Automatic pipe coiling equipment

Abstract

The invention relates to the technical field of automatic production lines, and particularly discloses automatic pipe coiling equipment which comprises a glass fabric feeding module, a pipe coiling module and a pipe coiling module. The core rod feeding and discharging module is used for feeding a core rod and discharging the core rod subjected to pipe coiling; the pipe coiling module comprises a deviation rectifying and feeding device and a pipe coiling device, the deviation rectifying and feeding device comprises a deviation rectifying platform, a bearing plate and a feeding mechanism, the bearing plate and the feeding mechanism are arranged on the deviation rectifying platform, the bearing plate is used for bearing the fed glass fabric, and the feeding mechanism is arranged between the bearing plate and the pipe coiling device and used for conveying the glass fabric on the bearing plate to the pipe coiling device; the pipe winding device is used for winding glass fabric on the periphery of the core rod; under driving of the deviation rectifying platform, the bearing plate can move and rotate in the horizontal plane, and the feeding mechanism can move to a feeding station close to the pipe coiling device. And the sealing and welding module is used for heating and welding the winding joint of the wound glass fabric so as to realize sealing. The automatic pipe coiling equipment can solve the problems of low pipe coiling operation efficiency and low pipe coiling precision.

Description

Technical Field

[0001] This invention relates to the field of automated production line technology, and in particular to an automatic tube winding device. Background Technology

[0002] In some existing electronic styluses, the cap structure is made of fiberglass material wound around a mandrel. Typically, an automated winding machine automatically winds the fiberglass cloth into a tubular structure around the mandrel and welds it in place. To improve the positioning accuracy of the fiberglass cloth, some machines incorporate a web-aligning device. The workflow is as follows: first, a robotic arm picks up the fiberglass cloth and moves it to the web-aligning device for position correction; then, the robotic arm transfers the aligned fiberglass cloth to a feeding platform; next, the fiberglass cloth is fed into the winding mechanism to complete the winding process; and finally, it is sealed by heating and welding.

[0003] However, the above-mentioned operation method of repeatedly picking up and placing materials between the correction device and the feeding platform by a robotic arm not only increases the production cycle time and reduces the overall efficiency, but also easily causes new positional deviations in the fiberglass cloth that has already been corrected due to mechanical positioning errors or movement deviations during the secondary picking and placing process, affecting the dimensional accuracy and product quality of the final product. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic tube winding device to solve the problems of low efficiency and low accuracy in tube winding operations.

[0005] This invention provides an automatic hose winding device, which includes: Fiberglass cloth feeding module, used for feeding fiberglass cloth; Mandrel loading and unloading module, used for loading mandrels and unloading mandrels after coiling; The tube winding module includes a correction and feeding device and a tube winding device. The correction and feeding device includes a correction platform, a support plate and a feeding mechanism disposed on the correction platform. The support plate is used to support the fiberglass cloth after loading. The feeding mechanism is disposed between the support plate and the tube winding device and is used to transport the fiberglass cloth on the support plate to the tube winding device. The tube winding device is used to wind the fiberglass cloth around the outer circumference of the mandrel. Under the drive of the correction platform, the support plate can move and rotate in the horizontal plane, and the feeding mechanism can move to a feeding station close to the tube winding device. The sealing and welding module is used to heat and weld the winding joints of the wound fiberglass cloth to achieve sealing.

[0006] The beneficial effects of this automatic hose reeling equipment include at least the following: This automated tube winding equipment integrates the support plate and feeding mechanism onto the same alignment platform. Driven by the alignment mechanism, the support plate moves horizontally and rotates around a vertical axis, achieving precise alignment and angular correction of the fiberglass cloth. After alignment, the feeding mechanism smoothly transports the positioned fiberglass cloth along a straight path to the winding station of the tube winding device, where it is wound around the mandrel. This integrated design achieves continuous and spatially unified alignment and feeding actions, fundamentally eliminating the intermediate step of secondary material handling between the alignment platform and the winding device in traditional equipment. This significantly shortens the material flow path and production cycle time, improving the overall efficiency of the tube winding operation. Furthermore, it avoids mechanical positioning errors or movement deviations that may be caused by secondary handling, effectively preventing secondary positional deviations and ensuring the dimensional accuracy and consistent forming quality of the rolled tube products. Attached Figure Description

[0007] Figure 1 This is a schematic diagram of the structure of the automatic tube winding device in an embodiment of the present invention; Figure 2 This is a top view of the automatic tube winding device in an embodiment of the present invention; Figure 3 This is an isometric view of the fiberglass cloth feeding device provided in the embodiments of the present invention; Figure 4 This is a front view of the fiberglass cloth feeding device provided in an embodiment of the present invention; Figure 5 This is a top view of the fiberglass cloth feeding device provided in an embodiment of the present invention; Figure 6 This is a side view of the fiberglass cloth feeding device provided in an embodiment of the present invention; Figure 7 This is a cross-sectional view of the fiberglass cloth feeding device provided in an embodiment of the present invention; Figure 8 This is a first isometric view of the fiberglass cloth feeding device provided in an embodiment of the present invention; Figure 9 This is a second isometric view of the fiberglass cloth feeding device provided in an embodiment of the present invention; Figure 10 This is provided by the embodiments of the present invention. Figure 9 A magnified view of a section at point A in the middle; Figure 11 This is a schematic diagram of the lower vision mechanism provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of the tube winding module in an embodiment of the present invention. Figure 1 ; Figure 13 This is a schematic diagram of the structure of the tube winding module in an embodiment of the present invention. Figure 2 ; Figure 14 This is a schematic diagram of the structure of the correction feeding device in an embodiment of the present invention; Figure 15 This is a side view of the correction feeding device in an embodiment of the present invention; Figure 16 This is a partial structural schematic diagram of the correction feeding device in an embodiment of the present invention; Figure 17 This is a schematic diagram of the structure of the support plate in an embodiment of the present invention; Figure 18 This is a schematic diagram of the structure of the feeding roller in an embodiment of the present invention; Figure 19 This is a schematic diagram of the tube winding device in an embodiment of the present invention; Figure 20 This is a partial structural schematic diagram of the tube winding device in an embodiment of the present invention; Figure 21 yes Figure 20 A magnified structural diagram of region B in the middle; Figure 22 This is a schematic diagram of the structure of the tube support plate in an embodiment of the present invention; Figure 23 This is a schematic diagram of the welding mechanism, the first pressing component, and the second pressing component in an embodiment of the present invention; Figure 24 This is a schematic diagram of the sealing and welding module in an embodiment of the present invention; Figure 25 This is a top view of the sealing and welding module in an embodiment of the present invention; Figure 26 This is a schematic diagram of the cooperation structure between the first welding mold and the second welding mold in an embodiment of the present invention; Figure 27 This is a schematic diagram of the sealing mechanism in an embodiment of the present invention; Figure 28 This is a schematic diagram of the installation structure of the sealing mechanism and the first detection mechanism in an embodiment of the present invention; Figure 29 This is a schematic diagram of the conveying mechanism in an embodiment of the present invention; Figure 30 This is a schematic diagram of the structure of the relay scanning device in an embodiment of the present invention; Figure 31 This is a schematic diagram of the structure of the horizontal transmission line in an embodiment of the present invention; Figure 32 This is a schematic diagram of the positioning and lifting mechanism in an embodiment of the present invention; Figure 33 This is a schematic diagram of the mandrel loading and unloading device in an embodiment of the present invention; Figure 34 This is a schematic diagram of the material visual inspection device in an embodiment of the present invention; Figure 35 This is a schematic diagram of the winding and unloading device in an embodiment of the present invention.

[0008] In the picture: 1000, Fiberglass cloth feeding module; 1100. Fiberglass cloth feeding device; 1101. Feeding frame; 11011. Supporting base plate; 1102. Pressing mechanism; 11020. Storage space; 11021. Loading component; 11022. Pressing component; 110221. Abutting part; 11023. Separating brush; 110231. Positioning part; 110232. Brush part; 1102321. Clamping block; 1102322. Brush head; 11024. Adjusting component; 1103. Top material mechanism; 11031. Drive motor; 11032. Lead screw; 11033. Lifting plate; 110331. Pushing part; 1104. Material sensor; 1105. Ion wind actuator; 1200, Fiberglass cloth feeding device; 1202, Smoothing mechanism; 12021, Smoothing driver; 120211, Guide part; 12022, Adsorption head; 12023, Pressing head; 12024, Elastic element; 1203, Motion drive mechanism; 12031, First drive assembly; 120311, First driver; 120312, Second driver; 120313, Third driver; 12032, Second drive assembly; 1204, Lower vision mechanism; 1205, Upper vision mechanism; 2000, Mandrel loading / unloading module; 2100, Horizontal conveyor line; 2101, Loading station; 2102, Receiving station; 2103, Storage station; 2110, Positioning and lifting mechanism; 2111, Material blocking assembly; 21111, Material blocking linear cylinder; 21112, Material blocking rocker; 21113, Material blocking roller; 21114, Counterweight; 2112, Lifting assembly; 21121, Lifting linear cylinder; 21122, Lifting plate; 21123, Positioning pin; 21124, Lifting mounting plate; 2200, Mandrel loading / unloading device; 2210, First transverse drive; 2220, Mandrel loading / unloading mechanism; 2221, Second transverse drive; 2222, Material transfer lifting drive; 2223, Material transfer rotation drive; 2224, Material transfer rotation gripper; 2300, Material vision inspection device; 2301, Mounting column; 2302, Material vision mechanism; 2303, Light source plate; 3000, Tube winding module; 3100, Correction feeding device; 3110, Support plate; 3111, Adsorption hole on plate; 3112, First air extraction hole; 3113, Clearance notch; 3114, Clearance groove; 3120, Correction platform; 3121, First translation module; 3122, Second translation module; 3123, Rotation module; 3124, Correction connecting plate; 3125, Translation connecting plate; 3130, Feeding mechanism; 3131, Feeding rotation drive component 3132, Feeding roller; 31323, Adsorption hole on roller; 31322, Second air extraction hole; 3133, Feeding bracket; 31331, Feeding base plate; 313311, Longitudinal plate; 313312, Transverse plate; 31332, Drive mounting plate; 31333, Roller mounting plate; 3140, Correction sensor; 3141, Detection plate; 3150, Limiting plate; 3160, Bottom mounting plate; 3200, Tube winding device; 321, Tube winding support plate 3210. Tube-wound cavity; 3211. Film inlet channel; 3212. Feed port; 3213. Upper limit plate; 3214. Guide flare; 3215. Welding clearance opening; 3216. Feed clearance groove; 3217. Downward clearance groove; 3218. Downward clearance notch; 322. Arrival detection piece; 3220. Tube-wound mechanism; 3221. Feeding slide module; 3222. Winding rotary gripper; 3223. First mandrel clamp; 3230. Welding mechanism 3231, Welding drive component; 3232, Heating head; 32321, Heating contact part; 3233, Electric heating rod; 3234, Welding fixing frame; 3240, First pressing assembly; 3241, First pressing drive component; 3242, First pressing roller; 3243, First pressing frame; 3250, Second pressing assembly; 3251, Second pressing drive component; 3252, Second pressing roller; 32521, Large diameter part; 3253, Second pressing frame; 4000 Sealing and welding module; 4100 Sealing mechanism; 4110 First welding mold; 4111 First contouring groove; 4120 Second welding mold; 4121 Second contouring groove; 4130 Opening and closing drive component; 4140 Heat insulation floating assembly; 4141 Heat insulation plate; 4142 Floating guide rail assembly; 4143 Floating buffer component; 4101 Heating channel; 4102 Heating area; 4103 Heat insulation component; 4104 Heating section; 4105 Heating component; 4106 Temperature measuring component; 4107 Sealing base; 4200 First detection mechanism; 4201 Scanning unit; 4202 Receiving unit; 4203 Detection mounting plate; 4300 Second detection mechanism; 4301 CCD camera; 4302 Lens; 4303 Detection light source; 4304 Detection bracket; 4400, Conveying mechanism; 4410, Third translation module; 4420, Fourth translation module; 4430, Lifting module; 4431, Lifting support; 4440, Sealing rotary gripper; 4441, Second mandrel clamp; 5000. Winding loading and unloading device; 5100. Winding transverse drive; 5200. Winding conveying mechanism; 5201. Winding lifting drive; 5202. Winding rotary drive; 5203. Winding mandrel gripper; 6000, Transfer scanning device; 6001, Scanning base; 6002, V-groove; 6003, Scanning rotary motor; 6004, Tightening shaft; 6005, Slide cylinder; 6006, Elastic top pin; 6007, Flat position detection sensor; 6008, Code reader; 6009, Scanning bracket; 100. Machine base; 200. Support frame; 300. Fiberglass cloth; 400. Core rod; 500. Material tray. Detailed Implementation

[0009] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0010] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0011] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0012] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0013] In the existing technology, the cap structure of some electronic styluses is made of fiberglass material wound on a mandrel. Usually, an automatic tube winding machine is used to automatically wind the fiberglass cloth into a tubular structure on the outer periphery of the mandrel and weld it in place. A typical automatic tube winding machine usually includes modules such as a feeding device, a winding device, a welding device, and a unloading device, which can realize continuous production from winding to heating and welding sealing.

[0014] Currently, to improve the positioning accuracy of fiberglass cloth, some equipment has introduced a correction device. The workflow is as follows: first, a robotic arm picks up the fiberglass cloth and moves it to the correction device for position correction; then, the robotic arm transfers the corrected fiberglass cloth to the feeding platform; next, the fiberglass cloth is fed into the winding mechanism to complete the winding; finally, it is sealed by heating and welding. Its disadvantages are: First, the need for robotic arms to perform multiple pick-and-place operations between the correction device and the feeding platform increases production cycle time, resulting in a decrease in overall efficiency. Secondly, during the secondary handling process, mechanical positioning errors or movement deviations can easily cause new positional deviations in the fiberglass cloth that has already been corrected, affecting the dimensional accuracy and product quality of the final rolled tube.

