Gantry type multi-station eight-axis linkage double-fiber trolley numerical control winding machine and control method thereof

Abstract

The application relates to a gantry type multi-station eight-axis linkage double-fiber trolley numerical control winding machine and a control method thereof, and belongs to the technical field of fiber winding equipment. The winding machine comprises a gantry main machine, a spindle driving unit, a yarn nozzle trolley unit with a yaw shaft, a yarn nozzle trolley unit without a yaw shaft, an automatic glue mixing and injecting machine, a glue dipping unit, an inner yarn pulling fiber creel and an outer yarn pulling fiber tension creel and the like. The yarn nozzle trolley unit with the yaw shaft has Y and Z linear motion shafts, a yarn nozzle rotating U shaft and a yaw shaft, and forms a four-axis linkage system. The yarn nozzle trolley unit without the yaw shaft has a Y, Z and U three-axis linkage system. The main shaft rotation shaft of the spindle driving unit and the eight-axis linkage numerical control system are jointly formed. The application realizes full-automatic seamless switching of glass fiber and carbon fiber, high-precision closed-loop stable control of resin content, and high-speed, high-precision and full-flow continuous production of the IV type gas cylinder.

Description

Technical Field

[0001] This invention relates to the field of fiber winding equipment technology, specifically a gantry-type multi-station eight-axis linkage double fiber trolley CNC winding machine for the production of Type IV gas cylinders and its control method. Background Technology

[0002] Fiber winding technology is a key process in manufacturing high-performance composite material products (such as Type IV high-pressure gas cylinders and hydrogen storage cylinders). This technology involves impregnating continuous fibers with resin and winding them onto the inner liner of the cylinder according to a specific trajectory, followed by curing to form a high-strength, lightweight composite structure. With the rapid development of hydrogen fuel cell vehicles, aerospace, and other fields, the demand for Type IV gas cylinders is increasing, while higher requirements are being placed on their performance, quality, and production efficiency. Type IV gas cylinders (all-composite material cylinders) are widely used in hydrogen fuel cell vehicles, aerospace, and other fields due to their advantages such as light weight, corrosion resistance, and long fatigue life. The winding process for Type IV gas cylinders has special requirements: it typically requires first winding carbon fiber to provide a high-strength, high-rigidity structural layer, followed by several layers of glass fiber winding to provide an impact-resistant and wear-resistant protective layer. Therefore, the production process of Type IV gas cylinders requires frequent switching between different types of fiber materials. Existing technologies, such as the multi-station high-speed and high-efficiency winding machine disclosed in Chinese patent document CN118003615A, while achieving multi-station synchronous winding and online inflation, effectively improve production efficiency. However, such equipment is typically equipped with only a single thread nozzle and a single impregnation system, and can only handle a single type of fiber material. To produce Type IV gas cylinders that require composite winding of two types of fibers, the machine must be stopped midway, and the yarn frame, thread nozzle, and glue tank must be changed manually. This is not only inefficient and disruptive to the process, but also makes it difficult to guarantee the accuracy and consistency of the layer switching.

[0003] Furthermore, existing winding equipment often employs open-loop control for the resin impregnation process, with the scraping gap set manually and then fixed. Since factors such as resin viscosity, ambient temperature, and fiber tension change in real time during production, a fixed scraping gap cannot adapt to these changes, leading to large fluctuations in the resin content of the fibers. This directly affects the uniformity and consistency of the final product's performance. The lack of real-time monitoring and feedback adjustment of the resin content after impregnation is a significant bottleneck restricting product quality stability.

[0004] More importantly, for complex curved surface products such as Type IV gas cylinders, the winding trajectory needs to be precisely planned in three-dimensional space. Traditional three-axis (X, Y, Z) or four-axis (X, Y, Z, U) winding machines struggle to achieve real-time optimization and adjustment of the nozzle posture, especially in areas with large curvature changes such as the bottle neck and end cap. Because the nozzle cannot adjust its posture according to the surface normal, uneven fiber spreading, gaps or accumulation between fibers occur. At the same time, fiber tension fluctuates drastically in the end cap area due to abrupt changes in the path bending radius, severely affecting the product's performance and appearance quality. This is a technical challenge that existing four-axis linkage winding machines cannot overcome.

[0005] Therefore, there is an urgent need for a winding equipment that can automatically switch between different fiber materials, has multi-axis linkage capability to achieve high-precision winding of complex curved surfaces, and performs intelligent closed-loop control of the impregnation process, so as to meet the production requirements of high-end composite material products such as Type IV gas cylinders for complex structures, high performance and high quality stability. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a gantry-type multi-station eight-axis linkage dual-fiber trolley CNC winding machine. This equipment not only inherits the high-efficiency production characteristics of existing technologies, such as multi-station operation and online inflation, but also achieves fully automatic and seamless switching between carbon fiber and glass fiber through a unique eight-axis linkage dual-trolley architecture. Furthermore, it achieves precise and stable control of the impregnating resin content through a closed-loop glue-scraping system with a resin content sensor, thereby achieving continuous and intelligent production throughout the entire process and significantly improving product performance consistency.

[0007] Another objective of this invention is to provide a control method for the aforementioned gantry-type multi-station eight-axis linkage double fiber trolley CNC winding machine.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A gantry-type multi-station eight-axis linkage double fiber trolley CNC winding machine includes a gantry main unit, a main shaft drive unit, an air inflation system, a tailstock unit, a trolley unit with a yaw axis and a trolley unit without a yaw axis and a base, a column, an automatic glue mixing and injection machine, a glue impregnation unit, an inner yarn drawing fiber truss, and an outer yarn drawing fiber tension truss.

[0010] The gantry crane consists of a crossbeam, a base, and columns, forming the supporting framework of the entire equipment. The crossbeam is mounted on the columns, which are fixed to the base, creating a stable gantry structure.

[0011] The main spindle drive unit is installed at one end of the crossbeam and includes a main spindle motor, a main spindle shaft, and a first pneumatic chuck. An inflation shaft is installed inside the main spindle shaft, and a rotary joint is connected to the rear end of the inflation shaft for communication with an inflation system to achieve online inflation during the winding process.

[0012] The inflation system is connected to the main shaft via a rotary joint and is used to supply air to the inner cavity of the workpiece and maintain a preset pressure to ensure the stability of the shape of the inner liner of the gas cylinder during the winding process.

[0013] The tailstock unit is installed at the other end of the crossbeam and is arranged opposite to the main spindle drive unit. It includes a second pneumatic chuck and a tail top rotating shaft, and is used to cooperate with the main spindle drive unit to clamp the workpiece and drive the workpiece to rotate.

[0014] The yaw axis nozzle carriage unit is movably mounted on the crossbeam and has Y and Z linear motion axes, a nozzle rotation U-axis, and a yaw axis (B-axis), forming a four-axis linkage system. This carriage is mainly used for winding carbon fiber. Its yaw axis can adjust the nozzle posture in real time during winding, ensuring that the nozzle always maintains the optimal angle with the normal to the curved surface of the workpiece end cap area. This solves the problem of uneven yarn spreading caused by sudden changes in curvature in the end cap area. Simultaneously, by optimizing the nozzle posture, it reduces drastic changes in the fiber bending radius, effectively stabilizing fiber tension.

