Gas cylinder preparation system capable of achieving automatic winding and curing through robot

Abstract

The invention discloses a robot automatic winding and curing gas cylinder preparation system, and belongs to the technical field of composite material gas cylinder winding automatic production. The robot is matched with the air cylinder to move to complete automatic yarn guiding on the surface of the air cylinder, safety accidents are reduced, the working environment is improved, and the overall competitiveness of an enterprise is improved; the UV curing technology is introduced into the field of gas cylinder preparation, a new scheme for curing the wound gas cylinder is developed, rapid normal-temperature curing of the wound gas cylinder is achieved, and the production efficiency and the curing quality are remarkably improved; the winding gas cylinder is cured through the UV technology, rapid normal-temperature curing of gas cylinder production is achieved, the curing time of the winding gas cylinder is greatly shortened, the production cycle and manufacturing cost of the winding gas cylinder are reduced, the production efficiency is remarkably improved, meanwhile, the UV light source is safe and controllable, the operation condition is simple and safe, and the curing quality of the gas cylinder is more stable.

Description

Technical Field

[0001] The invention belongs to the technical field of automated winding production of composite material gas cylinders, and in particular relates to a gas cylinder preparation system for automated winding and curing by robots. Background Art

[0002] The preparation process of the gas cylinder is to fully soak the fiber dry yarn in the resin matrix, and then use the winding machine to evenly wind the soaked fiber yarn bundle on the surface of the gas cylinder liner. After the winding is completed, the gas cylinder is placed in an oven for rotation and curing. In the actual production process, the gas cylinder liner together with the clamping tooling is first fixed on a single-station or multi-station horizontal winding machine, and the winding machine winds the impregnated fiber on the surface of the gas cylinder liner. After the winding is completed, the gas cylinder is removed from the winding machine and placed on a special rotating platform. Then the gas cylinder and the rotating platform are placed in an oven for curing. The oven generates heat through the heating element, and the heat is evenly transferred to the inside of the oven by forced convection. The gas cylinder in the oven is driven by the rotating platform to rotate while being heated and cured.

[0003] Although the existing technology has certain advantages, it also has many disadvantages: 1. The clamping of the gas cylinder on the horizontal winding machine requires manual operation. After each clamping, the yarn bundle needs to be re-guided on the surface of the gas cylinder. After the winding is completed, the winding fiber needs to be cut manually, and the wound gas cylinder is removed from the winding machine, placed on the rotating platform, and then pushed into the oven for curing. There are many manual operations, low work efficiency, and low degree of automation; 2. The wound gas cylinder needs to be installed on a rotating platform and heat-cured in an oven. The oven heat-curing process requires precise temperature control. If the temperature control is uneven, the resin in some parts of the gas cylinder will not be completely cured, or the local parts will be over-cured and cause explosion, resulting in poor consistency of curing quality of the gas cylinder; 3. The oven thermal curing process includes four stages: preheating, heating, insulation and cooling. Rapid heating will cause the resin to overheat and cause explosion, while rapid cooling will cause internal stress after the resin is cured, causing thermal deformation and cracking defects in the gas cylinder. Therefore, the entire thermal curing process takes a long time, generally at least 12 hours or more, which greatly increases the production cycle and manufacturing cost of the gas cylinder and affects production efficiency. Summary of the invention

[0004] The present invention mainly solves the technical problems existing in the above-mentioned prior art and provides a gas cylinder preparation system for automatic winding and curing by robots.

[0005] The above technical problems of the present invention are mainly solved by the following technical solutions: a robot automatic winding and curing gas cylinder preparation system, which mainly includes a wire release rack, a glue dipping mechanism, a wire output mechanism, a robot grabbing mechanism, a broken yarn feeding mechanism and a curing storage mechanism.

[0006] Preferably, the wire release rack consists of a wire release cabinet, a motor connecting shaft, a wire release cylinder, a wire winding roller, a tension sensor and a fiber yarn roll. The wire release rack can adapt to the fiber tension by adjusting the tension of the wire release cylinder piston rod and feeding back the tension change signal to the motor connecting shaft through the tension sensor, thereby changing the rotation speed of the motor connecting shaft, thereby achieving constant tension release of the fiber yarn.

