw, 224...oscillating support shaft, 225...oscillating lever, 226...biasing member, 23...gripping portion, 30...mounting portion, 31...first seating surface, 32...engaging recess, 33...element, 100...tank exchange device, 110...cart, 111...driving device, 120...pillar, 121...first support portion, 122...second support portion, 123...telescopic mechanism, 130...first arm, 131...support member, 132...mounting member, 133...holding member, 134...telescopic mechanism, 134a...cylinder device, 134b...power transmission device, 134c...shaft, 140...second arm, 141...support member, 142...mounting member, 143...holding member, 144...extension mechanism, 144a...cylinder device, 144b...power transmission device, 144c...shaft, 150...transport unit, 151...transport mechanism, 152...jig tool, 153...cutter tool, 160...gripping mechanism, 161...driving device, 162...gripping claw, 163...gripping claw, 170...pressure mechanism, 171...driving device, 172...pressure member, 181...cutting drive device, 182...cutter, 183...gripping drive device, 184...gripping claw, 185...gripping claw, 331...second seating surface, 332...shoulder surface, 333...shoulder surface, B...bobbin, E...extension member, F...fiber, P...tank manufacturing device, D...bed, R...rail, St...station, T...fuel tank liner, T1...tank body, T2...mouthpiece, T3...mouthpiece, Ta...completed fuel tank liner, Tb...uncompleted fuel tank liner

Claims (8)

a filament winding device for winding the fibers onto an unfinished fuel tank liner before the fibers are wound;
a station for transferring the incomplete fuel tank liner and a completed fuel tank liner after the filament winding device has wound the fiber thereon;
a tank exchange device that moves between the filament winding device and the station to transport the incomplete fuel tank liner and the completed fuel tank liner, and supplies the incomplete fuel tank liner to the filament winding device or retrieves the completed fuel tank liner from the filament winding device;
Equipped with
The tank exchange device includes:
A carriage that moves between the filament winding device and the station;
a delivery device connected to the carriage for supplying the incomplete fuel tank liner to the filament winding device and for collecting the completed fuel tank liner from the filament winding device.
Tank manufacturing equipment. The delivery device includes:
A stretchable support column erected on the cart;
2. The tank manufacturing apparatus according to claim 1 , further comprising: an arm supported by the support and adapted to move toward or away from the filament winding device to supply an incomplete fuel tank liner and to collect a completed fuel tank liner. The arm is
a first arm on which the completed fuel tank liner is placed;
3. The tank manufacturing apparatus according to claim 2 , further comprising: a second arm disposed at a position different from the first arm with respect to the support, the second arm being adapted to place the incomplete fuel tank liner thereon. The filament winding device includes a jig unit that is attached to a predetermined position of an object attached to the filament winding device and has a working element that grips a winding start end of the fiber;
the tank exchange device includes a transport unit having a gripping mechanism that grips and releases the jig unit, and a transport mechanism that transports the jig unit to the predetermined position of the object by moving the gripping mechanism ;
the object is the incomplete fuel tank liner or an extension member connected to the incomplete fuel tank liner,
the filament winding apparatus includes a waiting table on which the jig unit is placed when the jig unit is not attached to the target object;
The transport unit transports the jig unit held by the gripping mechanism between the waiting table and the predetermined position of the target object by operating the transport mechanism.
A tank manufacturing apparatus according to any one of claims 1 to 3 . a filament winding device for winding fibers onto an unfinished fuel tank liner before the fibers are wound;
a station for transferring the incomplete fuel tank liner and a completed fuel tank liner after the filament winding device has wound the fiber thereon;
a tank exchange device that moves between the filament winding device and the station to transport the incomplete fuel tank liner and the completed fuel tank liner, and supplies the incomplete fuel tank liner to the filament winding device or retrieves the completed fuel tank liner from the filament winding device;
Equipped with
The filament winding device includes a jig unit that is attached to a predetermined position of an object attached to the filament winding device and has a working element that grips a winding start end of the fiber;
the tank exchange device includes a transport unit having a gripping mechanism that grips and releases the jig unit, and a transport mechanism that transports the jig unit to the predetermined position of the object by moving the gripping mechanism;
the object is the incomplete fuel tank liner or an extension member connected to the incomplete fuel tank liner,
the filament winding apparatus includes a waiting table on which the jig unit is placed when the jig unit is not attached to the target object;
The transport unit transports the jig unit held by the gripping mechanism between the waiting table and the predetermined position of the target object by operating the transport mechanism.
Tank manufacturing equipment. In the station,
The tank manufacturing apparatus according to any one of claims 1 to 5, wherein the incomplete fuel tank liner transported by an unmanned transport device is handed over to the tank exchange device, and the completed fuel tank liner retrieved by the tank exchange device is handed over to the unmanned transport device. a filament winding device for winding fibers onto an unfinished fuel tank liner before the fibers are wound;
a station for transferring the incomplete fuel tank liner and a completed fuel tank liner after the filament winding device has wound the fiber thereon;
a tank exchange device that moves between the filament winding device and the station to transport the incomplete fuel tank liner and the completed fuel tank liner, and supplies the incomplete fuel tank liner to the filament winding device or retrieves the completed fuel tank liner from the filament winding device;
Equipped with
In the station,
the incomplete fuel tank liner transported by the unmanned transport device is delivered to the tank exchange device, and the completed fuel tank liner collected by the tank exchange device is delivered to the unmanned transport device.
Tank manufacturing equipment. The filament winding device is provided in plurality,
A tank manufacturing apparatus as claimed in any one of claims 1 to 7 , wherein the tank exchange device moves between each of the filament winding devices and the station.

Images