Robot wet winding equipment

Abstract

The invention discloses robot wet winding equipment, which relates to the technical field of winding equipment, and comprises a yarn releasing mechanism, a glue dipping mechanism, a mechanical arm mechanism, a winding device and a rotating mechanism, the yarn releasing mechanism is used for leading out yarns, and the yarns are wound on the rotating mechanism after sequentially passing through the gum dipping mechanism and the winding device; the impregnation mechanism is provided with an impregnation tank; the mechanical arm mechanism comprises a movable guide rail and a movable mechanical arm, and the movable mechanical arm is a six-degree-of-freedom mechanical arm; the winding device comprises a shell, a rotating component, a leading-in component, a yarn guiding component, a rotating leading-out component and a yarn nozzle; yarns output from the gum dipping mechanism sequentially pass through the first leading-in path, the yarn guide wheel, the tensioning assembly and the carding assembly and then are output from the yarn nozzle. The rotating mechanism is provided with a rotating core mold. The method has high degree of freedom, and the forming quality and the manufacturing efficiency of the complex special-shaped composite material product can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of winding equipment, and particularly to a robotic wet winding equipment. Background Art

[0002] Fiber winding technology is to evenly and stably wind continuous fibers impregnated with resin sizing onto a mandrel under the guidance of a nozzle according to a certain linear law, and then obtain composite products after curing and forming. Composite products made of fiber winding composites (such as pipes, pressure vessels, drive shafts, insulators, etc.) have many advantages such as high strength, light weight, corrosion resistance, and designability, making them widely used in the fields of energy, shipbuilding, aerospace, automotive, chemical engineering, etc.

[0003] The winding machine is the core equipment for fiber winding composite products. At present, most of the forming equipment for composite products still uses four-degree-of-freedom horizontal or gantry winding machines. These traditional equipment occupy a large space and have a low degree of freedom, resulting in poor adaptability and flexibility, low manufacturing efficiency, and inability to automatically wind and form complex-shaped composite products.

[0004] Therefore, there is an urgent need for a robotic wet winding equipment with multiple degrees of freedom that can improve the forming quality and manufacturing efficiency of products, so as to promote the fiber winding forming design and manufacturing of complex-shaped composite products and expand the application fields of fiber winding technology. Summary of the Invention

[0005] The purpose of the present invention is to provide a robotic wet winding equipment to solve the problems existing in the above-mentioned prior art, with a high degree of freedom and capable of improving the forming quality and manufacturing efficiency of complex-shaped composite products.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides a wet winding device for a robot, comprising a yarn feeding mechanism, an impregnating mechanism, a robotic arm mechanism, a winding device and a rotating mechanism; at least one rotating yarn feeding wheel is arranged on the yarn feeding mechanism, and a yarn reel for leading out yarn is arranged on each yarn feeding wheel. The yarn is wound on the rotating mechanism after passing through the impregnating mechanism and the winding device in sequence; the impregnating mechanism has an impregnating tank, and a sizing agent formed by a composite material is contained in the impregnating tank, and the sizing agent can cover the surface of the passing yarn; the robotic arm mechanism comprises a moving guide rail and a moving robotic arm; the moving guide rail is used for being fixed on the ground; the moving robotic arm can be slidably arranged on the moving guide rail along a first direction, and the moving robotic arm is a six-degree-of-freedom robotic arm; the winding device comprises a housing, an introducing component, a yarn guiding component, a rotating and leading-out component, a rotator and a nozzle; the housing is used for being fixedly arranged at the end of the moving robotic arm, and the housing has an internal cavity and an inlet and an outlet communicated with the internal cavity; the introducing component is arranged at the inlet of the housing, and the introducing component has a first introducing path; the yarn guiding component is arranged in the internal cavity of the housing, and at least one rotating yarn guiding wheel is arranged on the yarn guiding component; the rotating and leading-out component comprises a rotating frame, a tensioning component, a carding component, a rotator and a nozzle. One end of the rotating frame is rotatably arranged at the outlet, and the other end of the rotating frame is rotatably provided with the nozzle. The tensioning component and the carding component are arranged on the rotating frame in sequence along the yarn leading-out direction. The rotator is arranged on the housing, and the rotator is used for driving the rotating frame to rotate on the housing; the yarn output from the impregnating mechanism passes through the first introducing path, the yarn guiding wheel, the tensioning component and the carding component in sequence and then is output from the nozzle; the rotating mechanism has a rotating mandrel, and the rotation axis of the mandrel is parallel to the first direction.