[0015] The trolley unit without a yaw axis is movably mounted on the crossbeam and has three degrees of freedom of movement along the Y, Z, and U axes, forming a three-axis linkage system. This trolley is mainly used for winding glass fiber, and its structure is relatively simple, reducing cost and control complexity.

[0016] The main spindle drive unit and the tailstock unit work together to drive the workpiece rotation, forming the main spindle rotation axis (X-axis). The four axes U, Y, Z, and B of the yaw axis lead screw carriage unit, and the three axes U, Y, and Z of the lead screw carriage unit without the yaw axis, together with the main spindle rotation axis (X-axis), constitute an eight-axis linkage CNC system.

[0017] The automatic resin mixing and dispensing machine is used to supply a pre-proportioned resin mixture to the impregnation unit. It stores multiple resin formulas suitable for carbon fiber and glass fiber, and can automatically switch formulas according to the type of cart currently in use.

[0018] The impregnation unit includes independent impregnation tanks corresponding to the trolley units with and without yaw axis nozzles. Each impregnation tank outlet is equipped with a closed-loop automatic glue scraping system. This closed-loop automatic glue scraping system includes a glue scraping servo cylinder, a swing arm, a scraper, a glue roller, and a resin content detection sensor, and achieves real-time closed-loop control of the resin content through a central control system.

[0019] The inner drawing fiber yarn holder and the outer drawing fiber tension yarn holder are used to place different types of fiber yarn bundles and provide tension control, respectively. The inner drawing fiber yarn holder is used to place glass fiber yarn bundles using an inner drawing method; the outer drawing fiber tension yarn holder is used to place carbon fiber yarn bundles using an outer drawing method.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. Pioneering dual-carriage eight-axis linkage structure with yaw axis: By integrating a carbon fiber four-axis linkage carriage with yaw axis (B-axis) and a glass fiber three-axis linkage carriage without yaw axis, fully automatic and seamless switching between carbon fiber and glass fiber is achieved. The yaw axis allows for real-time adjustment of the nozzle posture, especially solving the problems of uneven yarn spreading and unstable tension caused by abrupt curvature changes in the gas cylinder end cap area, greatly improving the winding coverage and trajectory accuracy of complex curved surfaces (especially gas cylinder end caps).

[0022] 2. An integrated closed-loop scraping system with a resin content sensor: The resin content of the fiber is monitored in real time by the resin content detection sensor, and the signal is fed back to the central control system. The central control system dynamically adjusts the drive parameters of the scraping servo cylinder according to the feedback signal, thereby precisely controlling the gap between the scraper and the glue roller, realizing intelligent closed-loop control of the impregnation process, and fundamentally solving the problem of large fluctuations in resin content.

[0023] 3. A dedicated yarn-cutting mechanism ensures the reliability of fiber switching: Through the coordinated operation of the yarn-clamping cylinder, the yarn-cutting cylinder, and the yarn-hooking cylinder, automated yarn clamping, precise cutting, and yarn end processing are achieved, providing a reliable guarantee for automatic switching between the two carriages.

[0024] 4. The automatic glue mixing and dispensing system improves production efficiency and process consistency: The liquid level sensor monitors the liquid level in real time, and the central control system automatically controls the opening and closing of the pneumatic two-way ball valve based on the liquid level feedback to achieve automatic glue replenishment and reduce manual intervention.

[0025] 5. Through the coordinated control of the central control system, continuous and intelligent production has been achieved throughout the entire process, from fiber feeding, impregnation, content control, winding to online inflation, which has significantly improved production efficiency and product quality consistency. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the gantry structure after removing the outer components;

[0028] Figure 3-1 , 3-2 This is a view of the spindle drive unit; where, Figure 3-2 This is a cross-sectional schematic diagram of the spindle drive unit;

[0029] Figure 4-1 , 4-2 This is the air path diagram of the inflation system; among which, Figure 4-2 yes Figure 4-1 A schematic diagram of the rear view structure;

[0030] Figure 5 This is a structural schematic diagram of the tailstock unit;

[0031] Figure 6 This is a sectional view of the tail-top pivot.

[0032] Figures 7-1 and 7-2 are structural schematic diagrams of a trolley unit with a yaw axis screw nozzle; among them... Figure 7-2 This is a cross-sectional schematic diagram of a carriage unit with a yaw axis screw nozzle;

[0033] Figure 8-1 is a frontal three-dimensional structural diagram of the yarn-cutting mechanism; Figure 8-2 This is a rear-view three-dimensional structural diagram of the yarn-cutting mechanism;

[0034] Figure 9 This is a structural schematic diagram of a carriage unit without a yaw axis screw nozzle;

[0035] Figure 10 This is a schematic diagram of the overall structure of the impregnation system;

[0036] Figure 11 This is a magnified view of a portion of the glue-scraping mechanism;

[0037] Figure 12 This is a magnified view of a portion of the resin content detection sensor;

[0038] Figure 13 This is a structural diagram of an automatic glue mixing and dispensing machine;

[0039] Figure 14 This is a magnified view of a portion of the glue dispensing system.

[0040] The numbers on the map are:

[0041] 1. Crossbeam; 2. Spindle drive unit; 21. Spindle motor; 22. Spindle shaft; 221. First synchronous pulley; 222. Inflation shaft; 223. Front bearing; 224. Rear bearing; 225. Rotary joint; 23. First pneumatic chuck; 24. First synchronous belt; 25. Tensioner; 3. Inflation system; 31. Airflow branch; 311. High-pressure pneumatic two-way ball valve; 312. High-pressure silencer; 313. High-pressure manual ball valve; 314. First pressure gauge; 315. Pressure sensor; 32. High-pressure pneumatic three-way ball valve; 33. High-pressure filter; 34. Second pressure gauge; 35. Proportional pressure valve; 36. Third pressure gauge; 37. Output interface; 4. Tailstock unit; 41. Second pneumatic chuck; 42. Tailstock top shaft; 421. Telescopic shaft; 422. Shaft; 423. Second synchronous pulley; 424. Cylinder; 43. Motor end synchronous pulley; 44. Tailstock motor; 45. Second synchronous belt; 46. Third synchronous belt; 47. Tailstock tensioner; 5. Yarn-feeding carriage unit with yaw axis; 51. Yaw motor; 511. Yaw motor pulley; 512. Synchronous belt for yaw mechanism; 513. Yaw mechanism pulley; 514. Upper turntable bearing; 515. Lower turntable bearing; 52. Upper moving carriage motor; 53. Lower moving carriage motor; 54. Upper extension arm motor; 55. Lower extension arm motor; 56. Yarn-feeding housing; 57. Electric cylinder; 58. Connecting rod; 59. Yarn-sticking and cutting mechanism; 591. Yarn-clamping cylinder; 592. Yarn-clamping cylinder connecting plate; 593. Yarn-cutting cylinder; 594. Blade; 595. Yarn-clamping groove; 596. Yarn-hooking rod; 597. Yarn-hooking cylinder; 598. First pressure roller; 599. Second pressure roller; 6. Yarn-feeding carriage unit without yaw axis; 7. Base; 8. Column; 9. Automatic glue mixing and dispensing machine; 91. Pneumatically controlled two-way ball valve; 92. Liquid level sensor; 10. Glue impregnation unit; 101. Glue scraper servo cylinder; 102. Swing arm; 103. Scraper; 104. Glue roller; 105. Fiber; 106. Resin content detection sensor; 11. Inner yarn drawing fiber yarn frame; 12. Outer yarn drawing fiber tension yarn frame. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be noted that these embodiments are merely illustrative of the invention and not intended to limit it. Unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0043] Example 1: Overall structure as follows Figure 1 and Figure 2As shown, the gantry-type multi-station eight-axis linkage double-fiber trolley CNC winding machine of this embodiment includes a crossbeam 1, a main shaft drive unit 2, an inflation system 3, a tailstock unit 4, a trolley unit with yaw axis nozzle 5, a trolley unit without yaw axis nozzle 6, a base 7, a column 8, an automatic glue mixing and dispensing machine 9, a glue impregnation unit 10, an inner yarn drawing fiber yarn frame 11, and an outer yarn drawing fiber tension yarn frame 12. The crossbeam 1 is a high-strength steel structural component with a box-type or I-shaped cross-section design, possessing good rigidity and bending resistance. The crossbeam 1 is mounted on the column 8, and the column 8 is fixed on the base 7, forming a stable gantry-type main frame. The upper surface of the crossbeam 1 is provided with a precision guide rail, used to support and guide the movement of the trolley unit with yaw axis nozzle 5 and the trolley unit without yaw axis nozzle 6 along the Y-axis direction. The precision guide rail is a linear rolling guide rail, featuring high precision, low friction, and high rigidity. The main spindle drive unit 2 and the tailstock unit 4 are mounted opposite each other at both ends of the crossbeam 1, respectively used to clamp the two ends of the workpiece (Type IV gas cylinder liner) and synchronously drive the workpiece to rotate. Multiple workstations are formed between the main spindle drive unit 2 and the tailstock unit 4, allowing for simultaneous winding operations of multiple gas cylinders, significantly improving production efficiency. These workstations are arranged along the length of the crossbeam 1, with each workstation corresponding to the clamping position of a gas cylinder liner. The trolley unit 5 with a yaw axis and the trolley unit 6 without a yaw axis are movably mounted on the precision guide rails of the crossbeam 1, and can move independently along the length (Y-axis) of the crossbeam 1. The central control system can control the two trolleys to automatically switch working states according to a preset winding program. The two trolleys share the same set of guide rails, achieving non-interfering collaborative work through the scheduling of the central control system. The automatic glue mixing and dispensing machine 9 and the glue impregnation unit 10 are located on one side of the equipment, near the middle of the crossbeam 1, and are used to provide resin impregnation for the fibers and close-loop glue scraping control. The automatic resin mixing and dispensing machine 9 is connected to two independent impregnation tanks of the impregnation unit 10 via pipelines, providing suitable resin mixtures for carbon fiber and glass fiber respectively. The inner-drawing fiber yarn holder 11 and the outer-drawing fiber tension yarn holder 12 are respectively located on the sides or rear of the equipment. The inner-drawing fiber yarn holder 11 is used to hold glass fiber yarn bundles, employing an inner-drawing method, meaning the fiber is drawn from inside the yarn bundle, suitable for tension control of glass fiber. The outer-drawing fiber tension yarn holder 12 is used to hold carbon fiber yarn bundles, employing an outer-drawing method, meaning the fiber is drawn from outside the yarn bundle, suitable for tension control of carbon fiber. Both yarn holders are equipped with a tension control system, which can adjust the fiber tension in real time to ensure stable fiber tension during winding. The central control system (industrial PLC or industrial computer) is installed in the electrical control cabinet and connected to each execution unit via signal lines, used to coordinate eight-axis linkage motion, automatic switching of dual carriages, and closed-loop control of impregnation. The central control system has built-in winding trajectory planning software, which can automatically generate winding programs based on the workpiece shape.

[0044] Example 2: The spindle drive unit is shown in Figures 3-1 and 3-2. The spindle drive unit 2 is the core component driving the workpiece rotation. Its structure includes a spindle motor 21, a spindle shaft 22, a first synchronous pulley 221, an inflatable shaft 222, a front bearing 223, a rear bearing 224, a rotary joint 225, a first pneumatic chuck 23, a first synchronous belt 24, and a tensioner 25. The spindle motor 21 is a high-precision servo motor, installed at one end of the crossbeam 1. The first synchronous pulley 221 is fixedly installed on the output shaft of the spindle motor 21. The first synchronous pulley 221 is connected to the pulley on the spindle shaft 22 via the first synchronous belt 24 to achieve power transmission. The tensioner 25 is installed on the slack side of the first synchronous belt 24 to adjust the tension of the first synchronous belt 24, ensuring transmission accuracy and stability. The installation position of the tensioner 25 is adjustable to accommodate wear and elongation of the synchronous belt. The main spindle shaft 22 has a hollow structure with an inflation shaft 222 running through it. The front end of the inflation shaft 222 is supported by a front bearing 223, and the rear end by a rear bearing 224, ensuring that the inflation shaft 222 rotates coaxially with the main spindle shaft 22. Both the front bearing 223 and the rear bearing 224 are high-precision rolling bearings, possessing high rotational accuracy and load-bearing capacity. A rotary joint 225 is connected to the rear end of the inflation shaft 222. The fixed end of the rotary joint 225 is connected to the pipeline of the inflation system 3, and the rotating end is connected to the inflation shaft 222, thus achieving continuous gas supply while the main spindle shaft 22 rotates. The rotary joint 225 employs a sealed structure to ensure no gas leakage during rotation. A first pneumatic chuck 23 is installed at the front end of the main spindle shaft 22 for clamping one end of the workpiece (Type IV gas cylinder liner). The first pneumatic chuck 23 is a pneumatically driven chuck, and its clamping and releasing can be controlled by a central control system. The first pneumatic chuck 23 has a self-centering function, ensuring that the workpiece is coaxial with the spindle shaft 22 after clamping. The spindle drive unit 2 is designed to achieve the dual functions of spindle rotation and online inflation. The rotational motion of the spindle motor 21 is transmitted to the spindle shaft 22 through the first synchronous belt 24, driving the workpiece to rotate. This rotational axis is defined as the spindle rotation axis (X-axis), which is one axis of the eight-axis linkage system. At the same time, the inflation system 3 continuously supplies air to the inner cavity of the workpiece through the rotary joint 225 and the inflation shaft 222 to maintain the preset pressure and ensure the stability of the shape of the gas cylinder liner during the winding process.

[0045] Example 3: The inflation system is shown in Figures 4-1 and 4-2. The inflation system 3 is a key system for supplying air to the inner cavity of the workpiece and precisely controlling the pressure. Its structure includes a high-pressure pneumatic three-way ball valve 32, a high-pressure filter 33, a proportional pressure valve 35, a multi-stage pressure detection unit, multiple airflow branches 31, and an output interface 37.

[0046] The air path routing is as follows: the main air source is first connected to the high-pressure pneumatic control three-way ball valve 32. The high-pressure pneumatic control three-way ball valve 32 is used to switch the air path direction, allowing the main air source to be delivered to different air path branches. Its opening and closing action is controlled by the central control system. The output end of the high-pressure pneumatic control three-way ball valve 32 is connected to the high-pressure filter 33. The high-pressure filter 33 is used to filter impurities, oil, and water vapor in the main air source, ensuring the purity of the gas entering the workpiece cavity. The filter element of the high-pressure filter 33 can be replaced periodically to ensure the filtration effect.

