Horizontal robot laying and winding all-in-one machine

Abstract

The invention discloses a horizontal robot laying and winding all-in-one machine which comprises a mechanical arm movement mechanism, a mechanical arm winding mechanism and a mechanical arm winding mechanism. The mechanical arm movement mechanism comprises multi-axis mechanical arm equipment and a mechanical arm rail assembly, and the multi-axis mechanical arm equipment is installed on the mechanical arm rail assembly; the rotating shaft movement mechanism comprises a fiber placement fixing device and a rotating shaft movement assembly, and the fiber placement fixing device is installed on the rotating shaft movement assembly; the motion platform mechanism comprises a workbench lifting mechanism and a workbench rotating mechanism, and the motion platform mechanism is installed below the rotating shaft motion mechanism; the fiber placement head equipment comprises a fiber placement assembly and a fiber placement head control assembly. Compared with the prior art, the multi-dimensional laying and winding all-in-one machine has the beneficial effects that the motion platform with the rotating and lifting functions is installed below the rotating shaft and matched with the sliding rail on the rotating shaft, multi-dimensional motion of the fiber laying fixing table is achieved, the multi-axis mechanical arm and the mechanical arm motion shaft are matched, the motion freedom degree of the laying and winding all-in-one machine is improved, and the laying and winding efficiency is improved. And the laying and winding effect on complex parts and special-shaped parts is improved.

Description

Technical Field

[0001] The present invention belongs to the field of wire laying machines, and in particular relates to a horizontal robot wire laying and winding integrated machine. Background Art

[0002] The horizontal robot laying and winding machine is a laying and winding equipment that realizes high-precision laying and intelligent winding of pre-impregnated fibers or cloth tapes. It is widely used in aerospace, defense equipment, energy development and other fields. The horizontal robot laying and winding machine is driven by a robotic arm and can lay cylindrical, conical and other axisymmetric rotating bodies. The thermoplastic laying system adopts a roll material structure and is suitable for thermoplastic prepregs. The fiber placement head can adapt to the laying and winding of various carbon fiber thermoplastic composite materials.

[0003] The horizontal robot laying and winding machine is equipped with a thermosetting wet winding system and a robot winding device. It is suitable for wet and dry winding processes of reinforcements such as carbon fiber, glass fiber, and Kevlar fiber. It can complete the winding and forming processes of various closed and open cylinders and cone-shaped axisymmetric workpieces. The winding line types include circumferential winding and spiral winding, and can automatically realize continuous alternating longitudinal and circumferential winding, with the characteristics of efficient winding and stable quality.

[0004] The horizontal robot laying and wrapping machine is adaptable to axisymmetric rotating bodies such as cylinders and cones, but is not adaptable enough to special-shaped parts. The traditional laying and wrapping machine has insufficient freedom of movement and has poor normal laying and wrapping effect on the complex curved surfaces of special-shaped parts. Summary of the invention

[0005] The object of the present invention is to provide a horizontal robot laying and wrapping machine to solve the above-mentioned problems.

[0006] In order to achieve the above object, the present invention provides a horizontal robot laying and wrapping machine, comprising:

[0007] The robot arm motion mechanism includes a multi-axis robot arm device and a robot arm track assembly, wherein the multi-axis robot arm device is installed on the robot arm track assembly;

[0008] Rotary axis motion mechanism: comprising a wire placement fixture and a rotary axis motion assembly, wherein the wire placement fixture is mounted on the rotary axis motion assembly, and the rotary axis motion mechanism cooperates with the robot arm motion mechanism;

[0009] Motion platform mechanism: including a workbench lifting mechanism and a workbench rotating mechanism, the motion platform mechanism is installed below the rotary axis motion mechanism;

[0010] Wire placing head equipment: including a wire placing assembly and a wire placing head control assembly, wherein the wire placing head equipment is installed on a multi-axis robotic arm equipment;

[0011] The motion platform mechanism and the rotary axis motion mechanism can both independently displace simultaneously, and a motion platform is installed below the rotary axis motion assembly.