[0015] To address the aforementioned technical problems, this embodiment proposes an automatic tube winding device, aiming to solve the problems caused by the need for multiple pick-and-place operations by a robotic arm in conventional tube winding devices.

[0016] Therefore, the technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments: like Figures 1 to 35As shown, this embodiment provides an automatic tube winding device, which includes a machine base 100 and a fiberglass cloth feeding module 1000, a mandrel feeding module 2000, a tube winding module 3000, a sealing and welding module 4000, a winding and feeding device 5000, and a transfer and scanning device 6000 installed on the machine base 100. After the automatic tube winding equipment is started, the fiberglass cloth feeding module 1000 performs the fiberglass cloth 300 feeding step, while the mandrel loading and unloading module 2000 performs the mandrel 400 feeding step. The transfer scanning device 6000 then scans the mandrel 400, identifies and records the number of the mandrel 400. Next, the tube winding module 3000 winds the sheet-like fiberglass cloth 300 around the mandrel 400. After completion, the winding loading and unloading device 5000 transports the mandrel 400 to the sealing and welding module 4000. The sealing and welding module 4000 achieves the shaping of the wound fiberglass cloth 300 through heating and welding, thus shaping the fiberglass cloth 300 into a tubular structure. Finally, the mandrel loading and unloading module 2000 performs the unloading step, removing the processed tubular fiberglass cloth 300.

[0017] For example, the fiberglass cloth feeding module 1000 includes a fiberglass cloth dispensing device 1100 and a fiberglass cloth feeding device 1200. The fiberglass cloth dispensing device 1100 is used to store multiple layers of fiberglass cloth 300 stacked one on top of another. The fiberglass cloth feeding device 1200 is used to take out the fiberglass cloth 300 from the fiberglass cloth dispensing device 1100 and transfer it to the support plate 3110. The fiberglass cloth feeding device 1200 includes a smoothing mechanism 1202 that can smooth out the fiberglass cloth 300.

[0018] The following will combine Figures 3 to 7 This section introduces the specific structure of the fiberglass cloth feeding device 1100, combined with... Figures 8 to 11 The specific structure of the fiberglass cloth feeding device 1200 is described.

[0019] like Figures 3-7 As shown, the fiberglass cloth feeding device 1100 includes a feeding frame 1101, a pressing mechanism 1102, and a top feeding mechanism 1103. The feeding frame 1101 is mounted on the machine base 100. The pressing mechanism 1102 is disposed on the feeding frame 1101 and includes a loading component 11021 and multiple pressing components 11022. The upper surface of the loading component 11021 is used to support multiple layers of fiberglass cloth 300 stacked sequentially. The multiple pressing components 11022 are spaced circumferentially along the loading component 11021. A partition is provided to abut against the upper surface of the uppermost fiberglass cloth 300. The top material mechanism 1103 is provided on the feeding frame 1101 and is used to drive the material carrier 11021 to rise and fall relative to the feeding frame 1101, so as to adjust the size of the storage space 11020 formed between the material carrier 11021 and the pressing component 11022. When the material carrier 11021 rises relative to the feeding frame 1101, the multiple fiberglass cloths 300 are always confined within the storage space 11020.

[0020] In this embodiment, multiple pressing members 11022, spaced circumferentially along the material carrier 11021, abut against the upper surface of the topmost fiberglass cloth 300 to form a multi-point circumferential constraint on the fiberglass cloth 300. This ensures that the fiberglass cloth 300 remains orderly in the stacked state and prevents circumferential displacement and misalignment of the fiberglass cloth 300 due to its own flexibility or external force interference. The top material mechanism 1103 is disposed on the feeding frame 1101 and is used to drive the material carrier 11021 to rise and fall relative to the feeding frame 1101. It can not only continuously move the remaining fiberglass cloth 300 upward as the fiberglass cloth 300 is picked up, keeping the topmost fiberglass cloth 300 at the height to be picked up, but also adjust the size of the storage space 11020 formed between the material carrier 11021 and the pressing members 11022. This allows for flexible adjustment of the height of the storage space 11020 according to the number of fiberglass cloths 300 stacked, thereby flexibly adapting to the placement requirements of fiberglass cloths 300 with different stacking amounts. When the loading component 11021 rises relative to the unloading frame 1101, the multiple fiberglass cloths 300 remain confined within the storage space 11020, preventing the fiberglass cloths 300 from becoming loose or scattered, thus facilitating subsequent material retrieval. Through the above-mentioned design, the fiberglass cloth unloading device 1100 of this embodiment can flexibly improve the regularity of the fiberglass cloths 300 during the storage process, facilitating subsequent material retrieval operations.

[0021] The specific structure of the fiberglass cloth feeding device 1100 is described below: Specifically, the pressing mechanism 1102 also includes multiple separating brushes 11023. The multiple separating brushes 11023 are arranged at intervals along the circumference of the material carrier 11021, which can uniformly separate the edges of the stacked fiberglass cloth 300, ensuring that adjacent fiberglass cloths 300 are clearly distinguishable, thereby avoiding the situation where multiple pieces of fiberglass cloth 300 are brought out at the same time during material handling due to interlayer adhesion.

[0022] More specifically, in this embodiment, four separating brushes 11023 are provided, and the four separating brushes 11023 are arranged one-to-one with the four sides of the fiberglass cloth 300 on the carrier 11021, so as to realize the peeling of the fiberglass cloth 300 and improve its anti-adhesion effect. In other embodiments, three or eight separating brushes 11023 may be provided, etc. Those skilled in the art can adjust the specific number of separating brushes 11023 according to the specific shape of the fiberglass cloth 300 and the peeling requirements, and no further limitations are made here.

[0023] Specifically, the separating brush 11023 includes a positioning part 110231 extending vertically. The positioning part 110231 is adjustablely connected to the feeding frame 1101, allowing operators to flexibly adjust the installation position of the positioning part 110231 according to the size specifications of the fiberglass cloth 300. This ensures that the separating brush 11023 is always accurately aligned with the edge of the fiberglass cloth 300, thus adapting to the feeding requirements of fiberglass cloth 300 of different sizes. Furthermore, the loading component 11021 is slidably disposed vertically among multiple positioning parts 110231, guiding the lifting and lowering process of the loading component 11021 and preventing it from shifting and affecting the material handling operation.

[0024] More specifically, in this embodiment, the feeding frame 1101 includes a horizontally extending support base plate 11011. The support base plate 11011 has multiple adjustment holes spaced apart along its length and width. The positioning part 110231 has a locking hole. By passing a locking member through the locking hole and one of the adjustment holes, the position of the positioning part 110231 relative to the feeding frame 1101 can be adjusted. The adjustment method is simple, convenient, and easy to operate. The locking member includes, but is not limited to, bolts or pins.

[0025] In other embodiments, the positioning part 110231 is slidably disposed on the feeding frame 1101 via a slide rail, and the positioning part 110231 is driven by a cylinder to slide relative to the feeding frame 1101 to adjust its own position. The above arrangement can also realize the position adjustment of the positioning part 110231 relative to the feeding frame 1101. Here, we will not impose too many restrictions on the way the positioning part 110231 achieves position adjustment.

[0026] More specifically, the separating brush 11023 also includes a brush part 110232, which is height-adjustably disposed on the positioning part 110231 and used to abut against the upper surface of the uppermost fiberglass cloth 300. This allows the operator to flexibly adjust the height of the brush part 110232 according to the stacking height of the fiberglass cloth 300, so that the brush part 110232 is always stably abutting against the upper surface of the uppermost fiberglass cloth 300, ensuring a continuous and reliable separation effect.

[0027] Furthermore, in this embodiment, the positioning part 110231 is a positioning rod, which is convenient to obtain materials on site and easy to process and manufacture. The brush part 110232 includes a clamping block 1102321 and two brush heads 1102322 spaced apart on the clamping block 1102321. The clamping block 1102321 is elastically clamped to at least a portion of the outer peripheral wall of the positioning rod, so that the operator can release the clamping block 1102321 from the positioning rod without the need for additional tools, thereby completing the rapid adjustment of the height of the brush part 110232 itself. Moreover, the clamping block 1102321 and the positioning rod can be used to quickly adjust the height of the brush part 110232. The clamping action between the positioning rods can prevent the brush head 110232 from sliding or shifting during operation, ensuring that the brush head 1102322 always acts precisely on the edge of the fiberglass cloth 300, thus ensuring the stability of the separation effect. When the uppermost fiberglass cloth 300 is picked up, the brush head 1102322 can gently comb and block the upper surface of the adjacent fiberglass cloth 300 below the uppermost fiberglass cloth 300, thereby accurately separating the picked-up fiberglass cloth 300 from the unpicked fiberglass cloth 300 below, preventing the fiberglass cloth 300 from sticking together and affecting the feeding operation.

[0028] Specifically, the material carrier 11021, the pressing component 11022, and the multiple positioning parts 110231 form a storage space 11020, which not only improves the overall compactness of the device, but also provides a space for the multi-layer fiberglass cloth 300 to be contained, ensuring that the multi-layer fiberglass cloth 300 is stacked and positioned in an orderly manner within the storage space 11020, thereby facilitating subsequent material handling operations and preventing the fiberglass cloth 300 from becoming scattered or misaligned due to its own flexibility or external interference.

[0029] Specifically, the pressing component 11022 has two spaced-apart abutment portions 110221. Each pressing component 11022 has at least one separation brush 11023 between the two abutment portions 110221. Through the coordinated cooperation of the pressing component 11022 and the separation brush 11023, it is possible to ensure that the pressing component 11022 can stably abut against the fiberglass cloth 300, and also to ensure that the separation brush 11023 can accurately act on the edge of the fiberglass cloth 300, avoiding positional interference between the two and making it inconvenient to pick up materials, thereby further improving the overall operational stability of the device.

[0030] More specifically, the end of the pressing member 11022 near the storage space 11020 has two spaced-apart abutment portions 110221, making the end of the pressing member 11022 near the loading member 11021 U-shaped. This increases the contact area between the pressing member 11022 and the uppermost fiberglass cloth 300, ensuring that the abutment portions 110221 can always accurately abut against the corners of the fiberglass cloth 300, while avoiding the assembly position of the separating brush 11023, thereby achieving stable support for the fiberglass cloth 300. The pressing part 11022 is slidably mounted on the unloading frame 1101 at the other end away from the material storage space 11020, so as to adjust the extension length of the pressing part 110221 relative to the unloading frame 1101. This allows the operator to flexibly adjust the extension length of the pressing part 110221 according to the size specifications of the fiberglass cloth 300, so that the pressing part 110221 can always accurately abut against the corner of the fiberglass cloth 300, thereby adapting to the limiting requirements of different sizes of fiberglass cloth 300.

[0031] Specifically, the pressing mechanism 1102 also includes an adjusting member 11024, which passes through the pressing member 11022 and is threadedly connected to the feeding frame 1101. The adjusting member 11024 adjusts the clamping force of the pressing member 11022 on the fiberglass cloth 300. Specifically, when the adjusting member 11024 rotates relative to the feeding frame 1101, it can adjust the clamping force of the pressing member 11022 on the fiberglass cloth 300. Understandably, on the one hand, the above-mentioned settings can lock the pressing component 11022 onto the feeding frame 1101, thus fixing the relative position between the pressing component 11022 and the feeding frame 1101, preventing the pressing component 11022 from shifting due to external forces such as vibration, thereby ensuring the limiting effect of the fiberglass cloth 300 within the storage space 11020; on the other hand, the above-mentioned settings can also ensure that the clamping force of the pressing component 11022 on the fiberglass cloth 300 is always kept within a suitable range, which can ensure that the fiberglass cloth 300 is stably limited, and can also avoid problems such as the fiberglass cloth 300 being damaged due to excessive clamping force of the pressing component 11022 on the fiberglass cloth 300, or the fiberglass cloth 300 being loose due to insufficient clamping force. The adjusting component 11024 includes, but is not limited to, structures such as bolts or screws, as long as they can achieve the adjustment of the clamping force and the locking of the position of the pressing component 11022. The specific structure of the adjusting component 11024 is not limited here.

[0032] Specifically, in this embodiment, the top-feeding mechanism 1103 includes a drive motor 11031, a lead screw 11032, and a lifting plate 11033. The output end of the drive motor 11031 is connected to the lead screw 11032, enabling the lead screw 11032 to rotate around its own axis. The lifting plate 11033 is provided with a nut threadedly connected to the lead screw 11032. The lifting plate 11033 is connected to the loading component 11021. When the lead screw 11032 rotates, it can drive the lifting plate 11033 to rise and fall, thereby driving the loading component 11021 to rise and fall. It can be understood that through the above-mentioned transmission method of the lead screw 11032, the lifting accuracy of the lifting plate 11033 is high and the operation is stable, so as to accurately control the lifting height of the loading component 11021 and ensure that the uppermost fiberglass cloth 300 is always in the optimal position for material removal. Among them, the drive motor 11031 includes, but is not limited to, a stepper motor or a servo motor, as long as it can provide a stable driving force and achieve precise rotation of the lead screw 11032. The specific structure of the drive motor 11031 is not limited here.

[0033] Furthermore, in this embodiment, the top material mechanism 1103 also includes a pushing part 110331, which is fixedly disposed on the lifting plate 11033 and slidably connected to the unloading frame 1101 in the vertical direction. When the lifting plate 11033 rises and falls relative to the unloading frame 1101, the pushing part 110331 can push the loading component 11021 to rise and fall stably. It can be understood that by setting the pushing part 110331, it can provide vertical guidance for the lifting movement of the lifting plate 11033, preventing the lifting plate 11033 from rotating circumferentially or shifting horizontally, and can also evenly transmit the power of the lifting plate 11033 to the loading component 11021, ensuring that the loading component 11021 is subjected to balanced force. Specifically, the pushing part 110331 extends vertically, and one end of the pushing part 110331 is connected to the lifting plate 11033, while the other end of the pushing part 110331 is configured to push the material carrier 11021.

