Guiding a robot arm

Abstract

The present application relates to a kind of mechanical arms, in particular to a kind of guide mechanical arm, including rack, at least one carbon fiber winding device being arranged on the rack, at least one traction device, clamping device and shearing device, carbon fiber is wound on the carbon fiber winding device, the carbon fiber winding device is suitable for rotating around the axis direction, the carbon fiber winding device and the traction device one to one, the traction device is used to hook the end of carbon fiber to be wound, the clamping device includes clamping element, roller, the clamping element, the roller is suitable for moving in front and back, left and right, up and down direction, the shearing device includes scissors, and the scissors are used to cut the carbon fiber.The present application can be regularly, accurately wound on carbon fiber winding device.

Description

Technical Field

[0001] This invention relates to a robotic arm, and more particularly to a guided robotic arm. Background Technology

[0002] Existing carbon fiber guided robotic arms employ a circumferential winding method. This method allows the carbon fiber to be wound onto a substrate through a cross-winding technique, achieving rapid and uniform fiber layer stacking. However, the circumferential winding method has some limitations when handling complex curved surfaces or irregularly shaped products. It cannot fully adapt to the shapes of non-circular surfaces, and the winding precision is not high enough, resulting in irregular winding patterns. Summary of the Invention

[0003] The purpose of this invention is to provide a guide robotic arm capable of regularly and accurately winding carbon fiber onto a carbon fiber winding device.

[0004] To achieve the above objectives, the present invention provides a guided robotic arm, comprising a frame, at least one carbon fiber winding device disposed on the frame, at least one traction device, a clamping device, and a cutting device. Carbon fiber is wound onto the carbon fiber winding device, which is adapted to rotate about its own axis. Each carbon fiber winding device corresponds to one of the traction devices.

[0005] The traction device is positioned close to the carbon fiber winding device. The traction device hooks onto the end of the carbon fiber to be wound. When the carbon fiber winding device rotates around its own axis, the traction device moves left and right relative to the frame along the axis of the carbon fiber winding device.

[0006] The clamping device includes a clamping element and a roller. The clamping element is used to clamp the end of the carbon fiber to be wound and move the carbon fiber to be wound to a position close to the surface of the carbon fiber winding device. The roller is used to press the carbon fiber to be wound against the carbon fiber winding device. The clamping element and the roller are adapted to move in the front-back, left-right, and up-down directions.

[0007] The cutting device includes scissors adapted to move back and forth, the scissors being used to cut the carbon fiber.

[0008] The present invention guides a robotic arm, wherein the traction device includes a mounting frame and a fixing hook, the fixing hook being connected to the mounting frame, the mounting frame being connected to the frame, the mounting frame being adapted to move left and right relative to the frame along the axial direction of the carbon fiber winding device, and the fixing hook being used to hook the end of the carbon fiber to be wound.

[0009] This invention guides a robotic arm, wherein the clamping device further includes a clamping element telescopic mechanism, a clamping element forward and backward movement mechanism, a clamping element up and down movement mechanism, and a first support. The first support is connected to the frame. The clamping element and the roller are both disposed on the clamping element telescopic mechanism. The clamping element telescopic mechanism is disposed on the clamping element forward and backward movement mechanism. The clamping element forward and backward movement mechanism is disposed on the clamping element up and down movement mechanism. The clamping element up and down movement mechanism is disposed on the first support. The clamping element up and down movement mechanism is adapted to move up and down relative to the first support.

[0010] The present invention guides a robotic arm, wherein the clamping element is a wire cutter.

[0011] This invention guides a robotic arm, wherein the cutting device further includes a guide rail, a transmission chain, a motor, a scissor frame, and a second support. The second support is connected to the frame, and the guide rail is disposed on the second support. The direction of the guide rail is parallel to the axial direction of the carbon fiber winding device. The scissors are disposed on the scissor frame and are adapted to move relative to the guide rail. The scissor frame is connected to the transmission chain, and the motor drives the transmission chain to move, thereby causing the scissor frame to move relative to the guide rail.

[0012] The present invention guides a robotic arm, wherein a guide column is provided on the frame, and the clamping device and the shearing device are both connected to the guide column, and the position of the guide column on the frame is adjustable.

[0013] The present invention guides a robotic arm, wherein the frame is a machine tool, the frame includes a base and a frame, the frame is disposed on the base, and the carbon fiber winding device and the traction device are both disposed on the frame.

[0014] The present invention guides a robotic arm, wherein three carbon fiber winding devices and three traction devices are provided. The carbon fiber winding devices are arranged sequentially from top to bottom on the frame, and the fixing hooks are arranged sequentially from top to bottom on the mounting bracket.

[0015] The present invention guides a robotic arm, wherein the carbon fiber winding device is a hydrogen cylinder mold.