[0047] The output of the high-pressure filter 33 is connected to the second pressure gauge 34, which is used to monitor the pressure of the filtered air source. The output of the second pressure gauge 34 is connected to the proportional pressure valve 35, which is the core control element of the inflation system 3. It can precisely adjust the output pressure according to the instructions of the central control system to achieve precise control of the pressure inside the workpiece cavity. The proportional pressure valve 35 has a fast response speed and high control accuracy, which can meet the real-time adjustment requirements of pressure changes during the winding process.

[0048] The output of the proportional pressure valve 35 is connected to the third pressure gauge 36, which is used to monitor the final output pressure after adjustment by the proportional pressure valve 35. The output of the third pressure gauge 36 is connected to multiple airflow branches 31 arranged in parallel, and each airflow branch 31 corresponds to a winding station.

[0049] Each airflow branch 31 is connected in series with a high-pressure pneumatically controlled two-way ball valve 311, a high-pressure silencer 312, a high-pressure manually operated ball valve 313, a first pressure gauge 314, and a pressure sensor 315. Each airflow branch 31 is independently controlled and can correspond to different workstations or different inflation requirements: the high-pressure pneumatically controlled two-way ball valve 311 is used to control the opening and closing of the corresponding branch's airflow, and its switching is controlled by the central control system; the high-pressure silencer 312 is used to reduce airflow noise and improve the working environment; the high-pressure manually operated ball valve 313 serves as a manual shut-off valve for cutting off the airflow during maintenance or emergencies; the first pressure gauge 314 and the pressure sensor 315 are used to monitor the air pressure of the branch in real time, and the pressure sensor 315 transmits the pressure signal to the central control system.

[0050] The output ends of multiple airflow branches 31 eventually converge at the output interface 37. The output interface 37 is connected to the rotary joint 225 corresponding to each station through multiple pipelines, so as to deliver the gas with adjusted pressure to the inner cavity of the workpiece at each station.

[0051] During operation, compressed air enters from the main air source, first changing its flow direction via a high-pressure pneumatic control three-way ball valve 32, then entering a high-pressure filter 33 to filter impurities. The pressure after filtration is monitored by a second pressure gauge 34. Subsequently, it enters a proportional pressure valve 35, which precisely adjusts it to the preset working pressure. The adjusted pressure is monitored by a third pressure gauge 36. Afterward, the compressed air with stable pressure is distributed to multiple parallel airflow branches 31. In each airflow branch 31, the compressed air is controlled by a high-pressure pneumatic control two-way ball valve 311, silenced by a high-pressure silencer 312, and manually controlled by a high-pressure manual ball valve 313. The branch pressure is monitored by a pressure sensor 315 and a first pressure gauge 314. Finally, the compressed air from all branches enters the workpiece cavity of the corresponding workstation through the output interface 37, rotary joint 225, and inflation shaft 222. The multi-stage pressure detection unit (first pressure gauge 314, pressure sensor 315, second pressure gauge 34, and third pressure gauge 36) ensures the accuracy and safety of pressure control at each workstation.

[0052] Example 4: Tailstock unit as follows Figure 5 and Figure 6 As shown, the tailstock unit 4 is a key component that works in conjunction with the spindle drive unit 2, used to clamp the other end of the workpiece and rotate it synchronously. Its structure includes a second pneumatic chuck 41, a tail top rotating shaft 42, a motor end synchronous pulley 43, a tailstock motor 44, a second synchronous belt 45, a third synchronous belt 46, and a tailstock tensioning pulley 47.

[0053] The tailstock motor 44 is a high-precision servo motor, mounted on the other end of the crossbeam 1. A motor-end synchronous pulley 43 is fixedly mounted on the output shaft of the tailstock motor 44. The motor-end synchronous pulley 43 transmits power to the tailstock shaft 42 via the second synchronous belt 45 and the third synchronous belt 46. The tailstock tensioner 47 is mounted on the slack side of the second synchronous belt 45 and the third synchronous belt 46, and is used to adjust the tension of the synchronous belts.

[0054] A second pneumatic chuck 41 is mounted on the front end of the tail spindle 42 for clamping the other end of the workpiece. The tail spindle 42 rotates synchronously with the main spindle 22 to ensure stable clamping and precise rotation of the workpiece during the winding process.

[0055] like Figure 6 As shown, the internal structure of the tail shaft 42 includes a telescopic shaft 421, a rotating shaft 422, a second synchronous pulley 423, and a cylinder 424.

[0056] The rotating shaft 422 is the main structure of the tail shaft 42, and a second synchronous pulley 423 is provided on its exterior to receive power from the tail motor 44. The telescopic shaft 421 is slidably installed inside the rotating shaft 422. The front end of the telescopic shaft 421 is connected to the second pneumatic chuck 41, and the rear end is connected to the piston rod of the cylinder 424.

[0057] Cylinder 424 is installed at the rear end of tail shaft 42, and its cylinder body is fixed to the housing of tail shaft 42. When the piston rod of cylinder 424 extends, it pushes telescopic shaft 421 forward, causing second pneumatic chuck 41 to clamp the workpiece; when the piston rod retracts, it pulls telescopic shaft 421 backward, causing second pneumatic chuck 41 to release the workpiece.

[0058] The tailstock unit 4 is designed to automatically clamp and release the workpiece, as well as ensure synchronous rotation between the tailstock and the spindle, thus guaranteeing the stability and rotational accuracy of the workpiece during the winding process. The tailstock motor 44 is synchronously controlled with the spindle motor 21 to ensure synchronized rotation at both ends of the workpiece, avoiding torsional stress.

[0059] Example 5: The yaw axis nozzle carriage unit is shown in Figures 7-1 and 7-2. The yaw axis nozzle carriage unit 5 is one of the core innovations of this invention and is mainly used for winding carbon fiber. This carriage has four-axis linkage capability: Y-axis movement along the length of the crossbeam, Z-axis movement along the width of the crossbeam, U-axis rotation of the nozzle, and yaw axis (B-axis) rotation around its own axis.

[0060] The specific structure of the yarn feeder unit 5 with yaw axis includes: yaw motor 51, yaw motor pulley 511, yaw mechanism synchronous belt 512, yaw mechanism pulley 513, upper turntable bearing 514, lower turntable bearing 515, upper moving carriage motor 52, lower moving carriage motor 53, upper extension arm motor 54, lower extension arm motor 55, yarn feeder housing 56, electric cylinder 57, connecting rod 58, and yarn bonding and cutting mechanism 59.

[0061] The yaw motor 51 is mounted on the base of the trolley, and its output shaft has a yaw motor pulley 511. A yaw mechanism synchronous belt 512 connects the yaw motor pulley 511 to the yaw mechanism pulley 513, which is fixedly mounted on the rotating shaft of the nozzle housing 56. An upper rotary table bearing 514 and a lower rotary table bearing 515 are respectively mounted at the upper and lower ends of the nozzle housing 56 to support its rotational movement. When the yaw motor 51 rotates, it drives the nozzle housing 56 to rotate around its axis through the transmission of the yaw motor pulley 511, the yaw mechanism synchronous belt 512, and the yaw mechanism pulley 513, achieving precise yaw motion within a range of ±90°.

