Method and system for winding fibers around a winding support

Abstract

In the method for winding fibers around a generally cylindrical winding support (6) carried by a carrying device (4) fixed to a base (18), the following steps occur simultaneously: (i) feeding fibers (24) to the winding support (6) by means of at least one feeding device (22); (ii) rotating the winding support (6) relative to the base (18) around the pitch axis (10) of the winding support (6); (iiiA) infinitely rotating the at least one feeding device (22) relative to the base (18) around the yaw axis (12) of the winding support (6), and / or (iiiB) infinitely rotating the winding support (6) relative to the base (18) around the yaw axis (12) of the winding support (6); (iv) infinitely rotating the winding support (6) relative to the base (18) around the roll axis (8) of the winding support.

Description

Technical Field

[0001] The present invention relates to a high pressure vessel for a vehicle. More particularly, the present invention relates to a method for winding a fiber around a winding support and a system for winding a fiber around a winding support. Background Art

[0002] High-pressure vessels for vehicles generally include a hollow container, such as a liner in the form of a mandrel, which is generally cylindrical with rounded longitudinal ends and is made of plastic or other materials selected for its light weight and low production cost. The container is intended to store pressurized gas, such as hydrogen, for various functions of the vehicle equipped with the high-pressure container, such as as an energy source. The pressurized gas exerts strong stresses on the inner surface of the container, which may damage the integrity of the container and cause dangerous leaks, especially in the case of flammable gases like hydrogen.

[0003] In order to improve the mechanical properties of the container, it is known to wind fibers made of reinforcing fibers, such as carbon fibers, around the entire container, which then becomes a winding support. The fibers are embedded in a resin to facilitate the winding and ensure that each piece of the outer surface of the winding support is covered. This winding operation is necessary, but it takes a considerable amount of time, so it is desirable to shorten the duration of this operation as much as possible so as not to extend the manufacturing time of the high-pressure container too much. Document US3333778A discloses a winding system and a winding method implemented by said winding system.

[0004] This document proposes a somewhat accelerated method for winding fibers around a winding support, but there is still room for improvement. In practice, using this system, the fiber feed speed varies greatly during the winding process, this speed slowing down significantly when laying the fibers around the longitudinal ends of the winding support. This leads to a loss of time and thus a rather long winding process. Therefore, the productivity of the winding system is not optimal and the winding method is not optimized in terms of time.

[0005] In view of the above, there is a need to reduce the duration of the winding operation while allowing all known winding types in order to optimize the production cost and speed of high pressure vessels. Summary of the invention

[0006] To this end, according to the invention, there is provided a method for winding a fiber around a winding support, which is generally cylindrical with rounded longitudinal ends and has a roll axis, the winding support being carried by a carrying device fixed to a base, the method comprising the steps occurring simultaneously, which steps include:

[0007] (i) feeding fibers to a winding support by at least one feeding device;

[0008] (ii) rotating the winding support relative to the base about a pitch axis of the winding support;

[0009] (iiiA) infinitely rotating the at least one feeding device relative to the base about the yaw axis of the winding support, and / or

[0010] (iiiB) infinitely rotating the winding support relative to the base about the yaw axis of the winding support; and

[0011] (iv) causing the winding support to rotate infinitely relative to the base about the rolling axis of the winding support.

[0012] By allowing more degrees of freedom in the movement of the at least one feeding device and the winding support, the winding process can be accelerated. In fact, by synchronizing the movement of these elements relative to each other, the path control and rhythm of the fibers fed to the winding support by the at least one feeding device can be optimized. As a result, the fiber feeding speed is more constant than in the above-mentioned prior art documents. When the fibers are laid on the area of ​​the winding support where the feeding speed must be reduced in the prior art, the winding support can be moved in the present invention and the at least one feeding device can be moved in the case of step (iiiB), so that the winding path is not affected without significantly slowing down the feeding speed, thereby shortening the duration of the winding operation. In other words, the method allows a more constant speed of feeding the fibers from the at least one feeding device, thereby shortening the duration of the winding operation.

[0013] The expression "filament" refers to a continuous fiber bundle, preferably carbon fiber, glass fiber or aramid fiber, which is preferably impregnated with a liquid matrix to form a composite material. Depending on the type of matrix used, there are two main families of composite materials: thermosetting composites and thermoplastic composites formed with thermosetting resins or thermoplastic polymers as a matrix.