[0007] Preferably, the dipping mechanism consists of a dipping base, a multi-stage wire guide roller, a tension adjustment roller, a dipping cylinder, a dipping roller, a dipping tank, a photosensitive thermoplastic resin and a scraper. The tension adjustment roller is used to adjust the fiber tension. The fiber is fully impregnated with the photosensitive thermoplastic resin in the dipping tank. The required glue content of the fiber is controlled by adjusting the size of the gap between the scraper and the dipping roller.

[0008] Preferably, the wire-out mechanism consists of a wire-out base, a rotary mounting seat, a motor, a rotary roller bearing, a wire-out head and a glue connection groove. The motor drives the inner ring of the rotary roller bearing to rotate, driving the wire-out head to realize fiber winding reversal at both ends of the gas cylinder.

[0009] Preferably, the robot grasping mechanism consists of a six-axis robot, a rotating shaft seat, a reduction motor, a pneumatic three-jaw chuck and a gas cylinder with a connecting rod. The pneumatic three-jaw chuck is used to grasp the gas cylinder with a connecting rod. The reduction motor drives the gas cylinder with a connecting rod to rotate, and cooperates with the synchronous movement of the six-axis robot to realize the winding of the fiber yarn on the inner liner of the gas cylinder.

[0010] Preferably, the yarn breaking and yarn drawing mechanism consists of a yarn breaking and yarn drawing base, a cylinder mounting seat, a front yarn pressing cylinder, a yarn breaking cylinder, a rear yarn pressing cylinder, a yarn drawing cylinder, an upper yarn pressing block, a lower yarn pressing block, a scraper, a yarn breaking blade and a yarn drawing roller; the front yarn pressing cylinder and the rear yarn pressing cylinder drive the upper yarn pressing block and the lower yarn pressing block to press the fiber yarn, and the yarn breaking cylinder drives the yarn breaking blade to press down and cut the fiber yarn.

[0011] Preferably, the yarn drawing cylinder extends and presses down to press the fiber yarn between the yarn drawing roller and the gas cylinder, and the gas cylinder rotates, and the fiber yarn is wound around the surface of the gas cylinder by bonding with the resin on the fiber yarn and the gas cylinder.

[0012] Preferably, the curing storage mechanism consists of a base, a temporary storage rack for unwrapped gas cylinders, a storage rack for curing gas cylinders, a limiting bracket, a UV light control box, a UV curing box and a UV lamp.

[0013] As a preferred embodiment, the temporary storage rack for unwrapped gas cylinders and the storage rack for cured gas cylinders are installed at the lower layer of the base, and are used to store unwrapped gas cylinders and cured gas cylinders respectively. The temporary storage rack for unwrapped gas cylinders and the storage rack for cured gas cylinders are provided with smooth strips, and the gas cylinders can slide down automatically along the smooth strips. Preferably, three groups of UV lamps are arranged in the UV curing box, which are respectively used to irradiate the front head, middle section and rear head area of ​​the gas cylinder. The UV light control box is used to control the switch of the UV lamp and the setting of parameters such as light intensity and power, and cooperate with the rotation of the gas cylinder during curing to achieve uniform curing of various areas of the gas cylinder.

[0014] The invention has the beneficial effects of: automatically guiding the yarn on the surface of the gas cylinder by the robot in coordination with the cylinder movement, reducing the occurrence of safety accidents, improving the working environment, and enhancing the overall competitiveness of the enterprise; the invention introduces UV curing technology in the field of gas cylinder preparation, opens up a new solution for curing of wound gas cylinders, realizes rapid room temperature curing of wound gas cylinder preparation, and significantly improves production efficiency and curing quality; The robot gripping mechanism can realize continuous and automatic production of wound gas cylinders, effectively improving production efficiency and reducing labor costs; the present invention can realize automatic yarn drawing of wound fibers on the surface of gas cylinders, avoiding the safety hazards of manual yarn drawing operations, effectively improving operation safety, reducing the accident rate, and ensuring the life safety and physical health of employees; the present invention utilizes UV technology to cure wound gas cylinders, realizes rapid room-temperature curing of gas cylinder production, greatly shortens the curing time of wound gas cylinders, reduces the production cycle and manufacturing cost of wound gas cylinders, and significantly improves production efficiency. At the same time, the UV light source is safe and controllable, the operating conditions are simple and safe, and the curing quality of gas cylinders is more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall equipment layout of the present invention; Figure 2 It is a structural schematic diagram of the wire placing frame in the present invention; Figure 3 It is a structural schematic diagram of the dipping mechanism in the present invention; Figure 4 It is a structural schematic diagram of the wire-exiting mechanism in the present invention; Figure 5 It is a structural schematic diagram of the robot grasping mechanism in the present invention; Figure 6 It is a structural schematic diagram of the interrupted yarn feeding mechanism of the present invention; Figure 7 It is a schematic diagram of the structure of the solidified storage mechanism in the present invention.