[0034] In other embodiments, the lifting and lowering of the material carrier 11021 can also be directly driven by a hydraulic cylinder or a pneumatic cylinder. Here, the specific driving method for lifting and lowering the material carrier 11021 is not limited in detail, as long as the above-mentioned functions can be achieved.

[0035] More specifically, there are two pushing parts 110331. The two pushing parts 110331 are parallel to each other and spaced apart on both sides of the lead screw 11032. Through the above arrangement, the load 11021 can be pushed evenly, ensuring that the load 11021 is subjected to uniform force and runs smoothly during the lifting process.

[0036] More specifically, the supporting base plate 11011 has a through hole at the position corresponding to the material carrier 11021, so that the pushing part 110331 passes through the through hole and pushes the material carrier 11021, so that the material carrier 11021 can rise stably among the multiple positioning parts 110231, avoiding interference of the supporting base plate 11011 with the lifting movement of the pushing part 110331, thereby ensuring the normal operation of the top material mechanism 1103.

[0037] Specifically, the fiberglass cloth feeding device 1100 also includes a material sensor 1104. The detection end of the material sensor 1104 is set towards the material carrier 11021 and is used to detect whether the material carrier 11021 is carrying fiberglass cloth 300, so as to promptly remind the staff to replenish the fiberglass cloth 300 and avoid problems such as the device running idle and affecting the production progress due to the fiberglass cloth 300 being depleted and not detected in time. The material sensor 1104 includes, but is not limited to, photoelectric sensors or proximity sensors, as long as it can accurately detect the presence or absence of fiberglass cloth 300. The specific structure of the material sensor 1104 is not limited here.

[0038] It should be noted that the detection end of the material sensor 1104 refers to the sensing part of the material sensor 1104 used to sense and detect whether the material carrier 11021 is carrying fiberglass cloth 300. Those skilled in the art are clear about the specific structure and working principle of the material sensor 1104, and will not elaborate further here.

[0039] Specifically, the fiberglass cloth feeding device 1100 also includes an ion air driver 1105. The air outlet of the ion air driver 1105 is positioned towards the material carrier 11021, and it can perform antistatic treatment on the fiberglass cloth 300 on the material carrier 11021, thereby effectively eliminating static electricity on the surface of the fiberglass cloth 300 and preventing the fiberglass cloth 300 from sticking together due to electrostatic adsorption. The ion air driver 1105 includes, but is not limited to, an ion fan or an ion gun, as long as it can achieve the antistatic function of the fiberglass cloth 300. The specific structure of the ion air driver 1105 is not limited here.

[0040] The working process of the fiberglass cloth feeding device 1100 is described below: First, the operator rotates the adjusting component 11024 to unlock the pressing component 11022, allowing the abutting part 110221 of the pressing component 11022 to move away from the storage space 11020, thus avoiding the storage space 11020 and facilitating subsequent material loading. Simultaneously, the operator adjusts the installation height of the brush part 110232 relative to the positioning part 110231. Then, the locking component passes through the locking hole of the positioning part 110231 and the adjusting hole of the supporting base plate 11011 to... The positioning part 110231 is then fixed on the feeding frame 1101. After that, the operator stacks multiple fiberglass cloths 300 layer by layer on the upper surface of the loading part 11021 and smooths the fiberglass cloths 300 to ensure that they are stacked neatly. Then, the adjusting part 11024 is rotated so that the pressing part 11022 is locked on the feeding frame 1101, and the pressing force of the pressing part 11022 on the uppermost fiberglass cloth 300 is adjusted so that the abutting part 110221 of the pressing part 11022 can stably abut against the corner of the uppermost fiberglass cloth 300. Then, the drive motor 11031 is started to drive the lead screw 11032 to rotate around its own axis. At this time, the lead screw 11032 drives the nut and the lifting plate 11033 to rise through the thread transmission. This causes the lifting plate 11033 to drive the pushing part 110331 to pass through the through hole of the bearing base plate 11011 and push the material carrier 11021 to rise between the multiple positioning parts 110231 until a storage space 11020 adapted to the stacking height of the fiberglass cloth 300 is formed between the material carrier 11021 and the pressing part 11022, thereby confining the multiple fiberglass cloths 300 within the storage space 11020. Subsequently, the ion wind driver 1105 is started to remove static electricity from the fiberglass cloth 300 on the material carrier 11021. At the same time, the material sensor 1104 is turned on to detect the presence or absence of the fiberglass cloth 300 on the material carrier 11021 in real time. At this point, the material handling operation begins. When the top layer of fiberglass cloth 300 is removed, the drive motor 11031 starts synchronously, driving the material carrier 11021 to rise slowly. As the fiberglass cloth 300 is handled, the material carrier 11021 continuously moves the remaining fiberglass cloth 300 upwards, thus keeping the top layer of fiberglass cloth 300 at the height to be handled, so as to facilitate smooth material handling. At the same time, the separating brush 11023 combs and separates the fiberglass cloth 300 immediately below the top layer of fiberglass cloth 300 to prevent them from sticking together. When the material sensor 1104 detects that there is no fiberglass cloth 300 on the material carrier 11021, the device stops operating. The operator repeats the above steps and replenishes the fiberglass cloth 300 to ensure the smooth progress of subsequent material handling operations.

[0041] like Figures 8-11As shown, the fiberglass cloth feeding device 1200 includes a smoothing mechanism 1202 and a motion drive mechanism 1203. The smoothing mechanism 1202 includes a smoothing driver 12021 and two spaced-apart suction heads 12022. The smoothing driver 12021 can drive the two suction heads 12022 to move toward each other or away from each other. The bottom end of the suction head 12022 is used for vacuum adsorption of the upper surface of the fiberglass cloth 300. When the two suction heads 12022 move toward each other, the fiberglass cloth 300 adsorbed on the suction head 12022 can be smoothed. The machine base 100 is provided with a support frame 200. The motion drive mechanism 1203 is provided on the support frame 200 and can drive the smoothing mechanism 1202 to move along the X-axis, Y-axis, and Z-axis directions, and rotate around the Z-axis direction, wherein the X-axis, Y-axis, and Z-axis directions are perpendicular to each other.

[0042] When the two suction heads 12022 move in opposite directions, utilizing the flexible and easily deformable characteristics of the fiberglass cloth 300, the suction heads 12022 will smooth out the wrinkles and correct edge warping of the fiberglass cloth 300, thereby eliminating deformation problems in the material handling process of the fiberglass cloth 300 and avoiding feeding deviations caused by the wrinkles and warping of the fiberglass cloth 300 itself. The motion drive mechanism 1203 is set on the support frame 200 and can drive the smoothing mechanism 1202 to move along the X-axis, Y-axis, and Z-axis, or rotate around the Z-axis, thereby realizing multi-dimensional displacement and rotation adjustment of the suction heads 12022. This facilitates automated operation of material handling, correction, and feeding, eliminating redundant processes of manual secondary gripping, transfer, and placement, and improving work efficiency. The X-axis, Y-axis, and Z-axis are perpendicular to each other. With the above settings, the fiberglass cloth feeding device 1200 of this embodiment can improve the feeding efficiency of fiberglass cloth 300, reduce feeding deviation, and ensure the accuracy of subsequent rolling operations.

[0043] It should be noted that in this embodiment, the leveling actuator 12021 is an open-end clamping cylinder. The two output ends of the open-end clamping cylinder are respectively connected to the two suction heads 12022, which can drive the two suction heads 12022 to move towards each other or away from each other, so as to precisely control the opening and closing range between the two suction heads 12022, thereby providing stable power for the adsorption, picking up and leveling of the fiberglass cloth 300. In other embodiments, the leveling actuator 12021 is a bidirectional telescopic cylinder or an electric push rod, which can also achieve the above function. The specific structure of the leveling actuator 12021 is not limited here.

[0044] Specifically, the fiberglass cloth feeding device 1200 also includes a lower vision mechanism 1204 installed on the machine base 100. The lower vision mechanism 1204 is used to detect whether the fiberglass cloth 300 adsorbed on the adsorption head 12022 is in a preset positive position. The lower vision mechanism 1204 can obtain the position and angle of the fiberglass cloth 300 in real time, which facilitates subsequent correction and adjustment, and avoids positional deviation of the fiberglass cloth 300 that affects the feeding accuracy. The lower vision mechanism 1204 includes, but is not limited to, a CCD camera 4301, a vision sensor, a laser displacement sensor, or an infrared detection probe. As long as it can accurately detect and provide signal feedback on the position and angle of the fiberglass cloth 300, the specific structure of the lower vision mechanism 1204 will not be limited here.

[0045] More specifically, the length direction of the fiberglass cloth 300 adsorbed by the adsorption head 12022 is the detection direction. The lower vision mechanism 1204 has an input recognition surface, which is used to detect whether the detection direction deviates from the reference direction. Since the length direction of the fiberglass cloth 300 is more characteristic and easier to judge, the lower vision mechanism 1204 can improve the correction accuracy and detection efficiency by recognizing the detection direction of the fiberglass cloth 300.

[0046] More specifically, the input recognition surface of the lower vision mechanism 1204 is set parallel to the detection direction, which allows the detection reference to be completely aligned with the core correction reference of the fiberglass cloth 300 (i.e., the length direction of the fiberglass cloth 300), thereby improving the detection accuracy of the lower vision mechanism 1204 for the position and angle of the fiberglass cloth 300 and avoiding deviations.

[0047] It should be noted that the input recognition surface of the lower vision mechanism 1204 refers to the core sensing end face of the lower vision mechanism 1204 used to collect the position and angle signals of the fiberglass cloth 300, which is the interface through which external detection signals are input to the internal processing unit of the lower vision mechanism 1204. Moreover, those skilled in the art are familiar with the specific structure and working principle of the lower vision mechanism 1204 and its input recognition surface, and will not elaborate further here.

[0048] The motion drive mechanism 1203 includes a first drive component 12031 and a second drive component 12032. The output end of the first drive component 12031 is connected to the second drive component 12032, which can drive the second drive component 12032 to move along the X-axis, Y-axis and Z-axis directions respectively, thereby driving the leveling mechanism 1202 to achieve linear displacement adjustment in three-dimensional space, thus meeting the multi-position requirements of material picking, transfer and positioning. Moreover, the second drive component 12032 is connected to the leveling mechanism 1202, which can drive the leveling mechanism 1202 to rotate around the Z-axis direction, so that the leveling mechanism 1202 can rotate to a suitable angle, thereby facilitating the adjustment of the adsorption head 12022, so as to align the angle of the fiberglass cloth 300 in the fiberglass cloth feeding device 1100 and adsorb and pick up the material, so that the fiberglass cloth 300 adsorbed by the adsorption head 12022 can maintain its regularity.

[0049] More specifically, the first drive assembly 12031 includes a first driver 120311, a second driver 120312, and a third driver 120313. The output of the first driver 120311 is connected to the second driver 120312, enabling the second driver 120312 to move along the X-axis, thereby achieving precise horizontal displacement of the leveling mechanism 1202. The output of the second driver 120312 is connected to the third driver 120313, enabling the third driver 120313 to move along the Y-axis, thereby achieving precise vertical displacement of the leveling mechanism 1202. The output of the third driver 120313 is connected to the second drive assembly 12032, enabling the second drive assembly 12032 to move along the Z-axis, thereby achieving vertical lifting adjustment of the leveling mechanism 1202. Through the above configuration, linear displacement adjustment of the leveling mechanism 1202 in three-dimensional space can be achieved.

[0050] Among them, the first driver 120311, the second driver 120312 and the third driver 120313 include, but are not limited to, structures such as linear motors or electric slides, and the second drive component 12032 includes, but is not limited to, stepper motors, servo motors or rotary cylinders, as long as they can achieve the above functions. The specific structure of the above components is not limited in this regard.

[0051] Specifically, the smoothing mechanism 1202 also includes a pressing head 12023, which is located between two adsorption heads 12022. When the smoothing mechanism 1202 moves along the Z-axis, the pressing head 12023 can abut against the upper surface of the fiberglass cloth 300. Thus, while the adsorption head 12022 adsorbs the fiberglass cloth 300 to pick up the material, the pressing head 12023 assists in pressing the middle part of the fiberglass cloth 300, thereby improving the stability of the fiberglass cloth 300 when picking up the material.

[0052] Specifically, the pressing head 12023 and / or the adsorption head 12022 are both connected to the smoothing driver 12021 through the elastic element 12024, which enables the pressing head 12023 and / or the adsorption head 12022 to form a flexible contact with the fiberglass cloth 300, thereby buffering the impact force when the above components come into contact.

[0053] More specifically, in this embodiment, the elastic element 12024 is a compression spring. One end of the compression spring abuts against the smoothing driver 12021, and the other end abuts against the pressing head 12023 and / or the suction head 12022. It can be understood that the compression spring's own extension and contraction characteristics adaptively adjust the contact pressure of the pressing head 12023 and / or the suction head 12022 on the fiberglass cloth 300, thereby ensuring moderate contact force. In other embodiments, the elastic element 12024 can be a rubber elastic column, a disc spring, or an elastic sponge pad, which can also achieve the above-mentioned functions. Therefore, the specific structure of the elastic element 12024 is not limited further here.

[0054] More specifically, the leveling driver 12021 is provided with a guide portion 120211 extending in the vertical direction, and the elastic member 12024 is sleeved on the outer peripheral wall of the guide portion 120211, which can guide and limit the extension and retraction movement of the elastic member 12024, and prevent the elastic member 12024 from tilting and deviating during extension and retraction.

[0055] Specifically, the bottom end of the pressing head 12023 and / or the bottom end of the adsorption head 12022 are provided with multiple adsorption holes at intervals. This arrangement can increase the friction between the pressing head 12023 and / or the adsorption head 12022 and the fiberglass cloth 300, thereby further improving the stability of the fiberglass cloth 300 during adsorption.

