Filament winding method and filament winding device

Abstract

To provide a filament winding (FW) method and a filament winding device that can suppress deformation of the fiber roll section.SOLUTION: A FW device 10 is equipped with a bobbin drive section 12, a winding unit 18, and a tensioning unit 20. A FW method using the FW device 10 includes a midway stop process in which the operation of the winding unit 18 is stopped during winding of a feeding fiber section 430 onto a workpiece 500. In the midway stop process, the length of the feeding path is lengthened by moving a pressing section 92 while pressing it against the feeding fiber section 430 while feeding by the feeding fiber section 430 from a fiber roll section 412 is continued.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a filament winding method and a filament winding apparatus. [Background technology]

[0002] Patent Document 1 discloses a filament winding device (hereinafter, sometimes referred to as a FW device). The FW device includes a bobbin motor, a winding device, and a tensioning device. The bobbin motor rotates a bobbin member. The bobbin member has a bobbin and a fiber roll section formed by winding a fiber bundle around the bobbin. The winding device winds the fed-out fiber section fed from the fiber roll section around a workpiece while applying tension to the fed-out fiber section.

[0003] The tensioning device is provided on the feed path of the fiber delivery section from the bobbin drive section to the winding device. The tensioning device is equipped with a pressing section (dancer roll) that presses the fiber delivery section. The pressing section of the tensioning device of the FW device presses the fiber delivery section with a constant force. The tensioning device generally uses feedback control to keep the position of the pressing section constant by detecting the position of the pressing section and controlling the delivery speed from the fiber roll section according to the change in position. In addition, when feedback control cannot keep up with high-speed operation, active control is also used to move the pressing section according to the winding speed and winding length of the winding device. These tensioning devices stabilize the tension of the fiber delivery section. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2005-255359 A Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, in a filament winding method using an FW device, a midway stopping step may be performed to stop the operation of the winding device midway through winding the delivered fiber section around the workpiece in order to perform a predetermined intermediate process. The intermediate process may include, for example, measuring the winding accuracy of the delivered fiber section around the workpiece. The intermediate process may also include, for example, changing the winding angle of the delivered fiber section around the workpiece. The above-mentioned prior art does not describe the midway stopping step.

[0006] When the delivery of the fiber roll section from the fiber roll section is stopped during the intermediate stopping step, a relatively large tension acts on the fiber roll section. As a result, the fiber roll section may be excessively tightened by the fiber roll section and deformed. If the fiber roll section is deformed, the fiber roll section needs to be modified or the bobbin member needs to be replaced. This increases the time required for filament winding and the cost of filament winding.

[0007] The present invention aims to solve the above-mentioned problems. [Means for solving the problem]

[0008] One aspect of the present invention is a filament winding method using a filament winding device, the filament winding device comprising: a bobbin drive unit for rotating a bobbin member having a bobbin and a fiber roll unit formed by winding a fiber bundle around the bobbin; a winding device for winding an outgoing fiber portion sent out from the fiber roll unit around a workpiece while applying tension to the outgoing fiber portion; and a tensioning device provided in a feed path of the outgoing fiber portion from the bobbin drive unit to the winding device, the tensioning device having a pressing unit for pressing the outgoing fiber portion; the filament winding method including an intermediate stopping step for stopping operation of the winding device midway through winding the outgoing fiber portion around the workpiece, and in the intermediate stopping step, the pressing unit is moved while pressing the outgoing fiber portion while continuing to send out the outgoing fiber portion from the fiber roll unit, thereby lengthening the length of the feed path. In the midway stopping step, the moving speed of the pressing unit is increased as the feeding speed of the fiber portion from the fiber roll unit is increased.This is a filament winding method.

[0009] Another aspect of the present invention is a filament winding device comprising: a bobbin drive unit for rotating a bobbin member having a bobbin and a fiber roll unit formed by winding a fiber bundle around the bobbin; a winding device for winding a fiber bundle fed out from the fiber roll unit around a workpiece while applying tension to the fiber bundle; and a tensioning device provided in a feed path of the fiber bundle from the bobbin drive unit to the winding device, the tensioning device having a pressing unit for pressing the fiber bundle, the tensioning device including a bobbin control unit for controlling the bobbin drive unit, and a winding device for winding the fiber bundle around a workpiece while applying tension to the fiber bundle. The winding control unit controls the winding device to stop the operation of the winding device in the middle of winding the fed-out fiber part around the workpiece, and when the winding control unit stops the operation of the winding device in the middle, the bobbin control unit controls the bobbin drive unit to continue the feeding of the fed-out fiber part from the fiber roll unit, and the tension control unit controls the tensioning device to move the pressing unit while pressing it against the fed-out fiber part, thereby lengthening the length of the feed path. The tension control unit has a speed sensor that detects the feed speed of the fiber portion from the fiber roll unit, and when the fiber portion is stopped midway, the tension control unit controls the tension applying device to increase the moving speed of the pressing unit as the feed speed detected by the speed sensor increases. This is a filament winding device. Effect of the Invention

[0010] According to the present invention, the fiber roll section continues to be fed during the intermediate stopping step. This prevents the fiber roll section from being excessively clamped by the fiber roll section during the intermediate stopping step, thereby suppressing deformation of the fiber roll section. This makes it unnecessary to modify the fiber roll section or replace the bobbin member. This prevents the time required for filament winding from increasing, and prevents the cost of filament winding from increasing.

[0011] Furthermore, since the length of the feeding path is increased by moving the pressing unit during the intermediate stopping step, an appropriate tension can be continuously applied to the fiber output section, which prevents the fiber output section wound around the work from loosening. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram of a filament winding device according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic vertical cross-sectional view of a high-pressure gas tank. [Diagram 3] FIG. 3 is a detailed cross-sectional view of a portion indicated by an arrow III in FIG. [Figure 4] Fig. 4A is a plan view explanatory diagram of the first tension retaining unit shown in Fig. 1. Fig. 4B is a first explanatory diagram of the operation of the first tension retaining unit shown in Fig. 4A. Fig. 4C is a second explanatory diagram of the operation of the first tension retaining unit shown in Fig. 4A. [Diagram 5] FIG. 5 is a control block diagram of FIG. [Figure 6] FIG. 6 is a flow chart illustrating the filament winding method. [Figure 7] Fig. 7A is a plan view of the tension applying device, Fig. 7B is a first operation explanatory diagram of the tension applying device shown in Fig. 7A, and Fig. 7C is a second operation explanatory diagram of the tension applying device shown in Fig. 7A. [Figure 8] FIG. 8 is a flowchart illustrating the details of the midway stopping step in FIG. [Figure 9] FIG. 9 is a flow chart illustrating the details of the winding restart step in FIG. [Figure 10] FIG. 10 is an explanatory plan view of a tension applying device according to a first modified example. [Figure 11] FIG. 11 is an explanatory plan view of a tension applying device according to a second modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] As shown in Fig. 1, a filament winding apparatus (hereinafter sometimes referred to as "FW apparatus 10") according to one embodiment of the present invention manufactures a high-pressure gas tank 502 by winding a plurality of fed fiber portions 430 fed from a plurality of bobbin members 400 around a workpiece 500. The high-pressure gas tank 502 manufactured using the FW apparatus 10 is mounted on, for example, a fuel cell vehicle. In this case, the high-pressure gas tank 502 is filled with hydrogen gas at high pressure. Note that the high-pressure gas tank 502 may be filled with a fuel gas other than hydrogen gas.