[0016] In the figure: 1. wire-releasing rack; 2. glue-impregnating mechanism; 3. wire-extracting mechanism; 4. robot grabbing mechanism; 5. yarn-breaking yarn-leading mechanism; 6. curing storage mechanism; 11. wire-releasing cabinet; 12. motor connecting shaft; 13. wire-releasing cylinder; 14. wire-winding roller; 15. tension sensor; 16. fiber yarn roll; 21. glue-impregnating base; 22. multi-stage wire guide roller; 23. tension-adjusting roller; 24. glue-impregnating cylinder; 25. glue-impregnating roller; 26. glue-impregnating tank; 27. photosensitive thermoplastic resin; 28. glue-scraping plate; 31. wire-extracting base; 32. slewing mounting seat; 33. motor; 34. slewing roller bearing; 35. wire-extracting head; 3 6. Glue splicing tank; 41. Six-axis robot; 42. Rotating shaft seat; 43. Reducer motor; 44. Pneumatic three-jaw chuck; 45. Gas cylinder with connecting rod; 51. Yarn-breaking yarn-leading base; 52. Cylinder mounting seat; 53. Front yarn-pressing cylinder; 54. Yarn-breaking cylinder; 55. Rear yarn-pressing cylinder; 56. Yarn-leading cylinder; 57. Yarn upper pressure block; 58. Yarn lower pressure block; 59. Scraper; 510. Yarn-breaking blade; 511. Yarn-leading roller; 61. Base; 62. Temporary storage rack for unwound gas cylinders; 63. Storage rack for cured gas cylinders; 64. Limit bracket; 65. UV light control box; 66. UV curing box; 67. UV lamp. DETAILED DESCRIPTION

[0017] The technical solution of the present invention is further specifically described below through embodiments and in conjunction with the accompanying drawings.

[0018] Embodiment: A robot-assisted automatic winding and curing system for preparing gas cylinders, such as Figure 1-Figure 7 As shown, a robot automatic winding and curing gas cylinder preparation system consists of a wire placing rack 1, a glue dipping mechanism 2, a wire discharging mechanism 3, a robot grabbing mechanism 4, a broken yarn feeding mechanism 5 and a curing storage mechanism 6.