[0056] More specifically, the leveling mechanism 1202 also includes an adsorption actuator. The suction end of the adsorption actuator is connected to the adsorption hole and can generate a stable negative pressure through its own operation, thereby providing adsorption power to the adsorption hole and keeping the fiberglass cloth 300 in a stable state during adsorption and material removal. The adsorption actuator includes, but is not limited to, a vacuum generator, a vacuum pump, or a negative pressure air pump, as long as it can achieve the above functions. The specific structure of the adsorption actuator is not limited here.

[0057] Specifically, the fiberglass cloth feeding device 1200 also includes an upper vision mechanism 1205, which is connected to the motion drive mechanism 1203 so that the motion drive mechanism 1203 can drive the upper vision mechanism 1205 to move. The upper vision mechanism 1205 is used to detect whether the fiberglass cloth 300 on the support plate 3110 of the correction feeding device 3100 is in a preset position. The upper vision mechanism 1205 can obtain the position and angle status of the fiberglass cloth 300 in real time, thereby facilitating the correction adjustment of the correction platform 3120 and preventing positional deviations of the fiberglass cloth 300 from affecting operational accuracy.

[0058] The upper vision mechanism 1205 includes, but is not limited to, a CCD camera 4301, a vision sensor, a laser displacement sensor, or an infrared detection probe, as long as it can accurately detect the position and angle of the fiberglass cloth 300 and provide signal feedback. The specific structure of the upper vision mechanism 1205 is not specified here.

[0059] More specifically, in this embodiment, the upper vision mechanism 1205 is disposed between the second driving component 12032 and the third driver 120313 of the first driving component 12031, so that the upper vision mechanism 1205 can only achieve linear motion in the X-axis, Y-axis and Z-axis directions under the driving action of the first driving component 12031, but cannot rotate around the Z-axis direction, thereby keeping the detection reference of the upper vision mechanism 1205 fixed and avoiding the detection viewing angle shift caused by the upper vision mechanism 1205 rotating around the Z-axis direction with the smoothing mechanism 1202.

[0060] The working process of the fiberglass cloth feeding device 1200 is described below: First, the motion drive mechanism 1203 drives the leveling mechanism 1202 to move along the X-axis and Y-axis, causing the suction head 12022 of the leveling mechanism 1202 to move above the fiberglass cloth feeding device 1100 and directly opposite the position of the fiberglass cloth 300 inside the fiberglass cloth feeding device 1100. Then, the leveling driver 12021 drives the two suction heads 12022 to move away from each other until the two suction heads 12022 are in an open state to accommodate the specifications of the fiberglass cloth 300. Afterward, the motion drive mechanism 1203 drives the leveling mechanism 1202 to descend along the Z-axis, at which time the pressing head 12023 follows. The fiberglass cloth 300 is lowered and pressed against the upper surface of the fiberglass cloth 300. At this time, the adsorption driver is activated and negative pressure is generated through the adsorption holes, so that the bottom ends of the pressing head 12023 and the adsorption head 12022 begin to vacuum adsorb the upper surface of the fiberglass cloth 300. Subsequently, the motion drive mechanism 1203 drives the smoothing mechanism 1202 to rise along the Z-axis, thereby pulling the adsorbed fiberglass cloth 300 out from under the pressing part 11022 of the fiberglass cloth feeding device 1100. After that, the smoothing driver 12021 drives the two adsorption heads 12022 to move in a direction away from each other, so that the fiberglass cloth 300 adsorbed on the adsorption head 12022 is smoothed and unfolded. Then, the lower vision mechanism 1204 is activated to detect whether the length direction of the fiberglass cloth 300 on the adsorption head 12022 deviates from the reference direction through its input recognition surface, thereby completing the initial correction detection of the fiberglass cloth 300; after that, the motion drive mechanism 1203 drives the smoothing mechanism 1202 to move along the X-axis, Y-axis and Z-axis directions to transfer the smoothed fiberglass cloth 300 to the correction feeding device 3100 of the roll tube module 3000 to achieve adsorption and fixation; Finally, the upper vision mechanism 1205 re-inspects the fiberglass cloth 300 on the correction feeding device 3100 to improve the correction accuracy. Once it is confirmed that the position and angle of the fiberglass cloth 300 are in line with the preset positive position, the feeding operation of the fiberglass cloth 300 can be completed.

[0061] The following will combine Figures 12 to 23 The structure of the 3000 tube winding module is described.

[0062] Furthermore, the tube winding module 3000 includes a correction and feeding device 3100 and a tube winding device 3200. The correction and feeding device 3100 includes a correction platform 3120, a support plate 3110 and a feeding mechanism 3130 disposed on the correction platform 3120. The correction platform 3120 is mounted on a bottom mounting plate 3160. The support plate 3110 is used to support the fiberglass cloth 300 after loading. The feeding mechanism 3130 is disposed between the support plate 3110 and the tube winding device 3200 and is used to transport the fiberglass cloth 300 on the support plate 3110 to the tube winding device 3200. The tube winding device 3200 is used to wind the fiberglass cloth 300 around the outer periphery of the mandrel 400. Under the drive of the correction platform 3120, the support plate 3110 can move and rotate in the horizontal plane, and the feeding mechanism 3130 can move to a feeding station close to the tube winding device 3200.

[0063] Specifically, the automatic tube winding equipment provided in this embodiment integrates the carrier plate 3110 and the feeding mechanism 3130 into the same correction platform 3120, so that the carrier plate 3110 moves in the horizontal plane and rotates around the vertical axis under the drive of the correction mechanism, thereby achieving precise alignment and angle correction of the fiberglass cloth 300. After the correction is completed, the feeding mechanism 3130 directly and smoothly transports the positioned fiberglass cloth 300 to the tube winding station of the tube winding device 3200 along a straight path, and the tube winding device 3200 completes the winding around the mandrel 400. This integrated design achieves continuous and spatially unified correction and feeding actions, fundamentally eliminating the intermediate transfer link in traditional equipment where the robot arm performs secondary material handling between the correction platform 3120 and the tube winding device 3200. This not only significantly shortens the material flow path and production cycle time, improving the overall efficiency of tube winding operations, but also avoids mechanical positioning errors or movement deviations that may be caused by secondary handling operations, effectively preventing the generation of secondary positional deviations and ensuring the dimensional accuracy and molding quality consistency of the tube winding products.

[0064] For example, since the correction and tube winding operations are time-consuming, please refer to the figure. The automatic tube winding equipment includes two tube winding modules 3000. The two tube winding modules 3000 are symmetrically arranged on the table of the machine 100 and can perform correction and tube winding operations respectively. This layout forms two parallel correction station and tube winding station, which effectively breaks through the efficiency bottleneck.

[0065] For example, the feeding mechanism 3130 includes a feeding rotary drive 3131 and a feeding roller 3132. The feeding roller 3132 is connected to the rotating shaft of the feeding rotary drive 3131 via a coupling. The feeding rotary drive 3131 can drive the feeding roller 3132 to rotate around its axis in the second direction, thereby driving the fabric to be rolled on the material plate to be conveyed out in the first direction. Since the feeding roller 3132 is directly connected to the rotating shaft of the feeding rotary drive 3131 via a coupling, when the feeding mechanism 3130 moves away from the winding device 3200 in the first direction to tighten the fiberglass cloth 300, the feeding rotary drive 3131 can detect the torque of the winding tube in real time and accurately. Compared with the design of indirectly connecting the feeding rotary drive 3131 through intermediate structural components such as a synchronous belt, the torque detection accuracy is higher and more reliable.

[0066] For the structure of the correction platform 3120, please refer to... Figures 14 to 16 The correction platform 3120 includes a first translation module 3121, a second translation module 3122, and a rotation module 3123. The first translation module 3121 is fixedly installed on the upper surface of the bottom mounting plate 3160. The power output end of the first translation module 3121 can reciprocate along a first direction. The body of the second translation module 3122 is installed on the power output end of the first translation module 3121. The power output end of the second translation module 3122 can reciprocate along a second direction. The rotation module 3123 is installed on the power output end of the second translation module 3122. The power output end of the rotation module 3123 can rotate around a vertical axis. The bearing plate 3110 is installed on the power output end of the rotation module 3123, and the feeding mechanism 3130 is installed on the power output end of the second translation module 3122. As can be seen, under the drive of the first translation module 3121 and the second translation module 3122, the carrier plate 3110 and the feeding mechanism 3130 can be translated synchronously along the first direction and the second direction. During the horizontal position correction process, the relative positions of the carrier plate 3110 and the feeding mechanism 3130 remain unchanged. When the rotation module 3123 corrects the horizontal orientation of the fiberglass cloth 300, the carrier plate 3110 rotates relative to the feeding mechanism 3130, so that the side of the fiberglass cloth 300 in the first direction is strictly parallel to the first direction, thereby ensuring that the direction in which the feeding roller 3132 transmits the fiberglass cloth 300 is the first direction, and ensuring the accuracy of the subsequent tube winding.

[0067] For example, the first translation module 3121 adopts an electric linear slide table in the prior art. Specifically, the first translation module 3121 adopts a high-precision linear slide table, whose driver is a servo motor, whose transmission structure is a ball screw, and whose guide structure is a linear guide or a cross roller guide, so as to comprehensively ensure the control accuracy of translation direction and distance from the three parts of driving, transmission and guiding.

[0068] For example, the second translation module 3122 adopts an electric linear slide, which is a conventional electric linear slide. Specifically, the second translation module 3122 adopts a high-precision linear slide, whose driver is a servo motor, whose transmission structure is a ball screw, and whose guide structure is a linear guide or a cross roller guide. The control accuracy of translation direction and distance is fully ensured from the three parts of driving, transmission and guiding.

[0069] For example, the rotary module 3123 adopts a winding rotary slide in the prior art, specifically a high-precision rotary table such as a worm gear drive rotary table or a ball screw drive rotary table. Its driver is a servo motor, the transmission structure is a worm gear or a ball screw, and the guide structure is a linear guide or a cross roller guide. The control accuracy of the rotation angle is fully ensured from the three parts of driving, transmission and guiding.

[0070] For example, regarding the connection structure between the various modules of the correction platform 3120, please refer to... Figures 14 to 16 The second translation module 3122 has a correction connecting plate 3124 installed on its power output end. The feeding mechanism 3130 and the rotating module 3123 are respectively installed on the correction connecting plate 3124 by fastening screws and other structures. The first translation module 3121 has a translation connecting plate 3125 installed on its power output end. The second translation module 3122 has its body installed on the translation connecting plate 3125 by fastening screws and other structures.

[0071] To secure the fiberglass cloth 300 on the support plate 3110, please refer to... Figure 14 , Figure 16 and Figure 17 The support plate 3110 is provided with multiple on-plate adsorption holes 3111 and multiple first air extraction holes 3112. The multiple on-plate adsorption holes 3111 are distributed on the upper surface of the support plate 3110. The support plate 3110 is provided with multiple first air extraction holes 3112 on two opposite sides in the second direction. The on-plate adsorption holes 3111 and the first air extraction holes 3112 are connected through air channels provided in the support plate 3110. The first air extraction holes 3112 are used to connect to an external air extraction device. After the fiberglass cloth 300 is placed on the support plate 3110, the air extraction device draws air from the air channels through the multiple first air extraction holes 3112 to form a negative pressure, so as to adsorb and fix the flatly laid fiberglass cloth 300 through the multiple on-plate adsorption holes 3111.

[0072] For example, multiple adsorption holes 3111 on the plate are distributed in a matrix on the upper surface of the support plate 3110 to achieve uniform adsorption of multiple areas of the fiberglass cloth 300, improve adsorption uniformity and adsorption stability, and ensure that the fiberglass cloth 300 can maintain a stable spreading state on the support plate 3110.

[0073] To secure the fiberglass cloth 300 on the feeding roller 3132 so that the feeding mechanism 3130 pulls the fiberglass cloth 300 in reverse to tighten it, please refer to... Figure 16 and Figure 18 The feeding roller 3132 has a cavity inside, and multiple suction holes 31323 are provided on the outer circumferential surface of the feeding roller 3132. The multiple suction holes 31323 are arranged along the axial direction of the feeding roller 3132. The end of the feeding roller 3132 is provided with a second suction hole 31322. The multiple suction holes 31323 and the second suction hole 31322 are both connected to the cavity. The second suction hole 31322 is used to connect an external suction device. When the correction platform 3120 performs the correction action, the front end of the fiberglass cloth 300 is placed above the feeding roller 3132 in the first direction. At this time, the air extraction device does not extract the air inside the feeding roller 3132. After the correction action and feeding action are completed, and the first translation module 3121 drives the bearing plate 3110 and the feeding mechanism 3130 to move away from the winding device 3200 along the first direction to tighten the fiberglass cloth 300, the air extraction device extracts the air inside the cavity of the feeding roller 3132 through the second air extraction hole 31322 to form a negative pressure, so as to adsorb the fiberglass cloth 300 through the multiple adsorption holes 31323 on the cylinder, so that the tension of the fiberglass cloth 300 can be transmitted to the feeding roller 3132 and the feeding rotary drive 3131 in sequence.

[0074] For example, the feeding rotary drive 3131 is preferably a torque motor, which can output power with constant torque and has the characteristics of low speed and high torque. In some embodiments, the feeding rotary drive 3131 can also adopt other types of servo motors or other rotary drive elements.

[0075] For example, please refer to Figures 14 to 16 The feeding mechanism 3130 also includes a feeding bracket 3133, a feeding rotation drive 3131 fixed to the feeding bracket 3133, a feeding roller 3132 rotatably mounted on the feeding bracket 3133 about an axis in a second direction, the feeding bracket 3133 fixedly mounted on the correction connecting plate 3124, and the feeding bracket 3133 is spaced apart from the rotating module 3123 and the bearing plate 3110 in the first direction, providing clearance space for the rotation of the rotating module 3123 and the bearing plate 3110 to avoid interference.