[0014] In FIG. 2, the high-pressure gas tank 502 includes a liner 504, a first nozzle 506, a second nozzle 508, and a reinforcing part 510. The liner 504, the first nozzle 506, and the second nozzle 508 form a workpiece 500. The liner 504 is made of, for example, high-density polyethylene (HDPE) resin or nylon resin (PA6) that exhibits hydrogen barrier properties. The first nozzle 506 is attached to one axial end of the liner 504. The second nozzle 508 is attached to the other axial end of the liner 504. The reinforcing part 510 has a plurality of reinforcing layers 512 laminated in the thickness direction of the liner 504 (see FIG. 3).

[0015] The product manufactured using the FW apparatus 10 is not limited to the high-pressure gas tank 502. In other words, the product manufactured using the FW apparatus 10 may be, for example, a solid member or the like.

[0016] As shown in FIG. 1, the FW device 10 includes a plurality of bobbin driving units 12, a plurality of tension holding units 14, a plurality of feed rollers 16, a winding device 18, a tension applying device 20, and a control unit 22.

[0017] In this embodiment, the number of the bobbin driving units 12 is four. The number of the bobbin driving units 12 can be set appropriately. The bobbin driving units 12 include a first bobbin driving unit 26, a second bobbin driving unit 28, a third bobbin driving unit 30, and a fourth bobbin driving unit 32. The first bobbin driving unit 26 has a bobbin support shaft 34 and a bobbin motor 36. The bobbin motor 36 rotates the bobbin support unit. The configurations of the second bobbin driving unit 28, the third bobbin driving unit 30, and the fourth bobbin driving unit 32 are the same as the configuration of the first bobbin driving unit 26.

[0018] A plurality of bobbin members 400 are detachably attached to the FW device 10. In this embodiment, the number of the plurality of bobbin members 400 is four. The plurality of bobbin members 400 include a first bobbin member 402, a second bobbin member 404, a third bobbin member 406, and a fourth bobbin member 408.

[0019] The first bobbin member 402 has a bobbin 410 and a fiber roll portion 412. The bobbin 410 is attached to the bobbin support shaft 34. The fiber bundle is traverse wound around the bobbin 410. In other words, the fiber bundle is wound around the bobbin 410 while moving the fiber bundle in the width direction of the bobbin 410 (the axial direction of the bobbin 410).

[0020] The fiber bundle is formed by bundling a large number of fibers. For example, carbon fiber or glass fiber is used as the fiber forming the fiber bundle. The fiber bundle is pre-impregnated with resin. For example, epoxy resin, which is a thermosetting resin, is used as the resin impregnated in the fiber bundle. In other words, the fiber bundle is a so-called tow prepreg. The fiber roll section 412 is formed by winding the fiber bundle around the bobbin 410. The fiber bundle is sent out from the fiber roll section 412 as the bobbin 410 rotates.

[0021] Each of the second bobbin member 404, the third bobbin member 406, and the fourth bobbin member 408 is configured similarly to the first bobbin member 402. Therefore, a description of each of the configurations of the second bobbin member 404, the third bobbin member 406, and the fourth bobbin member 408 will be omitted.

[0022] Hereinafter, the portion of the fiber bundle of the first bobbin member 402 that is fed out from the fiber roll portion 412 is referred to as the "first fiber feed section 422". The portion of the fiber bundle of the second bobbin member 404 that is fed out from the fiber roll portion 412 is referred to as the "second fiber feed section 424". The portion of the third bobbin member 406 that is fed out from the fiber roll portion 412 is referred to as the "third fiber feed section 426". The portion of the fourth bobbin member 408 that is fed out from the fiber roll portion 412 is referred to as the "fourth fiber feed section 428". In addition, each of the first fiber feed section 422, the second fiber feed section 424, the third fiber feed section 426, and the fourth fiber feed section 428 may also be referred to as the "fiber feed section 430".

[0023] In this embodiment, the number of the tension retaining units 14 is four. The number of the tension retaining units 14 is the same as the number of the bobbin driving units 12. The number of the tension retaining units 14 can be appropriately set, similar to the number of the bobbin driving units 12. The tension retaining units 14 include a first tension retaining unit 42, a second tension retaining unit 44, a third tension retaining unit 46, and a fourth tension retaining unit 48. The first tension retaining unit 42 absorbs fluctuations in tension acting on the first fiber-sending unit 422. In other words, the first tension retaining unit 42 maintains the tension acting on the first fiber-sending unit 422 within a reference tension range.

[0024] As shown in FIG. 4A, the first tension retaining unit 42 has a base unit 50, a first retaining roller 52, a second retaining roller 54, and an air cylinder 56. The base unit 50 has a rectangular shape. The base unit 50 includes a first end 51 and a second end 53. The first end 51 is one end of the base unit 50 in the longitudinal direction. The second end 53 is the other end of the base unit 50 in the longitudinal direction. The first retaining roller 52 is rotatably attached to the first end 51. The second retaining roller 54 is rotatably attached to the second end 53. The first retaining roller 52 and the second retaining roller 54 are wound with the first fiber delivery unit 422.

[0025] The base part 50 can be tilted around a tilt axis 58. The tilt axis 58 is located between the first holding roller 52 and the second holding roller 54. The base part 50 tilts around the tilt axis 58 in a first rotation direction (arrow X direction) and a second rotation direction (arrow Y direction). The air cylinder 56 biases the second end part 53 in the first rotation direction. The second holding roller 54 is in the reference position shown in FIG. 4A with a reference tension acting on the first fiber-sending part 422. At this time, the reference tension acting on the first fiber-sending part 422 and the biasing force of the air cylinder 56 are balanced with each other.

[0026] When the tension acting on the first fiber-sending section 422 becomes smaller than the reference tension, as shown in FIG. 4B, the base section 50 is pushed by the biasing force of the air cylinder 56 and tilts about the tilt axis 58 in the first rotation direction. Then, the second holding roller 54 is displaced from the reference position to the first position. As a result, the path length of the first fiber-sending section 422 becomes longer, and the tension acting on the first fiber-sending section 422 becomes larger. In other words, the tension acting on the first fiber-sending section 422 is maintained at or above the lower limit of the reference tension range.

[0027] When the tension acting on the first fiber-sending section 422 becomes greater than the reference tension, as shown in FIG. 4C, the base section 50 tilts in the second rotation direction about the tilt axis 58 while pressing the air cylinder 56 due to the tension of the first fiber-sending section 422. Then, the second holding roller 54 is displaced from the reference position to the second position. As a result, the path length of the first fiber-sending section 422 becomes shorter, and the tension acting on the first fiber-sending section 422 becomes smaller. In other words, the tension acting on the first fiber-sending section 422 is maintained below the upper limit of the reference tension range. The first tension holding section 42 may have a hydraulic cylinder or a spring member instead of the air cylinder 56.

[0028] The second tension retaining section 44 retains the tension acting on the second extended fiber bundle within a reference tension range. The third tension retaining section 46 retains the tension acting on the third extended fiber bundle within a reference tension range. The fourth tension retaining section 48 retains the tension acting on the fourth extended fiber bundle within a reference tension range. Each of the second tension retaining section 44, the third tension retaining section 46, and the fourth tension retaining section 48 is configured similarly to the first tension retaining section 42. Therefore, a description of the configuration of each of the second tension retaining section 44, the third tension retaining section 46, and the fourth tension retaining section 48 will be omitted.

