A winding head based on an industrial robot

Abstract

The present application relates to the technical field of winding head, especially to a winding head based on industrial robot, comprising a main back plate and unwinding mechanism, tension control mechanism, resend and cutting mechanism, hollow rotating platform, constant angle of wrap floating yarn guide mechanism, laser heating and temperature detection mechanism, the material roll to be wound is installed on the unwinding mechanism for silk release, the tension control mechanism is used for tension adjustment of the fiber, the resend and cutting mechanism is used for cutting, path switching or rethreading of the fiber, the hollow rotating platform is used for adjusting the yarn direction of the nozzle area, the constant angle of wrap floating yarn guide mechanism is used for buffering and compensating the local angle of wrap change and slight tension disturbance when adjusting the yarn direction of the nozzle area, and the laser heating and temperature detection mechanism is used for tracing type local heating of the fiber deposition point and the surrounding area, which is favorable for reducing the tension fluctuation caused by fiber deflection, improving the end yarn stability and winding quality.

Description

Technical Field

[0001] This invention relates to the field of winding head technology, and more particularly to a winding head based on an industrial robot. Background Technology

[0002] Fiber winding is a commonly used near-net-shape forming method for resin-based composite components. By controlling the fiber bundle's layup trajectory, tension, and heating state on the mandrel surface, components such as shells, pipes, and pressure vessels with high specific strength, high specific stiffness, and good corrosion resistance can be produced. Traditional fiber winding typically relies on dedicated winding machines, which have large overall dimensions and limited degrees of freedom. When product specifications change or component shapes become complex, significant mechanical adjustments are often required, making it difficult to meet the demands of flexible, small-batch, and multi-variety production. With the application of six-degree-of-freedom industrial robots, using robots equipped with end-effector winding heads to perform multi-axis linkage winding has gradually become an important development direction for automated forming of composite materials.

[0003] Existing robotic winding or laying heads typically integrate unwinding, guiding, tension control, cutting and refeeding, and localized heating functions at the robot's end effector to achieve continuous fiber bundle transport and deposition. For example, some solutions employ a disc-type backplate with multiple sets of yarn rolls, tension detection, steering, shearing and refeeding, and heated pressure rollers to achieve automated multi-bundle laying; others use a series of mechanisms including yarn frames, guides, stop rollers, cutters, heating rollers, and compaction rollers for single-belt laying within complex curved mesh grooves; still others link the unwinding mechanism, the yarn nozzle mechanism, and the synchronous transmission mechanism to avoid fiber twisting issues when winding special components. These technologies demonstrate that integrated robotic end-effector winding / layout devices have become an important development direction in current technology.

[0004] However, most existing end-effectors still revolve around fixed guide rollers, pressure rollers, or integrated yarn nozzles, limiting the ways to adjust the yarn exit direction. This is especially problematic in areas like the end cap, transition zone, and confined spaces, where fiber tension fluctuations between the platform exit and the deposition point are easily caused by path deflection, changes in wrap angle, and localized friction, affecting laying stability and forming quality. Furthermore, existing heating methods often employ fixed infrared lamps, conventional heaters, or only pre-reserved heating mounting positions in the structure, making it difficult to perform real-time tracking and closed-loop adjustment based on the deposition point location, wrap angle changes, and localized temperature conditions. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a winding head based on an industrial robot. Based on the independent rotation of a hollow rotating platform, the constant wrap angle floating yarn guiding mechanism can buffer and compensate for the local wrap angle changes and small tension disturbances caused by the platform rotation and complex curvature winding. It is also more conducive to reducing tension fluctuations caused by fiber deflection and improving the stability of yarn output at the end and the winding quality.