[0076] For example, please refer to Figure 16 and Figure 17A feeding clearance groove 3114 is provided on the side of the support plate 3110 near the feeding mechanism 3130. The feeding clearance groove 3114 is arranged through the second direction and has a concave arc-shaped cross-section adapted to the shape and size of the feeding roller 3132. A portion of the feeding roller 3132 is located in the feeding clearance groove 3114. The arrangement of the feeding clearance groove 3114 allows the feeding roller 3132 to be as close as possible to the support plate 3110 in the first direction, reducing the span between the upper surface of the support plate 3110 and the top of the feeding roller 3132, improving structural compactness while reducing the horizontal span of the fiberglass cloth 300.

[0077] For the structure of the feeding bracket 3133, please refer to... Figure 16 The feeding bracket 3133 includes a feeding base plate 31331, a drive mounting plate 31332, and two roller mounting plates 31333. The feeding base plate 31331 is configured with a T-shaped structure and includes a longitudinal plate 313311 and a transverse plate 313312. The longitudinal plate 313311 extends along a second direction and is fixed to the alignment connecting plate 3124. The transverse plate 313312 is connected to one end of the longitudinal plate 313311 and is spaced apart from the bearing plate 3110 in the second direction. A drive mounting plate 31332 is fixed above a transverse plate 313312. A feeding rotary drive component 3131 is mounted on the drive mounting plate 31332, passing through a through hole in the drive mounting plate 31332. Two roller mounting plates 31333 are spaced apart along a second direction and fixed to a longitudinal plate 313311. The two ends of the feeding roller 3132 are rotatably mounted on the roller mounting plates 31333 via bearings. The top height of the feeding roller 3132 is flush with the upper surface of the support plate 3110. The longitudinal plate 313311 expands the distance between the two roller mounting plates 31333, allowing it to accommodate the installation requirements of feeding rollers 3132 of different lengths. The transverse plate 313312 expands the width of the drive mounting plate 31332, improving the stability of the feeding rotary drive component 3131.

[0078] To monitor in real time whether the correction is complete, please refer to... Figure 14 and Figure 16 The correction feeding device 3100 also includes a correction sensor 3140. The correction sensor 3140 is a photoelectric sensor. The correction sensor 3140 is installed on the side of the feeding bracket 3133 near the support plate 3110. The correction sensor 3140 can detect whether there is fiberglass cloth 300 on the support plate 3110.

[0079] For the mounting structure of the 3140 correction sensor, please refer to [link / reference]. Figure 16The feeding bracket 3133 is connected to a horizontally positioned detection plate 3141 via fastening screws on the side near the bearing plate 3110. A correction sensor 3140 is mounted on the detection plate 3141. (Please refer to the corresponding...) Figure 16 and Figure 17 The support plate 3110 has an avoidance notch 3113 on the side near the feeding bracket 3133. At least part of the correction sensor 3140 and the detection plate 3141 are located in the avoidance notch 3113. The upper end of the correction sensor 3140 is lower than the upper surface height of the support plate 3110, thereby avoiding interference between the correction sensor 3140 and the fiberglass cloth 300.

[0080] Please refer to Figures 14 to 16 To help limit the position of the fiberglass cloth 300 on the support plate 3110, a limiting plate 3150 is also installed on the upper surface of the support plate 3110. The limiting plate 3150 extends along the first direction and is installed on the side above the support plate 3110 in the second direction. The side wall of the limiting plate 3150 helps limit the position of the fiberglass cloth 300 in the second direction. The limiting plate 3150 can be installed on the support plate 3110 by means of screw fixing or other methods.

[0081] For details regarding the composition of the tube winding device 3200, please refer to [link / reference]. Figure 14 , Figure 15 , Figures 19 to 22 The tube winding device 3200 includes a tube winding support plate 321, a tube winding mechanism 3220, and a welding mechanism 3230. The tube winding support plate 321 is vertically mounted on a bottom mounting plate 3160. The tube winding support plate 321 and the correction platform 3120 are spaced apart along a first direction. Driven by the first translation module 3121, the bearing plate 3110 and the feeding mechanism 3130 can simultaneously move away from or towards the tube winding support plate 321. The upper end of the tube winding support plate 321 is provided with a tube winding cavity 3210, and the tube winding station is located in the tube winding cavity 3210. The feeding mechanism 3130 can drive the bearing plate... The fiberglass cloth 300 on the plate 3110 is fed into the tube cavity 3210 along the first direction and wound along the peripheral wall of the tube cavity 3210; the tube winding mechanism 3220 is used to clamp the mandrel 400 and extend the mandrel 400 into the tube cavity 3210. The tube winding mechanism 3220 can also drive the mandrel 400 to rotate in the tube cavity 3210 around the second direction so that the fiberglass cloth 300 is tightly wound around the outer peripheral surface of the mandrel 400; the welding mechanism 3230 has a movable welding component, which can selectively extend into the tube cavity 3210 and weld the fiberglass cloth 300 in the wound state.

[0082] In this embodiment, under the synergistic action of the feeding mechanism 3130 and the winding mechanism 3220, after the fiberglass cloth 300 is wound three times around the outer peripheral wall of the mandrel 400, the welding assembly extends into the winding cavity 3210 and welds the fiberglass cloth 300 in the winding state, so that the fiberglass cloth 300 forms an inner tube layer on the outer periphery of the mandrel 400. Then, the first translation module 3121 drives the bearing plate 3110 and the feeding mechanism 3130 to move backward along the first direction to tighten the fiberglass cloth 300, achieve tight winding, and improve winding accuracy.

[0083] For example, during the winding process of the fiberglass cloth 300, the mandrel 400 and the feeding roller 3132 rotate in the same direction, and the linear speed of the mandrel 400 is equal to the linear speed of the feeding roller 3132, so as to maintain the stability of the shape of the fiberglass cloth 300 and avoid abnormalities such as curling.

[0084] For example, please refer to Figures 20 to 22 The tube-shaped cavity 3210 is configured as a circular hole structure extending along the second direction. The arc-shaped inner wall of the tube-shaped cavity 3210 plays a crucial guiding role in the winding of the fiberglass cloth 300 within it. A film inlet channel 3211 is provided above the tube-shaped cavity 3210 and communicates with it. The film inlet channel 3211 extends along the first direction and communicates with the top of the tube-shaped cavity 3210. The position of the film inlet channel 3211 in the height direction is between the top wall of the tube-shaped cavity 3210 and the top of the mandrel 400. The end of the film inlet channel 3211 facing away from the tube-shaped cavity faces the feeding mechanism 3130 and is provided with a guide flare 3214 so that the fiberglass cloth 300 conveyed by the feeding mechanism 3130 can enter. The tube-shaped cavity 3210 has a feeding port 3212 at one end in the axial direction. The tube-winding mechanism 3220 can drive the mandrel 400 to extend into the tube-shaped cavity 3210 through the feeding port 3212 in a second direction. The outer diameter of the mandrel 400 is smaller than the inner diameter of the tube-shaped cavity 3210, leaving sufficient space for the fiberglass cloth 300 to be wound around the mandrel 400. The side wall of the tube-winding support plate 321 is provided with several welding avoidance ports 3215 that communicate with the tube-winding cavity 3210 to avoid welding components. The welding avoidance ports 3215 are located on the side of the tube-winding support plate 321 away from the film inlet channel 3211.

[0085] For example, please refer to Figure 19 A positioning detection element 322 is installed at the end of the tube cavity 3210 opposite to the feed port 3212. The positioning detection element 322 is used to detect the depth to which the mandrel 400 is inserted into the tube cavity 3210 in the second direction. Optionally, the positioning detection element 322 can be a high-precision contact sensor or a non-contact sensor such as a photoelectric sensor or a capacitive proximity switch.

[0086] For example, please refer to Figure 21 and Figure 22The top of the tube cavity 3210 is set as an open structure. The top of the tube support plate 321 is provided with a plurality of upper limit plates 3213 spaced apart along the second direction. The bottom of the upper limit plate 3213 is provided with a concave arc-shaped inner wall that matches the tube cavity 3210 to assist in the winding and guiding of the fiberglass cloth 300. One end of the upper limit plate 3213 is connected to the body of the tube support plate 321, and the other end of the tube support plate 321 is spaced apart from the body of the tube support plate 321 in the height direction. The gap between the two forms the film inlet channel 3211, and the guide flare 3214 is formed at the bottom end of the upper limit plate 3213 near the feeding mechanism 3130.

[0087] For example, please refer to Figure 21 and Figure 22 The tube winding support plate 321 has a feeding clearance groove 3216 on the side near the correction platform 3120. The feeding clearance groove 3216 extends through the tube winding support plate 321 along the second direction. The cross-section of the feeding clearance groove 3216 is a concave arc-shaped structure adapted to the shape and size of the feeding roller 3132. During the winding process, part of the feeding roller 3132 is located in the feeding clearance groove 3216. The setting of the feeding clearance groove 3216 allows the feeding roller 3132 to be as close as possible to the tube winding support plate 321 in the first direction during the tube winding operation, reducing the interval between the film feeding channel 3211 and the top of the feeding roller 3132, improving the structural compactness, and reducing the horizontal span of the fiberglass cloth 300 and the sag of the fiberglass cloth 300.

[0088] For details regarding the construction of the tube winding mechanism 3220, please refer to [link / reference]. Figure 12 , Figure 13 and Figure 19 The tube winding mechanism 3220 includes a feeding slide module 3221, a winding rotary gripper 3222, and a first mandrel clamp 3223. The winding rotary gripper 3222 is installed at the power output end of the feeding slide module 3221, and the feeding slide module 3221 is drivable. The winding rotary gripper 3222 reciprocates along a second direction. The first mandrel clamp 3223 is installed at the power output end of the winding rotary gripper 3222, and the winding rotary gripper 3222 can drive the first mandrel clamp 3223 to clamp the mandrel 400 and drive the mandrel 400 to rotate around the second direction.

[0089] For example, the feeding slide module 3221 can be a high-precision linear slide, driven by a servo motor, transmitted by a ball screw, and guided by linear guides or cross roller guides to ensure the control accuracy of translation direction and distance. The winding rotary gripper 3222 has two gripping ends that can move closer or further apart from each other. The gripping ends are equipped with first mandrel clamps 3223. The winding rotary gripper 3222 can either drive the two first mandrel clamps 3223 to move towards each other to clamp the mandrel 400, or drive the mandrel 400 to rotate around an axis in a second direction to adjust the angle and perform the winding operation. It should be noted that the feeding slide module 3221 and the winding rotary gripper 3222 are both mature and standard modular components in the prior art. The winding rotary gripper 3222 can be an electric rotary gripper or a pneumatic rotary gripper. In this embodiment, the winding rotary gripper 3222 adopts an electric rotary gripper, which integrates the functions of gripping and rotating. It can accurately control the clamping force and rotation angle of the mandrel 400. Its specific structure and working principle will not be described in detail here.

[0090] For example, the welding mechanism 3230 welds the fiberglass cloth 300 by contact heating; please refer to... Figure 12 , Figure 13 , Figure 19 , Figure 20 and Figure 22 A welding fixture 3234 is fixed on the bottom mounting plate 3160. The welding mechanism 3230 also includes a welding drive component 3231, which is mounted on the welding fixture 3234. The welding assembly is mounted on the power output end of the welding drive component 3231. The welding drive component 3231 can drive the welding assembly to move in a linear direction. The welding assembly includes a heating head 3232 and an electric heating rod 3233. The heating head 3232 is provided with a heating cavity and multiple heating contact parts 32321. The electric heating rod 3233 is installed in the heating cavity and is used to heat the heating head 3232. The multiple heating contact parts 32321 are spaced apart along a second direction. The welding drive component 3231 can drive the welding assembly to reciprocate in a linear direction so that the multiple heating contact parts 32321 selectively extend into the tube cavity 3210 and abut against the fiberglass cloth 300 to achieve multi-point heating and welding of the fiberglass cloth 300.

[0091] For example, the heating contact 32321 is made of ceramic to prevent the heating contact 32321 from sticking to the fiberglass cloth 300.

[0092] For example, the welding drive 3231 can be a linear drive such as a linear cylinder or an electric push rod.

[0093] For example, please refer to Figure 12 , Figure 13 , Figure 19 , Figure 20 and Figure 23 The tube winding module 3000 also includes a first pressing assembly 3240, which includes a first pressing drive 3241 and a first pressing roller 3242. The first pressing drive 3241 is mounted on a welding fixing frame 3234, and the first pressing roller 3242 is mounted on the power output end of the first pressing drive 3241 through a first pressing frame 3243. The first pressing roller 3242 extends along a second direction and is located above the feeding roller 3132. The first pressing drive 3241 can drive the first pressing roller 3242 to reciprocate in the vertical direction to selectively press the fiberglass cloth 300 onto the feeding roller 3132 from above. When the feeding mechanism 3130 feeds the fiberglass cloth 300 into the tube cavity 3210, the first pressing drive 3241 drives the first pressing roller to press the fiberglass cloth 300 against the feeding roller 3132 to provide sufficient friction to prevent relative sliding between the fiberglass cloth 300 and the feeding roller 3132, and to avoid the fiberglass cloth 300 from wrinkling, fluttering or deviating during the conveying process.

[0094] For example, please refer to Figure 12 , Figure 13 , Figure 19 , Figure 20 and Figure 23 The tube winding module 3000 also includes a second pressing assembly 3250, which includes a second pressing drive 3251 and a second pressing roller 3252. The second pressing drive 3251 is mounted on a welding fixing frame 3234, and the second pressing roller 3252 is mounted on the power output end of the second pressing drive 3251 via a second pressing frame 3253. The second pressing roller 3252 extends along a second direction and is located directly above the tube winding cavity 3210. The second pressing drive 3251 can drive the second pressing roller 3252 to reciprocate in the vertical direction to selectively press the fiberglass cloth 300 into the mandrel 400 inside the tube winding cavity 3210. After the feeding mechanism 3130 feeds the front end of the fiberglass cloth 300 into the winding cavity 3210 and the fiberglass cloth 300 is wound around the outer circumference of the mandrel 400, the second pressing drive 3251 drives the second pressing roller to press the fiberglass cloth 300 tightly against the mandrel 400 to maintain a constant winding tension and prevent the fiberglass cloth 300 from loosening or deviating during the winding process.