[0029] Each tension retaining portion 14 is not limited to the above-mentioned configuration, and any appropriate configuration may be adopted.

[0030] As shown in Fig. 1, the plurality of feed rollers 16 feed the plurality of output fiber sections 430 that have passed through the plurality of tension retaining units 14 to the winding device 18. Each feed roller 16 is rotatably attached to a roller support member (not shown). A first output fiber section 422, a second output fiber section 424, a third output fiber section 426, and a fourth output fiber section 428 are wound around each feed roller 16.

[0031] The multiple feed rollers 16 include a first feed roller 64, a second feed roller 66, a third feed roller 68, a fourth feed roller 70, a fifth feed roller 72, a sixth feed roller 74, and a seventh feed roller 76. The first feed roller 64, the second feed roller 66, the third feed roller 68, the fourth feed roller 70, the fifth feed roller 72, the sixth feed roller 74, and the seventh feed roller 76 are arranged in this order in the feed direction of the multiple fiber delivery sections 430. The number of the multiple feed rollers 16 can be changed as appropriate.

[0032] The winding device 18 winds the plurality of output fiber portions 430 around the outer surface of the workpiece 500 while rotating the workpiece 500 around the axis Ax of the workpiece 500. The winding device 18 includes a first support table 78, a first support shaft 80, a second support table 82, a second support shaft 84, a rotation motor 86, and a fiber supply head 88.

[0033] The first support base 78 rotatably supports the first support shaft 80. The first support shaft 80 is detachably attached to a first jaw 506 of the workpiece 500. The second support base 82 rotatably supports the second support shaft 84. The second support shaft 84 is detachably attached to a second jaw 508 of the workpiece 500. The rotation motor 86 rotates the second support shaft 84. The rotation motor 86 is fixed to the second support base 82. The rotation motor 86 rotates the first support shaft 80, the workpiece 500, and the second support shaft 84 together about the axis Ax of the workpiece 500.

[0034] Hereinafter, the direction along the axis Ax of the workpiece 500 is referred to as the "axial direction of the workpiece 500". The fiber supply head 88 supplies the plurality of output fiber parts 430 in a bundled state to the workpiece 500. The fiber supply head 88 is movable along the axial direction of the workpiece 500. The fiber supply head 88 has an insertion hole 90 through which the plurality of output fiber parts 430 are inserted. The winding device 18 winds the plurality of output fiber parts 430 around the workpiece 500 in multiple layers by helical winding, hoop winding, or the like.

[0035] The tension applying device 20 is provided on a feed path of the plurality of fiber output sections 430 from the plurality of bobbin driving units 12 to the winding device 18. The tension applying device 20 applies tension to the plurality of fiber output sections 430. The tension applying device 20 has a pressing unit 92, a pressing support unit 94, and an actuator 96.

[0036] The pressing unit 92 is a roller extending in the horizontal direction. The pressing unit 92 presses each fiber-sending unit 430 downward (in the direction of gravity). Specifically, the pressing unit 92 presses a portion between the second feed roller 66 and the third feed roller 68 in each fiber-sending unit 430. The portion of each fiber-sending unit 430 pressed by the pressing unit 92 can be changed as appropriate. That is, the pressing unit 92 may press, for example, a portion between the first feed roller 64 and the second feed roller 66 in each fiber-sending unit 430.

[0037] The pressing support portion 94 rotatably supports the pressing portion 92. The pressing support portion 94 extends in the vertical direction. The actuator 96 moves the pressing support portion 94 in the vertical direction. Although detailed illustration is omitted, the actuator 96 includes, for example, a motor and a ball screw. However, the actuator 96 may be an air cylinder or the like.

[0038] As shown in Fig. 5, the FW device 10 includes a speed sensor 98 and a load sensor 100. The speed sensor 98 detects the feed speed of each fiber-sending unit 430. The speed sensor 98 transmits the detected feed speed to the control unit 22. The load sensor 100 detects the sum of the loads that the pressing unit 92 receives from each fiber-sending unit 430. The load sensor 100 transmits the detected load to the control unit 22.

[0039] The control unit 22 includes a calculation unit 102 (processing unit) and a storage unit 104. The calculation unit 102 includes, for example, a CPU (Cent r It is composed of processors (processing circuits) such as a Graphics Processing Unit (GPU) and a Graphics Processing Unit (GPU).

[0040] The calculation unit 102 includes a bobbin control unit 106, a winding control unit 108, a winding position acquisition unit 110, a winding position determination unit 112, and a tension control unit 114. The calculation unit 102 realizes the bobbin control unit 106, the winding control unit 108, the winding position acquisition unit 110, the winding position determination unit 112, and the tension control unit 114 by executing a program stored in the storage unit 104.

[0041] The calculation unit 102 may realize at least a part of the bobbin control unit 106, the winding control unit 108, the winding position acquisition unit 110, the winding position determination unit 112, and the tension control unit 114 by an integrated circuit. Examples of the integrated circuit include an ASIC (Application Specific Integrated Circuit) and an FPGA (Field-Programmable Gate Array).

[0042] The storage unit 104 includes a volatile memory and a non-volatile memory. The volatile memory may be, for example, a random access memory (RAM). The non-volatile memory may be, for example, a read only memory (ROM) or a flash memory. Data and the like are stored, for example, in the volatile memory. Programs, tables, maps, and the like are stored, for example, in the non-volatile memory. At least a part of the storage unit 104 may be incorporated in a processor or an integrated circuit as described above.

[0043] The bobbin control unit 106 controls the bobbin driving unit 12. The winding control unit 108 controls the winding device 18. Specifically, the winding control unit 108 controls the rotation motor 86 to rotate the workpiece 500. The winding control unit 108 controls the fiber supplying head 88 to move the fiber supplying head 88 along the axial direction of the workpiece 500. The winding control unit 108 synchronously controls the rotation motor 86 and the fiber supplying head 88.

[0044] The winding position acquisition unit 110 acquires the winding position of each fiber delivery unit 430 around the work 500. The winding position acquisition unit 110 calculates the winding position of each fiber delivery unit 430 around the work 500 based on, for example, information about the work 500 and operation information about the winding device 18. The information about the work 500 includes the shape and size of the work 500. The operation information about the winding device 18 includes the amount of rotation of the rotary motor 86 and the position information of the fiber supply head 88. The winding position acquisition unit 110 may acquire the winding position of each fiber delivery unit 430 around the work 500 using a camera or the like.

[0045] The winding position determination unit 112 determines whether the winding position of each of the fiber output units 430 around the workpiece 500 is located in a tension drop region. The tension drop region is a region of the winding position where the tension acting on each of the fiber output units 430 may drop below the lower limit of the reference tension range.

[0046] In addition, the winding position determination unit 112 determines whether the winding position of each of the fiber output sections 430 around the workpiece 500 is located in a tension increase region. The tension increase region is a region of the winding position where the tension acting on each of the fiber output sections 430 may increase above the upper limit of a predetermined tension range.

[0047] Furthermore, the winding position determination unit 112 determines whether the winding position of each of the output fiber parts 430 around the workpiece 500 is at the midway stop position. The midway stop position is set appropriately according to the shape and size of the workpiece 500. In this embodiment, the midway stop position is set to the winding position of each of the output fiber parts 430 around the workpiece 500 when one reinforcing layer 512 is formed. In other words, the winding position of each of the output fiber parts 430 around the workpiece 500 is located at the midway stop position every time one reinforcing layer 512 is formed.