[0008] Preferably, the nozzle is connected to the rotating frame through a connecting component; one end of the connecting component can be fixedly connected to the end of the rotating frame far away from the housing; the other end of the connecting component is rotatably connected to the nozzle; and the connecting component can change the distance between the nozzle and the rotating frame.

[0009] Preferably, the rotating frame includes a rotating column and two U-shaped groove plates; one end of the rotating column is rotatably arranged at the outlet, and a perforation for the yarn to pass through is arranged on the rotating column, and the other end of the rotating column is fixedly connected to one end of the two U-shaped groove plates; the two U-shaped groove plates are symmetrically distributed, and the U-shaped groove of the U-shaped groove plate is located on the side away from the other U-shaped groove plate; the connecting component includes two connecting plates corresponding to the two U-shaped groove plates one by one; one end of the connecting plate slidably penetrates into the U-shaped groove of the corresponding U-shaped groove plate; both ends of the nozzle are rotatably connected to the ends of the two connecting plates; the part of the connecting plate penetrating into the U-shaped groove of the U-shaped groove plate has at least one mounting long hole, and the end of the mounting long hole close to the U-shaped groove plate is open; at least one connecting threaded post is fixedly arranged at the position corresponding to each mounting long hole in the U-shaped groove of the U-shaped groove plate, and a fixing nut is threadedly connected to the connecting threaded post on the side of the connecting plate away from the U-shaped groove plate.

[0010] Preferably, the tensioning component includes a first tensioning bracket, a second tensioning bracket, a first tensioning swing rod, a second tensioning swing rod, a tensioning roller and an auxiliary roller; the first tensioning bracket and the second tensioning bracket are symmetrically distributed and are both fixedly arranged on the rotating frame; the first tensioning swing rod and the second tensioning swing rod are symmetrically distributed, and one end of each is rotatably connected to the rotating frame; both ends of the tensioning roller are rotatably connected to the free ends of the first tensioning swing rod and the second tensioning swing rod respectively; tensioning springs are arranged between the first tensioning bracket and the free end of the first tensioning swing rod and between the second tensioning bracket and the free end of the second tensioning swing rod respectively; on the moving path of the yarn, the auxiliary roller is rotatably arranged on the rotating frame in front of the tensioning roller; the yarn bypasses the lower rolling surface of the auxiliary roller and winds around the upper rolling surface of the tensioning roller and then enters the carding component; the tensioning spring can pull the tensioning roller to move towards the side close to the auxiliary roller.

[0011] Preferably, the carding component includes a first guiding roller, a yarn splitting comb and a second guiding roller arranged in sequence on the yarn output path; both ends of the first guiding roller, the yarn splitting comb and the second guiding roller are correspondingly connected to the two U-shaped groove plates; the yarn output by the tensioning component bypasses the lower guiding surface of the first guiding roller, the yarn splitting comb and the upper guiding surface of the second guiding roller in sequence and then winds around the nozzle; the parts of both ends of the first guiding roller, the yarn splitting comb and the second guiding roller extending into the U-shaped groove of the U-shaped groove plate form the connecting threaded posts.

[0012] Preferably, the rotator is fixedly arranged in the internal cavity of the shell, and the output shaft of the rotator extends out of the shell and is fixed with a small pulley; a large pulley is fixedly arranged on the rotating frame; the small pulley and the large pulley are connected by a V-belt transmission.

[0013] Preferably, an L-shaped auxiliary plate is fixedly provided on the shell, a rotation hole is opened on the L-shaped auxiliary plate, and a receiving ring plate is fixedly provided on the outer side wall of the rotating column, and the receiving ring plate is inserted into the rotation hole and can rotate.

[0014] Preferably, the rotating mechanism includes a base, a slide rail, a core mold fixing bracket, a core mold movable bracket and a driving motor; the base is used to be fixed on the ground; the slide rail is fixedly arranged on the upper end surface of the base; the core mold fixing bracket is fixedly arranged at one end of the upper end surface of the base; the core mold movable bracket is slidably arranged on the slide rail along the first direction; the driving motor is fixedly arranged on the core mold movable bracket; one end of the core mold is rotatably arranged on the core mold fixing bracket, and the other end is rotatably arranged on the core mold movable bracket, and the driving motor is used to drive the core mold to rotate.