[0095] To avoid interference between the second pressing roller 3252 and the upper limit plate 3213, please refer to... Figure 22 and Figure 23The gap between adjacent upper limit plates 3213 forms a downward pressure relief position. The second downward pressure roller 3252 is configured with a segmented structure, including at least two large-diameter portions 32521 spaced apart along the second direction. The outer diameter of the large-diameter portion 32521 is larger than the outer diameter of the main shaft structure of the second downward pressure roller 3252. The large-diameter portions 32521 are arranged one-to-one with the downward pressure relief positions. The top of the upper limit plate 3213 is provided with a downward pressure relief groove 3217 for avoiding the main shaft structure of the second downward pressure roller 3252. The upper end of the tube support plate 321 is provided with a downward pressure relief notch 3218 at the position corresponding to the downward pressure relief position. The upper surface of the downward pressure relief position is configured as a concave arc surface structure that matches the shape and size of the large-diameter portion 32521.

[0096] After the tube winding operation, the fiberglass cloth 300 is fitted onto the mandrel 400. The fiberglass cloth 300 has a multi-layered wound structure, which can be melted by localized heating. After resolidification, the multi-layered structure of the fiberglass cloth 300 adheres to each other to achieve welding. The mandrel 400 may include a body and a clamping part connected to the body. The fiberglass cloth 300 is fitted onto the body of the mandrel 400, and the clamping part can be clamped by a conveying mechanism to achieve movement of the fiberglass cloth 300. This invention, through... Figures 24 to 29 The sealing and welding module 4000 shown is used to heat and weld the fiberglass cloth 300 to seal it.

[0097] like Figures 24 to 29 The sealing and welding module 4000 shown includes a sealing mechanism 4100, a first detection mechanism 4200, and a conveying mechanism 4400. The sealing mechanism 4100 is used to heat the fiberglass cloth 300. The first detection mechanism 4200 is used to detect the diameter of the fiberglass cloth 300 after welding. The conveying mechanism 4400 can clamp the clamping part of the mandrel 400 and drive the mandrel 400 and the fiberglass cloth 300 to move together. The conveying movement direction includes the X direction, Y direction and vertical direction in the horizontal plane.

[0098] For further details, please refer to Figures 25 to 28The sealing mechanism 4100 is provided with a heating channel 4101 for accommodating the fiberglass cloth 300. The heating channel 4101 extends along the X direction. At least two heating areas 4102 are spaced apart along the X direction. A heat insulation element 4103 is provided between two adjacent heating areas 4102. The heating areas 4102 are used to heat and weld the fiberglass cloth 300. The first detection mechanism 4200 is located on one side of the sealing mechanism 4100. Specifically, the detection end of the first detection mechanism 4200 is perpendicular to the X direction. When the fiberglass cloth 300 is located at the detection end of the first detection mechanism 4200, the conveying mechanism 4400 can drive the welded fiberglass cloth 300 to move in a direction parallel to the axial direction of the fiberglass cloth 300 (i.e., the X direction), so that different points of the fiberglass cloth 300 in the axial direction can be sensed by the first detection mechanism 4200 to measure the diameter of multiple points on the fiberglass cloth 300.

[0099] Specifically, the sealing and welding module 4000 provided in this embodiment effectively solves the efficiency and stability problems of sealing and welding fiberglass cloth 300 through a channel-type heating structure and multiple heating zones 4102 spaced apart. The heating channel 4101 of the sealing mechanism 4100 extends along the X direction, and with the design of multiple independently temperature-controlled heating zones 4102 and heat insulation components 4103, it can perform a continuous, uniform, and segmented controllable heating and welding process on the fiberglass cloth 300 mounted on the mandrel 400. After welding is completed, the same conveying mechanism 4400 continues to move the fiberglass cloth 300, moving it in a direction parallel to the axial direction of the fiberglass cloth 300. The detection end of the first detection mechanism 4200 is perpendicular to the direction of movement (i.e., perpendicular to the X direction). Therefore, the first detection mechanism 4200 can quickly and accurately measure the diameter of the fiberglass cloth 300 at multiple points in the axial direction, and determine in real time whether there are dimensional deviations caused by welding deformation, thereby realizing online monitoring and feedback of welding quality. Understandably, when measuring the diameter of a qualified fiberglass cloth 300 at multiple points, the diameters at each point should be equal. If at least two points differ, it proves that the fiberglass cloth 300 is not a qualified cylindrical structure, and thus it is a defective product. This design integrates heating welding and quality inspection into a continuous process, reducing manual intervention or the use of additional robotic arms. While ensuring the stability of welding quality, it also significantly reduces equipment complexity and production costs.

[0100] For example, please refer to Figures 26 to 28The sealing mechanism 4100 includes a first welding mold 4110, a second welding mold 4120, and an opening and closing drive 4130. The first welding mold 4110 and the second welding mold 4120 are arranged opposite each other along the radial direction of the fiberglass cloth 300. In this embodiment, the first welding mold 4110 and the second welding mold 4120 are arranged opposite each other along the horizontal Y direction. The first welding mold 4110 is provided with a first contouring groove 4111, and the second welding mold 4120 is provided with a second contouring groove 4121. The opening and closing drive 4130 is simultaneously connected to the first welding mold 4110 and the second welding mold 4120 and can drive the first welding mold 4110 and the second welding mold 4120 to translate towards each other and abut against each other, so that the first contouring groove 4111 and the second contouring groove 4121 enclose and form a heating channel 4101. Specifically, by driving the first welding mold 4110 and the second welding mold 4120 to move towards or away from each other through the opening and closing drive component 4130, the heating channel 4101 can be selectively opened or closed to the left and right. When the heating channel 4101 is open, the conveying mechanism 4400 can take out or put in the fiberglass cloth 300 by vertically raising and lowering it. Compared with the telescopic insertion method, on the one hand, it reduces the risk of collision and interference between the fiberglass cloth 300 and the sealing mechanism 4100. On the other hand, the stroke of taking out and putting in the material is shorter, which is conducive to improving the work efficiency.

[0101] Please refer to Figure 26 In this embodiment, two heating areas 4102 are provided, and the two heating areas 4102 are respectively provided at the two ends of the fiberglass cloth 300 in the X direction.

[0102] For example, to achieve heating, please refer to Figures 26 to 28 The sealing mechanism 4100 is provided with at least two heating parts 4104 corresponding to the heating area 4102. The at least two heating parts 4104 are spaced apart in the extension direction of the heating channel 4101. The heat insulation member 4103 is fixed between two adjacent heating parts 4104 in the extension direction of the heating channel 4101.

[0103] For example, please refer to Figure 26 and Figure 27One of the first welding mold 4110 and the second welding mold 4120 is provided with a heating part 4104. The conveying mechanism 4400 can also drive the mandrel 400 and the fiberglass cloth 300 to rotate together around the axis of the mandrel 400. Specifically, in this embodiment, the first welding mold 4110 includes two heating parts 4104 spaced apart along the X direction. A heat insulation plate 4141 is provided between the two heating parts 4104. The heating parts 4104 and the heat insulation plate 4141 can be fixed by bonding or screwing. The heat insulation plate 4141 is made of heat-insulating materials such as plastic. The middle part of the fiberglass cloth 300 corresponds to the heat insulation plate 4141, which can prevent this part of the structure from being heated and melted, thereby realizing the fixed-point and multi-point heating and welding of the fiberglass cloth 300. The second welding mold 4120 is designed as an integrated structure. During the heating and welding operation, the conveying mechanism 4400 drives the mandrel 400 and the fiberglass cloth 300 to rotate together, so that the first welding mold 4110 gradually heats the outer circumferential surface of the fiberglass cloth 300. The single-sided heating design simplifies the structure of the sealing mechanism 4100 and further reduces equipment costs.

[0104] In some embodiments, heating elements 4104 may be provided on both the first welding mold 4110 and the second welding mold 4120 to heat the fiberglass cloth 300 in a double-sided heating manner, thereby improving the heating and welding efficiency.

[0105] For example, the heating part 4104 is provided with a heating cavity, and a heating element 4105 is installed in the heating cavity. The heating element 4105 is an electric heating rod 3233.

[0106] To monitor the temperature of each heating zone 4102 in real time and accurately control the temperature of the heating zone 4102, please refer to... Figure 26 and Figure 27 A temperature measuring element 4106 is connected to the outer wall of the heating part 4104. The temperature measuring element 4106 can be a thermocouple. The temperature measuring element 4106 is electrically connected to the heating element 4105. The temperature measuring element 4106 is used to detect the temperature of the heating part 4104. The heating element 4105 dynamically adjusts the heating power according to the difference between the actual temperature value measured by the temperature measuring element 4106 and the set temperature value, thereby improving the accuracy of temperature control.

[0107] For example, please refer to Figure 27 and Figure 28The opening and closing drive component 4130 has two gripper portions that can move towards or away from each other. Specifically, it can employ a linear gripper cylinder or other drive element. To achieve floating flexible mold closing and to prevent heat transfer from the heating part 4104, a heat-insulating floating assembly 4140 is installed on each of the two gripper portions. The heat-insulating floating assembly 4140 includes a heat-insulating plate 4141, a floating guide rail assembly 4142, and a floating buffer 4143. The heat-insulating plate 4141 is connected to the bottom surface of the first welding mold 4110 or the bottom surface of the second welding mold 4120. The floating guide rail assembly 4142 has… There are guide rails and guide blocks that slide along the interval direction (i.e., the Y direction) between the first welding mold 4110 and the second welding mold 4120. The guide rails are connected to the gripper parts, the heat insulation plate 4141 is connected to the guide blocks, and the floating buffer 4143 is disposed on the side of the heat insulation plate 4141 away from the other gripper part. The floating buffer 4143 is disposed along the interval direction (i.e., the Y direction) between the first welding mold 4110 and the second welding mold 4120. One end of the floating buffer 4143 is connected to the guide rails, and the other end of the floating buffer 4143 is connected to the heat insulation plate 4141.

[0108] Specifically, the heat insulation plate 4141 can be made of heat-insulating materials such as plastic, which can prevent the heat emitted by the first welding mold 4110 or the second welding mold 4120 from being transferred downwards. The floating buffer 4143 can be a compression spring or a spring pin. When the opening and closing drive 4130 drives the first welding mold 4110 and the second welding mold 4120 to move towards each other, the floating buffer 4143 transmits the driving force to the first welding mold 4110 and the second welding mold 4120 and is compressed. When the first welding mold 4110 and the second welding mold 4120 come into contact, it can absorb a certain impact force and reduce structural damage.

[0109] For example, please refer to Figure 24 , Figure 25 and Figure 28 The sealing mechanism 4100 and the first detection mechanism 4200 are both installed on the sealing base 4107 and are arranged adjacent to each other in the Y direction. After the conveying mechanism 4400 takes out the fiberglass cloth 300 from the heating channel 4101, it can directly drive the fiberglass cloth 300 to move horizontally along the Y direction to above the first detection mechanism 4200, and then drive the fiberglass cloth 300 down to reach the detection end of the first detection mechanism 4200.

[0110] For example, please refer to Figure 28The first testing mechanism 4200 uses a laser micrometer, which includes a scanning unit 4201 and a receiving unit 4202 that are electrically connected to each other. The scanning unit 4201 and the receiving unit 4202 are arranged opposite each other in a horizontal direction perpendicular to the axis of the fiberglass cloth 300. The scanning unit 4201 and the receiving unit 4202 are respectively fixedly installed on the sealing base 4107 through the testing mounting plate 4203. The scanning unit 4201 can emit a light curtain and be received by the receiving unit 4202. The fiberglass cloth 300 can pass through the scanning unit 4201 and the receiving unit 4202 to block part of the light curtain. The outer diameter of the fiberglass cloth 300 is calculated based on the span of the blocked light curtain.

[0111] For example, please refer to Figure 24 and Figure 25 To improve the reliability of quality inspection, the sealing and welding module 4000 also includes a second inspection mechanism 4300. The inspection end of the second inspection mechanism 4300 is perpendicular to the axial direction of the fiberglass cloth 300 and is used to detect the axial position and winding defects of the fiberglass cloth 300. The winding defects include delamination at the end of the fiberglass cloth 300, gaps at the winding connection, and other abnormalities. The first inspection mechanism 4200 and the second inspection mechanism 4300 cooperate to detect the radial dimension, axial position, and winding defects of the fiberglass cloth 300 respectively to achieve a comprehensive inspection of the appearance of the fiberglass cloth 300 and improve the reliability of quality assurance.

[0112] For example, please refer to Figure 24 The second detection mechanism 4300 includes a CCD camera 4301, a lens 4302, and a detection light source 4303. The CCD camera 4301 is mounted on the machine base 100 via a detection bracket 4304. The image acquisition end of the CCD camera 4301 is set vertically upward. The lens 4302 is mounted on the image acquisition end of the CCD camera 4301. The detection light source 4303 is set as a ring-shaped structure lamp plate extending circumferentially around the lens 4302, which provides uniform and stable illumination for imaging, reduces external light interference, highlights the feature information of the object being measured, and improves the imaging quality.