[0048] Information on the tension drop region, tension increase region, and midway stop position is stored in advance in the storage unit 104. The tension drop region and tension increase region are obtained, for example, by conducting tests or the like in advance. However, the tension drop region and tension increase region may also be calculated by simulation.

[0049] The tension control unit 114 controls the tension applying device 20. Specifically, the tension control unit 114 controls the actuator 96 to move the pressing unit 92 in the vertical direction.

[0050] Next, a filament winding method (hereinafter referred to as the "FW method") using the FW device 10 will be described.

[0051] As shown in FIG. 6, the FW method includes a preparation step (step S1). In the preparation step, a plurality of bobbin members 400 are attached to a plurality of bobbin driving units 12, respectively. In addition, each of the fiber delivery units 430 is wound around each of the feed rollers 16. Furthermore, each of the fiber delivery units 430 is passed through an insertion hole 90 of the fiber supply head 88. In addition, the end (starting end) of each of the fiber delivery units 430 wound around the work 500 is fixed to the outer surface of the work 500. Note that, as shown in FIG. 7A, in the initial state before starting to wind each of the fiber delivery units 430 around the work 500, each of the fiber delivery units 430 is wound around a pressing unit 92. In other words, in the initial state, the pressing unit 92 presses each of the fiber delivery units 430. As a result, a reference tension acts on each of the fiber delivery units 430.

[0052] Next, winding of the multiple fiber delivery units 430 around the workpiece 500 is started (step S2). Specifically, the bobbin control unit 106 controls each bobbin drive unit 12 to rotate each bobbin motor 36. Furthermore, the winding control unit 108 controls the rotation motor 86 to rotate the workpiece 500. Furthermore, the winding control unit 108 controls the fiber supplying head 88 to move the fiber supplying head 88 in the axial direction of the workpiece 500.

[0053] As a result, each of the fiber delivery sections 430 is delivered from each of the multiple fiber roll sections 412. Each of the fiber delivery sections 430 is delivered to the fiber supply head 88 via each tension retaining section 14 and multiple feed rollers 16. The multiple fiber delivery sections 430 delivered to the fiber supply head 88 are wound around the outer surface of the workpiece 500 in a bundled state. At this time, the fluctuation in tension of each of the fiber delivery sections 430 is basically absorbed by each tension retaining section 14. Therefore, tension within the reference tension range continues to act on each of the fiber delivery sections 430.

[0054] When the winding of the plurality of fiber delivery units 430 around the workpiece 500 is started, the winding position acquisition unit 110 acquires the winding position of each fiber delivery unit 430 around the workpiece 500 (step S3). Next, the winding position determination unit 112 determines whether the acquired winding position is located in a tension reduction area (step S4). If the winding position is located in a tension reduction area, the tension retention unit 14 alone cannot absorb the reduction in tension acting on each fiber delivery unit 430. That is, in this case, the tension acting on each fiber delivery unit 430 may be reduced below the lower limit of the reference tension range. Therefore, if the winding position is located in a tension reduction area (step S4: YES), the tension control unit 114 performs tension increase control (step S5).

[0055] As shown in Fig. 7B, in tension increase control, the tension control unit 114 controls the actuator 96 to move the pressing unit 92 downward (in the direction of gravity). As a result, each of the fiber-sending units 430 pressed by the pressing unit 92 is stretched, and the tension acting on each of the fiber-sending units 430 increases. Therefore, the tension acting on each of the fiber-sending units 430 is maintained within the reference tension range. After the tension increase control, the operation flow proceeds to step S8 (see Fig. 6) described later.

[0056] In FIG. 6, if the winding position is not located in the tension decreasing region (step S4: NO), the winding position determination unit 112 determines whether the acquired winding position is located in the tension increasing region (step S6). If the winding position is located in the tension increasing region, the increase in tension acting on each fiber output unit 430 cannot be absorbed by each tension retaining unit 14 alone. That is, in this case, the tension acting on each fiber output unit 430 may increase above the upper limit value of the reference tension range. Therefore, if the winding position is located in the tension increasing region (step S6: YES), the tension control unit 114 performs tension reduction control (step S7).

[0057] As shown in Fig. 7C, in tension reduction control, the tension control unit 114 controls the actuator 96 to move the pressing unit 92 upward (opposite the direction of gravity). This reduces the pressing force acting on each fiber-sending unit 430 from the pressing unit 92, and therefore reduces the tension acting on each fiber-sending unit 430. Therefore, the tension acting on each fiber-sending unit 430 is maintained within the reference tension range. After tension reduction control, the operation flow proceeds to step S8 (see Fig. 6) described later.

[0058] 6, if the winding position is not located in the tension increasing region (step S6: NO), the control unit 22 determines whether or not the winding of each fiber-sending unit 430 around the workpiece 500 is completed (step S8). If the winding of each fiber-sending unit 430 around the workpiece 500 is not completed (step S8: NO), the winding position determination unit 112 determines whether or not the winding position of each fiber-sending unit 430 around the workpiece 500 is at an intermediate stop position (step S9).

[0059] In this embodiment, when one reinforcing layer 512 is formed by a plurality of fiber output sections 430, the winding position of each fiber output section 430 around the workpiece 500 is located at the midway stop position. That is, the winding position of each fiber output section 430 around the workpiece 500 is located at the midway stop position every time each reinforcing layer 512 is formed. When the winding position of each fiber output section 430 around the workpiece 500 is at the midway stop position (step S9: YES), a midway stop step is performed (step S10).

[0060] 8, in the midway stopping step, the winding control unit 108 controls the winding device 18 to stop the operation of the winding device 18 (step S11). Specifically, the winding control unit 108 controls the rotation motor 86 to stop the rotation of the workpiece 500. In addition, the winding control unit 108 controls the fiber supplying head 88 to stop the movement of the fiber supplying head 88.

[0061] At this time, an intermediate process is performed (step S12). In the intermediate process, the winding accuracy of each of the output fiber sections 430 around the workpiece 500 is measured. In other words, in the intermediate process, the lamination accuracy of each of the reinforcing layers 512 is measured. Note that in the intermediate process, the winding angle of each of the output fiber sections 430 around the workpiece 500 may be set.

[0062] Furthermore, the bobbin control unit 106 controls each bobbin motor 36 to reduce the feed speed of each fiber-sending unit 430 (step S13). In other words, the bobbin control unit 106 controls each bobbin motor 36 to make the feed speed of each fiber-sending unit 430 slower than the feed speed of each fiber-sending unit 430 immediately before the midway stopping step. Furthermore, the tension control unit 114 controls the actuator 96 to move the pressing unit 92 downward (in the direction of gravity) at a first moving speed (step S14).

[0063] Specifically, the tension control unit 114 controls the first moving speed based on the feed speed of each fiber-sending unit 430 detected by the speed sensor 98, thereby maintaining the tension of each fiber-sending unit 430 within the reference tension range. In other words, the tension control unit 114 increases the first moving speed as the feed speed of each fiber-sending unit 430 detected by the speed sensor 98 increases, thereby maintaining the tension of each fiber-sending unit 430 within the reference tension range. When performing such control, the load sensor 100 may be omitted.