[0015] Preferably, the mobile robotic arm includes a mobile base, a rotating base, a first robotic arm, a second robotic arm and a third robotic arm; the mobile base is slidably arranged on the mobile guide rail along the first direction; the rotating base is rotatably arranged on the mobile base around the first axis via a first rotator; the first robotic arm is rotatably arranged on the rotating base around the second axis via a second rotator; one end of the second robotic arm is rotatably arranged on the end of the first robotic arm around the third axis via a third rotator; a rotating shaft rotating around a fourth axis is provided at the other end of the second robotic arm, and a fourth rotator for driving the rotating shaft to rotate is provided on the second robotic arm; the third robotic arm is rotatably arranged at the end of the rotating shaft of the second robotic arm around a fifth axis via a fifth rotator; a sixth rotator is provided at the end of the third robotic arm, and an output end of the sixth rotator rotating around the sixth axis is used to be fixedly connected to the housing; two adjacent axes among the first axis, the second axis, the third axis, the fourth axis, the fifth axis and the sixth axis are perpendicular to each other, and the first axis is a vertical axis.

[0016] Preferably, the sizing mechanism includes a sizing frame, a pressing wheel, a guiding inlet plate, and a guiding outlet plate; the sizing frame is provided with the sizing tank; the pressing wheel is rotatably arranged in the sizing tank; on the moving path of the yarn, the guiding inlet plate is fixedly arranged on the sizing frame in front of the pressing wheel, and the guiding outlet plate is fixedly arranged on the sizing frame behind the pressing wheel; at least one sizing inlet hole is arranged on the guiding inlet plate; and at least one sizing outlet hole is arranged on the guiding outlet plate.

[0017] The present invention has achieved the following technical effects compared with the prior art:

[0018] The wet winding equipment for robots provided by the present invention, through the mutual cooperation of the moving guide rail, the six-degree-of-freedom robotic arm, the winding device, and the rotating mandrel, can have high flexibility and motion accuracy, can move and rotate freely in three-dimensional space, can accurately control the winding path and angle of the yarn, adapt to the winding requirements of various complex and irregular composite products, can realize complex winding processes, improve the versatility and processing capacity of the equipment; for the winding device, the outer shell is fixed at the end of the moving robotic arm, providing protection and an installation basis for components such as the introducing component, the yarn guiding component, and the rotating leading-out component, ensuring the stable operation of each component. The first introducing path of the introducing component can guide the yarn to accurately enter the interior of the outer shell, avoiding the situation of the yarn being wound or chaotic at the entrance. The yarn guiding wheels on the yarn guiding component can change the direction of the yarn, enabling the yarn to move inside the outer shell along a predetermined path, and the rotating yarn guiding wheels can reduce the friction between the yarn and the components, protecting the yarn from damage. The rotating frame, the tensioning component, the combing component, etc. of the rotating leading-out component work together. The rotating function of the rotating frame can adjust the angle of the nozzle within a certain range to adapt to different winding requirements; the tensioning component can adjust the tension of the yarn, ensuring that the yarn remains in an appropriate taut state during winding, improving the quality of the product; the combing component can evenly separate the yarns, preventing the yarns from entangling with each other, ensuring that the yarns are arranged neatly, making the wound product more uniform and beautiful. The rotator drives the rotating frame to rotate on the outer shell, further increasing the motion flexibility of the nozzle, which helps to achieve more complex winding trajectories and processes. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic diagram of the overall structure of the wet winding equipment for robots provided by the present invention;

[0021] Figure 2 A schematic structural diagram of a winding device in a robot wet winding device provided by the present invention at a first viewing angle;

[0022] Figure 3 A schematic structural diagram of a winding device in the robot wet winding equipment provided by the present invention at a second viewing angle;

[0023] Figure 4 A schematic structural diagram of a winding device in the robot wet winding equipment provided by the present invention from a third viewing angle;

[0024] Figure 5 This is a schematic structural diagram of the rotating mechanism in the robot wet winding equipment provided by the present invention.

[0025] In the figure:

[0026] 10-yarn releasing mechanism; 11-yarn releasing wheel;

[0027] 20-glue dipping mechanism; 21-glue dipping tank; 22-pressing wheel; 23-guiding entry plate; 24-guiding output plate;

[0028] 30-mechanical arm mechanism; 31-moving guide rail; 32-moving mechanical arm;

[0029] 40-winding device; 41-housing; 411-L-type auxiliary plate; 42-introduction assembly; 43-yarn guide wheel; 44-rotating frame; 441-U-shaped groove plate; 442-large pulley; 443-receiving ring plate; 45-tensioning assembly; 451-first tensioning bracket; 452-first tensioning swing rod; 453-tensioning roller; 454-auxiliary roller; 455-tensioning spring; 46-combing assembly; 47-rotator; 471-small pulley; 472-V-belt; 48-wire nozzle; 49-connecting plate; 491-installation long hole;

[0030] 50-rotating mechanism; 51-base; 52-slide rail; 53-core mold fixing bracket; 54-core mold movable bracket; 55-driving motor; 56-core mold. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The object of the present invention is to provide a robotic wet winding device to solve the problems existing in the prior art, which has a high degree of freedom and can improve the forming quality and manufacturing efficiency of complex-shaped composite products.