[0014] Thermosetting resins are formed by mixing two or more reactive components that form reactive thermosetting precursors, which react to form thermosetting resins when exposed to curing conditions (e.g., heating, UV or other radiation, or simply by contacting them with each other, etc.). Thermosetting matrix must be fully cured to produce high-performance composite materials. Once cured, thermosetting resins are solid and cannot be further processed or reshaped because the resin can no longer flow. Examples of thermosetting resins include unsaturated polyesters, epoxy resins, vinyl esters, polyureas, isocyanurates, and polyurethane resins. Thermosetting prepregs made of such fibers impregnated with reactive resins that are only partially cured to make them sticky but still soft can be produced. The prepreg can be stored and further processed under pressure to complete curing and strengthen the prepreg by heating the resin or exposing it to UV.

[0015] Thermoplastic polymers can be converted from a solid state (or non-flowable state) to a liquid state (or flowable state) and vice versa by increasing and decreasing the temperature, respectively. In the case of semi-crystalline polymers, lowering the temperature of the thermoplastic drives the formation of crystals and the solidification of the thermoplastic. Conversely, heating a semi-crystalline polymer above its melting temperature causes the crystals to melt and the thermoplastic to flow. Examples of semi-crystalline thermoplastics include: polyetherketones, such as PEEK, PEKK, PEKKEK; polyamides, such as PA6, PA66, PA10, PA12; polyolefins, such as PE, PP, etc. Amorphous thermoplastics do not form crystals and have no melting temperature. Depending on whether the material temperature is below or above its glass transition temperature, amorphous thermoplastics solidify or become able to flow. Examples of amorphous thermoplastics include PEI, PSU, PES, PC, PS, TPU, etc. Thus, both semi-crystalline and amorphous thermoplastic materials can be reshaped by heating them above their melting or glass transition temperature and freezing them into a new shape by correspondingly lowering the temperature. Although not strictly correct from a physical point of view, for simplicity, both liquid semi-crystalline and amorphous thermoplastic materials are referred to herein as "thermoplastic melts".

[0016] Advantageously, the method also comprises a step, synchronous with the other steps, aimed at translating the winding support and / or the at least one feeding device relative to the base, along the pitch axis of the winding support.

[0017] Advantageously, the method also comprises a step, synchronous with the other steps, aimed at translating the winding support and / or the at least one feeding device relative to the base, along the yaw axis of the winding support.

[0018] Advantageously, the method also comprises a step, synchronous with the other steps, aimed at translating said at least one feeding device and / or said winding support in opposite directions along the rolling axis of the winding support.

[0019] All these degrees of freedom of movement provided to the winding support allow further optimization of the path control and rhythm of the fibers fed to the winding support by the at least one feeding device, thereby further shortening the duration of the winding process.

[0020] Advantageously, the method also comprises a step, synchronous with the other steps, aimed at moving said at least one feeding device relative to said winding support, or moving said winding support relative to said at least one feeding device.

[0021] By moving the winding support and the at least one feeding device relative to each other when winding around the shorter arched longitudinal ends of the winding support, and moving closer to the winding support when winding around the central cylindrical portion of the winding support where more fiber is usually consumed, the movement in space is coordinated with the deposition path of the fibers, thereby minimizing the transient stresses and tensions generated on the fibers.

[0022] This also allows for a number of other improvements of the invention: for example, better compensation for variations in the fiber application speed by pulling the fiber with the winding support as it is applied; improved lay-up accuracy and the ability to place the feed device as close as possible to the winding support; and the ability to be configured to position the fiber more stably in space. The closer the at least one feed device is placed to the winding support, the higher the fiber winding accuracy can be achieved. These improved accuracy, precision and stability improve the reproducibility of the method.

[0023] Advantageously, the at least one feeding device is provided with fibres by a fibre material unwinder and / or a fibre resin impregnation system, step (iiiA) further comprising rotating the fibre material unwinder and / or the fibre resin impregnation system about a yaw axis of the winding support.

[0024] This allows the at least one feed device to feed the fibers to the winding support in a torsion-free manner.

