US 5,086,983 AGranted

Device for applying a filament winding to a support of any shape and a universal winding machine comprising an application thereof

AssigneeSociete Nationale Industrielle et Aerospatiale

InventorJean-Louis Darrieux

Life of this patent

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Abstract

Two robot arms (16, 17) controlled by a preprogrammed system support each in turn a thread dispensing cassette (18), one of the arms 16 equipped with the cassette travelling over one part of a winding path 19 around a mandrel 2, at the end of which the cassettee is transferred to the other arm 17, which travels over the other part of the said path up to the point of departure of the first arm, in such a way that the thread is wound around the entire periphery of the mandrel in a movement that is analogous to the placing of a bandage around a limb when the rolled up bandage is passed from one hand to the other while unrolling the said bandage. Application to filament winding of complex shapes, particularly of toroidal articles, is disclosed.

Claims13

Dependent claims

A winding apparatus for applying a filament to a mandrel of any shape, comprising:

mandrel support means for movably supporting said mandrel;
at least one dispensing cassette for dispensing a filament to be wound around said mandrel;
first and second robot arms;
first and second cassette support means connected respectively to ends of said first and second robot arms for releasably supporting said dispensing cassette;
control means for controlling movement of said robot arms over a winding path and for actuating each of said cassette support means such that the end of said first robot arm travels over a part of said winding path while said first support means supports said dispensing cassette a predetermined distance away from said mandrel, said first and second cassette support means are actuated to transfer said dispensing cassette from said first cassette support means to said second support means, and the end of said second robot arm travels over the remaining part of said winding path while said second support means supports said dispensing cassette a predetermined distance away from said mandrel;
wherein said second robot arm returns said dispensing cassette to the end of said first robot arm, and said first and second cassette support means are actuated to transfer said cassette from said second support means to said first support means;
wherein said first and second support means alternately support said dispensing cassette a predetermined distance away from said mandrel as the ends of said first and second robot arms travel the entire distance of said winding path;
and
wherein only said filament and said mandrel support means contact said mandrel while said filament is wound around said mandrel;
said cassette support means at said ends of said first and second robot arms include pincer means and said dispensing cassette comprises two gripping spindles, wherein said control means further controls said pincer means to open and close so as to release and seize said gripping spindles;
said ends of said robot arms further include a rotating sleeve connecting said pincer means to said robot arms, said pincer means comprising a rotating support and two semi-circular portions movable toward and away from each other.

8 more elements

A winding apparatus for applying a filament to a mandrel of any shape, comprising:

mandrel support means for movably supporting said mandrel;
at least one dispensing cassette for dispensing a filament to be wound around said mandrel;
first and second robot arms;
first and second cassette support means connected respectively to ends of said first and second robot arms for releasably supporting said dispensing cassette;
control means for controlling movement of said robot arms over a winding path and for actuating each of said cassette support means such that the end of said first robot arm travels over a part of said winding path while said first support means supports said dispensing cassette a predetermined distance away from said mandrel, said first and second cassette support means are actuated to transfer said dispensing cassette from said first cassette support means to said second support means, and the end of said second robot arm travels over the remaining part of said winding path while said second support means supports said dispensing cassette a predetermined distance away from said mandrel;
said mandrel support means comprising two sets of driven rollers for movably supporting said mandrel thereabove and a set of guide rollers movably positioned above said mandrel along vertical slides such that said guide rollers bias said mandrel against said driven rollers, wherein said drive means imparts movement to said mandrel through said driven rollers;
wherein said second robot arm returns said dispensing cassette to the end of said first robot arm, and said first and second cassette support means are actuated to transfer said cassette from said second support means to said first support means;
wherein said first and second support means alternately support said dispensing cassette a predetermined distance away from said mandrel as the ends of said first and second robot arms travel the entire distance of said winding path;
and
wherein only said filament and said mandrel support means contact said mandrel while said filament is wound around said mandrel.

7 more elements

A winding apparatus for applying a filament to a mandrel of any shape, comprising:

mandrel support means for movably supporting said mandrel;
at least one dispensing cassette for dispensing a filament to be wound around said mandrel;
first and second robot arms;
first and second cassette support means connected respectively to ends of said first and second robot arms for releasably supporting said dispensing cassette;
control means for controlling movement of said robot arms over a winding path and for actuating each of said cassette support means such that the end of said first robot arm travels over a part of said winding path while said first support means supports said dispensing cassette a predetermined distance away from said mandrel, said first and second cassette support means are actuated to transfer said dispensing cassette from said first cassette support means to said second support means, and the end of said second robot arm travels over the remaining part of said winding path while said second support means supports said dispensing cassette a predetermined distance away from said mandrel;
wherein said second robot arm returns said dispensing cassette to the end of said first robot arm, and said first and second cassette support means are actuated to transfer said cassette from said second support means to said first support means;
wherein said first and second support means alternately support said dispensing cassette a predetermined distance away from said mandrel as the ends of said first and second robot arms travel the entire distance of said winding path;
and
wherein only said filament and said mandrel support means contact said mandrel while said filament is wound around said mandrel;
said apparatus further comprising, a joining station for bonding together two filaments from two different dispensing cassettes, said joining station comprising:
a plate for supporting said two filaments thereon in superposed relation;
pressing means for pressing said filaments against said plate at opposite ends thereof;
applicator means for applying an adhesive over said superposed filaments to bond the filaments together;
and
cutting means for cutting an end of said superposed filaments after they have been bonded together.

12 more elements

A winding apparatus for applying a filament to a mandrel of any shape, comprising:

mandrel support means for movably supporting said mandrel;
at least one dispensing cassette for dispensing a filament to be wound around said mandrel;
first and second robot arms;
first and second cassette support means connected respectively to ends of said first and second robot arms for releasably supporting said dispensing cassette;
control means for controlling movement of said robot arms over a winding path and for actuating each of said cassette support means such that the end of said first robot arm travels over a part of said winding path while said first support means supports said dispensing cassette a predetermined distance away from said mandrel, said first and second cassette support means are actuated to transfer said dispensing cassette from said first cassette support means to said second support means, and the end of said second robot arm travels over another part of said winding path while said second support means supports said dispensing cassette a predetermined distance away from said mandrel;
said control means including means for moving said ends of said robot arms travel in unison over two segments of said winding path while said dispensing cassette is simultaneously supported by both said first and second cassette support means, said segments being located substantially diametrically from each other along said winding path, so that said dispensing cassette is transferred between said first and second cassette means without interruption;
wherein said second robot arm returns said dispensing cassette to the end of said first robot arm, and said first and second cassette support means are actuated to transfer said cassette from said second support means to said first support means;
wherein said first and second support means alternately support said dispensing cassette a predetermined distance away from said mandrel as the ends of said first and second robot arms travel the entire distance of said winding path;
and,
wherein only said filament and said mandrel support means contact said mandrel while said filament is wound around said mandrel.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 07/619,828Filed 28 Nov 1990 · continuation
Priority: FR 88 0453925 Apr 1988
Granted: 11 Feb 1992
Term ends: Not estimatedThe source records don’t support an estimate.

Classification4 codes

B65H 81/04
Covering or wrapping annular or like cores forming a closed or substantially closed figure: by feeding material obliquely to the axis of the core
B29C 53/588
For making tubular articles with particular features: having a non-linear axis, e.g. elbows, toroids
B65H
Handling thin or filamentary material
B29C
Shaping or joining of plastics