[0064] The tension control unit 114 may control the first moving speed based on the load detected by the load sensor 100 to maintain the tension of each fiber-sending unit 430 within a reference tension range. In other words, the tension control unit 114 may slow down the first moving speed as the load detected by the load sensor 100 increases, to maintain the tension of each fiber-sending unit 430 within a reference tension range. When performing such control, the speed sensor 98 may be omitted.

[0065] When the pressing unit 92 is moved downward at a first moving speed, as shown in FIG. 7B, the length of the feed path of each of the fiber output units 430 becomes longer while an appropriate tension is applied to each of the fiber output units 430.

[0066] In such an intermediate stopping step, the sending out of each fiber roll section 412 continues. In other words, the sending out of each fiber roll section 430 from each fiber roll section 412 is not stopped. Therefore, each fiber roll section 412 is not excessively clamped by each fiber roll section 430.

[0067] In addition, since each fiber roll part 412 rotates, the resin impregnated in the fiber bundle forming each fiber roll part 412 is prevented from dripping (being unevenly distributed) in the direction of gravity. This prevents the resin impregnated in the fiber bundle from being unevenly distributed. This prevents the occurrence of portions of the feed fiber part 430 wound around the workpiece 500 that lack strength.

[0068] Furthermore, in the midway stopping process, an appropriate tension is continuously applied to each of the fiber delivery sections 430. In other words, in the midway stopping process, the tension of each of the fiber delivery sections 430 is maintained within a reference tension range. Therefore, each of the fiber delivery sections 430 wound around the workpiece 500 is prevented from loosening (warping).

[0069] Thereafter, when the intermediate process is completed (step S15) in Fig. 8, the midway stopping step is completed. After the midway stopping step, the winding restart step is performed (step S16) as shown in Fig. 6.

[0070] 9, in the winding restart step, the winding control unit 108 controls the winding device 18 to restart the operation of the winding device 18 (step S17). That is, the winding control unit 108 controls the rotation motor 86 to rotate the workpiece 500. In addition, the winding control unit 108 controls the fiber supply head 88 to move the fiber supply head 88 in the axial direction of the workpiece 500. The winding speed of each fiber supply unit 430 around the workpiece 500 in the winding restart step is higher than the winding speed of each fiber supply unit 430 around the workpiece 500 when winding is started from the initial state.

[0071] The tension control unit 114 also controls the actuator 96 to return the pressing unit 92 to the initial position at the second movement speed (step S18). At this time, the tension control unit 114 controls the second movement speed based on the winding speed of each fiber delivery unit 430 around the workpiece 500 during the winding restart process. The second movement speed is faster than the first movement speed.

[0072] Furthermore, the bobbin control unit 106 controls each bobbin motor 36 to gradually increase the feed speed of each fiber-sending unit 430 (step S19). At this time, the bobbin control unit 106 controls the feed speed of each fiber-sending unit 430 based on the second moving speed to maintain the tension of each fiber-sending unit 430 within the reference tension range. As a result, as shown in FIG. 7C, the length of the feed path of each fiber-sending unit 430 is shortened while an appropriate tension is applied to each fiber-sending unit 430. When the pressing unit 92 returns to the initial position, the winding restart process is completed. After the winding restart process, the process from step S3 in FIG. 6 is performed.

[0073] 6, when winding of each fiber delivery unit 430 around the workpiece 500 is completed (step S8: YES), the control unit 22 stops the operation of the FW device 10 (step S20). Specifically, the winding control unit 108 controls the rotation motor 86 to stop the rotation of the workpiece 500. The winding control unit 108 also controls the fiber supplying head 88 to stop the operation of the fiber supplying head 88. Furthermore, the bobbin control unit 106 controls each bobbin motor 36 to stop the delivery of each fiber delivery unit 430. This ends the operation flow of the FW method.

[0074] The workpiece 500 (semi-finished product) around which the fiber bundle is wound by the above-mentioned FW method is removed from the winding device 18 and heated. This causes the resin impregnated in the fiber bundle to harden and form the reinforcing layer 512. That is, the high-pressure gas tank 502 having the reinforcing part 510 is manufactured.

[0075] This embodiment provides the following advantages.

[0076] The FW method includes an intermediate stopping step of stopping the operation of the winding device 18 midway through winding each of the output fiber sections 430 around the workpiece 500. In the intermediate stopping step, the length of the feed path is increased by moving the pressing unit 92 while pressing each of the output fiber sections 430 while continuing to feed each of the output fiber sections 430 from each of the fiber roll sections 412.

[0077] The FW device 10 also has a bobbin control unit 106, a winding control unit 108, and a tension control unit 114. The winding control unit 108 controls the winding device 18 to stop the operation of the winding device 18 in the middle of winding each fiber delivery unit 430 around the work 500. When the winding control unit 108 stops the operation of the winding device 18 in the middle, the bobbin control unit 106 controls the bobbin drive unit 12 to continue the delivery of each fiber delivery unit 430 from each fiber roll unit 412. In addition, when the operation is stopped in the middle, the tension control unit 114 controls the tension applying device 20 to move the pressing unit 92 while pressing it against each fiber delivery unit 430, thereby lengthening the length of the feed path.

[0078] According to such a method and configuration, the fiber roll parts 412 continue to feed out the fiber output parts 430 during the intermediate stopping step. This prevents the fiber roll parts 412 from being excessively clamped by the fiber output parts 430 during the intermediate stopping step, thereby suppressing deformation of the fiber roll parts 412. This makes it unnecessary to correct the fiber roll parts 412 or replace the bobbin members 400. This prevents the time required for filament winding from becoming longer, and prevents the cost of filament winding from becoming higher.

[0079] Furthermore, since the pressing unit 92 is moved during the intermediate stopping step to lengthen the length of the feeding path, it is possible to continuously apply an appropriate tension to each of the fiber-sending units 430. This makes it possible to prevent each of the fiber-sending units 430 wound around the workpiece 500 from loosening.

[0080] In the midway stopping step, the pressing direction of the pressing unit 92 against each fiber delivery unit 430 is the gravity direction. In this case, the load acting on the pressing unit 92 can be effectively reduced.

[0081] In the midway stopping step, the moving speed of the pressing unit 92 is increased as the feed speed of each fiber output unit 430 from each fiber roll unit 412 increases. In other words, the FW device 10 has a speed sensor 98 that detects the feed speed of each fiber output unit 430 from each fiber roll unit 412. During midway stopping, the tension control unit 114 controls the tension applying device 20 to increase the moving speed of the pressing unit 92 as the feed speed detected by the speed sensor 98 increases.

[0082] According to such a method or configuration, the fluctuation of the tension acting on each fiber delivery section 430 during the midway stopping step can be effectively suppressed.

[0083] In the midway stopping step, the moving speed of the pressing unit 92 is slowed down as the load that the pressing unit 92 receives from each fiber sending unit 430 increases. In other words, the FW device 10 has a load sensor 100 that detects the load that the pressing unit 92 receives from each fiber sending unit 430. During midway stopping, the tension control unit 114 controls the tension applying device 20 to slow down the moving speed of the pressing unit 92 as the load detected by the load sensor 100 increases.

[0084] According to such a method or configuration, the fluctuation of the tension acting on each fiber delivery section 430 during the midway stopping step can be effectively suppressed.