[0062] The upper moving trolley motor 52 and the lower moving trolley motor 53 are respectively installed on the upper and lower sides of the trolley, and are used to drive the trolley to move along the Y-axis (the length direction of the crossbeam). The upper extension arm motor 54 and the lower extension arm motor 55 are respectively installed on the left and right sides of the trolley, and are used to drive the trolley to move along the Z-axis (the width direction of the crossbeam). The electric cylinder 57 and the connecting rod 58 are used to drive the yarn-cutting mechanism 59 to rotate (in the vertical direction).

[0063] The nozzle housing 56 is the base for mounting the nozzle and the yarn-cutting mechanism 59. It has an internal fiber guiding channel to ensure that the fibers are smoothly guided from the yarn frame through the impregnation unit to the nozzle outlet. The rotation axis of the nozzle housing 56 is parallel to the output shaft of the yaw motor 51, ensuring precise transmission of the yaw motion.

[0064] The yarn-cutting mechanism 59 is installed at the front end of the yarn feeder housing 56 and is used for clamping, cutting, and finishing the yarn ends. Its specific structure will be described in detail in Embodiment 6.

[0065] The four-axis linkage capability of the yaw axis nozzle carriage unit 5 enables the carbon fiber nozzle to adjust its posture in real time during winding. This design plays a decisive role in solving the winding problem in the cylinder end cap area: In the end cap area, due to the drastic change in surface curvature, if the nozzle posture remains unchanged, the fiber cannot maintain the optimal angle with the surface normal, resulting in uneven fiber spreading, gaps between fiber bundles, or overlapping accumulation. At the same time, abrupt changes in the bending radius of the fiber path can cause drastic tension fluctuations, affecting the winding quality. However, through real-time adjustment of the yaw axis, the nozzle can always be tangent to the end cap surface at the optimal angle, allowing the fiber to spread evenly and stably conform to the surface, while reducing changes in the bending angle of the fiber path, effectively suppressing tension fluctuations, and significantly improving the winding quality in the end cap area and the overall performance of the product.

[0066] Example 6: The yarn-bonding and cutting mechanism is shown in Figures 8-1 and 8-2. The yarn-bonding and cutting mechanism 59 is a key component ensuring the reliability of automatic switching between the two carriages. It is integrated and mounted on the mounting plate, realizing automated fiber clamping, precise cutting, thread end processing, and yarn continuation, providing a reliable guarantee for automatic switching between the two carriages. Its structure includes a mounting plate (not individually labeled), a yarn-clamping cylinder 591, a yarn-clamping cylinder connecting plate 592, a yarn-cutting cylinder 593, a blade 594, a yarn-clamping groove 595, a yarn-hooking rod 596, a yarn-hooking cylinder 597, a first pressure roller 598, and a second pressure roller 599. The yarn-cutting cylinder 593 and the yarn-hooking cylinder 597 are both mounted on the mounting plate of the yarn-bonding and cutting mechanism 59, and the mounting plate is fixed to the front end of the yarn nozzle box 56.

[0067] The wire-clamping cylinder 591 is mounted on the mounting plate. Its piston rod is connected to the wire-hooking rod 596 via the wire-clamping cylinder connecting plate 592. The wire-clamping cylinder 591 can drive the wire-hooking rod 596 to rotate via the wire-clamping cylinder connecting plate 592, thereby driving the wire-clamping groove 595 to cooperate with the wire-hooking rod 596 to complete the fiber clamping action. The wire-clamping groove 595 has a V-shaped or U-shaped groove structure and is fixedly set on one side of the wire-hooking rod 596, forming an openable clamping space with the wire-hooking rod 596.

[0068] The shredding cylinder 593 is mounted on the mounting plate, located on one side of the wire hook rod 596, and its piston rod is connected to the blade 594. The blade 594 is a high-strength alloy steel blade used to cut fibers.

[0069] The hook cylinder 597 is mounted on the mounting plate, and its piston rod is connected to the hook rod 596, which is used to drive the hook rod 596 to extend and retract as a whole. The front end of the hook rod 596 is provided with a hook-like structure for hooking the fiber.

[0070] The first pressure roller 598 and the second pressure roller 599 are installed at the front end of the yarn nozzle box 56 and are located near the yarn nozzle outlet. The first pressure roller 598 is used to press the yarn end against the inner surface during yarn feeding, and the second pressure roller 599 is used to keep the yarn end pressed down after yarn cutting and flatten the yarn end.

[0071] The complete workflow of the yarn-cutting and bonding mechanism 59 is divided into two stages: yarn cutting and yarn continuation. The specific steps are as follows:

[0072] Yarn cutting process:

[0073] Once the current winding layer is complete, the central control system issues a yarn-cutting signal and proceeds with the following steps:

[0074] a) Position adjustment: The Z-axis extension arm of the yaw axis nozzle carriage unit 5 is moved to the appropriate yarn cutting position, ready to perform the yarn cutting action;

[0075] b) Opening the hook rod: First, start the hook cylinder 597 to drive the hook rod 596 to extend and open, ready to hook the fiber;

[0076] c) Opening of the wire clamping groove: The wire clamping cylinder 591 is started, which drives the wire hook rod 596 to rotate through the wire clamping cylinder connecting plate 592, so that the wire clamping groove 595 opens into place.

[0077] d) The yarn tip approaches: The electric cylinder 57 is started, driving the entire yarn-sticking and cutting mechanism 59 to rotate downward, so that the second pressure roller 599 presses against the inner surface of the workpiece.

[0078] e) Fiber clamping: The hook rod 596 is retracted under the drive of the hook cylinder 597, and the clamping cylinder 591 drives the hook rod 596 to rotate in the opposite direction and retract through the clamping cylinder connecting plate 592, so that the hook rod 596 accurately presses the fiber into the clamping groove 595, thus completing the reliable clamping of the fiber.

[0079] f) Cutting the fiber: The next step is to start the shredding cylinder 593, which drives the blade 594 to extend quickly and cut the fiber clamped in the clamping groove instantly.

[0080] g) Flattening the thread ends: After the fiber is cut, the second pressure roller 599 remains pressed on the inner liner surface without lifting it. The inner liner of the workpiece is rotated about half a turn in the forward direction to completely flatten the cut thread ends on the surface of the winding layer, thus completing the yarn cutting process.

[0081] Threading process:

[0082] After replacing the plastic inner liner, when preparation for wire reconnection is needed, the central control system will send a wire reconnection signal and then proceed with the following steps:

[0083] a) Position adjustment: The Y-axis of the trolley moves to the appropriate yarn continuation position, and the Z-axis extension arm moves the yarn-adhesive cutting mechanism 59 closer to the inner liner;

[0084] b) Pressure roller bonding: Stop moving after the first pressure roller (598) is bonded to the inner liner surface;

[0085] c) Opening of the hook rod: The hook cylinder 597 drives the hook rod 596 to extend and open, and the clamping cylinder 591 drives the hook rod 596 to rotate and open the clamping groove through the clamping cylinder connecting plate 592, ready to cooperate with the winding and take-up of the wire.