[0019] The wire-releasing rack 1 is used to place multiple spindle fiber yarn rolls 16 and synchronize them to release the wire with constant tension. Its main components are a wire-releasing cabinet 11, a motor connecting shaft 12, a wire-releasing cylinder 13, a wire winding roller 14, a tension sensor 15 and a fiber yarn roll 16. Multiple groups of wire-releasing components are installed in the wire-releasing cabinet 11. The fiber yarn roll 16 is installed on the motor connecting shaft 12. The fiber is mainly rotated by the motor connecting shaft 12 to release the wire, and is led out of the wire-releasing rack 1 through two wire winding rollers 14. The wire winding roller 14 is connected to the wire-releasing cylinder 13. The wire-releasing is adjusted by adjusting the wire-releasing The air pressure of the cylinder 13 makes the force of the release cylinder 13 pulling the winding roller 14 and the tension of the fiber on the winding roller 14 balanced. The winding roller 14 is equipped with a tension sensor 15. When the fiber tension changes, the pulling force of the release cylinder 13 and the tension of the fiber on the winding roller 14 are unbalanced, and the piston of the release cylinder 13 adapts to the fiber tension. At the same time, the tension sensor 15 feeds back the tension change signal to the motor connecting shaft 12, and the release speed of the fiber yarn roll 16 is changed through the motor connecting shaft 12 to adjust the fiber tension. The dipping mechanism 2 is used for the impregnation between the fiber yarn and the matrix of the photosensitive thermoplastic resin 27, and is composed of a dipping base 21, a multi-stage wire guide roller 22, a tension adjustment roller 23, a dipping cylinder 24, a dipping roller 25, a dipping tank 26, a photosensitive thermoplastic resin 27 and a scraper 28. The fiber comes out of the wire release frame 1 and is introduced into the dipping mechanism 2 by the multi-stage wire guide roller 22. After passing through the multi-stage wire guide roller 22, the fiber enters the tension adjustment roller 23. The tension adjustment roller 23 is connected to the dipping cylinder 24. By adjusting the air pressure of the dipping cylinder 24, the tension of the fiber passing through the tension adjustment roller 23 is adjusted to the dipping cylinder 24. The pulling force of the glue cylinder 24 is balanced. When the fiber tension fluctuates, the piston of the glue cylinder 24 adapts itself to achieve stable fiber tension. The photosensitive thermoplastic resin 27 is stored in the glue dipping tank 26. The fiber is introduced into the glue dipping tank 26 via the glue dipping roller 25 and is fully contacted and impregnated with the photosensitive thermoplastic resin 27. The excess resin is scraped off the impregnated fiber by the scraper 28. The glue content of the required fiber is controlled by adjusting the gap between the scraper 28 and the glue dipping roller 25. The scraped fiber is guided out of the glue dipping mechanism 2 by the multi-stage guide roller 22 and enters the next process. The wire-exiting mechanism 3 is used to guide the fiber to the surface of the gas cylinder during winding, and realize the reversal of the fiber when winding at both ends of the gas cylinder. It is composed of a wire-exiting base 31, a rotary mounting seat 32, a motor 33, a rotary roller bearing 34, a wire-exiting head 35 and a glue connection groove 36. The rotary mounting seat 32 and the glue connection groove 36 are installed on the wire-exiting base 31, the outer ring of the rotary roller bearing 34 is fixed to the rotary mounting seat 32, and the wire-exiting head 35 is installed on the inner ring of the rotary roller bearing 34. The motor 33 drives the inner ring of the rotary roller bearing 34 to rotate, driving the wire-exiting head 35 to realize the reversal of fiber winding at both ends of the gas cylinder, and the glue connection groove 36 is used to collect the resin glue dripped from the fiber during the winding process; The robot grasping mechanism 4 is used to grasp the gas cylinder and realize the various directions of the gas cylinder, and is composed of a six-axis robot 41, a rotating shaft seat 42, a reduction motor 43, a pneumatic three-jaw chuck 44 and a gas cylinder 45 with a connecting rod. The six-axis robot 41 is used to realize the various directions of the gas cylinder after grasping. The rotating shaft seat 42 is installed on the end execution flange of the six-axis robot 41. The reduction motor 43 and the pneumatic three-jaw chuck 44 are installed on the rotating shaft seat 42. The pneumatic