[0012] In one or more embodiments of the present invention, the multi-axis robotic arm device includes a wire placing robot and a robot base. The wire placing robot is installed on the robot base. A mounting platform is installed at the bottom of the robot base. A pair of first sliding plates are installed on both sides of the lower end surface of the mounting platform.

[0013] In one or more embodiments of the present invention, the robot arm rail assembly includes a robot linear axis, a first slide rail matching the mounting platform is installed on the upper end surface of the robot linear axis, and a pair of second slide rails matching the first sliding plate are installed on both sides of the robot linear axis.

[0014] In one or more embodiments of the present invention, the wire placement fixing device includes a pair of wire placement fixing tables and a chuck, a clamping claw is installed on the chuck, and a rotating body is installed in the clamping claw.

[0015] In one or more embodiments of the present invention, a pair of second sliding plates are installed at the bottom of the wire placement fixed table.

[0016] In one or more embodiments of the present invention, the rotary shaft motion assembly includes a rotary shaft, and third slide rails matching with the second sliding plate are installed on both sides of the rotary shaft.

[0017] In one or more embodiments of the present invention, the workbench lifting mechanism includes a bevel gear assembly and a screw assembly, the bevel gear assembly includes a first bevel gear and a second bevel gear, a first transmission shaft is installed on the first bevel gear, and the first bevel gear and the second bevel gear cooperate with each other.

[0018] In one or more embodiments of the present invention, the screw assembly includes a bent rod and a bent rod sleeve, the bent rod is mounted on the second bevel gear, and the bent rod sleeve is sleeved on the bent rod.

[0019] In one or more embodiments of the present invention, the worktable rotating mechanism includes a rotating disk assembly and a connecting shaft assembly, the rotating disk assembly includes a first rotating disk and a second rotating disk, and transmission belts are sleeved on the outer sides of the first rotating disk and the second rotating disk.

[0020] In one or more embodiments of the present invention, the connecting shaft assembly includes a first mounting plate and a first shaft sleeve, a driving shaft is installed in the first shaft sleeve, the driving shaft is fixedly connected to the first mounting plate, and the first mounting plate is installed on the lower end surface of the motion platform.

[0021] Compared with the prior art, the beneficial effect of the present invention is that by installing a motion platform with rotation and lifting functions under the rotating shaft and cooperating with the sliding track on the rotating shaft, the multi-dimensional movement of the wire laying fixed table is realized, and by matching with a multi-axis robot arm and a robot arm motion axis, the movement freedom of the wire laying and winding machine is improved, and the laying and winding effect of complex and special-shaped parts is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a first structural diagram of a horizontal robot laying and wrapping machine in one embodiment of the present invention;

[0023] Figure 2 It is a second structural diagram of the horizontal robot laying and wrapping machine in one embodiment of the present invention;

[0024] Figure 3 It is a structural diagram of the mechanical arm motion mechanism of a horizontal robot laying and wrapping machine in one embodiment of the present invention;

[0025] Figure 4 It is a structural diagram of the rotary axis motion mechanism of the horizontal robot laying and wrapping machine in one embodiment of the present invention;

[0026] Figure 5 It is a first structural diagram of the motion platform mechanism of the horizontal robot laying and wrapping machine in one embodiment of the present invention;

[0027] Figure 6 It is a second structural diagram of the motion platform mechanism of the horizontal robot laying and wrapping machine in one embodiment of the present invention;

[0028] Figure 7 It is a third structural diagram of the motion platform mechanism of the horizontal robot laying and wrapping machine in one embodiment of the present invention;

[0029] Figure 8 It is an exploded view of the worktable lifting mechanism of the horizontal robot laying and wrapping machine in one embodiment of the present invention.