[0085] The feed speed of each fiber delivery unit 430 in the midway stopping step is slower than the feed speed of each fiber delivery unit 430 immediately before the midway stopping step. In other words, during the midway stopping, the bobbin control unit 106 controls each bobbin driving unit 12 to make the feed speed of each fiber delivery unit 430 slower than the feed speed of each fiber delivery unit 430 immediately before the midway stopping.

[0086] According to such a method or configuration, it is possible to prevent the feeding path of the fiber delivery section 430 from becoming too long during the midway stopping step.

[0087] The FW method includes a winding restart process in which, after the interruption process, the winding device 18 is operated to restart the winding of each of the output fiber sections 430 around the workpiece 500. In the winding restart process, the pressing unit 92 is moved to the initial position while pressing against each of the output fiber sections 430. In other words, after the operation of the winding device 18 is interrupted, the winding control unit 108 controls the winding device 18 to restart the winding of each of the output fiber sections 430 around the workpiece 500. When the winding of each of the output fiber sections 430 around the workpiece 500 is restarted, the tension control unit 114 controls the tension applying device 20 to move the pressing unit 92 to the initial position while pressing against each of the output fiber sections 430.

[0088] According to such a method or configuration, the pressing unit 92 can be returned to the initial position while applying an appropriate tension to each fiber delivery unit 430.

[0089] The moving speed of the pressing unit 92 in the winding restart process is faster than the moving speed of the pressing unit 92 in the midway stopping process. In other words, when the winding of each of the output fiber units 430 around the workpiece 500 is restarted, the tension control unit 114 controls the tension applying device 20 to make the moving speed of the pressing unit 92 faster than the moving speed of the pressing unit 92 at the time of midway stopping.

[0090] According to such a method or configuration, each of the fed-out fiber portions 430 can be efficiently wound around the workpiece 500 during the winding restart process.

[0091] In the winding restart process, the feed speed of each fiber output unit 430 is gradually increased. In other words, when the winding of each fiber output unit 430 around the workpiece 500 is restarted, the bobbin control unit 106 controls the bobbin driving unit 12 to gradually increase the feed speed of each fiber output unit 430.

[0092] According to such a method or configuration, the load acting on each fiber roll section 412 from each fiber output section 430 can be reduced compared to when the feed speed of each fiber output section 430 is suddenly increased during the winding restart process.

[0093] The FW device 10 may include a tension applying device 150 according to a first modified example shown in Fig. 10, instead of the tension applying device 20 described above. In the first modified example, the same reference characters as those in the above-described embodiment indicate the same configurations. Also, in the first modified example, the description of the same configurations as those in the above-described embodiment will be omitted.

[0094] When the tension applying device 150 is employed, as shown in FIG. 10, the multiple feed rollers 16 further include a first intermediate roller 152 and a second intermediate roller 154. The first intermediate roller 152 is located between the second feed roller 66 and the third feed roller 68. The second intermediate roller 154 is located between the first intermediate roller 152 and the third feed roller 68. The second feed roller 66, the first intermediate roller 152, the second intermediate roller 154, and the third feed roller 68 are arranged in this order toward the feed direction of the multiple fiber delivery units 430. The second feed roller 66, the first intermediate roller 152, the second intermediate roller 154, and the third feed roller 68 are arranged in a horizontal line.

[0095] The tension applying device 150 has a plurality of pressing units 160, a pressing support unit 94, and an actuator 96. The number of the pressing units 160 is three. However, the number of the pressing units 160 may be two or four or more. Each pressing unit 160 is rotatably supported by the pressing support unit 94. Each pressing unit 160 is configured similarly to the pressing unit 92 described above.

[0096] The multiple pressing units 160 include a first pressing unit 162, a second pressing unit 164, and a third pressing unit 166. The first pressing unit 162 presses downward a portion between the second feed roller 66 and the first intermediate roller 152 in each fiber-sending unit 430. The second pressing unit 164 presses downward a portion between the first intermediate roller 152 and the second intermediate roller 154 in each fiber-sending unit 430. The third pressing unit 166 presses downward a portion between the second intermediate roller 154 and the third feed roller 68 in each fiber-sending unit 430.

[0097] The tension applying device 150 according to the first modified example provides the same effects as the above-mentioned tension applying device 20. In addition, the FW device 10 including the tension applying device 150 provides the following effects.

[0098] The FW device 10 includes a plurality of feed rollers 16 that feed each fiber output section 430 from the bobbin driving section 12 to the winding device 18. A plurality of pressing sections 160 are provided. At least one of the plurality of feed rollers 16 is disposed between adjacent pressing sections 160 on the feed path.

[0099] According to such a configuration, it is possible to increase the maximum extension amount of the path of each fiber output section 430 while preventing the FW device 10 from becoming large.

[0100] The FW device 10 may include a tension applying device 170 according to a second modified example shown in Fig. 11, instead of the tension applying device 20 described above. In the second modified example, the same reference characters as those in the first modified example indicate the same configurations. In addition, in the second modified example, the description of the same configurations as those in the first modified example described above will be omitted.

[0101] 11, the tension applying device 170 has a plurality of pressing units 160, a plurality of pressing support units 172, and an actuator 96. The number of the plurality of pressing support units 172 is the same as the number of the plurality of pressing units 160. That is, the number of the plurality of pressing support units 172 is three. The number of the plurality of pressing units 160 is three. The number of each of the plurality of pressing support units 172 and the plurality of pressing units 160 may be two or four or more.

[0102] The multiple pressing support portions 172 include a first pressing support portion 174, a second pressing support portion 176, and a third pressing support portion 178. The first pressing portion 162 is rotatably supported by the first pressing support portion 174. The second pressing portion 164 is rotatably supported by the second pressing support portion 176. The third pressing portion 166 is rotatably supported by the third pressing support portion 178. The actuator 96 displaces the first pressing support portion 174, the second pressing support portion 176, and the third pressing support portion 178 individually in the up-down direction.

[0103] The tensioning device 170 according to the second modified example has the same effects as the above-mentioned tensioning device 20. In addition, the tensioning device 170 according to the second modified example has the same effects as the tensioning device 150 according to the first modified example. Furthermore, the tensioning device 170 can finely adjust the path length of each fiber delivery section 430 in the midway stopping step, compared to the tensioning device 150.

[0104] In the above-mentioned FW method using the FW device 10, the fiber bundle does not need to be pre-impregnated with the resin. In this case, the FW device 10 may include an impregnation device on the path of the fiber delivery section 430 for impregnating the fiber bundle with the resin.

[0105] The present invention is not limited to the above-described embodiment, and various configurations can be adopted without departing from the gist of the present invention.

[0106] The above embodiments can be summarized as follows.

[0107] The above embodiment is a filament winding method using a filament winding device (10), and the filament winding device includes a bobbin drive unit (12) for rotating a bobbin member (400) having a bobbin (410) and a fiber roll unit (412) formed by winding a fiber bundle around the bobbin, a winding device (18) for winding a fiber bundle (430) fed from the fiber roll unit around a workpiece (500) while applying tension to the fiber bundle, and a winding device (18) for winding the ... from the bobbin drive unit to the winding device. The present disclosure discloses a filament winding method comprising: a tensioning device (20) provided in the feed path, the tensioning device having a pressing section (92, 160) that presses the outgoing fiber portion; and a stopping step for stopping operation of the winding device in the middle of winding the outgoing fiber portion around the workpiece, in which the length of the feed path is increased by moving the pressing section against the outgoing fiber portion while continuing to feed the outgoing fiber portion from the fiber roll section in the stopping step.