three-jaw chuck 44 is used to grasp the gas cylinder 45 with the connecting rod. The reduction motor 43 drives the gas cylinder 45 with the connecting rod to rotate, and cooperates with the synchronous movement of the six-axis robot 41 to realize the winding of the fiber yarn on the inner liner of the gas cylinder. The yarn-breaking and yarn-leading mechanism 5 is used for automatically breaking the yarn after the cylinder winding is completed, and for automatically leading the fiber yarn on the surface of the cylinder when the winding starts again. It consists of a yarn-breaking and yarn-leading base 51, a cylinder mounting seat 52, a front yarn-pressing cylinder 53, a yarn-breaking cylinder 54, a rear yarn-pressing cylinder 55, a yarn-leading cylinder 56, a yarn upper pressing block 57, a yarn lower pressing block 58, a scraper 59, a yarn-breaking blade 510 and a yarn-leading roller 511. When the winding is completed, the robot grasping mechanism 4 grasps the yarn. The gas cylinder moves to the bottom of the scraper 59, and the fiber yarn connected to the gas cylinder is placed between the upper yarn pressing block 57 and the lower yarn pressing block 58; at this time, the front yarn pressing cylinder 53 and the rear yarn pressing cylinder 55 extend and press down at the same time, and the upper yarn pressing block 57 and the lower yarn pressing block 58 are used to press the two sides of the fiber yarn tightly, and then the yarn breaking cylinder 54 drives the yarn breaking blade 510 to press down to cut the fiber yarn, and after cutting, the yarn breaking cylinder 54 resets and retracts; in the next step, the front yarn pressing cylinder 53 is retracted and reset, the fiber yarn connected to the cylinder is released, the cylinder moves again until the cylinder surface just fits with the scraper 59, and then the cylinder rotates, and the remaining fiber yarn is wound onto the cylinder surface by the pressing force of the scraper 59 to complete the winding process; when the cylinder needs to be wound again, the robot grasping mechanism 4 grasps the unwound cylinder, and lifts it from under the fiber yarn pressed by the rear yarn pressing cylinder 55 to contact the yarn drawing roller 511 connected to the yarn drawing cylinder 56, At this time, the yarn drawing cylinder 56 extends and presses down to compress the fiber yarn between the yarn drawing roller 511 and the gas cylinder, and then the rear yarn pressing cylinder 55 returns to its original position and retracts to release the compressed fiber yarn; in the next step, the gas cylinder rotates, and the fiber yarn is pressed against the surface of the gas cylinder by the yarn drawing roller 511, and the fiber yarn is wound around the surface of the gas cylinder by the bonding between the resin on the fiber yarn and the gas cylinder; finally, the yarn drawing cylinder 56 retracts and returns to its original position, completing the automatic yarn drawing process of the fiber yarn on the surface of the gas cylinder; The curing storage mechanism 6 is used to complete the UV curing of the wrapped gas cylinders and the storage of the cured gas cylinders and the unwrapped gas cylinders, and is composed of a base 61, an unwrapped gas cylinder temporary storage rack 62, a cured gas cylinder storage rack 63, a limit bracket 64, a UV light control box 65, a UV curing box 66 and a UV lamp 67; the unwrapped gas cylinder temporary storage rack 62 and the cured gas cylinder storage rack 63 are installed on the lower layer of the base 61, and are used to store the unwrapped gas cylinders and the gas cylinders after curing, respectively. The unwrapped gas cylinder temporary storage rack 62 and the cured gas cylinder storage rack 63 are installed with smooth strips, and the gas cylinders can automatically slide down along the smooth strips ; The limiting bracket 64 is installed on the unwrapped gas cylinder temporary storage rack 62 and the cured gas cylinder storage rack 63, and is used to position the gas cylinders sliding along the smooth strip; the UV light control box 65 and the UV curing box 66 are installed on the upper layer of the base 61, and three groups of UV lamps 67 are arranged in the UV curing box 66. The UV light control box 65 is used to control the switch of the UV lamp 67 and the setting of parameters such as light intensity and power. The three groups of UV lamps 67 are respectively used to irradiate the front head, middle section and rear head area of ​​the gas cylinder, and cooperate with the rotation of the gas cylinder during curing to achieve uniform curing of various areas of the gas cylinder.