[0033] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Embodiment 1

[0035] This embodiment provides a robotic wet winding device, as Figures 1 to 5 shown, including a yarn feeding mechanism 10, a sizing mechanism 20, a robotic arm mechanism 30, a winding device 40 and a rotating mechanism 50; at least one rotating yarn feeding wheel 11 is provided on the yarn feeding mechanism 10, and a yarn bobbin for leading out the yarn is provided on each yarn feeding wheel 11. The yarn is wound around the rotating mechanism 50 after passing through the sizing mechanism 20 and the winding device 40 in sequence; the sizing mechanism 20 has a sizing tank 21, and a sizing slurry formed by a composite material is contained in the sizing tank 21, and the sizing slurry can cover the surface of the passing yarn; the robotic arm mechanism 30 includes a moving guide rail 31 and a moving robotic arm 32; the moving guide rail 31 is used to be fixed on the ground; the moving robotic arm 32 can be slidably arranged on the moving guide rail 31 along a first direction, and the moving robotic arm 32 is a six-degree-of-freedom robotic arm; the winding device 40 includes a housing 41, an introducing assembly 42, a yarn guiding assembly, a rotating and leading-out assembly, a rotator 47 and a nozzle 48; the housing 41 is used to be fixedly arranged at the end of the moving robotic arm 32, and the housing 41 has an internal cavity and an inlet and an outlet communicating with the internal cavity; the introducing assembly 42 is arranged at the inlet of the housing 41, and the introducing assembly 42 has a first introducing path; the yarn guiding assembly is arranged in the internal cavity of the housing 41, and at least one rotating yarn guiding wheel 43 is provided on the yarn guiding assembly (each yarn guiding wheel 43 is fixedly arranged in the housing 41 through a bracket); the rotating and leading-out assembly includes a rotating frame 44, a tensioning assembly 45, a combing assembly 46, a rotator 47 and a nozzle 48. One end of the rotating frame 44 is rotatably arranged at the outlet, and a nozzle 48 is rotatably arranged at the other end of the rotating frame 44. The tensioning assembly 45 and the combing assembly 46 are arranged on the rotating frame 44 in sequence along the yarn leading-out direction. The rotator 47 is arranged on the housing 41, and the rotator 47 is used to drive the rotating frame 44 to rotate on the housing 41; the yarn output from the sizing mechanism 20 passes through the first introducing path, the yarn guiding wheel 43, the tensioning assembly 45 and the combing assembly 46 in sequence and then is output from the nozzle 48; the rotating mechanism 50 has a rotating mandrel 56, and the rotation axis of the mandrel 56 is parallel to the first direction.

[0036] Through the mutual cooperation of the moving guide rail 31, the six-degree-of-freedom robotic arm, the winding device 40, and the rotating mandrel 56, it can have high flexibility and motion accuracy, can move and rotate freely in three-dimensional space, can accurately control the winding path and angle of the yarn, adapt to the winding requirements of various complex and irregular composite products, can realize complex winding processes, improve the versatility and processing ability of the equipment; for the winding device 40, the outer shell 41 is fixed at the end of the moving robotic arm 32, providing protection and an installation foundation for the introduction component 42, the yarn guiding component, the rotating lead-out component, etc., ensuring the stable operation of each component. The first introduction path of the introduction component 42 can guide the yarn to accurately enter the interior of the outer shell 41, avoiding the situation of the yarn being wound or chaotic at the entrance. The yarn guiding wheel 43 on the yarn guiding component can change the direction of the yarn, enabling the yarn to move inside the outer shell 41 along a predetermined path, and the rotating yarn guiding wheel 43 can reduce the friction between the yarn and the components, protecting the yarn from damage. The rotating frame 44, the tensioning component 45, the combing component 46, etc. of the rotating lead-out component work together. The rotating function of the rotating frame 44 can adjust the angle of the nozzle 48 within a certain range to adapt to different winding requirements; the tensioning component 45 can adjust the tension of the yarn, ensuring that the yarn remains in an appropriate taut state during winding and improving the quality of the product; the combing component 46 can evenly separate the yarn, preventing the yarn from entangling with each other, ensuring that the yarn is neatly arranged, making the wound product more uniform and beautiful. The rotator 47 drives the rotating frame 44 to rotate on the outer shell 41, further increasing the motion flexibility of the nozzle 48 and contributing to the realization of more complex winding trajectories and processes.