[0006] This invention is achieved through the following scheme: An industrial robot-based winding head includes a main back plate and, sequentially mounted on the outer edge of the main back plate, an unwinding mechanism, a tension control mechanism, a refeeding and shearing mechanism, a hollow rotating platform, a constant wrap angle floating yarn guide mechanism, and a laser heating and temperature detection mechanism. The main back plate is fixedly mounted on the end of the industrial robot. The roll to be wound is mounted on the unwinding mechanism for unwinding the yarn. The tension control mechanism is used to adjust the tension of the fibers. The refeeding and shearing mechanism is used to cut the fibers, switch paths, or re-lead the yarn. The hollow rotating platform is rotatably mounted below the main back plate and is used to adjust the yarn exit direction in the nozzle area. The constant wrap angle floating yarn guide mechanism is used to buffer and compensate for local wrap angle changes and minor tension disturbances when adjusting the yarn exit direction in the nozzle area. The laser heating and temperature detection mechanism is used to perform tracking-type local heating of the fiber deposition point and its surrounding area.

[0007] Furthermore, the unwinding mechanism includes an air shaft and a magnetic powder brake. The air shaft is installed on one side of the main back plate, and the magnetic powder brake is connected to the air shaft via a coupling.

[0008] Furthermore, the tension control mechanism includes a long guide roller, a directional guide wheel, a short guide roller, and a tension sensor. The long guide roller is installed on the upper part of the main back plate, the directional guide wheel is installed downstream of the long guide roller, the short guide roller is installed between the directional guide wheel and the tension sensor, and the tension sensor is installed in the main fiber path. The tension sensor is connected to the magnetic powder brake and the CPU respectively.

[0009] Furthermore, the feeding and shearing mechanism includes a feeding stepper motor, a feeding stepper motor reducer, a feeding pressing cylinder, a feeding pressing roller, a shearing cylinder, a shearing cutter, and a fiber guide roller. The feeding pressing roller is installed below the tension control mechanism. The feeding stepper motor reducer is connected to the feeding stepper motor to drive the feeding pressing roller to rotate. The feeding pressing cylinder drives the feeding pressing roller to reciprocate. The shearing cylinder drives the shearing cutter to reciprocate. The fiber guide roller is installed downstream of the feeding pressing roller.

[0010] The optimized hollow rotating platform has a hollow channel in the middle for fibers to pass through, and the hollow rotating platform is driven to rotate by a stepper motor.

[0011] Furthermore, a directional guide wheel for the rotating platform is installed above the hollow rotating platform.

[0012] Furthermore, the constant wrap angle floating yarn guide mechanism includes a mounting base, a lower yarn guide wheel, an upper yarn guide wheel, a guide wheel bracket, and a spring. The mounting base is fixedly installed at the bottom of the hollow rotating platform. The guide wheel bracket is rotatably connected to the mounting base. The lower yarn guide wheel and the upper yarn guide wheel are respectively installed on the guide wheel bracket. One end of the spring is connected to the mounting base, and the other end is connected to the guide wheel bracket.

[0013] The optimized guide wheel bracket is connected to the mounting base via a miniature bearing.

[0014] Furthermore, a rotary encoder is installed between the mounting base and the guide wheel bracket. The rotary encoder is connected to the CPU, and the CPU is connected to the magnetic powder brake and the tension sensor.

[0015] Furthermore, the laser heating and temperature detection mechanism includes a push rod mounting bracket, a sliding plate, a heating head mounting plate, a laser heating head, an angle electric push rod, a laser lateral electric push rod, a vision sensor, and an infrared temperature sensor. The push rod mounting bracket is fixedly mounted on the main back plate, the laser lateral electric push rod is fixedly mounted on the push rod mounting bracket, the sliding plate is slidably mounted on the push rod mounting bracket and is pushed laterally along the push rod mounting bracket by the laser lateral electric push rod, the angle electric push rod is mounted on the sliding plate, the heating head mounting plate is rotatably mounted on the sliding plate and connected to the end of the angle electric push rod, and the laser heating head, vision sensor, and infrared temperature sensor are all mounted on the heating head mounting plate.