[0025] Advantageously, step (iiiA) aims at rotating said at least one feeding device relative to the base about the yaw axis of said winding support and rotating said winding support relative to the base about its roll axis, these two rotations taking place in opposite directions.

[0026] The two rotations occurring in opposite directions generate a counter-movement of the winding support relative to the at least one feeding device, which increases the rotation speed of the winding support relative to the at least one feeding device. This counter-movement can be achieved when the fiber is wound around the winding support in the form of a ring or in a medium or high spiral winding type.

[0027] Advantageously, the fibers are fed to the winding support by means of a plurality of feeding devices, preferably two feeding devices.

[0028] One or more additional feed devices allow doubling the winding speed. In the case of two feed devices, the winding speed is doubled up to two times, without the winding process being so greatly complicated, which makes it equally easy to implement.

[0029] According to the present invention, there is also provided a method for manufacturing a high pressure vessel, the method comprising the method for winding a fiber around a winding support as described above.

[0030] According to the invention, there is also provided a system for winding fibers on a winding support, the winding support being generally cylindrical with arcuate longitudinal ends and having a rolling axis, the system comprising:

[0031] - base;

[0032] a carrying device connected to the base, comprising a frame configured to carry the winding support so that the winding support can be rotated relative to the base, relative to the pitch axis of the winding support; and

[0033] - at least one feeding device arranged to feed the fibers towards the frame,

[0034] The system is characterized in that the at least one feeding device is configured to rotate relative to the base about a yaw axis of the winding support.

[0035] This system allows to carry out the winding method as described above, wherein step (iiiA) takes place.

[0036] According to the present invention, there is also provided a system for winding fibers on a winding support, the winding support being generally cylindrical with rounded longitudinal ends and having a rolling axis, the cylindrical shape having rounded longitudinal ends, the system comprising:

[0037] - base;

[0038] a carrying device connected to the base, comprising a frame configured to carry the winding support so that the winding support can be rotated relative to the base, relative to the pitch axis of the winding support; and

[0039] - at least one feeding device arranged to feed the fibers towards the frame,

[0040] The system is characterized in that the frame is configured to rotate infinitely relative to the base about the yaw axis of the winding support.

[0041] This system allows to carry out the winding method as described above, wherein step (iiiB) takes place.

[0042] The expression "unlimitedly rotate" means being able to make multiple complete rotations. In the context of a system as described above, it means that the frame is able to make multiple complete rotations relative to the base, around the yaw axis of the winding support. In other words, it means that the range of rotation of the frame is greater than 360°.

[0043] Advantageously, the frame and the at least one feed device are configured to be movable in a relative movement to each other.

[0044] This allows for reduced immediate fiber take up when winding non-spherical cylindrical winding supports.

[0045] Advantageously, the winding support and / or the at least one feeding device are configured to translate relative to the base along a pitch axis of the winding support.

[0046] Advantageously, the winding support and / or the at least one feeding device are configured to translate relative to the base along a yaw axis of the winding support.

[0047] Advantageously, the winding support and / or the at least one feeding device are configured to translate relative to the base along the roll axis of the winding support.

[0048] All these degrees of freedom of movement provided to the winding support allow further optimization of the path control and rhythm of the fibers fed to the winding support by the at least one feeding device, thereby further shortening the duration of the winding process.

[0049] Advantageously, the frame is also configured to rotate infinitely about the roll axis of the winding support.

[0050] Thereby, the frame can be moved to prevent fibres from accumulating on the frame, which is not only useless but also represents a loss of fibres and a loss of time not spent winding the winding support.

[0051] Advantageously, the system comprises a control device common to the carrier device and the at least one feed device, configured to synchronously control the movement of the carrier device, the movement of the at least one feed device and the take up speed of the fibre applied by the at least one feed device.

[0052] The control of all elements of the system is thus centralized via a single control device, which makes it easier to synchronize the steps of the winding method.

[0053] Advantageously, the carrying device comprises an articulated arm, which is preferably a six-axis robot, a Cartesian coordinate robot or a selectively compliant articulated robot arm robot.

[0054] These types of robotic articulated arms are suitable for providing the desired degrees of freedom for wrapping a support while also being easy to control.

[0055] Advantageously, the system comprises a plurality of feeding devices, preferably two feeding devices.