[0037] The yarn unwinding mechanism 10, the sizing mechanism 20, the robotic arm mechanism 30, the winding device 40, and the rotating mechanism 50

[0038] Among them, the relevant settings of the yarn unwinding mechanism 10 are described as follows:

[0039] Specifically, the yarn unwinding mechanism 10 includes a yarn unwinding fixed seat, a yarn unwinding plate, and a yarn unwinding guiding component; the yarn unwinding plate and the yarn unwinding guiding component are both fixed on the yarn unwinding fixed seat, and a plurality of yarn unwinding wheels 11 are rotatably arranged on the yarn unwinding plate; the yarn unwinding guiding component includes a fixing plate and a plurality of guiding shaft groups located on the fixing plate, and the yarn on one yarn unwinding wheel 11 enters the sizing mechanism 20 through one guiding shaft group.

[0040] Specifically, the guiding shaft group is composed of a plurality of guiding shafts, and each guiding shaft is fixedly or rotatably arranged on the fixing plate.

[0041] Among them, the relevant settings of the sizing mechanism 20 are described as follows:

[0042] In an alternative embodiment of the present embodiment, preferably, as Figure 1As shown, the dipping mechanism 20 includes a dipping frame, a pressing wheel 22, a guiding inlet plate 23 and a guiding outlet plate 24; there is a dipping tank 21 on the dipping frame; the pressing wheel 22 is rotatably arranged in the dipping tank 21; on the moving path of the yarn, the guiding inlet plate 23 is fixedly arranged on the dipping frame at the front end of the pressing wheel 22, and the guiding outlet plate 24 is fixedly arranged on the dipping frame at the rear end of the pressing wheel 22; at least one dipping inlet hole is arranged on the guiding inlet plate 23; and at least one dipping outlet hole is arranged on the guiding outlet plate 24.

[0043] Among them, the relevant settings of the robotic arm mechanism 30 are described as follows:

[0044] Specifically, the moving robotic arm 32 can adopt an existing robotic arm with six degrees of freedom, which is briefly described by the following example:

[0045] In an alternative solution of this embodiment, preferably, as Figure 1 shown, the moving robotic arm 32 includes a moving base, a rotating seat, a first robotic arm, a second robotic arm and a third robotic arm; the moving base is slidably arranged on the moving guide rail 31 along the first direction; the rotating seat is rotatably arranged on the moving base around the first axis through a first rotator; the first robotic arm is rotatably arranged on the rotating seat around the second axis through a second rotator; one end of the second robotic arm is rotatably arranged at the end of the first robotic arm around the third axis through a third rotator; the other end of the second robotic arm is provided with a rotating shaft that rotates around the fourth axis, and a fourth rotator for driving the rotating shaft to rotate is arranged on the second robotic arm; the third robotic arm is rotatably arranged at the end of the rotating shaft of the second robotic arm around the fifth axis through a fifth rotator; the end of the third robotic arm is provided with a sixth rotator, and the output end of the sixth rotator that rotates around the sixth axis is used for fixedly connecting with the housing 41; adjacent two of the first axis, the second axis, the third axis, the fourth axis, the fifth axis and the sixth axis are perpendicular to each other, and the first axis is a vertical axis.

[0046] Specifically, a necessary drag chain mechanism can also be set according to needs to facilitate the movement of pipelines and the like.

[0047] Among them, the relevant settings of the winding device 40 are described as follows:

[0048] Specifically, the winding device 40 is a symmetric structure.

[0049] In an alternative solution of this embodiment, preferably, as Figures 1 to 4As shown, the nozzle 48 is connected to the rotating frame 44 through a connecting assembly; one end of the connecting assembly can be fixedly connected to the end of the rotating frame 44 away from the outer shell 41; the other end of the connecting assembly is rotatably connected to the nozzle 48; and the connecting assembly can change the distance between the nozzle 48 and the rotating frame 44 (that is, the connecting thread column is adjusted to different positions in the long hole 491 of the connecting plate 49), which can control the width of the yarn wound on the core mold 56 by changing the position of the nozzle 48.