[0113] For details on the construction of the 4400 conveying mechanism, please refer to [link / reference]. Figure 29The conveying mechanism 4400 includes a third translation module 4410, a fourth translation module 4420, a lifting module 4430, and a sealing rotary gripper 4440. The body of the third translation module 4410 is mounted on the machine base 100, and the power output end of the third translation module 4410 can reciprocate in a direction parallel to the axial direction of the fiberglass cloth 300 (i.e., the X direction). The body of the fourth translation module 4420 is mounted on the power output end of the third translation module 4410, and the power output end of the fourth translation module 4420 can reciprocate in the Y direction. The main body of module 4430 is mounted on the power output end of the fourth translation module 4420 via a lifting bracket 4431. The power output end of the lifting module 4430 can reciprocate in the vertical direction. The sealing rotary gripper 4440 is mounted on the power output end of the lifting module 4430. The power output end of the sealing rotary gripper 4440 is equipped with a second core rod clamp 4441. The sealing rotary gripper 4440 can drive the second core rod clamp 4441 to clamp the core rod 400 and drive the core rod 400 and the fiberglass cloth 300 to rotate together around the axis of the core rod 400.

[0114] For example, both the third translation module 4410 and the fourth translation module 4420 adopt high-precision linear slides in the prior art. The control accuracy of the translation direction and distance is ensured by servo motor drive, ball screw transmission, and guidance by linear guides or crossed roller guides. The lifting module 4430 uses linear drive components such as linear cylinders or electric push rods. The sealing rotary gripper 4440 has two clamping ends that can move closer or further apart. The clamping ends are equipped with second mandrel clamps 4441. The sealing rotary gripper 4440 can either drive the two second mandrel clamps 4441 to move towards each other to clamp the clamping part of the mandrel 400, or drive the mandrel 400 and the fiberglass cloth 300 to rotate together around the axis in the X direction to adjust the heating welding angle and the detection angle. It should be noted that the high-precision linear slide and the sealing rotary gripper 4440 are both mature and standard modular components in the prior art. The sealing rotary gripper 4440 can be an electric rotary gripper or a pneumatic rotary gripper. In this embodiment, the sealing rotary gripper 4440 adopts an electric rotary gripper, which integrates the functions of gripping and rotating. It can accurately control the clamping force and rotation angle of the mandrel 400. Its specific structure and working principle will not be described in detail here.

[0115] The sealing and welding method implemented by the sealing and welding module 4000 includes the following steps: The conveying mechanism 4400 clamps the core rod 400 and moves the fiberglass cloth 300 into the heating channel 4101; The sealing mechanism 4100 heats and welds the portion of the fiberglass cloth 300 located in the heating zone 4102; The conveying mechanism 4400 transports the fiberglass cloth 300 to the testing area; The first testing agency 4200 tested the diameter of the welded fiberglass cloth 300.

[0116] For example, the first testing agency 4200 specifically tests the diameter of the welded fiberglass cloth 300, including: The conveying mechanism 4400 drives the fiberglass cloth 300 to pass through the detection end of the first detection mechanism 4200 along the axial direction of the fiberglass cloth 300. The first detection mechanism 4200 sequentially detects the diameter of at least three points spaced apart in the X direction of the fiberglass cloth 300.

[0117] For example, after the first testing agency 4200 tests the diameter of the welded fiberglass cloth 300, the sealing welding method further includes: The second testing unit 4300 measures the distance between the end of the fiberglass cloth 300 near the conveying mechanism 4400 and the end of the mandrel 400 away from the fiberglass cloth 300; and / or The second testing unit 4300 tests whether there is a delamination structure at the end of the fiberglass cloth 300 near the conveying mechanism 4400.

[0118] Specifically, this sealing welding method significantly improves the quality consistency and production efficiency of fiberglass cloth 300 sealing welding through an integrated heating and dual inspection process. Its technical effectiveness is achieved through a dynamic, continuous operation: the conveying mechanism 4400 clamps the mandrel 400, driving the fiberglass cloth 300 into the heating channel 4101. The segmented heating zones 4102 within the channel, in conjunction with the heat insulation component 4103, achieve controlled, circumferential heating of the fiberglass cloth 300, effectively preventing localized overheating or insufficient welding, ensuring uniform and reliable sealing. After welding, the same conveying mechanism 4400 moves the workpiece into the inspection area. The first inspection mechanism 4200 performs an initial radial dimension inspection of the fiberglass cloth 300, followed by a second inspection mechanism 4300 performing a re-inspection of axial features and surface quality, forming a closed-loop inspection process. This dual inspection mechanism significantly reduces the missed inspection rate and provides real-time data feedback to the control system, facilitating timely adjustments to welding parameters. By integrating heating welding and dual inspection into the same module, the positioning and switching time of traditional manual or robotic arm multi-point welding is reduced. While reducing equipment complexity and labor costs, online quality monitoring ensures the stability of product performance.

[0119] For example, please refer to Figure 30The transit scanning device 6000 includes a scanning base 6001, a clamping assembly, a rotating assembly, a flatness detection sensor 6007, and a barcode reader 6008. The scanning base 6001 has a V-groove 6002 for supporting and accommodating the core rod 400. The clamping assembly and the rotating assembly are respectively located at both ends of the V-groove 6002. The rotating assembly includes a scanning rotary motor 6003 and a clamping shaft 6004. The clamping shaft 6004 is connected to the rotating shaft of the scanning rotary motor 6003 via a coupling and is used to clamp one end of the core rod 400. The system includes a slide cylinder 6005 and an elastic top pin 6006. The power output end of the slide cylinder 6005 is connected to the elastic top pin 6006, which can drive the elastic top pin 6006 to reciprocate along the extension direction of the V-groove 6002, so that the elastic top pin 6006 selectively abuts against the other end of the mandrel 400. The elastic top pin 6006 has a retractable pin and a spring sleeved outside the pin. The elastic top pin 6006 itself can elastically extend and retract along the extension direction of the V-groove 6002, so that the elastic top pin 6006 can abut against the mandrel 400 in a flexible state. The coding of the mandrel 400 is located in a flat position structure. The flat position detection sensor 6007 is installed on the barcode scanning base 6001 and adopts a through-beam photoelectric detection sensor. The flat position detection sensor 6007 is electrically connected to the barcode scanning rotary motor 6003 and the slide cylinder 6005. The barcode reader 6008 is installed on the machine base 100 through the barcode scanning bracket 6009. When picking up or placing the core rod 400, the slide cylinder 6005 drives the elastic top pin 6006 away from the core rod 400. After the core rod 400 is placed in, the slide cylinder 6005 drives the elastic top pin 6006 to approach and abut against the core rod 400. The barcode scanning rotary motor 6003 drives the core rod 400 to rotate. The barcode scanning rotary motor 6003 is a servo rotary motor. When the flat part of the outer periphery of the core rod 400 faces the barcode reader 6008 above, the notch formed by the concave part avoids the light signal emitted by the transmitter of the flat part detection sensor 6007. After receiving the corresponding signal, the barcode scanning rotary motor 6003 stops rotating, and the barcode reader 6008 performs the barcode scanning operation.

[0120] For information on the loading and unloading structure of mandrel 400, please refer to [link / reference]. Figure 1 , Figure 2 , Figures 31-33The mandrel loading / unloading module 2000 includes a horizontal conveyor line 2100 and a mandrel loading / unloading device 2200. The horizontal conveyor line 2100 can convey the material tray 500 for loading mandrels 400 in the horizontal direction. Along the conveying direction, the horizontal conveyor line 2100 is sequentially equipped with a loading station 2101, a receiving station 2102, and a storage station 2103. Each of the loading station 2101, receiving station 2102, and storage station 2103 is equipped with a device that can drive the material tray 500 to lift vertically. The positioning and lifting mechanism 2110 can position and lift the height of the corresponding material tray 500 before the mandrel loading and unloading device 2200 picks up and puts up the mandrel 400. The mandrel loading and unloading device 2200 includes two mandrel loading and unloading mechanisms 2220 spaced apart along the conveying direction of the horizontal conveyor line 2100. The mandrel loading and unloading mechanisms 2220 are used to pick up and put up the mandrel 400 from the material tray 500. The two mandrel loading and unloading mechanisms 2220 can perform the picking up and putting up operations respectively.

[0121] For example, the horizontal conveyor line 2100 adopts an existing conveyor line module. The conveyor drive motor 11031 distributes power evenly to two parallel conveyor belts on the left and right sides through a drive shaft and a synchronization mechanism (such as gears or pulleys). The upper surfaces of the two conveyor belts jointly support and lift the material tray 500. When the conveyor drive motor 11031 starts, the drive shaft drives the drive rollers on both sides to rotate synchronously, thereby driving the two conveyor belts to run at the same speed, smoothly and straightly conveying the material tray 500 from one end to the other, effectively preventing jamming and deviation.

[0122] For example, please refer to Figure 32 The positioning and lifting mechanism 2110 includes a material blocking component 2111 and a lifting component 2112. The material blocking component 2111 is used to block the material tray 500 from being conveyed along the horizontal conveyor line 2100, so that the material tray 500 stops at the loading station 2101, the receiving station 2102 or the storage station 2103. The lifting component 2112 is used to lift the material tray 500.

[0123] For example, please refer to Figure 32The material blocking assembly 2111 includes a material blocking linear cylinder 21111 and a material blocking rocker 21112. The output end of the material blocking linear cylinder 21111 is vertically upward and connected to the material blocking rocker 21112. The material blocking linear cylinder 21111 can drive the material blocking rocker 21112 to extend upward, thereby blocking the material tray 500 conveyed along the conveyor line module, preventing the material tray 500 from continuing to be conveyed, and causing the material tray 500 to stop at the loading station 2101, the receiving station 2102, or the storage station 2103. The material blocking rocker 21112 is hinged above the material blocking linear cylinder 21111. One end of the material blocking rocker 21112 is provided with a material blocking roller 21113, and the other end is provided with a counterweight 21114. In its natural state, the counterweight 21114 pulls the end of the baffle 21112 equipped with the baffle roller 21113 upward under the action of gravity, causing the baffle roller 21113 to rise to the height of the material tray 500 and block the material tray 500 from conveying; when the baffle linear cylinder 21111 extends upward, it pushes the end of the baffle 21112 equipped with the counterweight 21114 upward, and the end of the baffle 21112 equipped with the baffle roller 21113 descends to below the material tray 500, allowing the material tray 500 to pass through.

[0124] For example, please refer to Figure 32 The lifting assembly 2112 includes a lifting linear cylinder 21121 and a lifting plate 21122. The lifting linear cylinder 21121 is mounted on the lifting mounting plate 21124. The lifting plate 21122 is slidably disposed above the lifting mounting plate 21124 in a vertical direction. The output end of the lifting linear cylinder 21121 is vertically upward and connected to the lifting plate 21122. The lifting plate 21122 is provided with a plurality of positioning pins 21123 that are adapted to the positioning holes at the bottom of the material tray 500. The lifting linear cylinder 21121 can drive the lifting plate 21122 to extend upward, thereby lifting the material tray 500 on the conveyor belt.

[0125] For example, please refer to Figure 33The mandrel loading / unloading device 2200 includes a first transverse drive 2210 and two mandrel loading / unloading mechanisms 2220. The first transverse drive 2210 is mounted on the support frame 200 and has two output ends capable of reciprocating along the X direction. The two output ends are respectively connected to the two mandrel loading / unloading mechanisms 2220. One mandrel loading / unloading mechanism 2220 is used to take out the mandrel 400 from the material tray 500 at the loading station 2101 and transport it to the transfer scanning device 6000. The other mandrel loading / unloading mechanism 2220 is used to unload the mandrel 400 processed by the sealing and welding module 4000 and the fiberglass cloth 300 together into the material tray 500 at the receiving station 2102. The first transverse drive 2210 includes, but is not limited to, structures such as an electric slide with two independent output ends, as long as it can achieve the above functions. The specific structure of the above components is not limited here.

[0126] For example, please refer to Figure 33 The mandrel loading and unloading mechanism 2220 includes a second transverse drive 2221, a material transfer lifting drive 2222, a material transfer rotary drive 2223, and two material transfer rotary grippers 2224. The second transverse drive 2221 is mounted on the output end of the first transverse drive 2210, and the output end of the second transverse drive 2221 can reciprocate along the Y direction. The material transfer lifting drive 2222 is mounted on the output end of the second transverse drive 2221, and the output end of the material transfer lifting drive 2222 can reciprocate along the vertical direction. The rotary driver 2223 is installed at the output end of the transfer lifting driver 2222. Two transfer rotary grippers 2224 are symmetrically installed at the output end of the transfer rotary driver 2223. The transfer rotary driver 2223 can drive the two transfer rotary grippers 2224 to rotate around the vertical axis. The transfer rotary grippers 2224 are electric rotary grippers, which are mature and standard modular components in the prior art, integrating both gripping and rotation functions. The two movable ends of the transfer rotary grippers 2224 are equipped with rubber-coated fixtures for gripping the mandrel 400. The second transverse driver 2221 and the transfer lifting driver 2222 include, but are not limited to, structures such as linear motors or electric slides. The transfer rotary driver 2223 includes, but is not limited to, stepper motors, servo motors, or rotary cylinders. The transfer rotary grippers 2224 can be any type that can achieve the above functions. The specific structure of the above components is not limited here.

[0127] Specifically, the gripping ends of the two rotating material transfer jaws 2224 are arranged facing away from each other. Between the material tray 500 and the transfer scanning device 6000 at the loading station 2101, the material transfer lifting driver 2222 drives two material transfer rotating grippers 2224 to descend together. After one of the material transfer rotating grippers 2224 picks up the vertically placed mandrel 400 in the material tray 500, the material transfer lifting driver 2222 drives both material transfer rotating grippers 2224 to rise together. The material transfer rotating driver 2223 drives the two mandrel 400 grippers to rotate 180 degrees around the vertical axis. The material transfer rotating grippers 2224 drive the mandrel 400 to rotate around the horizontal axis to a horizontal state. The first transverse driver 2210 and the second transverse driver 2221 drive the material transfer rotating grippers 2224 to move horizontally above the transfer scanning device 6000. The material transfer lifting driver 2222 drives both material transfer rotating grippers 2224 to descend together to the height of the scanning base 6001, placing the mandrel 400 in the V-groove 6002. Between the sealing and welding module 4000 and the material tray 500 of the receiving station 2102, the material transfer lifting driver 2222 drives two material transfer rotary grippers 2224 to descend together. One of the material transfer rotary grippers 2224 picks up the processed mandrel 400 and fiberglass cloth 300 from the sealing and welding module 4000. The material transfer lifting driver 2222 drives both material transfer rotary grippers 2224 to rise together. The material transfer rotary driver 2223 drives the two material transfer rotary grippers 2224 to rise together. Rotating 180 degrees around the vertical axis, the material transfer rotating gripper 2224 drives the mandrel 400 to rotate around the horizontal axis to a vertical position. The first transverse drive 2210 and the second transverse drive 2221 drive the material transfer rotating gripper 2224 to move horizontally to above the material tray 500 of the receiving station 2102. The material transfer lifting drive 2222 drives the two material transfer rotating grippers 2224 to descend together to the height of the material tray 500, inserting the material tray 500 into the corresponding hole of the material tray 500.

