Robot winding device and winding control method for wet and dry

By designing a robot winding device and control method that can be used for both dry and wet applications, the problems of limited functionality and mismatched tension control in existing equipment have been solved, achieving diversified equipment functions and quality stability, and adapting to the high-speed motion requirements of complex working conditions.

CN122379010APending Publication Date: 2026-07-14
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Filing Date
2026-05-28
Publication Date
2026-07-14

AI Technical Summary

Technical Problem

Existing fiber winding equipment has limited functionality and cannot handle both dry and wet processes, resulting in high equipment costs, complex operation, poor quality stability, and mismatched tension control, making it difficult to adapt to the working conditions during high-speed acceleration, deceleration, and reversal.

Method used

A robot winding device for both dry and wet applications was designed, including a robot ground rail, an end effector, dry and wet tension yarn cabinets, and an impregnation tank unit. It adopts a modular design and quick-change interface, integrates dry prepreg winding and wet impregnation winding, and combines nine-axis redundant kinematics inverse kinematics and PID algorithm for tension control, so as to realize the diversification of equipment functions and rapid process switching.

Benefits of technology

It enables rapid switching between dry and wet processes on a single device, reducing operational complexity and equipment costs, improving the accuracy and quality stability of tension control, and adapting to the high-speed motion requirements of complex working conditions.

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Abstract

The application relates to a dry-wet combined robot winding device and a winding control method. The device provided by the application comprises a robot ground rail, a robot body which is in sliding connection with the robot ground rail and is provided with a flange interface at the tail end, a tail end execution assembly which is installed on the flange interface at the tail end of the robot body, a main shaft which is parallel to the robot ground rail and comprises a main shaft ground rail and a tail box, a dry-method winding tension yarn cabinet and a wet-method winding tension yarn cabinet which are installed on both sides of the robot ground rail, and a dipping tank unit which is installed on one side of the robot ground rail and is installed on the same side as the wet-method winding tension yarn cabinet. The application also discloses a cooperative control method based on electronic gear mapping and tension feedforward compensation. Through the modular quick-change structure and the cooperative control algorithm, the application solves the problems of difficult switching of heterogeneous material processes, limited operation space of large components and large dynamic tension fluctuation.
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