[0050] In the optional scheme of this embodiment, it is more preferred that Figures 2 to 4 As shown, the rotating frame 44 includes a rotating column and two U-shaped groove plates 441; one end of the rotating column is used for rotation and is arranged at the outlet, and a through hole for the yarn to pass through is arranged on the rotating column, and the other end of the rotating column is fixedly connected to one end of the two U-shaped groove plates 441; the two U-shaped groove plates 441 are symmetrically distributed, and the U-shaped groove of the U-shaped groove plate 441 is located on the side away from the other U-shaped groove plate 441; the connecting component includes two connecting plates 49 corresponding to the two U-shaped groove plates 441 one by one; one end of the connecting plate 49 is slidably inserted into the U-shaped groove of the corresponding U-shaped groove plate 441 The U-shaped groove of the U-shaped groove plate 441 has at least one long mounting hole 491, and the end of the long mounting hole 491 close to the U-shaped groove plate 441 is open; at least one connecting threaded column is fixedly provided at the position corresponding to each long mounting hole 491 in the U-shaped groove of the U-shaped groove plate 441, and a fixing nut is threadedly connected to the connecting threaded column located on the side of the connecting plate 49 away from the U-shaped groove plate 441.

[0051] In the optional scheme of this embodiment, it is more preferred that Figure 3 As shown, the rotator 47 (such as a servo motor) is fixedly arranged in the internal cavity of the shell 41, and the output shaft of the rotator 47 extends out of the shell 41 and is fixed with a small pulley 471; a large pulley 442 is fixedly arranged on the rotating frame 44; the small pulley 471 and the large pulley 442 are connected through a V-belt 472 for transmission.

[0052] In the optional scheme of this embodiment, it is more preferred that Figure 2 and Figure 3As shown in the figure, the tensioning assembly 45 includes a first tensioning bracket 451, a second tensioning bracket, a first tensioning swing rod 452, a second tensioning swing rod, a tensioning roller 453 and an auxiliary roller 454; the first tensioning bracket 451 and the second tensioning bracket are symmetrically distributed and are both fixedly arranged on the rotating frame 44; the first tensioning swing rod 452 and the second tensioning swing rod are symmetrically distributed, and one end of each is rotatably connected to the rotating frame 44; both ends of the tensioning roller 453 are rotatably connected to the free ends of the first tensioning swing rod 452 and the second tensioning swing rod respectively; tensioning springs 455 are arranged between the first tensioning bracket 451 and the free end of the first tensioning swing rod 452 and between the second tensioning bracket and the free end of the second tensioning swing rod respectively; on the moving path of the yarn, the auxiliary roller 454 is rotatably arranged on the rotating frame 44 at the front end of the tensioning roller 453; the yarn bypasses the lower rolling surface of the auxiliary roller 454 and winds around the upper rolling surface of the tensioning roller 453 and then enters the carding assembly 46; the tensioning spring 455 can pull the tensioning roller 453 to move towards the side close to the auxiliary roller 454.

[0053] In an alternative embodiment of the present embodiment, preferably, as Figure 2 and Figure 3 shown, the carding assembly 46 includes a first guide roller, a yarn splitting comb and a second guide roller arranged in sequence on the yarn output path; both ends of the first guide roller, the yarn splitting comb and the second guide roller are respectively connected to two U-shaped channel plates 441 correspondingly (the first guide roller and the second guide roller can be fixedly connected or rotatably connected to the U-shaped channel plate 441 to reduce the friction with the yarn); the yarn output from the tensioning assembly 45 bypasses the lower guide surface of the first guide roller, the yarn splitting comb and the upper guide surface of the second guide roller in sequence and then winds around the nozzle 48; the parts of both ends of the first guide roller, the yarn splitting comb and the second guide roller extending into the U-shaped groove of the U-shaped channel plate 441 form connecting threaded columns, and the position is reasonably borrowed to fix the connecting plate 49.

[0054] Specifically, the structure of the introducing assembly 42 is the same as that of the carding assembly 46.

[0055] In an alternative embodiment of the present embodiment, preferably, as Figures 2 to 4 shown, an L-shaped auxiliary plate 411 is also fixedly arranged on the housing 41, a rotating hole is formed in the L-shaped auxiliary plate 411, a receiving ring plate 443 is fixedly arranged on the outer side wall of the rotating column, and the receiving ring plate 443 is arranged in the rotating hole and can rotate, improving the rotation stability of the rotating column.