[0020] The fiber yarn reel 16 in the wire-releasing frame 1 leads out the fiber, passes through two winding rollers 14, and the winding roller 14 is connected to the wire-releasing cylinder 13. The fiber tension on the winding roller 14 is adaptively adjusted by the piston of the wire-releasing cylinder 13. At the same time, the tension sensor 15 feeds back the tension change signal to the motor connecting shaft 12, and changes the wire-releasing speed of the fiber yarn reel 16, so that the fiber is actively released from the wire-releasing frame 1 with constant tension; the fiber is introduced into the dipping mechanism 2 through the multi-stage wire guide roller 22, and the fiber tension is regulated by the tension regulating roller 23 in the dipping mechanism 2. The photosensitive thermoplastic resin 27 is stored in the dipping tank 26. The fiber is introduced into the dipping tank 26 via the dipping roller 25, and is fully contacted and impregnated with the photosensitive thermoplastic resin 27. The impregnated fiber is scraped off the excess resin by the scraper plate 28 to control The glue content of the required fiber is controlled; the fiber after scraping glue is introduced into the wire outlet mechanism 3, and the wire outlet head 35 guides the fiber to the surface of the gas cylinder. When the fiber is wound around the front and rear sealing ends of the gas cylinder, the wire outlet head 35 rotates to realize the reversal of the fiber at both ends of the gas cylinder; the robot grasping mechanism 4 is used to grasp the gas cylinder and realize the directional movement after the gas cylinder is grasped. The front end of the robot grasping mechanism 4 has an external rotating shaft, which can drive the gas cylinder to rotate so that the fiber yarn is wound around the surface of the gas cylinder; after the winding is completed, the robot grasping mechanism 4 grasps the gas cylinder and moves it to the bottom of the scraper 59 of the yarn breaking and yarn guiding mechanism 5, and places the fiber yarn connected to the gas cylinder between the yarn upper pressing block 57 and the yarn lower pressing block 58. At this time, the front yarn pressing cylinder 53 and the rear yarn pressing cylinder 55 extend downward at the same time, and the yarn upper pressing block 57 and the yarn lower pressing block 58 are used to press the front yarn pressing cylinder 53 and the rear yarn pressing cylinder 55. The block 57 and the yarn pressing block 58 press the two sides of the fiber yarn, and then the yarn breaking cylinder 54 drives the yarn breaking blade 510 to press down to cut the fiber yarn, completing the automatic yarn breaking process; after the fiber is cut, the front yarn pressing cylinder 53 retracts and returns to its original position, and the gas cylinder moves until the surface of the gas cylinder just fits with the scraper 59, and then the gas cylinder rotates, and the pressing force of the scraper 59 is used to wind the remaining fiber yarn onto the surface of the gas cylinder to complete the winding process; the wound gas cylinder is placed in a UV curing box 66, and three groups of UV lamps 67 are arranged in the UV curing box 66. The light intensity, power size and other parameters of the UV lamp 67 are set by the UV light control box 65. The three groups of UV lamps 67 are used to irradiate the front head, middle section and rear head area of ​​the gas cylinder respectively, and cooperate with the rotation of the gas cylinder during curing to achieve gas curing. The cylinder is then stored on the curing cylinder storage rack 63 in the curing storage mechanism 6, and the robot grabbing mechanism 4 grabs the cylinder from the temporary storage rack 62 for unwound cylinders. After the robot grabbing mechanism 4 grabs the unwound cylinder, it is lifted from below the fiber yarn compressed by the rear yarn pressing cylinder 55 and brought into contact with the yarn drawing roller 511 connected to the yarn drawing cylinder 56. At this time, the yarn drawing cylinder 56 extends and presses down to compress the fiber yarn between the yarn drawing roller 511 and the cylinder, and then the rear yarn pressing cylinder 55 is reset and retracted to release the compressed fiber yarn. In the next step, the cylinder is rotated, and the fiber yarn is compressed against the surface of the cylinder by the yarn drawing roller 511, and the circumferential winding of the fiber yarn on the surface of the cylinder is completed by utilizing the bonding between the resin on the fiber yarn and the cylinder.Finally, the yarn guiding cylinder 56 is retracted and reset to complete the automatic yarn guiding process of the fiber yarn on the surface of the cylinder; after the yarn guiding is completed, the above process can be repeated to realize continuous automatic cylinder winding.