[0056] One or more additional feed devices allow doubling the winding speed. In the case of two feed devices, the winding speed is doubled up to twice, without the winding process being so greatly complicated, which makes it almost as easy to implement.

[0057] According to the present invention, there is also provided a non-transitory computer-readable medium, which includes instructions, which, when executed by a processor, cause the processor to implement the method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Other features and advantages can be seen from the following examples which are provided as illustrative and non-limiting examples and from the accompanying Figure 1 It will be apparent from the description provided that in the accompanying drawings:

[0059] - Figure 1 is a three-dimensional view of a system for winding fibers on a winding support according to a first embodiment of the present invention;

[0060] - Figures 2 to 5 Shown by Figure 1 Different winding types allowed by the winding method according to the present invention implemented by the system;

[0061] - Figure 6 is a three-dimensional view of a system for winding fibers on a winding support according to a second embodiment of the invention. DETAILED DESCRIPTION

[0062] Figure 1 A system 2 for winding fibers on a winding support according to a first embodiment of the invention is shown. In the following description, this system 2 is referred to as a "winding system".

[0063] The winding system 2 comprises a carrying device 4 configured to carry a winding support 6 to be wound by implementing the winding method according to the invention. The winding support 6 is intended to form part of a high-pressure vessel for a vehicle. The expression "high-pressure vessel" refers to a high-pressure vessel intended for storing pressurized gases capable of withstanding an internal pressure of up to 350 bar. Thus, the winding support 6 can be a liner in the shape of a mandrel. The winding support 6 has an overall cylindrical shape, which defines the longitudinal axis of the winding support 6.

[0064] By considering the origin formed by the center of gravity of the winding support 6, with reference to the names of the main axes of the aircraft as defined, for example, in Section 16.6 of the handbook Aerodynamics by Clancy, LJ, published by Pitman Publishing Limited in 1975 (ISBN 0-273-01120-0), a three-dimensional coordinate system can be defined comprising three axes, namely the roll axis 8, the pitch axis 10 and the yaw axis 12. The roll axis 8 is preferably collinear with the longitudinal axis and passes through the center of gravity of the winding support 6. The yaw axis 12 is vertical and passes through the center of gravity of the winding support 6. The pitch axis 10 is perpendicular to the roll axis 8 and passes through the center of gravity of the winding support 6. The center of gravity of the winding support 6, the roll axis 8, the pitch axis 10 and the yaw axis 12 are all in Figure 1 Shown in .

[0065] The winding support 6 has a central portion which is cylindrical and has two arcuate longitudinal ends 14 located on opposite sides of the central portion relative to the rolling axis 8. The winding support 6 includes at least one boss located at one of the arcuate longitudinal ends 14. Preferably, the winding support 6 includes two bosses located at the two arcuate longitudinal ends 14.

[0066] The carrying device 4 comprises an articulated arm 16 connected to a base 18 of the winding system 2. The articulated arm 16 is configured to allow a high degree of freedom of movement of the winding support 6 relative to the base 18. Here, the articulated arm 16 is formed by a six-axis robot, a Cartesian coordinate robot or a selectively compliant articulated robot arm robot, often called a SCARA robot, but these types of robots may be replaced by any other suitable device.

[0067] The carrying device 4 comprises a frame 20 mounted on the end of the articulated arm 16. The frame 20 has a U-shaped overall shape, which is dimensioned to accommodate the winding support 6 in the shape of the frame 20. The frame 20 carries the winding support 6 by clamping one or all of its heads.

[0068] The frame 20 is configured to carry the winding support 6 so that the winding support 6 can rotate relative to the base and relative to the pitch axis 10 of the winding support 6. The frame 20 has a roll axis, a pitch axis and a yaw axis that are colinear with the roll axis 8, the pitch axis 10 and the yaw axis 12 of the winding support 6, respectively.

[0069] The frame 20 is also configured to rotate relative to the articulated arm 14 , relative to the yaw axis 12 , and to translate relative to the articulated arm 14 , along the roll axis 8 .

[0070] The winding system 2 comprises at least one feeding device 22 arranged to feed fibers 24 to the frame 20 and the winding support 6. The fibers 24 are made of reinforcing fibers embedded in a resin shaped as a band wound around the winding support 6. Here, the winding system 2 comprises one feeding device, but according to a variant of the invention, multiple feeding devices may be provided, preferably two feeding devices located at positions opposite to each other with respect to the yaw axis 12 of the winding support, so as to double the winding speed.