[0056] Among them, the relevant settings of the rotating mechanism 50 are described as follows:

[0057] In an alternative embodiment of the present embodiment, preferably, as Figure 1 and Figure 5As shown, the rotating mechanism 50 includes a base 51, a slide rail 52, a core mold fixed bracket 53, a core mold movable bracket 54, and a driving motor 55; the base 51 is used to be fixed on the ground; the slide rail 52 is fixedly arranged on the upper end surface of the base 51; the core mold fixed bracket 53 is fixedly arranged at one end of the upper end surface of the base 51; the core mold movable bracket 54 is slidably arranged on the slide rail 52 along the first direction (a locking device can also be arranged on the core mold 56 movable bracket according to actual needs, and the locking device is used to lock the relative position of the core mold 56 movable bracket on the slide rail 52. It is an existing structure and will not be elaborated here too much. For example, the cooperation of holes and bolts realizes the locking of the relative positions between two components); the driving motor 55 is fixedly arranged on the core mold movable bracket 54; one end of the core mold 56 is rotatably arranged on the core mold fixed bracket 53, and the other end is rotatably arranged on the core mold movable bracket 54, and the driving motor 55 is used to drive the core mold 56 to rotate.

[0058] In the present invention, specific examples are used to elaborate the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A robot wet winding device, characterized in that: It includes a yarn placing mechanism, a dipping mechanism, a mechanical arm mechanism, a winding device and a rotating mechanism; The yarn unwinding mechanism is provided with at least one rotating yarn unwinding wheel, each of the yarn unwinding wheels is provided with a yarn reel for drawing out the yarn, and the yarn is wound on the rotating mechanism after passing through the dipping mechanism and the winding device in sequence; The dipping mechanism comprises a dipping tank, in which a glue formed by a composite material is contained, and the glue can cover the surface of the passing yarn; The mechanical arm mechanism comprises a movable guide rail and a movable mechanical arm; the movable guide rail is used to be fixed on the ground; the movable mechanical arm can be slidably arranged on the movable guide rail along a first direction, and the movable mechanical arm is a six-degree-of-freedom mechanical arm; The winding device comprises a shell, an introduction component, a yarn guide component, a rotating lead-out component, a rotator and a wire nozzle; the shell is used to be fixedly arranged at the end of the mobile mechanical arm, and the shell has an internal cavity and an inlet and an outlet connected to the internal cavity; the introduction component is arranged at the inlet of the shell, and the introduction component has a first introduction path; the yarn guide component is arranged in the internal cavity of the shell, and the yarn guide component has at least one rotating yarn guide wheel; the rotating lead-out component comprises a rotating frame, a tensioning component, a combing component, a rotator and a wire nozzle, one end of the rotating frame is rotatably arranged at the outlet, and the other end of the rotating frame is rotatably arranged with the wire nozzle, the tensioning component and the combing component are sequentially arranged on the rotating frame along the yarn lead-out direction, the rotator is arranged on the shell, and the rotator is used to drive the rotating frame to rotate on the shell; The yarn outputted from the dipping mechanism passes through the first introduction path, the yarn guide wheel, the tensioning assembly and the combing assembly in sequence, and then is outputted from the nozzle; The rotating mechanism has a rotating core mold, and the rotating axis of the core mold is parallel to the first direction.

2. The robot wet winding equipment according to claim 1, characterized in that: The wire nozzle is connected to the rotating frame through a connecting assembly; One end of the connecting assembly can be fixedly connected to an end of the rotating frame away from the housing; The other end of the connecting assembly is rotatably connected to the screw nozzle; Furthermore, the connection assembly can change the distance between the nozzle and the rotating frame.

3. The robot wet winding equipment according to claim 2, characterized in that: The rotating frame includes a rotating column and two U-shaped groove plates; one end of the rotating column is used for rotation and is arranged at the outlet, and a through hole for the yarn to pass through is arranged on the rotating column, and the other end of the rotating column is fixedly connected to one end of the two U-shaped groove plates; the two U-shaped groove plates are symmetrically distributed, and the U-shaped groove of the U-shaped groove plate is located on the side away from the other U-shaped groove plate; The connection assembly comprises two connection plates corresponding to the two U-shaped groove plates one by one; one end of the connection plate is slidably inserted into the U-shaped groove of the corresponding U-shaped groove plate; the two ends of the thread nozzle are respectively rotatably connected to the ends of the two connection plates; The part of the connecting plate that passes through the U-shaped groove of the U-shaped groove plate has at least one long mounting hole, and the long mounting hole is open at one end close to the U-shaped groove plate; at least one connecting threaded column is fixedly provided at a position corresponding to each of the long mounting holes in the U-shaped groove of the U-shaped groove plate, and a fixing nut is threadedly connected to the connecting threaded column located on the side of the connecting plate away from the U-shaped groove plate.