[0021] Finally, it should be pointed out that the above embodiments are only representative examples of the present invention. Obviously, the present invention is not limited to the above embodiments, and there are many variations. Any simple modification made to the above embodiments according to the technical essence of the present invention; equivalent changes and modifications should be considered to belong to the protection scope of the present invention.

Claims

1. A robot-assisted automatic winding and curing gas cylinder preparation system, characterized in that: It mainly comprises a wire laying frame (1), a glue dipping mechanism (2), a wire discharging mechanism (3), a robot grabbing mechanism (4), a broken yarn feeding mechanism (5) and a curing storage mechanism (6).

2. A robot-automatic winding and curing gas cylinder preparation system as claimed in claim 1, characterized in that: The wire unwinding frame (1) is composed of a wire unwinding cabinet (11), a motor connecting shaft (12), a wire unwinding cylinder (13), a winding roller (14), a tension sensor (15) and a fiber yarn roll (16). The pulling force of the piston rod of the wire unwinding cylinder (13) is adaptive to the fiber tension, and the tension change signal is fed back to the motor connecting shaft (12) through the tension sensor (15), thereby changing the rotation speed of the motor connecting shaft (12), thereby realizing constant tension unwinding of the fiber yarn.

3. A robot-automatic winding and curing gas cylinder preparation system as claimed in claim 1, characterized in that: The glue dipping mechanism (2) is composed of a glue dipping base (21), a multi-stage wire guide roller (22), a tension adjustment roller (23), a glue dipping cylinder (24), a glue dipping roller (25), a glue dipping tank (26), a photosensitive thermoplastic resin (27) and a glue scraper (28). The tension adjustment roller (23) is used to adjust the fiber tension. The fiber is fully infiltrated with the photosensitive thermoplastic resin (27) in the glue dipping tank (26). The glue content of the required fiber is controlled by adjusting the size of the gap between the glue scraper (28) and the glue dipping roller (25).

4. A robot-automatic winding and curing gas cylinder preparation system as claimed in claim 1, characterized in that: The wire-exiting mechanism (3) is composed of a wire-exiting base (31), a rotary mounting seat (32), a motor (33), a rotary roller bearing (34), a wire-exiting head (35) and a glue connection groove (36). The motor (33) drives the inner ring of the rotary roller bearing (34) to rotate, thereby driving the wire-exiting head (35) to realize the reversal of fiber winding at both ends of the gas cylinder.

5. A robot-automatic winding and curing gas cylinder preparation system as claimed in claim 1, characterized in that: The robot grasping mechanism (4) is composed of a six-axis robot (41), a rotating shaft seat (42), a reduction motor (43), a pneumatic three-jaw chuck (44) and a gas cylinder with a connecting rod (45). The pneumatic three-jaw chuck (44) is used to grasp the gas cylinder with a connecting rod (45). The reduction motor (43) drives the gas cylinder with a connecting rod (45) to rotate and cooperates with the synchronous movement of the six-axis robot (41) to realize the winding of fiber yarn on the inner liner of the gas cylinder.

6. A robot-automatic winding and curing gas cylinder preparation system as claimed in claim 1, characterized in that: The broken yarn feeding mechanism (5) comprises a broken yarn feeding base (51), a cylinder mounting base (52), a front yarn pressing cylinder (53), a broken yarn cylinder (54), a rear yarn pressing cylinder (55), a feeding cylinder (56), a yarn upper pressing block (57), a yarn lower pressing block (58), a scraper (59), a broken yarn blade (510) and a feeding roller (511); the front yarn pressing cylinder (53) and the rear yarn pressing cylinder (55) drive the yarn upper pressing block (57) and the yarn lower pressing block (58) to press the fiber yarn, and the broken yarn cylinder (54) drives the broken yarn blade (510) to press down and cut the fiber yarn.

7. A robot-automatic winding and curing gas cylinder preparation system as claimed in claim 6, characterized in that: The yarn guiding cylinder (56) extends downward to press the fiber yarn tightly between the yarn guiding roller (511) and the gas cylinder. The gas cylinder rotates, and the fiber yarn is wound around the surface of the gas cylinder by bonding the resin on the fiber yarn with the gas cylinder.

8. A robot-automatic winding and curing gas cylinder preparation system as claimed in claim 1, characterized in that: The curing storage mechanism (6) is composed of a base (61), an unwrapped gas cylinder temporary storage rack (62), a curing gas cylinder storage rack (63), a limit bracket (64), a UV light control box (65), a UV curing box (66) and a UV lamp (67).

9. A robot-automatic winding and curing gas cylinder preparation system as claimed in claim 8, characterized in that: The unwrapped gas cylinder temporary storage rack (62) and the cured gas cylinder storage rack (63) are installed on the lower layer of the base (61) and are used to store unwrapped gas cylinders and cured gas cylinders respectively. The unwrapped gas cylinder temporary storage rack (62) and the cured gas cylinder storage rack (63) are provided with smooth strips, and the gas cylinders can slide down automatically along the smooth strips.

10. A robot-automatic winding and curing gas cylinder preparation system as claimed in claim 9, characterized in that: Three groups of UV lamps (67) are arranged in the UV curing box (66), and the three groups of UV lamps (67) are used to irradiate the front end cap, the middle section and the rear end cap area of ​​the gas cylinder respectively. The UV lamp control box (65) is used to control the switch of the UV lamp (67) and the setting of parameters such as light intensity and power, so as to achieve uniform curing of various areas of the gas cylinder in coordination with the rotation of the gas cylinder during curing.

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