[0071] The feeding device 22 comprises a winding eye through which the fibers 24 pass in the direction of the winding support 6. The fibers 24 are continuously provided by a feeding station 26 connected to the base 16 and equipped with a fiber material unwinder (not shown) and / or with a fiber resin impregnation system (not shown) in case a sequential impregnation has to be provided.

[0072] The feeding device 22 is equipped with actuators and brakes configured to accelerate or decelerate the amount of fibers 24 fed to the winding support 6 during winding. The feeding station 26 may also be equipped with such actuators and brakes.

[0073] The winding system 2 includes a control device 28 common to both the carrier device 4 and the feed device 22 , which is configured to synchronously control the movement of the carrier device 4 , the movement of the feed device 22 and the takeup speed of the fiber 24 applied by the feed device 22 .

[0074] The control device 28 is suitable for implementing a winding method comprising the following steps, which occur synchronously via the control device 28:

[0075] (i) feeding the fiber 24 to the winding support 6 via the feeding device 22;

[0076] (ii) rotating the winding support 6 relative to the base 18 about the pitch axis 10 of the winding support 6;

[0077] (iiiA) infinitely rotating the feed device 22 relative to the base 18 about the yaw axis 12 of the winding support 6, and / or

[0078] (iiiB) infinitely rotating the winding support 6 relative to the base 18 about the yaw axis 12 of the winding support 6; and

[0079] (iv) infinitely rotating the winding support 6 relative to the base 18 about the rolling axis 8 of the winding support 6 .

[0080] This method follows the general polar winding type of technology, while allowing for loose polar winding patterns. This winding method allows for different types of winding patterns.

[0081] Figure 2 A first embodiment of the winding method is shown, in which the fiber 24 is wound around the winding support according to a winding pattern of low-angle spiral winding. The fiber 24 is laid at an angle of less than 20° relative to the roll axis 8 of the winding support 6. During the winding process, the roll axis 8, the pitch axis 10 and the yaw axis 12 of the winding support 6 are fixed and the center of gravity of the winding support 6 remains stable in place. The feeding device 22 is rotated relative to the winding support 6 about the yaw axis 12, while the winding support 6 is tilted about its pitch axis 10. During the winding process, the height position of the winding support 6 is compensated by translating both the winding support 6 and the feeding device 22 along the yaw axis 12 in opposite directions, so as to increase the relative speed of the winding support 6 relative to the feeding device 22. The winding support 6 is also translated relative to the feeding device 22 along its pitch axis 10, so that they are closer to each other or farther away from each other, so as to give the feeding device 22 an elliptical path. The frame 20 is kept in position relative to the feeding device 22 so as to prevent any accumulation of the fibers 24 on the frame 20. The above-mentioned rotation and translation are also suitable for preventing the fibers 24 from being laid on the end of the winding support 6.

[0082] Figure 3 A second embodiment of the winding method is shown, in which the fibers 24 are wound around the winding support 6 in a medium-angle spiral winding pattern. The fibers 24 are laid at an angle of 20° to 55° relative to the roll axis 8 of the winding support 6. The feed device 22 is rotated relative to the winding support 6 about the yaw axis 12, while the winding support 6 is tilted up and down about its pitch axis 10, respectively, to distribute the angular pattern. The winding support 6 is also translated relative to the feed device 22 along its pitch axis 10. The frame 20 is maintained in a position relative to the feed device 22 to prevent any accumulation of the fibers 24 on the frame 20. The above-mentioned rotation and translation are also suitable for preventing the laying of the fibers 24 on the end cap of the winding support 6.

[0083] Figure 4A third embodiment of the winding method is shown, in which the fibers 24 are wound around the winding support 6 in a high-angle spiral winding pattern. The fibers 24 are laid at an angle of 55° to 85° relative to the roll axis 8 of the winding support 6. The feed device 22 is rotated relative to the winding support 6 about the yaw axis 12, while the winding support 6 moves up and down along the yaw axis 12 to distribute the angular pattern. The winding support 6 is also translated relative to the feed device 22 along its pitch axis 10 so that they are closer to each other or farther away from each other in order to give the feed device 22 an elliptical path. The frame 20 is maintained in a position relative to the feed device 22 to prevent any accumulation of the fibers 24 on the frame 20. The above-mentioned rotation and translation are also suitable for preventing the deposition of the fibers 24 on the end cap of the winding support 6.

