JPH0671765B2 - Automatic winding device for resin-impregnated long fibers - Google Patents

Description

TECHNICAL FIELD The present invention relates to an apparatus for automatically winding resin-impregnated long fibers (hereinafter referred to as resin-impregnated long fibers) on a mold jig.

(Prior Art) Conventionally, a filament winding method is well known as a method for producing a reinforced plastic (molded product) by winding resin-impregnated long fibers. This method uses carbon fiber,
Long fibers such as glass fibers are impregnated with a synthetic resin such as polyester resin and epoxy resin, and the resin is continuously wound around a mold jig to obtain a predetermined shape. By the way, most of the molded products by the filament winding method are generally in a simple shape such as a cylindrical shape and a ring shape. In this case, the mold jig (mandrel) is rotated and the molded jig is moved along the rotating mold jig. It can be easily wound by simply moving the resin-impregnated long fiber guide jig.
55-115117).

However, when the molded product has a complicated shape having a ring portion, a spoke portion, and a boss portion, such as a steering wheel core material, the resin-impregnated long fiber is formed in an extremely complicated route (pattern). Since it has to be wound, automatic winding becomes difficult, and it is necessary to rely on manual winding, so-called manual winding, which makes it difficult to increase productivity as desired and it is difficult to secure stable quality. There was

In consideration of such a shape, the inventors of the present application have already proposed a system in which resin-impregnated long fibers are automatically wound even when a molded product having a complicated shape such as the steering wheel is manufactured. (Japanese Patent Application No. 61-108216).

As shown in FIG. 5, this automatic winding system includes an impregnating device 3 for continuously impregnating long fibers 2 drawn from a bobbin 1 with a synthetic resin, and a resin impregnating length as described above drawn from the impregnating device 3. A rotary table 6 on which a mold jig 5 for winding the fibers 4 is placed, and a guide jig 7 for guiding the resin-impregnated long fibers 4 drawn out from the impregnation device 3 to the mold jig 5. For the articulated robot 8 at the tip of the arm, the control device 9 for controlling the operation of the rotary table 6 and the robot 8, and the resin-impregnated long fiber 4 which is adjacent to the impregnation device 3 and is guided to the die jig 5. The tensioner 10 is configured to provide a predetermined tension. The guide jig 7
6, the rod-shaped main body 7a is provided with a hole 7b through which the resin-impregnated long fiber 4 is inserted at the tip thereof.
Is fixed to a mounting plate 8a provided at the tip of the arm with bolts 8b.

With such a configuration, the robot 8 is previously taught, and then the long fiber 2 is pulled out from the bobbin 1 to obtain the impregnation device 3,
When it is guided to the mold jig 5 through the tensioner 10 and the guide jig 7 and the control device 9 is started, the rotary table 6 rotates, and the robot 8 is driven in synchronization with this, and the mold jig 5 is impregnated with resin. The long fibers 4 are automatically wound.

(Problems to be Solved by the Invention) However, according to the above-mentioned automatic winding system, the guide jig 7 is provided while the resin-impregnated long fibers 4 are wound around the mold jig 5 by the guide jig 7. Occasionally, the guide angle θ (FIG. 5) of the resin-impregnated long fibers 4 at the top becomes small, and in such a case, the resin-impregnated long fibers 4 are excessively bent and strongly pressed by the guide jig 7. The resin is squeezed out or the fibers become fuzzed, which deteriorates the quality of the molded product, which is a serious problem.

The present invention has been made to solve the problems in the above automatic winding, and prevents the resin squeezing and the fluffing of the fibers before they occur, and thus the automatic winding of the resin-impregnated long fibers that can contribute to the improvement of the quality of the molded product. The purpose is to provide a device.

(Means for Solving the Problems) In order to solve the above-mentioned conventional problems, the present invention passes a resin-impregnated long fiber pulled out from an impregnating device through a guide jig provided on a robot wrist, and a mold on a rotary table. In a winding device configured to automatically guide to a jig, between the impregnating device and the robot, a guide angle of the resin-impregnated long fiber having the guide jig as an apex in synchronization with the operation of the robot. The gist of the present invention is that it is configured so that a guide device that makes variable is provided.

(Operation) In the automatic winding device for the resin-impregnated long fiber having the above-mentioned configuration,
Since a guide device that changes the guide angle of the resin-impregnated long fibers with the guide jig at the top is provided in synchronization with the robot operation,
With respect to the robot operation in which the guide angle becomes smaller, the resin-impregnated long fibers can be moved in the direction of increasing the guide angle, and resin drawing of the resin-impregnated long fibers and fuzz of the fibers can be prevented in advance. become.

(Example) Hereinafter, an example of the present invention is described based on an accompanying drawing.

FIG. 1 shows the entire structure of a resin-impregnated long fiber winding device according to the present invention. The same parts as those shown in FIG. 5 are designated by the same reference numerals, and the description thereof will be omitted. The feature of the present embodiment is that a guiding device for guiding the resin-impregnated long fiber 4 between the impregnating device 3 and the robot 8.
It is the point where 11 is arranged.