[0016] Beneficial effects of the invention: The present invention provides a winding head based on an industrial robot, which has the following advantages: 1. While retaining the lightweight design and tension detection of the robot's end winding head, a constant wrap angle floating yarn guiding mechanism is further installed in the end yarn nozzle area. This mechanism consists of a mounting base, a lower yarn nozzle guide wheel, an upper yarn nozzle guide wheel, a guide wheel bracket, and a spring. It can buffer and compensate for local wrap angle changes and minor tension disturbances caused by the rotation of the hollow rotating platform and complex curvature winding, thereby improving the stability of the yarn exit and the winding quality.

[0017] 2. A rotary encoder is installed between the mounting base and the guide wheel bracket. This encoder can synchronously collect the deflection angle between the mounting base and the guide wheel bracket relative to the initial position and feed it back to the CPU. When the deflection angle is greater than the preset threshold, the CPU adjusts the tension during the winding process by controlling the torque of the magnetic powder brake. This alleviates the excessive instantaneous tension caused by the rotation of the hollow rotating platform and the sudden change in the winding angle during the winding process, and further ensures the stability of the yarn output at the end and the winding quality.

[0018] 3. By setting up a laser heating and temperature detection mechanism, it can be ensured that the laser heating head always performs localized tracking heating on the fiber deposition point and its surrounding area. The heating temperature can be controlled in a closed loop, ensuring the uniformity of fiber heating during the winding process, avoiding local overheating or underheating, and further improving the stability of the yarn exit at the end. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the isometric structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the main structure of the present invention.

[0021] Figure 3 This is a side view structural diagram of the present invention.

[0022] In the diagram: 1. Unwinding mechanism; 101. Air shaft; 102. Magnetic powder brake; 103. Coupling; 2. Main back plate; 3. Tension control mechanism; 301. Long guide roller; 302. Directional guide wheel; 303. Short guide roller; 304. Tension sensor; 4. Reloading and shearing mechanism; 401. Reloading stepper motor; 402. Reloading stepper motor reducer; 403. Reloading pressure roller; 404. Reloading pressure cylinder; 405. Fiber guide roller; 406. Shearing cylinder; 407. Shearing cutter; 5. Hollow rotary platform; 501. Hollow rotary platform drive stepper. 6. Motor; 601. Constant wrap angle floating yarn guide mechanism; 602. Spring; 603. Guide wheel bracket; 604. Lower yarn guide wheel; 605. Upper yarn guide wheel; 606. Miniature bearing; 607. Rotary encoder; 7. Laser heating and temperature detection mechanism; 701. Push rod mounting bracket; 702. Slide plate; 703. Laser transverse electric push rod; 704. Angle electric push rod; 705. Heating head mounting plate; 706. Infrared temperature sensor; 707. Laser heating head; 708. Vision sensor; 8. Rotating platform direction guide wheel; 9. Fiber. Detailed Implementation

[0023] A winding head based on an industrial robot, the structural schematic diagram is as follows: Figures 1 to 3As shown, the system includes a main back plate 2 and, sequentially mounted on the outer edge of the main back plate, an unwinding mechanism 1, a tension control mechanism 3, a refeeding and shearing mechanism 4, a hollow rotating platform 5, a constant wrap angle floating yarn guide mechanism 6, and a laser heating and temperature detection mechanism 7. The main back plate is fixedly installed at the end of an industrial robot. The roll to be wound is mounted on the unwinding mechanism for unwinding the yarn. The tension control mechanism is used to adjust the tension of the fiber 9. The refeeding and shearing mechanism is used to cut the fiber, switch its path, or re-lead the yarn. The hollow rotating platform is rotatably installed below the main back plate and is used to adjust the yarn output direction in the nozzle area. The constant wrap angle floating yarn guide mechanism is used to buffer and compensate for local wrap angle changes and minor tension disturbances when adjusting the yarn output direction in the nozzle area. The laser heating and temperature detection mechanism is used to perform tracking-type local heating on the fiber deposition point and its surrounding area.