[0084] Figure 5 A fourth embodiment of the winding method is shown, in which the fibers 24 are wound around the winding support 6 according to a toroidal winding pattern. The fibers 24 are laid at an angle greater than 85° relative to the roll axis 8 of the winding support 6. The feeding device 22 is rotated relative to the winding support 6 about the yaw axis 12, while the winding support 6 moves up and down along the yaw axis 12, to distribute the angular pattern. During the rotation of the feeding device 22, the winding support 6 can be rotated about its roll axis 8 to produce a contra rotation, thereby accelerating the winding process. The frame 20 is maintained in a position relative to the feeding device 22 to prevent any accumulation of fibers 24 on the frame 20.

[0085] Depending on the winding type selected, not all the steps of the method listed above must be implemented. In other words, the winding type is determined by selecting different movements of the winding support 6, the frame 20 and the feeding device 22 and setting the parameters of these movements.

[0086] Figure 6 A winding system 2' for winding fibers on a winding support according to a second embodiment of the invention is shown. It differs from the winding system of the first embodiment in that the feed device 22 is no longer configured to rotate about the yaw axis. Instead, the winding support 6 is configured to rotate about its yaw axis 12 relative to the base 18 by means of the carrying device 4. In this way, the relative movement between the winding support 6 and the feed device 22 remains unchanged. Therefore, this winding system 2' allows the implementation of the above-mentioned winding method as the winding system of the first embodiment. All other features of the feeding system of the first embodiment can be applied to this winding system 2' instead.

[0087] The above embodiments are all illustrative and non-restrictive embodiments. Obviously, in view of the above teachings, many modifications and changes can be made to the present invention without departing from the inventive concept of the present invention. Therefore, it should be understood that the present invention can be implemented in a different manner than that specifically described above.

[0088] Reference numerals:

[0089] 2; 2': Winding system

[0090] 4: Carrying equipment

[0091] 6: Winding support

[0092] 8: Rolling axis of the winding support

[0093] 10: Pitch axis of the winding support

[0094] 12: Yaw axis of the winding support

[0095] 14: Arched end of the winding support

[0096] 16: Articulated arm

[0097] 18: Base

[0098] 20: Framework

[0099] 22: Feeding equipment

[0100] 24: Fiber

[0101] 26: Feeding station

[0102] 28: Control Devices

Claims

1. A method for winding a fiber around a winding support (6), the winding support being generally cylindrical and having a rolling axis (8), the cylindrical shape having arcuate longitudinal ends (14), the winding support (6) being carried by a carrying device (4) fixed to a base (18), the method comprising steps occurring simultaneously, the steps comprising: i) feeding fibers (24) to the winding support (6) by means of at least one feeding device (22); ii) rotating the winding support (6) relative to the base (18) around the pitch axis (10) of the winding support (6); iiiA) infinitely rotating the at least one feeding device (22) relative to the base (18) about the yaw axis (12) of the winding support (6), and / or iiiB) causing the winding support (6) to rotate infinitely relative to the base (18) around the yaw axis (12) of the winding support (6); as well as iv) causing said winding support (6) to rotate infinitely relative to said base (18) around said rolling axis (8) of said winding support.

2. The method according to claim 1 further comprises a step v) intended to translate the winding support (6) and / or the at least one feeding device (22) relative to the base (18) along the pitch axis (10) of the winding support (6), and the step v) is synchronized with the steps of the method other than step v).

3. The method according to any one of claims 1 to 2, further comprising a step vi) intended to translate the winding support (6) and / or the at least one feeding device (22) relative to the base (18) along the yaw axis (12) of the winding support (6), the step vi) being synchronized with the steps of the method other than step vi).

4. The method according to any one of claims 1 to 2, further comprising step vii), which step vii) is intended to translate the at least one feeding device (22) and / or the winding support (6) in opposite directions along the rolling axis (8) of the winding support (6), and step vii) is synchronized with the steps of the method other than step vii).