[0016] This invention discloses a guided robotic arm, comprising a frame, a carbon fiber winding device mounted on the frame, a traction device, a clamping device, and a cutting device. The carbon fiber winding device is adapted to rotate around its own axis. When the carbon fiber winding device rotates around its own axis, the traction device is adapted to move left and right relative to the frame along the axis of the carbon fiber winding device, winding the carbon fiber onto the carbon fiber winding device, thereby improving the accuracy and efficiency of carbon fiber winding. Furthermore, the shape and structure of the carbon fiber winding device have no impact on the winding process. Meanwhile, since the clamping device includes clamping elements and rollers, the clamping elements can clamp one end of the carbon fiber to be wound, making the rollers tangential to the carbon fiber winding device, clamping the carbon fiber to be wound between the rollers and the carbon fiber winding device. Moreover, the traction device can pull one end of the carbon fiber to be wound, starting the winding from the end of the carbon fiber. Therefore, it can solve the problem of the difficulty in winding the end of the carbon fiber, reduce the labor intensity of the operator, and ensure the operator's production safety. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the robotic arm guided by the present invention;

[0018] Figure 2 This is a three-dimensional structural diagram of the present invention guiding the robotic arm in another direction;

[0019] Figure 3 This is a schematic diagram of the structure of the frame 1 in the guided robotic arm of the present invention;

[0020] Figure 4 This is a schematic diagram of the gripping device in the robotic arm of the present invention;

[0021] Figure 5 This is a schematic diagram of the shearing device in the robotic arm of the present invention. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] In the embodiments of the present invention, the terms “up,” “down,” “front,” “back,” “left,” and “right,” etc., indicate directions or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "set", "install", "connect", and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] If the embodiments of the present invention involve descriptions such as "first" or "second", such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated.

[0026] like Figure 1 , Figure 2 , Figure 4 , Figure 5 As shown, the present invention provides a guided robotic arm, comprising a frame 1, a carbon fiber winding device 2 mounted on the frame 1, a traction device 3, a clamping device 4, and a cutting device 5. The guided robotic arm is used to wind carbon fiber or other thread-like materials onto the carbon fiber winding device 2. In this embodiment, winding carbon fiber is used as an example. The carbon fiber winding device 2 is adapted to rotate around its own axis. One or more carbon fiber winding devices 2 and traction devices 3 are provided, with a one-to-one correspondence between the carbon fiber winding device 2 and the traction device 3.

[0027] The traction device 3 is positioned close to the carbon fiber winding device 2. The traction device 3 is used to hook the end of the carbon fiber to be wound. When the carbon fiber winding device 2 rotates around its own axis, the traction device 3 is adapted to move left and right relative to the frame 1 along the axis of the carbon fiber winding device 2. During this process, the carbon fiber is wound onto the carbon fiber winding device 2.

[0028] The clamping device 4 includes a clamping element 41 and a roller 42. The clamping element 41 is used to clamp the end of the carbon fiber to be wound and move the carbon fiber to be wound to a position close to the surface of the carbon fiber winding device 2. The roller 42 is used to press the carbon fiber to be wound against the carbon fiber winding device 2. The clamping element 41 and the roller 42 are adapted to move in the front-back, left-right, and up-down directions to move the carbon fiber to be wound to a position close to the surface of the carbon fiber winding device 2 when winding begins, and to return to their original positions after winding is completed.

[0029] The cutting device 5 includes scissors 51, which are adapted to move back and forth. The scissors 51 are used to cut carbon fibers. When it is necessary to cut carbon fibers, the cutting device 5 moves forward and then moves backward after cutting.

[0030] In this invention, when a robotic arm is working, the clamping element 41 clamps one end of the carbon fiber to be wound and moves it to a position close to the surface of the carbon fiber winding device 2, so that the roller 42 is tangent to the carbon fiber winding device 2, clamping the carbon fiber to be wound between the roller 42 and the carbon fiber winding device 2. After the traction device 3 pulls the one end of the carbon fiber to be wound, the clamping element 41 and the roller 42 are released. The carbon fiber winding device 2 first rotates half a turn in the opposite direction to wind the carbon fiber onto the carbon fiber winding device 2. Then, the traction device 3 swings back and forth, and the carbon fiber winding device 2 rotates in the forward direction to wind the carbon fiber. After the carbon fiber winding is completed, the cutting device 5 moves forward to cut the carbon fiber, the clamping element 41 moves to the initial position, and the robotic arm's work of guiding the carbon fiber is completed. This invention provides a guided robotic arm, comprising a frame 1, a carbon fiber winding device 2 mounted on the frame 1, a traction device 3, a clamping device 4, and a cutting device 5. The carbon fiber winding device 2 is adapted to rotate around its own axis. When the carbon fiber winding device 2 rotates around its own axis, the traction device 3 is adapted to move left and right relative to the frame 1 along the axis of the carbon fiber winding device 2, winding the carbon fiber onto the carbon fiber winding device 2, thereby improving the accuracy and efficiency of carbon fiber winding. Furthermore, the shape and structure of the carbon fiber winding device 2 have no impact on the winding process. Meanwhile, since the clamping device 4 includes a clamping element 41 and a roller 42, the clamping element 41 can clamp one end of the carbon fiber to be wound, making the roller 42 tangential to the carbon fiber winding device 2, clamping the carbon fiber to be wound between the roller 42 and the carbon fiber winding device 2. And the traction device 3 can pull one end of the carbon fiber to be wound, starting the winding from the end of the carbon fiber. Therefore, it can solve the problem of the difficulty in winding the end of the carbon fiber, reduce the labor intensity of the operator, and ensure the operator's production safety.