[0024] The main backplate is the main load-bearing component of the winding head of this invention, used to mount various mechanisms. The main backplate is preferably made of lightweight, high-strength material to balance overall rigidity and the load requirements of the robot's end effector. The main backplate can be connected to the end effector flange of the industrial robot via a flange, enabling positioning, installation, and load transfer between the winding head and the robot.

[0025] Furthermore, the unwinding mechanism includes an air shaft 101 and a magnetic powder brake 102. The air shaft is installed on one side of the main back plate, and the magnetic powder brake is connected to the air shaft via a coupling 103.

[0026] The air shaft, preferably a cantilevered keyed air shaft, is used to mount the roll to be wound and achieves radial locking of the roll through inflation, facilitating rapid loading and unloading and stable unwinding. Under the action of a magnetic powder brake, the air shaft outputs adjustable damping, providing basic tension for fiber unwinding.

[0027] Furthermore, the tension control mechanism includes a long guide roller 301, a directional guide wheel 302, a short guide roller 303, and a tension sensor 304. The long guide roller is installed on the upper part of the main back plate, the directional guide wheel is installed downstream of the long guide roller, the short guide roller is installed between the directional guide wheel and the tension sensor, and the tension sensor is installed in the main fiber path. The tension sensor is connected to the magnetic powder brake and the CPU respectively.

[0028] Long guide rollers are used to guide the fibers from the air shaft, adjust the initial direction of the fibers, and prevent the fibers from shaking, knotting, or rubbing against the main structural components after being drawn directly from the roll.

[0029] The directional guide wheel is used to further define the lateral position of the fiber, so that the fiber enters the subsequent tension detection area along a predetermined path, thereby reducing fiber deviation.

[0030] Short guide rollers are used to perform secondary correction on the fiber path, so that the fiber enters the tension detection area in a stable posture.

[0031] The tension sensor is installed in the main fiber path to detect the fiber running tension in real time and send the tension signal to the CPU. The CPU adjusts the magnetic powder brake based on the tension signal to achieve closed-loop control of unwinding tension.

[0032] Furthermore, the feeding and shearing mechanism includes a feeding stepper motor 401, a feeding stepper motor reducer 402, a feeding pressing cylinder 404, a feeding pressing roller 403, a shearing cylinder 406, a shearing cutter 407, and a fiber guide roller 405. The feeding pressing roller is installed below the tension control mechanism. The feeding stepper motor reducer is connected to the feeding stepper motor to drive the feeding pressing roller to rotate. The feeding pressing cylinder drives the feeding pressing roller to reciprocate. The shearing cylinder drives the shearing cutter to reciprocate. The fiber guide roller is installed downstream of the feeding pressing roller.

[0033] The refeed stepper motor is used to drive the refeed pressing roller to quantitatively replenish or refeed the fibers, meeting the yarn feeding requirements after cutting, reversing winding, or process switching. The refeed stepper motor reducer is used to reduce the motor output speed and increase the output torque, making the refeeding action smoother and more suitable for the fine conveying of fiber materials.

[0034] The refeeding and pressing cylinder is used to drive the reciprocating motion of the refeeding and pressing wheel, so that the fiber is pressed and positioned when it needs to be refeeded or cut, to prevent the fiber from slipping.

[0035] The feed pressing roller is the driving wheel of the feed and shearing mechanism. Driven by the feed stepper motor and the feed stepper motor reducer, it drives the fiber forward; at the same time, the feed pressing cylinder can also clamp the fiber.

[0036] Fiber guide rollers are used to redirect fibers after shearing or refeeding, allowing them to smoothly enter the inlet area of ​​the hollow rotary platform.

[0037] The optimized hollow rotating platform has a hollow channel in the middle for fibers to pass through, and the hollow rotating platform is driven to rotate by a stepper motor 501.