[0086] d) Reverse yarn take-up: Control the inner tube to rotate in the opposite direction by about 150 degrees, and press the yarn end left after the previous yarn cutting completely onto the surface of the inner tube to ensure that the yarn end is flat and not warped;

[0087] e) Forward rotation and yarn adhesion: Then control the inner liner to rotate forward 1 to 2 times to make the new yarn completely and evenly wrapped and adhered to the surface of the inner liner;

[0088] f) Exit preparation: The first pressure roller 598 is raised, the yarn sticking and cutting mechanism 59 exits the working position, the entire yarn continuing process is completed, and the winding program can be started normally.

[0089] The yarn-cutting mechanism 59 achieves full automation of fiber clamping, precise cutting, thread flattening, and yarn reconnection through the coordinated action of the clamping cylinder, hooking cylinder, cutting cylinder, and multi-axis of the trolley. It utilizes the clamping cylinder connecting plate to drive the hooking rod to rotate and achieve clamping. This fully automates the entire process of fiber clamping, precise cutting, thread flattening, and yarn reconnection preparation, completely avoiding yarn threading failures or entanglement defects caused by loose fiber threads. It provides a reliable guarantee for multi-station, multi-fiber automatic switching production.

[0090] Example 7: A carriage unit without a yaw axis screw nozzle, such as Figure 9 As shown, the trolley unit 6 without a yaw axis is mainly used for winding glass fiber. This trolley has three-axis linkage capability: Y-axis movement along the length of the crossbeam, Z-axis movement along the width of the crossbeam, and U-axis rotation of the thread nozzle.

[0091] The structure of the trolley unit 6 without a yaw axis is relatively simplified, including an upper moving trolley motor 52, an upper extending arm motor 54, an electric cylinder 57, a connecting rod 58, and a yarn-adhesion and cutting mechanism 59. Since glass fiber winding usually does not require complex nozzle posture adjustment, this trolley does not have a yaw axis, reducing cost and control complexity.

[0092] The upper moving trolley motor 52 drives the trolley to move along the Y-axis. The upper extending arm motor 54 drives the trolley to move along the Z-axis. The electric cylinder 57 and the connecting rod 58 drive the yarn-cutting mechanism 59 to rotate (vertically). The yarn-cutting mechanism 59 is installed at the yarn tip position of the trolley and is used for clamping, cutting, and finishing the glass fibers. Its structure is the same as that of the yarn-cutting mechanism 59 described in Example 6.

[0093] This trolley shares the same set of crossbeam 1 guide rails with the trolley unit 5 with yaw axis screw nozzle, and the switching is achieved automatically through the scheduling of the central control system. When it is necessary to switch to glass fiber winding, the trolley unit 5 with yaw axis screw nozzle returns to the standby position, and the trolley unit 6 without yaw axis screw nozzle moves to the working position to start winding the glass fiber layer.

[0094] Example 8: Dipping unit and closed-loop coating system as follows Figure 10 , Figure 11 and Figure 12 As shown, the impregnation unit 10 is another core innovation of this invention. Corresponding to the two trolleys, the impregnation unit 10 is equipped with two independent impregnation tanks, each of which is equipped with a closed-loop automatic glue scraping system.

[0095] The closed-loop automatic glue scraping system includes: a glue scraping servo cylinder 101, a swing arm 102, a scraper 103, a glue roller 104, and a resin content detection sensor 106.

[0096] The glue-scraping servo cylinder 101 is mounted on a bracket in the glue-dipping tank, and its output end is connected to the scraper 103 via a swing arm 102. The glue-scraping servo cylinder 101 is a high-precision servo-driven cylinder, capable of achieving precise linear motion control. The glue-scraping servo cylinder 101 integrates a position feedback sensor, which can provide real-time feedback on the piston rod position, enabling closed-loop position control.

[0097] The swing arm 102 is a lever structure, with one end hinged to the output end of the scraper servo cylinder 101 and the other end fixedly connected to the scraper 103. When the piston rod of the scraper servo cylinder 101 extends or retracts, the scraper 103 is driven to rotate around its fulcrum through the lever action of the swing arm 102, thereby changing the gap between the scraper 103 and the glue roller 104.

[0098] The rubber roller 104 is installed at the outlet of the impregnation tank and can rotate freely. After the fiber 105 is drawn out of the impregnation tank, it passes through the scraping gap between the rubber roller 104 and the scraper 103, and the excess resin is scraped off. The amount of resin left on the fiber is determined by the scraping gap.

[0099] A resin content detection sensor 106 is installed downstream of the scraper 103 and is used for real-time, online, non-contact detection of the resin content percentage of the fibers 105 after scraping. This sensor can be one of an infrared spectroscopy sensor, a microwave sensor, or an optical sensor.

[0100] The closed-loop control principle is as follows:

[0101] a) The resin content detection sensor 106) transmits the real-time detected resin content signal to the central control system;

[0102] b) The central control system compares the measured value with the target content value set in the current process and calculates the deviation value;

[0103] c) Based on a preset control algorithm (such as a PID algorithm), the central control system calculates the adjustment amount of the gap between the scraper 103 and the rubber roller 104 required to eliminate the deviation.

[0104] d) The central control system converts the adjustment amount into control commands for the scraper servo cylinder 101;

[0105] e) The glue scraping servo cylinder 101 drives the swing arm 102 to swing, precisely adjusting the angle of the scraper 103, thereby changing the glue scraping gap;

[0106] f) After adjustment, the resin content detection sensor 106 detects the resin content of the fiber again and feeds the new detection value back to the central control system.

[0107] g) Repeat steps b) to f) to form a dynamic, real-time closed-loop control loop to ensure that the resin content remains stable within the target range.

[0108] This closed-loop automatic glue scraping system fundamentally solves the problem of large fluctuations in resin content in traditional open-loop control, significantly improving the consistency and repeatability of product quality.

[0109] Example 9: Automatic glue mixing and dispensing machine Figure 13 and Figure 14 As shown, the automatic glue mixing and dispensing machine 9 is used to supply resin mixtures adapted to different fibers to the two independent impregnation tanks of the impregnation unit 10.

[0110] The automatic glue mixing and dispensing machine 9 includes multiple sets of raw material storage tanks, a pneumatically controlled two-way ball valve 91, a liquid level sensor 92, and corresponding pipelines and control systems.

[0111] Multiple sets of raw material storage tanks are used to store different components such as resin, curing agent, and accelerator. Each set of raw material storage tanks is connected to a pneumatically controlled two-way ball valve 91 via an independent pipeline. The pneumatically controlled two-way ball valve 91 is used to control the supply and shutdown of each raw material, and its opening and closing are controlled by the central control system.

[0112] After the raw materials are mixed in a preset ratio in the pipeline, they are transported to the impregnation tank. A level sensor 92 is installed in the impregnation tank to monitor the liquid level of the adhesive in real time.

[0113] like Figure 14 As shown, the liquid level sensor 92 transmits the detected liquid level signal to the central control system. When the liquid level is lower than the set lower limit, the central control system controls the pneumatic two-way ball valve 91 to open, automatically replenishing the impregnation tank with a resin mixture prepared according to a preset ratio. When the liquid level reaches the set upper limit, the central control system controls the pneumatic two-way ball valve 91 to close, stopping the resin replenishment.