[0030] Description of main reference numerals:

[0031] 1-fiber laying robot, 101-robot base, 102-mounting platform, 1021-first sliding plate, 2-fiber laying fixed platform, 201-chuck, 202-claw, 203-rotating body, 204-second sliding plate, 3-thermoplastic fiber laying head, 301-tow yarn storage disk, 302-CCR fiber laying unit, 4-robot linear axis, 401-first slide rail, 402-second slide rail, 5-rotating axis, 501-third slide rail, 502-fixed plate, 6-motion platform, 7-first rotating disk, 701-second rotating disk Disk, 7011-slot, 702-transmission belt, 8-first mounting disk, 801-first shaft sleeve, 802-driving shaft, 9-first motor, 901-first reducer, 902-first transmission shaft, 903-first bevel gear, 904-second bevel gear, 9041-crank rod, 9042-crank rod sleeve, 9043-second mounting disk, 9044-second shaft sleeve, 905-second motor, 906-second reducer, 907-second transmission shaft, 908-mounting plate, 10-workbench, 11-transmission box. DETAILED DESCRIPTION

[0032] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation modes.

[0033] The horizontal robot laying and winding machine is driven by a six-axis intelligent robot. It can lay and wind cylindrical, conical and other axisymmetric rotating bodies. It is equipped with a thermosetting wet winding system and a robot winding device. It is suitable for wet and dry winding processes of reinforcements such as carbon fiber, glass fiber, and Kevlar fiber. It can complete the winding and forming processes of various closed and open cylinders and cone-shaped axisymmetric workpieces.

[0034] refer to Figure 1-Figure 4 As shown, by cooperating with the robot rail assembly, the rotary shaft motion assembly and the motion platform mechanism, the thermoplastic wire laying head 3 realizes the circumferential winding and spiral winding of the rotating body 203, and automatically realizes the longitudinal and circumferential continuous alternating winding. The motion platform mechanism realizes the lifting and rotation of the motion platform 6, driving the rotary shaft 5 installed on the motion platform 6 to move synchronously, adding more dimensions to the thermoplastic wire laying head 3 for the rotating body 203, thereby improving the wire laying freedom of the horizontal robot laying and winding machine to adapt to more complex rotating bodies and special-shaped laying and winding parts.

[0035] refer to Figure 1-Figure 4As shown, the horizontal robot laying and winding machine includes a mechanical arm motion mechanism, a rotary axis motion mechanism, a motion platform mechanism and a wire laying head device. The mechanical arm motion mechanism uses the multi-axis motion part installed thereon to move, thereby adjusting the position of the thermoplastic wire laying head 3 relative to the rotating body 203. The rotary axis motion mechanism is used to install and fix the rotating body 203, and cooperates with the wire laying head device to achieve high-speed and precise rotation control, thereby ensuring that the fiber material can be accurately laid or wound at a predetermined position. The motion platform mechanism is used to adjust the position of the motion platform 6 installed under the rotary axis motion mechanism. By lifting and rotating the motion platform 6, the rotary axis motion mechanism installed on the motion platform 6 is driven to move synchronously, further changing the relative position of the rotating body 203 and the thermoplastic wire laying head 3, and realizing the improvement of the freedom of wire laying. The wire laying head device realizes the automatic adjustment of the yarn transmission path and yarn release tension of the prepreg bundle, completes the compaction, re-feeding and cutting functions of the prepreg bundle, realizes the compaction of the bundle after laying on the mold surface, and realizes the heating function of the prepreg bundle.

[0036] refer to Figure 1-Figure 2 As shown, the multi-axis robot arm device is installed on the robot linear axis 4, the wire placement fixing device is installed on the rotary axis 5, the robot linear axis 4 is installed on the workbench 10, and a motion platform 6 is installed below the rotary axis 5, and the motion platform 6 is installed inside the workbench 10. That is, the robot linear axis 4 and the rotary axis 5 are both installed on the workbench 10, and a motion platform 6 that can rotate around the inside of the workbench 10 and can be lifted and lowered along the longitudinal direction of the workbench 10 is installed below the rotary axis 5. A transmission box 11 is installed below the workbench 10, and a motion platform mechanism for lifting and rotating the motion platform 6 is installed inside the transmission box 11.

[0037] refer to Figure 1-Figure 4 As shown, the robot arm motion mechanism is used to control the position of the wire laying head device at the rotating body 203. The robot arm motion mechanism includes a multi-axis robot arm device and a robot arm track assembly. The multi-axis robot arm device is installed on the robot arm track assembly. The multi-axis robot arm device includes a wire laying robot 1 and a robot base 101. The wire laying robot 1 is installed on the robot base 101. The wire laying robot 1 is driven by a KUKA six-axis intelligent robot. The six-axis intelligent robot controls the servo motors of each axis to complete the automatic control of various functions of the thermoplastic wire laying head 3. It also has functions such as layer monitoring and automatic replacement.