[0031] Optionally, the carbon fiber traction device 3 includes a mounting frame 31 and a fixing hook 32. The fixing hook 32 is connected to the mounting frame 31, which is connected to the frame 1. The mounting frame 31 is adapted to move left and right relative to the frame 1 along the axial direction of the carbon fiber winding device 2. The fixing hook 32 is used to hook the end of the carbon fiber to be wound, which can solve the problem of the difficulty in winding the end of the carbon fiber.

[0032] Optionally, the clamping device 4 further includes a clamping element telescopic mechanism 43, a clamping element forward and backward moving mechanism 44, a clamping element up and down moving mechanism 45, and a first bracket 46. The first bracket 46 is connected to the frame 1. The clamping element 41 and the roller 42 are disposed on the clamping element telescopic mechanism 43. The clamping element telescopic mechanism 43 is disposed on the clamping element forward and backward moving mechanism 44. The clamping element forward and backward moving mechanism 44 is disposed on the clamping element up and down moving mechanism 45. The clamping element up and down moving mechanism 45 is disposed on the first bracket 46. The clamping element up and down moving mechanism 45 is adapted to move up and down relative to the first bracket 46. Specifically, the first bracket 46 is provided with a guide rail. A motor drives the clamping element up and down moving mechanism 45 to move up and down on the guide roller. A cylinder drives the clamping element forward and backward moving mechanism 44 to move back and forth on the clamping element up and down moving mechanism 45. The clamping element telescopic mechanism 43 can be a cylinder mechanism or a lead screw mechanism. The clamping device 4 also includes a clamping element telescopic mechanism 43, a clamping element forward and backward movement mechanism 44, and a clamping element up and down movement mechanism 45, so that the positions of the clamping element 41 and the roller 42 can be adjusted as needed in three mutually perpendicular directions, making it more convenient to use.

[0033] Optionally, the clamping element 41 is a wire cutter that clamps the carbon fiber when closed.

[0034] Optionally, the cutting device 5 further includes a guide rail 52, a transmission chain 53, a motor 54, a scissor frame 55, and a second support 56. The guide rail 52 is mounted on the second support 56, which is connected to the frame 1. The direction of the guide rail 52 is parallel to the axial direction of the carbon fiber winding device 2. The scissors 51 are mounted on the scissor frame 55, which is adapted to move relative to the guide rail 52. The scissor frame 55 is connected to the transmission chain 53, and the motor 54 drives the transmission chain 53 to move, thereby causing the scissors frame 55 to move relative to the guide rail 52. The scissors 51 being mounted on the scissor frame 55 and adapted to move relative to the guide rail 52 allows for more accurate adjustment of the scissors 51's position.

[0035] Optionally, such as Figure 2 , Figure 3 As shown, a guide column 13 is also provided on the frame 1. The clamping device 4 and the shearing device 5 are both connected to the guide column 13. A column guide rail is provided on the frame 1, and the guide column 13 is set on the column guide rail. The servo motor drives the guide column 13 to move on the column guide rail via the track 14 to adjust the position of the guide column 13 on the frame 1, thereby adjusting the position of the clamping device 4 and the shearing device 5 on the frame 1 to adapt to different models of carbon fiber winding devices 2, making the guided robotic arm of the present invention more widely applicable. After the position is adjusted, the guide column 13 is fixed to the frame 1 by the support column, making the guided robotic arm of the present invention more convenient to use.

[0036] Optionally, the frame 1 is a machine tool, which includes a base 11 and a frame 12. The frame 12 is mounted on the base 11, and the carbon fiber winding device 2 and the traction device 3 are both mounted on the frame 12. The frame 1 can be obtained by modifying an existing machine tool, which is more environmentally friendly.