[0114] The central control system stores multiple resin formulas adapted to carbon fiber and glass fiber, respectively. When the central control system detects a change in the type of vehicle currently in use, it automatically switches to the corresponding resin formula and controls the corresponding pneumatic two-way ball valve 91 to supply resin to the corresponding impregnation tank.

[0115] The automatic resin mixing and dispensing machine 9 realizes automatic resin proportioning, automatic mixing and automatic supply, reducing manual intervention and improving production efficiency and process consistency.

[0116] Example 10: Control Method This example provides a control method based on the aforementioned winding machine, including an eight-axis linkage winding control step, a dual-fiber trolley automatic switching step, a glue impregnation closed-loop control step, and an automatic glue mixing and injection step.

[0117] Eight-axis linkage winding control steps:

[0118] S101: The central control system loads the workpiece winding program, which includes parameters such as the fiber type used for each winding layer, the spatial coordinates of the winding trajectory, the nozzle attitude angle, the spindle speed, and the target resin content.

[0119] S102: When the program indicates that carbon fiber is required for the current winding layer, the central control system controls the yaw axis nozzle carriage unit 5 to move to the working position and starts its yarn bonding and cutting mechanism 59 to prepare the fiber.

[0120] S103: The central control system calculates the five-axis linkage interpolation data of the U, Y, Z, B axes of the trolley unit 5 with yaw axis screw nozzle and the main spindle X axis.

[0121] S104: Initiate winding. The main spindle drive unit 2 and tailstock unit 4 synchronously drive the workpiece to rotate. The U, Y, Z, and B axes of the yaw axis nozzle carriage unit 5 are interpolated with the main spindle X axis in a five-axis linkage to perform the winding of the carbon fiber layer. During the winding process, the yaw axis (B axis) adjusts the nozzle posture in real time to ensure that the nozzle always maintains the optimal angle with the curved surface normal of the workpiece end cap area, thereby solving the problem of uneven yarn spreading caused by sudden curvature changes in the end cap area. At the same time, by optimizing the nozzle posture, the drastic changes in fiber bending radius are reduced, effectively stabilizing fiber tension. S105: When the program indicates that the current winding layer needs to use glass fiber, the central control system controls the yaw axis-less nozzle carriage unit 6 to move to the working position and starts its yarn bonding and cutting mechanism 59 to prepare the fiber.

[0122] S106: The central control system calculates the four-axis linkage interpolation data of the U, Y, and Z axes of the trolley unit 6 without yaw axis screw nozzle and the main spindle X axis.

[0123] S107: Start winding. The main spindle drive unit 2 and tailstock unit 4 synchronously drive the workpiece to rotate. The U, Y, and Z axes of the non-yaw axis screw carriage unit 6 and the main spindle X axis perform four-axis linkage interpolation to perform the winding of the glass fiber layer.

[0124] Dual-fiber automatic switching steps:

[0125] S201: When the carbon fiber layer winding is finished and it is necessary to switch to the glass fiber layer, the central control system triggers the action of the yarn-cutting mechanism 59 of the yaw axis nozzle carriage unit 5 to cut the carbon fiber.

[0126] S202: After the yarn-cutting mechanism 59 of the yaw axis nozzle carriage unit 5 completes the cutting, the carriage returns to the standby position and is locked by the carriage switching positioning mechanism.

[0127] S203: The central control system controls the movement of the trolley unit 6 without yaw axis screw nozzle from the standby position to the working position.

[0128] S204: The yarn-cutting mechanism 59 without the yaw axis nozzle carriage unit 6 is activated to prepare glass fiber and complete the switching.

[0129] S205: When the glass fiber layer is finished winding and it is necessary to switch back to the carbon fiber layer, perform the reverse operation of the above steps.

[0130] Impregnation closed-loop control steps:

[0131] S301: During the winding process, the closed-loop automatic glue scraping system corresponding to the glue impregnation tank continues to work.

[0132] S302: The resin content detection sensor 106 monitors the resin content of the fiber 105 after glue scraping in real time and transmits the detection signal to the central control system.

[0133] S303: The central control system compares the detected value with the target content value set in the current process.

[0134] S304: If the detected value deviates from the target value, the central control system calculates the adjustment amount of the scraping gap based on the PID control algorithm.

[0135] S305: The central control system converts the adjustment amount into control commands for the scraper servo cylinder 101.

[0136] S306: The scraper servo cylinder 101 drives the swing arm 102 to swing, precisely adjusting the gap between the scraper 103 and the glue roller 104.

[0137] S307: Repeat steps S302 to S306 to ensure that the resin content remains stable within the target range.

[0138] Automatic glue mixing and dispensing steps:

[0139] S401: The central control system automatically switches the formula of the automatic glue mixing and dispensing machine 9 according to the type of trolley currently in use.

[0140] S402: When carbon fiber is wound using the yaw axis nozzle carriage unit 5, the automatic glue mixing and dispensing machine 9 supplies the corresponding impregnation tank with a resin mixture suitable for carbon fiber.

[0141] S403: When glass fiber winding is performed using the non-yaw axis nozzle carriage unit 6, the automatic glue mixing and dispensing machine 9 supplies the corresponding impregnation tank with a resin mixture suitable for glass fiber.

[0142] S404: Liquid level sensor 92 monitors the liquid level of the adhesive in the impregnation tank in real time.

[0143] S405: When the liquid level is below the set lower limit, the central control system controls the pneumatic two-way ball valve 91 to open and automatically replenish adhesive. S406: When the liquid level reaches the set upper limit, the central control system controls the pneumatic two-way ball valve 91 to close and stop replenishing adhesive.

[0144] Through the above control methods, this invention realizes a fully automatic and seamless switching from carbon fiber winding to glass fiber winding for Type IV gas cylinders, as well as intelligent closed-loop control of the impregnation process, ensuring continuous and high-precision production throughout the entire process.

[0145] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A gantry-type multi-station eight-axis linkage double-fiber trolley CNC winding machine, Its features are, Includes: gantry main unit, which consists of a crossbeam (1), a base (7) and a column (8); as well as, The main spindle drive unit (2) is installed at one end of the crossbeam (1) and includes a main spindle motor (21), a main spindle shaft (22) and a first pneumatic chuck (23). The main spindle shaft (22) is provided with an inflation shaft (222), and the rear end of the inflation shaft (222) is connected to a rotary joint (225). The inflation system (3) is connected to the spindle shaft (22) via the rotary joint (225) and is used to supply air to the inner cavity of the workpiece and maintain a preset pressure. Tailstock unit (4), installed at the other end of crossbeam (1), is arranged opposite to spindle drive unit (2), including second pneumatic chuck (41) and tail top rotating shaft (42), used to cooperate with spindle drive unit (2) to clamp workpiece and drive workpiece to rotate; The yaw axis screw nozzle trolley unit (5) is movably mounted on the crossbeam (1), and has two linear axes of motion freedom along the Y and Z axes, a screw nozzle rotation U axis, and a yaw axis, namely the B axis, that rotates around its own axis, forming a four-axis linkage system; The trolley unit (6) without yaw axis screw nozzle is movably mounted on the crossbeam (1) and has three degrees of freedom of motion along the Y, Z and U axes, forming a three-axis linkage system; An automatic resin mixing and dispensing machine (9) is used to supply a pre-proportioned resin mixture to the impregnation unit (10); The glue-dipping unit (10) includes independent glue-dipping tanks corresponding to the trolley unit (5) with yaw axis screw nozzle and the trolley unit (6) without yaw axis screw nozzle. Each glue-dipping tank outlet is equipped with a closed-loop automatic glue scraping system. The inner drawing fiber yarn holder (11) and the outer drawing fiber tension yarn holder (12) are used to place different types of fiber yarn bundles and provide tension control, respectively. The central control system is connected to the main spindle drive unit (2), tailstock unit (4), trolley unit with yaw axis and screw nozzle (5), trolley unit without yaw axis and screw nozzle (6), automatic glue mixing and dispensing machine (9) and glue dipping unit (10) for signal connection, and is used to coordinate the eight-axis linkage motion, automatic switching of dual trolleys and glue dipping closed-loop control.