[0038] The hollow rotating platform is a key component of this invention, containing a hollow channel through which fibers pass. During winding, the hollow rotating platform can rotate independently around its own axis, thereby driving the constant wrap angle floating yarn guide mechanism to rotate and adjust the yarn output direction without requiring the entire winding head to rotate significantly. This structure significantly reduces the end rotational inertia and improves the sensitivity of attitude adjustment and trajectory following ability when winding on complex curved surfaces, especially in the end cap area.

[0039] Furthermore, a rotation platform direction guide wheel 8 is installed above the hollow rotating platform to guide the fiber to the entrance position of the hollow rotating platform and to ensure that the fiber has a relatively stable incident direction before entering the hollow rotating platform.

[0040] Furthermore, the constant wrap angle floating yarn guide mechanism includes a mounting base 601, a lower yarn guide wheel 604, an upper yarn guide wheel 605, a guide wheel bracket 603, and a spring 602. The mounting base is fixedly installed at the bottom of the hollow rotating platform, the guide wheel bracket is rotatably connected to the mounting base, the lower yarn guide wheel and the upper yarn guide wheel are respectively installed on the guide wheel bracket, one end of the spring is connected to the mounting base, and the other end is connected to the guide wheel bracket.

[0041] Setting up lower and upper yarn guide rollers can form a double guide roller yarn guide path, which is used to receive fibers drawn out from inside the hollow rotating platform and provide end guidance before the fibers are finally exported, ensuring that the fibers are stably drawn out and accurately guided to the core mold contact point.

[0042] The mounting base and guide wheel bracket are rotatably connected and equipped with a spring. One end of the spring is connected to the mounting base, and the other end is connected to the guide wheel bracket. This not only provides preload to the guide wheel bracket but also allows the guide wheel bracket to undergo a small range of elastic deflection when the fiber is subjected to changes in force. During the fiber winding process, this can buffer and compensate for local additional tension fluctuations caused by the rotation of the hollow rotating platform, fiber deflection, and complex curvature changes. This suppresses the change in the wrap angle between the outlet of the hollow rotating platform and the yarn exit, thereby improving the stability of fiber output.

[0043] The optimized guide wheel bracket is connected to the mounting base via a miniature bearing 606.

[0044] Furthermore, a rotary encoder 607 is installed between the mounting base and the guide wheel bracket. The rotary encoder is connected to the CPU, and the CPU is connected to the magnetic powder brake and the tension sensor.

[0045] A rotary encoder is installed between the mounting base and the guide wheel bracket to collect the deflection angle between the mounting base and the guide wheel bracket relative to the initial position in real time. The collected deflection angle is fed back to the CPU. The CPU compares the deflection angle with a preset threshold. When the deflection angle is greater than the preset threshold, the CPU adjusts the tension of the winding process by controlling the torque of the magnetic powder brake. This alleviates the problem of excessive instantaneous tension caused by the rotation of the hollow rotating platform and the sudden change of the winding angle during the winding process, and further ensures the stability of the yarn output at the end and the winding quality.

[0046] Furthermore, the laser heating and temperature detection mechanism includes a push rod mounting bracket 701, a sliding plate 702, a heating head mounting plate 705, a laser heating head 707, an angle electric push rod 704, a laser lateral electric push rod 703, a vision sensor 708, and an infrared temperature sensor 706. The push rod mounting bracket is fixedly mounted on the main back plate, the laser lateral electric push rod is fixedly mounted on the push rod mounting bracket, the sliding plate is slidably mounted on the push rod mounting bracket and is pushed laterally along the push rod mounting bracket by the laser lateral electric push rod, the angle electric push rod is mounted on the sliding plate, the heating head mounting plate is rotatably mounted on the sliding plate and connected to the end of the angle electric push rod, and the laser heating head, vision sensor, and infrared temperature sensor are all mounted on the heating head mounting plate.