[0038] refer to Figure 1-Figure 4As shown, the X-axis of the robot linear axis 4 and the A1-A6 axes of the wire laying robot 1 are the posture control axes of the wire laying system, and the rotary tooling rotating DD axis is coordinated and controlled by the Siemens 840Dsl CNC system, and together form an 8-axis RTCP interpolation linkage to realize the automatic trajectory laying of advanced complex surfaces. In addition, all axes use absolute encoders, and the feed speed can be steplessly adjusted within the specified range to realize multi-stage flexible laying. The robot base 101 and the mounting platform 102 installed at the bottom of the wire laying robot 1 drive the wire laying robot 1 to move along the X-axis of the robot linear axis 4. The upper end surface of the robot linear axis 4 is equipped with a first slide rail 401 that matches the mounting platform 102. A pair of second slide rails 402 that match the first sliding plate 1021 are installed on both sides of the robot linear axis 4. The mounting platform 102 and the first sliding plate 1021 installed thereon respectively cooperate with the first slide rail 401 and the second slide rail 402 to drive the wire laying robot 1 to perform multi-stage flexible laying.

[0039] refer to Figure 1-Figure 4 As shown, the rotary axis motion mechanism is used to clamp and fix the rotating body 203. The rotary axis motion mechanism includes a wire placement fixing device and a rotary axis motion assembly. The wire placement fixing device can slide on the rotary axis motion assembly. The wire placement fixing device includes a pair of wire placement fixing tables 2 and a chuck 201. The rotary axis motion assembly includes a rotary axis 5. The third slide rails 501 that match the second slide plate 204 are installed on both sides of the rotary axis 5. The chuck 201 is equipped with a claw 202. The rotating body 203 is installed in the claw 202. A pair of second slide plates 204 are installed at the bottom of the wire placement fixing table 2. The wire placement fixing table 2 can slide along the direction of the third slide rail 501 that matches with it through the second slide plate 204 installed at the bottom. The distance between the pair of wire placement fixing tables 2 is controlled by sliding, and the claw 202 is controlled by the chuck 201 installed on the wire placement fixing table 2 to achieve clamping and fixing of the rotating body 203. The displacement of the wire placing fixed platform 2 on the rotary shaft 5 can drive the rotating body 203 fixed thereon to be displaced synchronously, and the laying path of the wire placing system can be set by controlling the rotary shaft motion mechanism.

[0040] refer to Figure 7-Figure 8As shown, the motion platform mechanism is used to lift and rotate the motion platform 6, so as to control the rotary shaft motion mechanism installed on the motion platform 6. A plurality of fixed plates 502 are installed on both sides of the rotary shaft 5, and the fixed plates 502 fix the rotary shaft 5 to the motion platform 6. The motion platform mechanism includes a workbench lifting mechanism and a workbench rotary mechanism. The workbench lifting mechanism includes a bevel gear assembly and a screw assembly. The bevel gear assembly includes a first bevel gear 903 and a second bevel gear 904. The first transmission shaft 902 is installed on the first bevel gear 903. The first bevel gear 903 and the second bevel gear 904 cooperate with each other. The screw assembly includes a curved rod 9041 and a curved rod sleeve 9042. The curved rod 9041 is installed on the second bevel gear 904, and the curved rod sleeve 9042 is sleeved on the curved rod 9041. The first motor 9 is mounted on the transmission box 11 through a mounting plate 908 fixed thereon. The first motor 9 drives the first reducer 901 mounted thereon and drives the first transmission shaft 902 to rotate. The other end of the first transmission shaft 902 is key-connected with the first bevel gear 903. The first bevel gear 903 is driven to rotate synchronously by rotating the first transmission shaft 902. The first bevel gear 903 drives the second bevel gear 904 matched therewith to rotate synchronously. The crankshaft 9041 mounted on the second bevel gear 904 rotates synchronously with the rotation of the second bevel gear 904, that is, the rotation of the first transmission shaft 902 can synchronously drive the crankshaft 9041 to rotate.