4. The robot wet winding equipment according to claim 1, characterized in that: The tensioning assembly comprises a first tensioning bracket, a second tensioning bracket, a first tensioning swing rod, a second tensioning swing rod, a tensioning roller and an auxiliary roller; the first tensioning bracket and the second tensioning bracket are symmetrically distributed and are both fixedly arranged on the rotating frame; the first tensioning swing rod and the second tensioning swing rod are symmetrically distributed and one end of each is rotatably connected to the rotating frame; the two ends of the tensioning roller are rotatably connected to the free ends of the first tensioning swing rod and the second tensioning swing rod respectively; a tensioning spring is arranged between the first tensioning bracket and the free end of the first tensioning swing rod and between the second tensioning bracket and the free end of the second tensioning swing rod; On the moving path of the yarn, the auxiliary roller is rotatably arranged on the rotating frame at the front end of the tensioning roller; the yarn passes around the lower rolling surface of the auxiliary roller and around the upper rolling surface of the tensioning roller before entering the combing assembly; the tensioning spring can pull the tensioning roller to move toward the side close to the auxiliary roller.

5. The robot wet winding equipment according to claim 3, characterized in that: The combing assembly comprises a first guide roller, a yarn comb and a second guide roller which are sequentially arranged on the yarn output path; The two ends of the first guide roller, the yarn separation comb and the second guide roller are respectively connected to the two U-shaped groove plates; The yarn outputted by the tensioning assembly sequentially passes around the lower guide surface of the first guide roller, the yarn separation comb and the upper guide surface of the second guide roller, and then is wound around the nozzle; The connecting thread column is formed by the portions of the first guide roller, the yarn separation comb and the second guide roller at both ends extending into the U-shaped groove of the U-shaped groove plate.

6. The robot wet winding equipment according to claim 1, characterized in that: The rotator is fixedly arranged in the inner cavity of the shell, and the output shaft of the rotator extends out of the shell and is fixed with a small pulley; A large pulley is fixedly arranged on the rotating frame; The small pulley is connected to the large pulley through a V-belt transmission.

7. The robot wet winding equipment according to claim 3, characterized in that: An L-shaped auxiliary plate is also fixedly provided on the shell, a rotation hole is opened on the L-shaped auxiliary plate, and a receiving ring plate is fixedly provided on the outer side wall of the rotating column, and the receiving ring plate is inserted into the rotation hole and can rotate.

8. The robot wet winding equipment according to claim 1, characterized in that: The rotating mechanism comprises a base, a slide rail, a core mold fixing bracket, a core mold movable bracket and a driving motor; The base is used to be fixed on the ground; The slide rail is fixedly arranged on the upper end surface of the base; The core mold fixing bracket is fixedly arranged at one end of the upper end surface of the base; the core mold movable bracket is slidably arranged on the slide rail along the first direction; The driving motor is fixedly arranged on the core mold movable bracket; One end of the core mold is rotatably arranged on the core mold fixed bracket, and the other end is rotatably arranged on the core mold movable bracket, and the driving motor is used to drive the core mold to rotate.

9. The robot wet winding equipment according to claim 1, characterized in that: The mobile mechanical arm comprises a mobile base, a rotating base, a first mechanical arm, a second mechanical arm and a third mechanical arm; The movable base is slidably disposed on the movable guide rail along the first direction; The rotating seat is rotatably arranged on the moving base around a first axis via a first rotator; The first mechanical arm is rotatably arranged on the rotating seat around a second axis via a second rotator; One end of the second mechanical arm is arranged at the end of the first mechanical arm for rotation around a third axis via a third rotator; a rotating shaft for rotation around a fourth axis is arranged at the other end of the second mechanical arm, and a fourth rotator for driving the rotating shaft to rotate is arranged on the second mechanical arm; The third mechanical arm is arranged at the end of the rotating shaft of the second mechanical arm through a fifth rotator rotating around a fifth axis; a sixth rotator is arranged at the end of the third mechanical arm, and an output end of the sixth rotator rotating around a sixth axis is used to be fixedly connected to the housing; Two adjacent axes among the first axis, the second axis, the third axis, the fourth axis, the fifth axis and the sixth axis are perpendicular to each other, and the first axis is a vertical axis.

10. The robot wet winding equipment according to claim 1, characterized in that: The dipping mechanism comprises a dipping frame, a pressing wheel, a guide entry plate and a guide output plate; The dipping frame is provided with the dipping tank; The pressing wheel is rotatably arranged in the glue dipping tank; On the moving path of the yarn, the guide entry plate is fixedly arranged on the glue dipping frame at the front end of the pressing wheel, and the guide output plate is fixedly arranged on the glue dipping frame at the rear end of the pressing wheel; at least one glue dipping inlet hole is arranged on the guide entry plate; and at least one glue dipping outlet hole is arranged on the guide output plate.

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