5. The method according to any one of claims 1 to 2, further comprising a step viii) which is intended to move the at least one feeding device (22) relative to the winding support (6), or to move the winding support (6) relative to the at least one feeding device (22), and the step viii) is synchronized with the steps of the method other than step viii).

6. The method according to any one of claims 1 to 2, wherein: During said step iiiA), said fibers (24) are provided to said at least one feeding device (22) by means of a fiber material unwinding machine and / or a fiber resin impregnation system, said method further comprising a step ix) intended to rotate said fiber material unwinding machine and / or said fiber resin impregnation system around the yaw axis (12) of said winding support (6), said step ix) being synchronized with the steps of said method other than step ix).

7. The method according to any one of claims 1 to 2, wherein: Said step iiiA) is intended to rotate said at least one feeding device (22) relative to said base (18) around the yaw axis (12) of said winding support (6), and to rotate said winding support (6) relative to said base (18) around the roll axis of said winding support, said two rotations occurring in opposite directions.

8. The method according to any one of claims 1 to 2, wherein: The fibers (24) are fed to the winding support (6) by two or more feeding devices.

9. A method for manufacturing a high-pressure vessel, comprising a method for winding a fiber (24) around a winding support (6) as claimed in any one of claims 1 to 8.

10. A system (2) for winding a fiber (24) on a winding support (6), the winding support (6) being generally cylindrical and having a rolling axis (8), the cylindrical shape having arcuate longitudinal ends, the system (2) comprising: - a base (18); - a carrying device (4) connected to the base (18), comprising a frame (20) configured to carry the winding support (6) so that the winding support (6) can rotate relative to the base (18) and relative to the pitch axis (10) of the winding support (6); and - at least one feeding device (22) arranged to feed fibers (24) towards said frame (20), The system (2) is characterized in that the at least one feeding device (22) is configured to rotate relative to the base (18) about the yaw axis (12) of the winding support (6).

11. A system (2') for winding a fiber (24) on a winding support (6), the winding support (6) being generally cylindrical and having a rolling axis (8), the cylindrical shape having arcuate longitudinal ends (14), the system (2') comprising: - a base (18); - a carrying device (4) connected to the base (18), comprising a frame (20) configured to carry the winding support (6) so that the winding support (6) can rotate relative to the base (18) and relative to the pitch axis (10) of the winding support (6); and - at least one feeding device (22) arranged to feed fibers (24) towards said frame (20), The system (2') is characterized in that the frame (20) is configured to rotate infinitely relative to the base (18) about the yaw axis (12) of the winding support (6).

12. System (2; 2') according to claim 10 or 11, wherein: The frame (20) and the at least one feed device (22) are configured to be movable in relative motion to each other.

13. The system (2; 2') according to any one of claims 10 to 11, wherein: The winding support (6) and / or the at least one feeding device (22) are configured to translate relative to the base (18) along a pitch axis (10) of the winding support (6).

14. The system (2; 2') according to any one of claims 10 to 11, wherein: The winding support (6) and / or the at least one feeding device (22) are configured to translate relative to the base (18) along a yaw axis (12) of the winding support (6).

15. The system (2; 2') according to any one of claims 10 to 11, wherein: The winding support (6) and / or the at least one feeding device (22) are configured to translate relative to the base (18) along a roll axis (8) of the winding support (6).

16. The system (2; 2') according to any one of claims 10 to 11, the frame (20) being further configured to rotate infinitely around the roll axis (8) of the winding support (6).

17. A system (2; 2') as described in any one of claims 10 to 11, wherein the system comprises a control device (28) shared by both the supporting device (4) and the at least one feeding device (22), and configured to synchronously control the movement of the supporting device (4), the movement of the at least one feeding device (22) and the take-up speed of the fiber (24) applied by the at least one feeding device (22).

18. The system (2; 2') according to any one of claims 10 to 11, wherein: The carrying device (4) comprises an articulated arm (16).

19. System (2; 2') according to claim 18, wherein The articulated arm is a six-axis robot, a Cartesian coordinate robot or a selectively compliant articulated robot arm robot.

20. The system (2; 2') according to any one of claims 10 to 11, comprising two or more feeding devices.

21. A non-transitory computer readable medium comprising instructions which, when executed by a processor, cause the processor to implement the method of any one of claims 1 to 8.

Images