2. The gantry-type multi-station eight-axis linkage double fiber trolley CNC winding machine according to claim 1, characterized in that, The spindle drive unit (2) also includes: The first synchronous pulley (221) is mounted on the output shaft of the main spindle motor (21); The first synchronous belt (24) connects the first synchronous pulley (221) to the main shaft (22); The tensioner pulley (25) is used to adjust the tension of the first synchronous belt (24); The front bearing (223) and the rear bearing (224) are used to support the rotation of the spindle shaft (22).

3. The gantry-type multi-station eight-axis linkage double fiber trolley CNC winding machine according to claim 1, characterized in that, The inflation system (3) includes: Multiple airflow branches (31), each airflow branch (31) is connected in series with a high-pressure pneumatic two-way ball valve (311), a high-pressure silencer (312), a high-pressure manual ball valve (313), a first pressure gauge (314) and a pressure sensor (315); A high-pressure pneumatic three-way ball valve (32) is connected to multiple airflow branches (31) and is used to switch the direction of the airflow. A high-pressure filter (33) is connected to a high-pressure pneumatic three-way ball valve (32); A proportional pressure valve (35) is connected to a high-pressure filter (33) for precise control of inflation pressure; A second pressure gauge (34) is installed between the high-pressure filter (33) and the proportional pressure valve (35); The third pressure gauge (36) is located downstream of the proportional pressure valve (35).

4. The gantry-type multi-station eight-axis linkage double fiber trolley CNC winding machine according to claim 1, characterized in that, The tailstock unit (4) includes: Tailstock motor (44), with a synchronous pulley (43) on its output shaft; The second synchronous belt (45) and the third synchronous belt (46) are used to transmit the power of the tailstock motor (44) to the tailstock shaft (42); The tailstock tensioner (47) is used to adjust the tension of the second synchronous belt (45) and the third synchronous belt (46); The tail-end rotating shaft (42) is provided with a telescopic shaft (421) and a cylinder (424). The cylinder (424) is used to drive the telescopic shaft (421) to extend and retract axially, so as to realize the clamping and releasing of the workpiece by the second pneumatic chuck (41).

5. The gantry-type multi-station eight-axis linkage double fiber trolley CNC winding machine according to claim 1, characterized in that, The trolley unit (5) with yaw axis screw nozzle includes: A yaw motor (51) has a yaw motor pulley (511) on its output shaft; The yaw mechanism synchronous belt (512) connects the yaw motor pulley (511) and the yaw mechanism pulley (513); The upper rotary table bearing (514) and the lower rotary table bearing (515) are used to support the screw nozzle housing (56) to achieve yaw motion within a range of ±90°; The upper moving trolley motor (52) and the lower moving trolley motor (53) are used to drive the trolley to move along the Y-axis; The upper arm motor (54) and the lower arm motor (55) are used to drive the trolley to move along the Z-axis; The electric cylinder (57) and connecting rod (58) are used to drive the yarn-adhesive cutting mechanism (59) to rotate up and down; The yarn-cutting mechanism (59) is installed on the yarn nozzle box (56) and is used for fiber clamping, cutting and yarn end treatment.

6. The gantry-type multi-station eight-axis linkage double fiber trolley CNC winding machine according to claim 5, characterized in that, The yarn-cutting mechanism (59) includes: The wire clamping cylinder (591) drives the wire clamping groove (595) to move through the wire clamping cylinder connecting plate (592); A shredding cylinder (593) drives the blade (594) to cut the fibers; The hook cylinder (597) drives the hook rod (596) to hook the fiber; The first pressure roller (598) and the second pressure roller (599) are used to press down the cut fiber ends.

7. The gantry-type multi-station eight-axis linkage double fiber trolley CNC winding machine according to claim 1, characterized in that, The closed-loop automatic glue-scraping system of the glue-impregnation unit (10) includes: The glue scraping servo electric cylinder (101) drives the scraper (103) through the swing arm (102) at its output end; The rubber roller (104) cooperates with the scraper (103) to form an adjustable scraping gap; A resin content detection sensor (106) is installed downstream of the scraper (103) to detect the resin content of the fiber (105) after scraping in real time online. The resin content detection sensor (106) is connected to the central control system. The central control system controls the scraping servo cylinder (101) in a closed loop according to the sensor feedback signal to dynamically adjust the scraping gap.

8. The gantry-type multi-station eight-axis linkage double fiber trolley CNC winding machine according to claim 1, characterized in that, The automatic glue mixing and dispensing machine (9) includes: A pneumatically controlled two-way ball valve (91) is used to control the supply and disconnection of various raw materials; A liquid level sensor (92) is installed in the impregnation tank to monitor the liquid level of the adhesive in real time. The central control system controls the opening and closing of the pneumatic two-way ball valve (91) based on the feedback signal from the liquid level sensor (92) to achieve automatic glue replenishment.

9. A control method for a gantry-type multi-station eight-axis linkage double-fiber trolley CNC winding machine according to any one of claims 1 to 8, characterized in that, include: Eight-axis linkage winding steps: The central control system coordinates the U, Y, Z, and B axes of the yaw axis nozzle carriage unit (5) and the main shaft rotation axis (X axis) to perform multi-axis interpolation motion according to the winding trajectory program, so as to achieve precise control of the nozzle spatial trajectory and attitude. The real-time adjustment of the yaw axis, i.e. the B axis, solves the problem of uneven yarn spreading and tension fluctuation caused by sudden curvature change in the gas cylinder end cap area; or coordinates the U, Y, and Z axes of the nozzle carriage unit (6) without yaw axis and the main shaft rotation axis to perform four-axis linkage winding. Automatic switching steps for dual fibers: During interlayer switching, the central control system controls the yarn cutting mechanism (59) of the current working trolley to cut the fiber and move it back to the standby position, while controlling the other trolley to move to the working position and prepare the fiber. Impregnation closed-loop control steps: During the winding process, the closed-loop automatic glue scraping system corresponding to the impregnation tank works continuously. The resin content detection sensor (106) monitors the resin content online. The central control system adjusts the glue scraping gap in real time according to the monitoring results to ensure that the resin content is stable within the set range. Automatic glue mixing and dispensing steps: The central control system automatically switches the formula of the automatic glue mixing and dispensing machine (9) according to the type of trolley currently in use, and controls the opening and closing of the pneumatic two-way ball valve (91) through the feedback signal of the liquid level sensor (92) to realize automatic glue replenishment.

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