[0108] In the above filament winding method, in the midway stopping step, the pressing direction of the pressing part against the fiber delivery part may be the direction of gravity.

[0109] In the above filament winding method, in the midway stopping step, the moving speed of the pressing unit may be made faster as the feeding speed of the fiber portion from the fiber roll unit increases.

[0110] In the above filament winding method, in the midway stopping step, the moving speed of the pressing unit may be slowed as the load that the pressing unit receives from the fiber delivery unit increases.

[0111] In the above filament winding method, the feed speed of the fiber portion from the fiber roll unit during the midway stopping step may be slower than the feed speed of the fiber portion from the fiber roll unit immediately before the midway stopping step.

[0112] In the above-mentioned filament winding method, after the intermediate stopping step, a winding restart step is included in which the winding device is operated to resume winding of the outgoing fiber portion around the workpiece, and in the winding restart step, the pressing portion may be moved to an initial position while being pressed against the outgoing fiber portion.

[0113] In the above filament winding method, the moving speed of the pressing unit in the winding restart step may be faster than the moving speed of the pressing unit in the midway stopping step.

[0114] In the above filament winding method, in the winding restart step, a feed speed of the fiber portion fed from the fiber roll portion may be gradually increased.

[0115] The above embodiment is a filament winding apparatus including a bobbin driving unit for rotating a bobbin member having a bobbin and a fiber roll unit formed by winding a fiber bundle around the bobbin, a winding device for winding a fiber bundle fed from the fiber roll unit around a workpiece while applying tension to the fiber bundle, and a tensioning device provided on a feed path of the fiber bundle from the bobbin driving unit to the winding device, the tensioning device having a pressing unit for pressing the fiber bundle, and a bobbin control unit (106) for controlling the bobbin driving unit and a winding control unit (108) for controlling the winding device. and a tension control unit (114) that controls the tension applying device, wherein the winding control unit controls the winding device to stop operation of the winding device halfway through winding the outgoing fiber section around the workpiece, and when the winding control unit stops the operation of the winding device halfway through, the bobbin control unit controls the bobbin drive unit to continue feeding of the outgoing fiber section from the fiber roll unit, and the tension control unit controls the tension applying device to move the pressing unit while pressing it against the outgoing fiber section, thereby lengthening the length of the feed path.

[0116] In the above filament winding device, the pressing direction of the pressing part against the fiber delivery part when the winding is stopped midway may be the direction of gravity.

[0117] In the above-mentioned filament winding device, a speed sensor (98) is provided for detecting the feed speed of the fiber portion being delivered from the fiber roll section, and when the device is stopped midway, the tension control section controls the tension applying device so that the faster the feed speed detected by the speed sensor is, the faster the moving speed of the pressing section is.

[0118] In the above-mentioned filament winding device, a load sensor (100) is provided for detecting the load that the pressing section receives from the fiber delivery section, and during the mid-way stop, the tension control section may control the tension applying device to slow down the moving speed of the pressing section as the load detected by the load sensor increases.

[0119] In the above-mentioned filament winding device, when the filament winding is stopped midway, the bobbin control unit may control the bobbin drive unit to make the feed speed of the fiber section from the fiber roll unit slower than the feed speed of the fiber section from the fiber roll unit immediately before the filament winding is stopped midway.

[0120] In the above-mentioned filament winding device, the winding control unit, after stopping the operation of the winding device midway, may control the winding device to resume winding of the outgoing fiber section around the workpiece, and when winding of the outgoing fiber section around the workpiece is resumed, the tension control unit may control the tension applying device to move the pressing unit to an initial position while pressing it against the outgoing fiber section.

[0121] In the above-mentioned filament winding apparatus, when winding of the output fiber portion around the workpiece is resumed, the tension control unit may control the tension applying device to make the movement speed of the pressing unit faster than the movement speed of the pressing unit when the winding is stopped midway.

[0122] In the above-mentioned filament winding device, when winding of the outgoing fiber portion around the workpiece is resumed, the bobbin control unit may control the bobbin drive unit to gradually increase the feed speed of the outgoing fiber portion from the fiber roll unit.

[0123] In the above-mentioned filament winding device, a plurality of feed rollers (16) are provided for sending the fiber output section from the bobbin drive section to the winding device, and a plurality of pressing sections are provided, and at least one of the plurality of feed rollers may be disposed between adjacent pressing sections on the feed path. [Explanation of symbols]

[0124] 10...FW device (filament winding device) 12... Bobbin drive unit 18... Winding device 20... tension applying device 92, 160... pressing unit 98...Speed ​​sensor 100...Load sensor 106... Bobbin control section 108... Winding control section 114... tension control section 400... bobbin member 410: Bobbin 412: Fiber roll section 430... Fiber delivery section 500... Work

Claims

1. A filament winding method using a filament winding device, comprising: The filament winding device comprises: a bobbin driving unit for rotating a bobbin member having a bobbin and a fiber roll portion formed by winding a fiber bundle around the bobbin; A winding device that winds the fiber portion sent out from the fiber roll unit around a workpiece while applying tension to the fiber portion; A tension applying device provided in a feed path of the fiber delivery section from the bobbin driving section to the winding device, The tension applying device has a pressing unit that presses the fiber delivery unit, The filament winding method includes: A midway stopping step of stopping the operation of the winding device midway through winding the delivered fiber portion around the workpiece, In the midway stopping step, the length of the feed path is increased by moving the pressing unit while pressing the feed fiber portion while continuing the feed of the feed fiber portion from the fiber roll unit, A filament winding method, wherein in the midway stopping step, the moving speed of the pressing unit is increased as the feeding speed of the fiber portion from the fiber roll unit increases.

2. 2. The filament winding method according to claim 1, A filament winding method, wherein in the midway stopping step, the pressing direction of the pressing part against the fiber delivery part is the direction of gravity.

3. A filament winding method using a filament winding device, comprising: The filament winding device comprises: a bobbin driving unit for rotating a bobbin member having a bobbin and a fiber roll portion formed by winding a fiber bundle around the bobbin; A winding device that winds the fiber portion sent out from the fiber roll unit around a workpiece while applying tension to the fiber portion; A tension applying device provided in a feed path of the fiber delivery section from the bobbin driving section to the winding device, The tension applying device has a pressing unit that presses the fiber delivery unit, The filament winding method includes: A midway stopping step of stopping the operation of the winding device midway through winding the delivered fiber portion around the workpiece, In the midway stopping step, the length of the feed path is increased by moving the pressing unit while pressing the feed fiber portion while continuing the feed of the feed fiber portion from the fiber roll unit, A filament winding method, wherein in the midway stopping step, the moving speed of the pressing unit is slowed down as the load that the pressing unit receives from the fiber delivery unit increases.

4. A filament winding method using a filament winding device, comprising: The filament winding device comprises: a bobbin driving unit for rotating a bobbin member having a bobbin and a fiber roll portion formed by winding a fiber bundle around the bobbin; a winding device that winds the fiber portion sent out from the fiber roll unit around a workpiece while applying tension to the fiber portion; A tension applying device provided in a feed path of the fiber delivery section from the bobbin driving section to the winding device, The tension applying device has a pressing unit that presses the fiber delivery unit, The filament winding method includes: A midway stopping step of stopping the operation of the winding device midway through winding the delivered fiber portion around the workpiece, In the midway stopping step, the length of the feed path is increased by moving the pressing unit while pressing the feed fiber portion while continuing the feed of the feed fiber portion from the fiber roll unit, A filament winding method, wherein the feed speed of the fiber portion from the fiber roll unit during the intermediate stopping step is slower than the feed speed of the fiber portion from the fiber roll unit immediately before the intermediate stopping step.