The guide device 11 includes an air cylinder 13 that uses a guide rod 12 similar to the guide jig 7 provided on the wrist of the robot 8 as a piston rod substitute, and a switching valve 15 that connects to an air source 14 and switches air to the air cylinder 13. And a valve control device 16 for controlling the operation of the switching valve 15. The valve control device 16 is adapted to receive position information regarding the operation of the robot 8 from the robot control device 9 via the wiring 17, and the valve control device 16 switches in real time based on this position information. It controls the opening / closing of the valve 15 and moves the guide rod 12 upward or downward through the operation of the air cylinder 13.

With such a configuration, necessary data such as the winding pattern and the number of windings are input to the control device 9 in advance, and the robot 8 is taught by operating a teaching box (not shown). After that, the long fibers are drawn out from the bobbin 1, impregnated with the resin through the impregnation device 3, and then guided through the tensioner 10 to the guide rod 12 of the guide device 11 and the guide jig 7 of the robot 8, and further on the rotary table 6. It is guided to the mold jig 5 and its tip is fixed to the mold jig 5. Next, when the control device 9 is activated, the arm of the robot 8 moves toward the mold jig 5, and the resin-impregnated long fiber 4 is wound around the rotating mold jig 5.

When the guide jig 7 is moved from the dotted line position to the solid line position during the winding operation as shown in FIG. 2, the air cylinder 13 of the guide device 11 is activated accordingly and the guide rod is moved.
12 moves upward as shown by the arrow, and as a result, the guide angle θ2 of the resin-impregnated long fiber 4 with the guide jig 7 as the apex is:
The guide angle is significantly larger than the guide angle θ1 without the guide device 11. As a result, resin drawing of the resin-impregnated long fibers 4 and fluffing of the fibers can be prevented in advance, and smooth and highly accurate winding can be performed.

In the above embodiment, the cylinder 13 is used as the drive means for the guide rod 12, but other drive means can be used instead of this.

FIG. 3 shows another embodiment of such a driving means, in which a frame 21 is provided with a ball screw 23 which is rotationally driven by a motor 22, and the ball screw 23 is coupled to the base end portion of the guide rod 12. The moving body 24 to be screwed,
A motor control device 25 for controlling the drive of 22 is provided. The motor 22 is composed of, for example, a servo motor with a position detection encoder, while the motor drive device 25 includes a robot control device 9 similar to the front valve control device 16 (FIG. 1).
The position information regarding the robot 8 is input from. With such a configuration, when the motor rotates in the forward and reverse directions in synchronization with the operation of the robot 8, the ball screw 23 rotates and the guide rod 12 moves up and down along the ball screw 23. Similarly, it is possible to increase the guide angle of the resin-impregnated long fiber 4 with the guide jig 7 of the robot 8 as the apex.

FIG. 4 shows still another embodiment of such a driving means. A pinion 33 is provided at the tip of an output shaft 32 of a motor 31 (with a position detection encoder), and a guide rod 12 is a rack which meshes with the pinion. A motor controller 34 connected to the robot controller 9 is provided with 34, and the operation is controlled by the motor controller 34. The guide angle of the resin-impregnated continuous fiber 4 with the guide jig 7 as the apex is the same as in the above two embodiments. Can be increased.

(Effects of the Invention) As described in detail above, the winding device for resin-impregnated long fibers according to the present invention has the robot holding device between the resin impregnating device and the robot in synchronization with the robot operation. Since the guide device for arranging the guide angle of the resin-impregnated continuous fiber at the apex of the guide jig is arranged, while the resin-impregnated continuous fiber is wound around the mold jig, the resin-impregnated continuous fiber is It has the effect of preventing excessive bending, preventing resin squeezing and fluffing of fibers, and achieving a significant improvement in the quality of molded products.

[Brief description of drawings]

FIG. 1 is a system diagram showing a structure of a resin-impregnated long fiber winding device according to the present invention, FIG. 2 is a schematic diagram showing its usage, and FIG. 3 is a part of a guide device. FIG. 4 is a side view showing another embodiment, FIG. 4 is a side view showing still another embodiment of the guide device, and FIG. 5 is a system diagram showing a general device configuration of an automatic winding device using a robot. FIG. 6 is a side view showing a guide jig which is a part thereof. 4 ... Resin impregnated long fiber, 5 ... Mold jig 6 ... Rotating table, 7 ... Guide jig 8 ... Robot, 9 ... Robot control device 11 ... Guide device, 12 ... Guide rod 13 ... … Guide rod drive cylinders 22, 31 …… Guide rod drive motors

Claims (1)

[Claims] 1. A winding device in which a resin-impregnated long fiber pulled out from an impregnating device is passed through a guide jig provided on a robot wrist and automatically guided to a mold jig on a rotary table. Between the robot and the robot, a guide device for arranging the guide angle of the resin-impregnated continuous fiber having the guide jig as an apex in synchronism with the operation of the robot is disposed. Automatic winding device.