[0037] Optionally, three carbon fiber winding devices 2 and three carbon fiber traction devices 3 are provided. The carbon fiber winding devices 2 are arranged sequentially from top to bottom on the frame 12, and the fixing hooks 32 are arranged sequentially from top to bottom on the mounting bracket 31 to improve the winding efficiency of carbon fiber.

[0038] Optionally, it also includes a control device 7, which controls the operation of each of the above-mentioned motors.

[0039] Optionally, the carbon fiber winding device 2 is a hydrogen cylinder mold, and the carbon fiber to be wound is wound onto the hydrogen cylinder mold. After the hydrogen cylinder is filled with gas, the internal pressure is relatively high. In the process of manufacturing the hydrogen cylinder, in order to reduce the weight of the hydrogen cylinder while ensuring its strength, carbon fiber is wound around the outside of the hydrogen cylinder mold.

[0040] While the disclosure is as stated above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A guided robotic arm, characterized in that: The device includes a frame (1), at least one carbon fiber winding device (2) mounted on the frame (1), at least one traction device (3), a clamping device (4), and a cutting device (5). The carbon fiber is wound on the carbon fiber winding device (2), which is adapted to rotate about its own axis. The carbon fiber winding device (2) corresponds one-to-one with the traction device (3). The traction device (3) is positioned close to the carbon fiber winding device (2). The traction device (3) is used to hook the end of the carbon fiber to be wound. When the carbon fiber winding device (2) rotates around its own axis, the traction device (3) moves left and right relative to the frame (1) along the axis of the carbon fiber winding device (2). The traction device (3) includes a mounting frame (31) and a fixing hook (32). The fixing hook (32) is connected to the mounting frame (31), which is connected to the frame (1). The mounting frame (31) is adapted to move left and right relative to the frame (1) along the axis of the carbon fiber winding device (2). The fixing hook (32) is used to hook the end of the carbon fiber to be wound. The clamping device (4) includes a clamping element (41) and a roller (42). The clamping element (41) is used to clamp the end of the carbon fiber to be wound and move the carbon fiber to be wound to a position close to the surface of the carbon fiber winding device (2). The roller (42) is used to press the carbon fiber to be wound against the carbon fiber winding device (2). The clamping element (41) and the roller (42) are adapted to move in the front-back, left-right, and up-down directions. The cutting device (5) includes scissors (51) adapted to move back and forth, and the scissors (51) are used to cut the carbon fiber.

2. The guided robotic arm according to claim 1, characterized in that, The clamping device (4) further includes a clamping element telescopic mechanism (43), a clamping element forward and backward movement mechanism (44), a clamping element up and down movement mechanism (45), and a first bracket (46). The first bracket (46) is connected to the frame (1). The clamping element (41) and the roller (42) are both disposed on the clamping element telescopic mechanism (43). The clamping element telescopic mechanism (43) is disposed on the clamping element forward and backward movement mechanism (44). The clamping element forward and backward movement mechanism (44) is disposed on the clamping element up and down movement mechanism (45). The clamping element up and down movement mechanism (45) is disposed on the first bracket (46). The clamping element up and down movement mechanism (45) is adapted to move up and down relative to the first bracket (46).

3. The guided robotic arm according to claim 2, characterized in that, The clamping element (41) is a wire cutter.

4. The guided robotic arm according to claim 1, characterized in that, The cutting device (5) further includes a guide rail (52), a transmission chain (53), a motor (54), a scissor frame (55), and a second support (56). The second support (56) is connected to the frame (1). The guide rail (52) is set on the second support (56). The direction of the guide rail (52) is parallel to the axial direction of the carbon fiber winding device (2). The scissors (51) are set on the scissor frame (55). The scissor frame (55) is adapted to move relative to the guide rail (52). The scissor frame (55) is connected to the transmission chain (53). The motor (54) drives the transmission chain (53) to move, thereby causing the scissor frame (55) to move relative to the guide rail (52).

5. The guided robotic arm according to claim 1, characterized in that, The frame (1) is also provided with a guide column (13), the clamping device (4) and the shearing device (5) are both connected to the guide column (13), and the position of the guide column (13) on the frame (1) is adjustable.

6. The guided robotic arm according to claim 2, characterized in that, The frame (1) is a machine tool. The frame (1) includes a base (11) and a frame (12). The frame (12) is set on the base (11). The carbon fiber winding device (2) and the traction device (3) are both set on the frame (12).

7. The guided robotic arm according to claim 6, characterized in that, There are three carbon fiber winding devices (2) and three traction devices (3). The carbon fiber winding devices (2) are arranged sequentially from top to bottom on the frame (12), and the fixing hooks (32) are arranged sequentially from top to bottom on the mounting bracket (31).

8. The guided robotic arm according to any one of claims 1-7, characterized in that, The carbon fiber winding device (2) is a hydrogen cylinder mold.

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