[0041] refer to Figure 7-Figure 8 As shown, the bent rod sleeve 9042 sleeved on the outer side of the bent rod 9041 cooperates with the bent rod 9041, and the bent rod sleeve 9042 is provided with a thread that cooperates with the bent rod 9041. By rotating the bent rod 9041 in different directions, the bent rod sleeve 9042 can be displaced vertically relative to the bent rod 9041. That is, when the second bevel gear 904 rotates counterclockwise, the bent rod sleeve 9042 is displaced upward relative to the bent rod 9041, and when the second bevel gear 904 rotates clockwise, the bent rod sleeve 9042 is displaced downward relative to the bent rod 9041.

[0042] refer to Figure 7-Figure 8As shown, the crankshaft 9041 penetrates the first rotating disk 7 and the second bevel gear 904 is located below the first rotating disk 7. The second shaft sleeve 9044 is fixedly connected to the upper end surface of the first rotating disk 7. The crankshaft 9041 penetrates the second shaft sleeve 9044 and the second mounting plate 9043 is sleeved between the crankshaft 9041 and the second shaft sleeve 9044. That is, when the crankshaft 9041 drives the crankshaft sleeve 9042 to move, the crankshaft sleeve 9042 moves along the inside of the second shaft sleeve 9044. The upper end surface of the curved rod sleeve 9042 is fixedly connected to a second mounting plate 9043, and the second mounting plate 9043 moves synchronously with the curved rod sleeve 9042. The end of the second mounting plate 9043 that is not connected to the curved rod sleeve 9042 is fixedly connected to the lower end surface of the motion platform 6. That is, when the first transmission shaft 902 drives the curved rod 9041 to rotate, thereby forcing the curved rod sleeve 9042 to move up and down in the second shaft sleeve 9044, the motion platform 6 moves up and down synchronously, thereby controlling the rotary shaft motion mechanism on the motion platform 6 to move up and down.

[0043] The transmission box 11 is provided with a first motor 9 and a second motor 905. The first motor 9 and the second motor 905 can be a coaxial speed regulating motor of model 140RGU-5K produced by a manufacturer of Taiwan Power. The speed regulating motor used in the granular cable material vibrating screen with publication number CN219401059U can be used as the first motor 9 and the second motor 905 in the present invention.

[0044] refer to Figure 1-Figure 4 As shown, the worktable rotating mechanism is used to rotate the motion platform 6, thereby driving the rotary axis motion mechanism installed on the motion platform 6 to rotate synchronously, so as to adjust the position of the rotating body 203 installed on the wire placing fixed table 2 relative to the thermoplastic wire placing head 3, and realize the automatic trajectory placement of advanced complex surfaces.

[0045] refer to Figure 5-Figure 8As shown, the worktable rotary mechanism includes a rotating disk assembly and a connecting shaft assembly, the rotating disk assembly includes a first rotating disk 7 and a second rotating disk 701, the first rotating disk 7 and the second rotating disk 701 are sleeved with a transmission belt 702 on the outside, the second rotating disk 701 and the first rotating disk 7 are located in the same plane, and the first rotating disk 7 and the second rotating disk 701 are both provided with a slot 7011, and the transmission belt 702 installed on the outside of the second rotating disk 701 and the first rotating disk 7 are matched with the first rotating disk 7, the second rotating disk 701 and the slot 7011. The second motor 905 drives the second reducer 906 and drives the second transmission shaft 907 installed thereon to rotate, and the second transmission shaft 907 is fixedly connected to the second rotating disk 701, and the second rotating disk 701 rotates synchronously when the second transmission shaft 907 rotates. Under the action of the transmission belt 702, when the second rotating disk 701 rotates, the first rotating disk 7 rotates synchronously, that is, rotating the second transmission shaft 907 can synchronously drive the first rotating disk 7 and the second rotating disk 701 to rotate.