5. A filament winding method using a filament winding device, comprising: The filament winding device comprises: a bobbin driving unit for rotating a bobbin member having a bobbin and a fiber roll portion formed by winding a fiber bundle around the bobbin; a winding device that winds the fiber portion sent out from the fiber roll unit around a workpiece while applying tension to the fiber portion; A tension applying device provided in a feed path of the fiber delivery section from the bobbin driving section to the winding device, The tension applying device has a pressing unit that presses the fiber delivery unit, The filament winding method includes: A midway stopping step of stopping the operation of the winding device midway through winding the delivered fiber portion around the workpiece, In the midway stopping step, the length of the feed path is increased by moving the pressing unit while pressing the feed fiber portion while continuing the feed of the feed fiber portion from the fiber roll unit, A winding restart process is included in which, after the interruption process, the winding device is operated to restart winding of the delivered fiber portion around the workpiece, In the winding restart step, the pressing unit is moved to an initial position while pressing against the fiber delivery unit.

6. 6. The filament winding method according to claim 5, A filament winding method, wherein the moving speed of the pressing part in the winding restart step is faster than the moving speed of the pressing part in the midway stopping step.

7. 7. The filament winding method according to claim 6, A filament winding method, wherein in the winding restart step, a feed speed of the fiber portion being delivered from the fiber roll portion is gradually increased.

8. a bobbin driving unit for rotating a bobbin member having a bobbin and a fiber roll portion formed by winding a fiber bundle around the bobbin; a winding device that winds the fiber portion sent out from the fiber roll unit around a workpiece while applying tension to the fiber portion; A tension applying device provided in a feed path of the fiber delivery section from the bobbin driving section to the winding device, The tension applying device is a filament winding device having a pressing unit that presses the fiber delivery unit, A bobbin control unit that controls the bobbin driving unit; A winding control unit that controls the winding device; A tension control unit that controls the tension applying device, The winding control unit controls the winding device to stop the operation of the winding device in the middle of winding the delivered fiber portion around the workpiece, When the winding control unit stops the operation of the winding device, the bobbin control unit controls the bobbin drive unit to continue the feeding of the fiber output section from the fiber roll unit, and the tension control unit controls the tension applying device to move the pressing unit while pressing it against the fiber output section, thereby lengthening the length of the feed path. A speed sensor is provided to detect the feed speed of the fiber portion from the fiber roll portion, When the filament winding apparatus is stopped midway, the tension control unit controls the tension applying device to increase the moving speed of the pressing unit as the feed speed detected by the speed sensor increases.

9. 9. The filament winding device according to claim 8, A filament winding device, wherein the pressing direction of the pressing part against the fiber delivery part when the filament winding is stopped midway is the direction of gravity.

10. A bobbin drive unit for rotating a bobbin member having a bobbin and a fiber roll portion formed by winding a fiber bundle around the bobbin; A winding device that winds the fiber portion sent out from the fiber roll unit around a workpiece while applying tension to the fiber portion; A tension applying device provided in a feed path of the fiber delivery section from the bobbin driving section to the winding device, The tension applying device is a filament winding device having a pressing unit that presses the fiber delivery unit, A bobbin control unit that controls the bobbin driving unit; A winding control unit that controls the winding device; A tension control unit that controls the tension applying device, The winding control unit controls the winding device to stop the operation of the winding device in the middle of winding the delivered fiber portion around the workpiece, When the winding control unit stops the operation of the winding device, the bobbin control unit controls the bobbin drive unit to continue the feeding of the fiber output section from the fiber roll unit, and the tension control unit controls the tension applying device to move the pressing unit while pressing it against the fiber output section, thereby lengthening the length of the feed path. The pressing unit has a load sensor that detects a load received from the fiber delivery unit, When the filament winding apparatus is stopped midway, the tension control unit controls the tension applying device to slow down the moving speed of the pressing unit as the load detected by the load sensor increases.

11. A bobbin drive unit for rotating a bobbin member having a bobbin and a fiber roll portion formed by winding a fiber bundle around the bobbin; A winding device that winds the fiber portion sent out from the fiber roll unit around a workpiece while applying tension to the fiber portion; A tension applying device provided in a feed path of the fiber delivery section from the bobbin driving section to the winding device, The tension applying device is a filament winding device having a pressing unit that presses the fiber delivery unit, A bobbin control unit that controls the bobbin driving unit; A winding control unit that controls the winding device; A tension control unit that controls the tension applying device, The winding control unit controls the winding device to stop the operation of the winding device in the middle of winding the delivered fiber portion around the workpiece, When the winding control unit stops the operation of the winding device, the bobbin control unit controls the bobbin drive unit to continue the feeding of the fiber output section from the fiber roll unit, and the tension control unit controls the tension applying device to move the pressing unit while pressing it against the fiber output section, thereby lengthening the length of the feed path. A filament winding device in which, at the time of the midway stop, the bobbin control unit controls the bobbin drive unit to make the feed speed of the fiber portion from the fiber roll unit slower than the feed speed of the fiber portion from the fiber roll unit immediately before the midway stop.

12. A bobbin drive unit for rotating a bobbin member having a bobbin and a fiber roll portion formed by winding a fiber bundle around the bobbin; A winding device that winds the fiber portion sent out from the fiber roll unit around a workpiece while applying tension to the fiber portion; A tension applying device provided in a feed path of the fiber delivery section from the bobbin driving section to the winding device, The tension applying device is a filament winding device having a pressing unit that presses the fiber delivery unit, A bobbin control unit that controls the bobbin driving unit; A winding control unit that controls the winding device; A tension control unit that controls the tension applying device, The winding control unit controls the winding device to stop the operation of the winding device in the middle of winding the delivered fiber portion around the workpiece, When the winding control unit stops the operation of the winding device, the bobbin control unit controls the bobbin drive unit to continue the feeding of the fiber output section from the fiber roll unit, and the tension control unit controls the tension applying device to move the pressing unit while pressing it against the fiber output section, thereby lengthening the length of the feed path. The winding control unit controls the winding device to resume winding of the delivered fiber portion around the workpiece after stopping the operation of the winding device midway, A filament winding apparatus, wherein when winding of the output fiber portion around the workpiece is resumed, the tension control unit controls the tension applying device to move the pressing unit to an initial position while pressing the pressing unit against the output fiber portion.

13. 13. The filament winding apparatus according to claim 12, When winding of the output fiber portion around the work is resumed, the tension control unit controls the tension applying device to make the movement speed of the pressing unit faster than the movement speed of the pressing unit when the winding is stopped midway.

14. 14. The filament winding apparatus according to claim 13, A filament winding device, wherein when winding of the output fiber portion around the workpiece is resumed, the bobbin control unit controls the bobbin drive unit to gradually increase the feed speed of the output fiber portion from the fiber roll unit.

15. A filament winding device according to any one of claims 8 to 14, A plurality of feed rollers are provided to feed the fiber delivery section from the bobbin drive section to the winding device, The pressing portion is provided in plurality, A filament winding device, wherein at least one of the plurality of feed rollers is disposed between adjacent pressing portions on the feed path.

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