[0128] Please refer to Figure 1 , Figure 2 and Figure 34The mandrel loading / unloading module 2000 also includes a material vision inspection device 2300. The material vision inspection device 2300 includes a mounting column 2301, a material vision mechanism 2302, and a light source plate 2303. The mounting column 2301 is mounted on the machine base 100. The material vision mechanism 2302 and the light source plate 2303 are both height-adjustable and mounted on the mounting column 2301. The vision acquisition end of the material vision mechanism 2302 faces downwards, and the light source plate 2303 is located below the material vision mechanism 2302 and is used to provide a detection light source 4303 downwards. Specifically, the material vision inspection device 2300 is located at the loading station 2101. The material vision mechanism 2302 is used to detect the position of the mandrel 400 in the material tray 500 and whether the material tray 500 is short of material. The material vision mechanism 2302 includes, but is not limited to, a CCD camera 4301 or a vision sensor, as long as it can accurately detect and provide signal feedback on the number and position of the mandrel 400. No specific restrictions are placed on the specific structure of the material vision mechanism 2302.

[0129] For example, please refer to Figure 1 , Figure 2 and Figure 35 The automatic tube winding equipment also includes a winding loading and unloading device 5000, which includes a winding transverse drive 5100 and two winding conveying mechanisms 5200. The winding transverse drive 5100 is mounted on the support frame 200 and has two output ends capable of reciprocating along the X direction. The two output ends are respectively connected to the two winding conveying mechanisms 5200. One mandrel loading and unloading mechanism 2220 is used to transport the mandrel 400 on the transfer scanning device 6000 to the tube winding device 3200, and the other mandrel loading and unloading mechanism 2220 is used to load the mandrel 400 and fiberglass cloth 300 processed by the tube winding device 3200 to the sealing and welding module 4000. The winding transverse drive 5100 includes, but is not limited to, structures such as an electric slide with two independent output ends, as long as it can achieve the above functions. The specific structure of the above components is not limited here.

[0130] Please refer to Figure 35The winding and conveying mechanism 5200 includes a winding lifting driver 5201, a winding rotary driver 5202, and two winding mandrel grippers 5203. The winding lifting driver 5201 is installed at the output end of the winding transverse driver 5100, and the output end of the winding lifting driver 5201 can reciprocate in the vertical direction. The winding rotary driver 5202 is installed at the output end of the winding lifting driver 5201. The two winding mandrel grippers 5203 are symmetrically installed at the output end of the winding rotary driver 5202, and the winding rotary driver 5202 can drive the two winding mandrel grippers 5203 to rotate around the vertical axis. The winding mandrel grippers 5203 adopt a split-type pneumatic finger cylinder, and the two movable ends of the winding mandrel grippers 5203 are equipped with rubber-coated fixtures for gripping the mandrel 400. The winding lifting driver 5201 includes, but is not limited to, structures such as linear motors or electric slides, and the winding rotary driver 5202 includes, but is not limited to, stepper motors, servo motors or rotary cylinders, as long as they can achieve the above functions. No specific restrictions are placed on the specific structure of the above components.

[0131] Specifically, the gripping ends of the two winding mandrel grippers 5203 are arranged facing away from each other. Between the transfer scanning device 6000 and the winding device 3200, the winding lifting driver 5201 drives the two winding mandrel grippers 5203 to descend together. After one of the winding mandrel grippers 5203 grips the mandrel 400 on the transfer scanning device 6000, the winding lifting driver 5201 drives the two winding mandrel grippers 5203 to rise together. The winding rotation driver 5202 drives the two mandrel 400 grippers to rotate 180 degrees around the vertical axis. The winding transverse driver 5100 drives the winding mandrel grippers 5203 to move to the winding mechanism 3220 of the winding device 3200. The winding lifting driver 5201 drives the two winding mandrel grippers 5203 to descend together to the height of the winding rotation gripper 3222. The winding rotation gripper 3222 receives the mandrel 400 after loading. Between the tube winding device 3200 and the sealing and welding module 4000, the winding lifting driver 5201 drives two winding mandrel grippers 5203 to descend together. One of the winding mandrel grippers 5203 grips the processed mandrel 400 and fiberglass cloth 300 on the tube winding device 3200. The winding lifting driver 5201 drives both winding mandrel grippers 5203 to rise together. The winding rotation driver 5202 drives the two mandrel 400 grippers to rotate 180 degrees around the vertical axis. The winding transverse driver 5100 drives the winding mandrel grippers 5203 to move to the conveying mechanism 4400 of the sealing and welding module 4000. The winding lifting driver 5201 drives the two winding mandrel grippers 5203 to descend together to the height of the sealing rotation gripper 4440. The sealing rotation gripper 4440 takes over the loaded mandrel 400.

[0132] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic tube winding device, characterized in that, include: Fiberglass cloth feeding module (1000) is used to feed fiberglass cloth (300). Mandrel loading and unloading module (2000) is used for loading mandrels (400) and unloading mandrels (400) after coiling. The tube winding module (3000) includes a correction and feeding device (3100) and a tube winding device (3200). The correction and feeding device (3100) includes a correction platform (3120), a support plate (3110) and a feeding mechanism (3130) disposed on the correction platform (3120). The support plate (3110) is used to support the fiberglass cloth (300) after loading. The feeding mechanism (3130) is disposed on the support plate (3110) and the tube winding device (3200). Between 3200), the fiberglass cloth (300) on the support plate (3110) is conveyed to the winding device (3200), the winding device (3200) is used to wind the fiberglass cloth (300) around the outer periphery of the mandrel (400); under the drive of the correction platform (3120), the support plate (3110) can move and rotate in the horizontal plane, and the feeding mechanism (3130) can move to the feeding station close to the winding device (3200); The sealing welding module (4000) is used to heat and weld the winding joints of the wound fiberglass cloth (300) to achieve sealing.

2. The automatic tube winding equipment according to claim 1, characterized in that, The correction platform (3120) includes: The first translation module (3121) has a power output end that can reciprocate along a first direction, and the tube winding device (3200) and the correction platform (3120) are arranged adjacent to each other in the first direction; The second translation module (3122) is installed at the power output end of the first translation module (3121). The power output end of the second translation module (3122) can reciprocate along the horizontal second direction. The feeding mechanism (3130) is installed at the power output end of the second translation module (3122). The first direction is perpendicular to the second direction. A rotating module (3123) is installed at the power output end of the second translation module (3122). The power output end of the rotating module (3123) can rotate around a vertical axis. The bearing plate (3110) is installed at the power output end of the rotating module (3123).

3. The automatic tube winding equipment according to claim 2, characterized in that, The feeding mechanism (3130) includes a feeding rotary drive (3131) and a feeding roller (3132). The feeding roller (3132) is rotatably arranged around an axis in the second direction. The feeding roller (3132) is connected to the rotation shaft of the feeding rotary drive (3131). The feeding rotary drive (3131) can drive the feeding roller (3132) to rotate, so as to drive the fiberglass cloth (300) on the support plate (3110) to be conveyed out along the first direction.

4. The automatic tube winding device according to claim 3, characterized in that, The tube winding device (3200) includes: A tube support plate (321) is provided at the upper end of the tube support plate (321), and the feeding mechanism (3130) can drive the fiberglass cloth (300) on the support plate (3110) to be fed into the tube cavity (3210) along the first direction and wound along the peripheral wall of the tube cavity (3210); The tube winding mechanism (3220) is used to clamp the mandrel (400) and extend the mandrel (400) into the tube winding cavity (3210). The tube winding mechanism (3220) can also drive the mandrel (400) to rotate in the tube winding cavity (3210) around the second direction so that the fiberglass cloth (300) is tightly wrapped around the outer circumferential surface of the mandrel (400). The welding mechanism (3230) has a movable welding component that can selectively extend into the tube cavity (3210) and weld the fiberglass cloth (300) in a wound state.

5. The automatic tube winding device according to claim 4, characterized in that, The tube winding device (3200) further includes: The first pressing assembly (3240) includes a first pressing drive (3241) and a first pressing roller (3242). The power output end of the first pressing drive (3241) is connected to the first pressing roller (3242) and can drive the first pressing roller (3242) to reciprocate in the vertical direction to selectively press the fiberglass cloth (300) against the feeding roller (3132). The second pressing assembly (3250) includes a second pressing drive (3251) and a second pressing roller (3252). The power output end of the second pressing drive (3251) is connected to the second pressing roller (3252) and can drive the second pressing roller (3252) to reciprocate in the vertical direction to selectively press the fiberglass cloth (300) into the mandrel (400) in the tube cavity (3210).

6. The automatic tube winding device according to claim 1, characterized in that, The sealing and welding module (4000) includes: The sealing mechanism (4100) is provided with a heating channel (4101) for accommodating the fiberglass cloth (300). Along the extending direction of the heating channel (4101), at least two heating areas (4102) are spaced apart in the heating channel (4101). A heat insulation member (4103) is provided between two adjacent heating areas (4102). The heating areas (4102) are used for heating and welding the fiberglass cloth (300). The first testing mechanism (4200) is located on one side of the sealing mechanism (4100) and is used to test the diameter of the welded fiberglass cloth (300). The conveying mechanism (4400) is used to clamp the core rod (400) and drive the core rod (400) and the fiberglass cloth (300) to move together; the conveying mechanism (4400) can drive the welded fiberglass cloth (300) to move in a direction parallel to the axial direction of the fiberglass cloth (300) so that different points of the fiberglass cloth (300) in the axial direction can be sensed by the first detection mechanism (4200) to measure the diameter of multiple points on the fiberglass cloth (300).

7. The automatic tube winding device according to claim 6, characterized in that, The sealing and welding module (4000) also includes: The second detection mechanism (4300) has a detection plane perpendicular to the detection plane of the first detection mechanism (4200). The second detection mechanism (4300) is used to detect the axial position and winding defects of the fiberglass cloth (300).

8. The automatic tube winding device according to claim 1, characterized in that, The fiberglass cloth feeding module (1000) includes: A fiberglass cloth feeding device (1100) is used to store multiple layers of fiberglass cloth (300). A fiberglass cloth feeding device (1200) is used to take out fiberglass cloth (300) from the fiberglass cloth discharging device (1100) and transfer it to the support plate (3110). The fiberglass cloth feeding device (1200) includes a smoothing mechanism (1202) capable of smoothing the fiberglass cloth (300).

9. The automatic tube winding device according to claim 8, characterized in that, The fiberglass cloth feeding device (1100) includes: A pressing mechanism (1102) includes a material carrier (11021) and a plurality of pressing members (11022). The upper surface of the material carrier (11021) is used to support a plurality of fiberglass cloths (300) stacked layer by layer. The plurality of pressing members (11022) are arranged circumferentially at intervals along the material carrier (11021) and are used to abut against the upper surface of the uppermost fiberglass cloth (300). The top material mechanism (1103) is connected to the material carrier (11021) for driving the material carrier (11021) to rise and fall relative to the support frame (200).

10. The automatic tube winding device according to claim 8, characterized in that, The smoothing mechanism (1202) includes a smoothing driver (12021) and two spaced-apart adsorption heads (12022). The smoothing driver (12021) can drive the two adsorption heads (12022) to move toward each other or away from each other. The bottom end of the adsorption head (12022) is used for vacuum adsorption of the upper surface of the fiberglass cloth (300). When the two adsorption heads (12022) move toward each other, the fiberglass cloth (300) adsorbed on the adsorption head (12022) can be smoothed. The fiberglass cloth feeding device (1200) also includes a motion drive mechanism (1203), which is used to drive the leveling mechanism (1202) to lift, move horizontally, and rotate around the vertical axis.

11. The automatic tube winding device according to any one of claims 1-10, characterized in that, The mandrel loading and unloading module (2000) includes: The horizontal conveyor line (2100) is capable of conveying a tray (500) for loading mandrels (400) in the horizontal direction. Along the conveying direction, the horizontal conveyor line (2100) is provided with a loading station (2101), a receiving station (2102), and a storage station (2103) in sequence. The loading station (2101), the receiving station (2102), and the storage station (2103) are all provided with a positioning and lifting mechanism (2110) that can drive the tray (500) to rise and fall vertically. The mandrel loading and unloading device (2200) includes two mandrel loading and unloading mechanisms (2220) spaced apart along the conveying direction of the horizontal conveyor line (2100), the mandrel loading and unloading mechanisms (2220) being used to pick up and place mandrels (400) from the tray (500).

12. The automatic tube winding device according to any one of claims 1-10, characterized in that, The automatic tube winding equipment also includes: A transit barcode scanner (6000) is used to identify and record the serial number of the core rod (400); The winding and unloading device (5000) includes two winding and conveying mechanisms (5200). One of the winding and conveying mechanisms (5200) is used to convey the mandrel (400) on the transfer scanning device (6000) to the winding device (3200). The other winding and conveying mechanism (5200) has an unloading and loading mechanism (2220) for loading the mandrel (400) and fiberglass cloth (300) processed by the winding device (3200) to the sealing and welding module (4000).

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