[0046] refer to Figure 5-Figure 8 As shown, a plurality of first shaft sleeves 801 are fixedly connected to the first rotating disk 7, a driving shaft 802 is sleeved inside the first shaft sleeve 801, and the driving shaft 802 can be displaced along the inner direction of the first shaft sleeve 801, and the other end of the driving shaft 802 is fixedly connected to the first mounting disk 8, and the first mounting disk 8 is fixedly connected to the lower end surface of the motion platform 6. That is, when the first rotating disk 7 rotates, the first shaft sleeve 801 drives the motion platform 6 to rotate synchronously through the first mounting disk 8, and when the crankshaft sleeve 9042 in the second shaft sleeve 9044 on the first rotating disk 7 pushes the motion platform 6 to move upward, the driving shaft 802 extends along the direction of the first shaft sleeve 801. Further, the motion platform 6 can be raised and lowered while rotating.

[0047] refer to Figure 1-Figure 3As shown, the fiber placement head equipment is used for automatic placement and molding of carbon fiber prepreg, including a fiber placement assembly and a fiber placement head control assembly, adopting a short yarn feeding structure, which is suitable for a single yarn bundle width of 6.35±0.125mm. The fiber placement head system has posture control, prepreg yarn feeding, tension control, automatic shearing and re-feeding, automatic heating, pressurization control, laying process parameter detection, anti-collision system, video monitoring system and fiber placement head control system. The CCR fiber placement unit 302 installed on the thermoplastic fiber placement head 3 can respectively complete the functions of clamping and stopping yarns, cutting and re-feeding yarns of all prepreg bundles independently, thereby realizing the arbitrary controllable yarn increase and yarn reduction actions of the prepreg bundles on the mold surface. The clamping, cutting and re-feeding of each prepreg bundle can be automatically controlled by the program and manually controlled by buttons. The prepreg yarn passes through the yarn threading port, is sheared to a predetermined length by the CCR fiber placement unit 302, and then is thickened by an infrared heater and bundled into a belt by the pressure roller. The CCR laying unit 302 includes a cutting assembly, a yarn feeding assembly and a yarn stopping assembly. The yarn feeding assembly can complete the independent transmission of the prepreg tow, which is achieved by a pressure wheel and a yarn feeding drive shaft. The pressure wheel adopts a rocker arm structure and is driven by a φ10mm cylinder to ensure the reliability of yarn feeding. The yarn stopping assembly can complete the independent clamping of the prepreg tow, which is achieved by a pressure wheel and a one-way roller, which can ensure that the prepreg tow can be fed and cannot be withdrawn in the yarn stopping state. The cutting assembly adopts a shear-type cutting method, and each material channel is independently controlled. The cylinder drives the downward pressure and lifting of the cutter to complete the lateral cutting of the prepreg tow. The cutter cylinder adopts a φ10mm cylinder, which increases the cutting force by 44% compared with the traditional φ8mm cylinder.

[0048] When in use, the thermoplastic fiber placement head 3 installed thereon is controlled by the fiber placement robot 1 to perform multi-axis rotation displacement, and at the same time, in the robot arm track assembly, the robot is displaced along the X-axis direction of the robot linear axis 4 to adjust the position of the thermoplastic fiber placement head 3 relative to the rotating body 203. At the same time, the fiber placement fixed platform 2 can be displaced along the rotating axis 5, and the rotating body 203 can be fixed and locked, and the position of the rotating body 203 in the direction of the rotating axis 5 can be adjusted. Furthermore, the motion platform mechanism synchronously drives the rotating axis 5 installed on the motion platform 6 to rotate and lift by lifting and rotating the motion platform 6, thereby changing the position of the rotating body 203 relative to the thermoplastic fiber placement head 3, providing more dimensional control angles for the fiber placement head equipment. Subsequently, the fiber placement head equipment automatically lays and shapes the carbon fiber prepreg, and automatically and alternately winds the carbon fiber prepreg longitudinally and circumferentially on the rotating body 203, ensuring that the fiber material can be accurately laid or wound at the predetermined position. By cooperating with the robot arm motion mechanism, the rotary axis motion mechanism and the motion platform mechanism, the position of the thermoplastic wire laying head 3 relative to the rotating body 203 is adjusted in multiple dimensions, which adds more dimensions to the wire laying of the thermoplastic wire laying head 3 on the rotating body 203, thereby improving the wire laying freedom of the horizontal robot wire laying and winding machine to adapt to more complex rotating bodies and special-shaped wire laying and winding parts.