[0047] A visual sensor collects real-time position information of the laser heating head and fiber deposition points, transmitting this information to the CPU. The CPU controls the movement of the laser lateral and angular electric push rods, moving the laser heating head to ensure continuous, localized, tracking heating of the fiber deposition points and their surrounding areas. An infrared temperature sensor collects real-time temperature information of the fiber deposition points and their surrounding areas, transmitting this information to the CPU. The CPU controls the power of the laser heating head based on this temperature information, achieving closed-loop temperature control. This ensures uniform heating of the fibers during winding, preventing localized overheating or underheating, and further improving the stability of the yarn exit.

[0048] The working process of the winding head is as follows: First, the winding head is mounted on the end of the robot via a flange. The roll to be wound is mounted on the air shaft of the unwinding mechanism, and the air shaft is inflated by inflation to lock the roll. Adjustable damping is provided for unwinding through the cooperation of the magnetic powder brake and coupling. After the fiber is drawn out from the air shaft, it passes sequentially through the long guide roller, the directional guide wheel, and the short guide roller into the tension sensor detection area. The tension sensor detects the fiber tension in real time and feeds the tension signal back to the CPU. The CPU adjusts the braking force of the magnetic powder brake accordingly to ensure stable basic tension of the fiber during unwinding. The fiber then enters the refeeding and shearing mechanism for refeeding and pressing. After passing through the fiber guide roller, it is guided by the directional guide wheel of the rotating platform into the internal channel of the hollow rotating platform. Driven by a stepper motor, the yarn can rotate independently around its own axis, thereby adjusting the yarn output direction without requiring the entire winding head to rotate significantly. This reduces the moment of inertia at the end and improves the sensitivity of attitude adjustment when winding on complex curved surfaces, especially in the end cap area. After the fiber is drawn out from the hollow rotating platform, it is led out through the constant wrap angle floating yarn guide mechanism. During the winding process, when the rotation of the hollow rotating platform or the curvature change of the mandrel causes the fiber output direction to deflect, the guide wheel bracket of the constant wrap angle floating yarn guide mechanism can generate a small range of elastic deflection relative to the mounting base under the preload and buffering effect of the spring. This reduces the local wrap angle change between the hollow rotating platform outlet and the yarn output end, and buffers and compensates for the additional lateral load and minor tension disturbance caused by the fiber deflection, thereby improving the stability of the yarn output at the end and the winding quality. At the same time, the rotary encoder collects the deflection angle between the mounting base and the guide wheel bracket relative to the initial position in real time, and inputs it into the CPU as an auxiliary feedback signal reflecting the degree of local yarn deflection and tension disturbance. The CPU further corrects the magnetic powder brake based on the main feedback signal from the tension sensor to improve the fiber output stability.

[0049] Meanwhile, based on information from the vision sensor, the laser heating head, driven by the angle electric push rod and the laser lateral electric push rod, performs tracking local heating on the fiber deposition point and its surrounding area, so that the fiber receives appropriate heat input during the winding deposition process. In addition, the infrared temperature sensor detects the temperature of the fiber deposition point or its surrounding area in real time and feeds back the detected temperature signal to the CPU in real time. The CPU dynamically adjusts the power of the laser heating head based on the temperature measurement results, thereby forming a closed-loop temperature control near the deposition point.

[0050] When path switching, reversing winding, re-leading yarn, or ending winding is required, the re-feeding and shearing mechanism activates the re-feeding clamping cylinder, causing the re-feeding clamping roller to clamp the fiber. The shearing cylinder drives the shearing cutter to cut the fiber. Subsequently, the re-feeding stepper motor drives the re-feeding clamping roller through the reducer to feed the fiber back into the downstream path. The fiber then passes through the fiber guide roller, the rotating platform directional guide roller, the hollow rotating platform, and the constant wrap angle floating yarn guide mechanism before reaching the yarn exit end and resuming winding. This achieves the coordinated operation of the winding head of the present invention under the complex motion conditions of the robot, including stable unwinding, local rotational yarn guiding, tension disturbance compensation, closed-loop heating of the deposition point, and fiber shearing and re-feeding.