[0049] Compared with the prior art, the beneficial effect of the present invention is that by installing a motion platform with rotation and lifting functions under the rotating shaft, cooperating with the sliding track on the rotating shaft, the multi-dimensional movement of the wire laying fixed table is realized, and the multi-axis robot arm and the robot arm motion axis are matched to improve the movement freedom of the laying and winding integrated machine, and improve the laying and winding effect of complex parts and special-shaped parts.

[0050] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0051] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. Horizontal robot laying and wrapping machine, characterized in that: include: The robot arm motion mechanism includes a multi-axis robot arm device and a robot arm track assembly, wherein the multi-axis robot arm device is installed on the robot arm track assembly; Rotary axis motion mechanism: comprising a wire placement fixture and a rotary axis motion assembly, wherein the wire placement fixture is mounted on the rotary axis motion assembly, and the rotary axis motion mechanism cooperates with the robot arm motion mechanism; Motion platform mechanism: including a workbench lifting mechanism and a workbench rotating mechanism, the motion platform mechanism is installed below the rotary axis motion mechanism; Wire placing head equipment: including a wire placing assembly and a wire placing head control assembly, wherein the wire placing head equipment is installed on a multi-axis robotic arm equipment; The motion platform mechanism and the rotary axis motion mechanism can both independently displace simultaneously, and a motion platform is installed below the rotary axis motion assembly.

2. The horizontal robot laying and wrapping machine according to claim 1, characterized in that: The multi-axis robotic arm device includes a wire placing robot and a robot base. The wire placing robot is installed on the robot base. A mounting platform is installed at the bottom of the robot base. A pair of first sliding plates are installed on both sides of the lower end surface of the mounting platform.

3. The horizontal robot laying and wrapping machine according to claim 2, characterized in that: The robot arm track assembly comprises a robot linear axis, a first slide rail matched with a mounting platform is installed on the upper end surface of the robot linear axis, and a pair of second slide rails matched with a first sliding plate are installed on both sides of the robot linear axis.

4. The horizontal robot laying and wrapping machine according to claim 1, characterized in that: The wire placement fixing device comprises a pair of wire placement fixing platforms and a chuck, wherein a clamping claw is installed on the chuck, and a rotating body is installed inside the clamping claw.

5. The horizontal robot laying and wrapping machine according to claim 4, characterized in that: A pair of second sliding plates are installed at the bottom of a pair of the wire placement fixed platforms.

6. The horizontal robot laying and wrapping machine according to claim 1, characterized in that: The rotary shaft motion assembly comprises a rotary shaft, and third slide rails matching with the second sliding plate are installed on both sides of the rotary shaft.

7. The horizontal robot laying and wrapping machine according to claim 1, characterized in that: The workbench lifting mechanism includes a bevel gear assembly and a screw assembly. The bevel gear assembly includes a first bevel gear and a second bevel gear. A first transmission shaft is installed on the first bevel gear. The first bevel gear and the second bevel gear match each other.

8. The horizontal robot laying and wrapping machine according to claim 7, characterized in that: The screw rod assembly comprises a bent rod and a bent rod sleeve. The bent rod is mounted on the second bevel gear, and the bent rod sleeve is sleeved on the bent rod.

9. The horizontal robot laying and wrapping machine according to claim 1, characterized in that: The workbench rotating mechanism comprises a rotating disk assembly and a connecting shaft assembly. The rotating disk assembly comprises a first rotating disk and a second rotating disk. Transmission belts are sleeved on the outer sides of the first rotating disk and the second rotating disk.

10. The horizontal robot laying and wrapping machine according to claim 9, characterized in that: The connecting shaft assembly includes a first mounting plate and a first shaft sleeve, a driving shaft is installed in the first shaft sleeve, the driving shaft is fixedly connected to the first mounting plate, and the first mounting plate is installed on the lower end surface of the motion platform.

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