[0051] In summary, the present invention proposes a winding head based on an industrial robot, which integrates multiple functions such as air shaft unwinding, tension detection and control, rewinding and shearing, hollow rotating platform yarn guiding, constant wrap angle floating yarn guiding, laser heating and temperature detection into a single robot end-effector winding head. The overall structure is compact and occupies little space, reducing the robot end-effector load and motion inertia, as well as the number of exposed transmission and guiding components, facilitating installation, debugging and maintenance. Furthermore, during the winding process, it can simultaneously achieve stable fiber unwinding, localized end-effector rotation and yarn guiding, tension disturbance compensation, localized tracking heating at deposition points, and rapid rewinding and recovery after cutting. It has comprehensive advantages such as high structural integration, high control precision, strong process adaptability, stable winding quality and high degree of automation, and is particularly suitable for high-quality dry winding of carbon fiber prepreg under complex robot trajectory conditions.

[0052] 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 winding head based on an industrial robot, characterized in that: The system includes a main backplate and, sequentially mounted on the outer edge of the main backplate, an unwinding mechanism, a tension control mechanism, a rewinding and shearing mechanism, a hollow rotating platform, a constant wrap angle floating yarn guide mechanism, and a laser heating and temperature detection mechanism. The main backplate is fixedly mounted on the end effector of an industrial robot. The roll to be wound is mounted on the unwinding mechanism for unwinding the yarn. The tension control mechanism is used to adjust the tension of the fibers. The rewinding and shearing mechanism is used to cut the fibers, switch paths, or re-lead the yarn. The hollow rotating platform is rotatably mounted below the main backplate and is used to adjust the yarn exit direction in the nozzle area. The constant wrap angle floating yarn guide mechanism is used to buffer and compensate for local wrap angle changes and minor tension disturbances when adjusting the yarn exit direction in the nozzle area. The laser heating and temperature detection mechanism is used to perform tracking-type local heating of the fiber deposition point and its surrounding area.

2. The winding head based on an industrial robot according to claim 1, characterized in that: The unwinding mechanism includes an air shaft and a magnetic powder brake. The air shaft is installed on one side of the main back plate, and the magnetic powder brake is connected to the air shaft by a coupling.

3. The winding head based on an industrial robot according to claim 2, characterized in that: The tension control mechanism includes a long guide roller, a directional guide wheel, a short guide roller, and a tension sensor. The long guide roller is installed on the upper part of the main back plate, the directional guide wheel is installed downstream of the long guide roller, the short guide roller is installed between the directional guide wheel and the tension sensor, and the tension sensor is installed in the main fiber path and is connected to the magnetic powder brake and the CPU respectively.

4. The winding head based on an industrial robot according to claim 1, characterized in that: The feeding and shearing mechanism includes a feeding stepper motor, a feeding stepper motor reducer, a feeding pressing cylinder, a feeding pressing roller, a shearing cylinder, a shearing cutter, and a fiber guide roller. The feeding pressing roller is installed below the tension control mechanism. The feeding stepper motor reducer is connected to the feeding stepper motor to drive the feeding pressing roller to rotate. The feeding pressing cylinder drives the feeding pressing roller to reciprocate. The shearing cylinder drives the shearing cutter to reciprocate. The fiber guide roller is installed downstream of the feeding pressing roller.

5. A winding head based on an industrial robot according to claim 1, characterized in that: The hollow rotating platform has a hollow channel in the middle for fibers to pass through, and the hollow rotating platform is driven to rotate by a stepper motor.

6. A winding head based on an industrial robot according to claim 5, characterized in that: The hollow rotating platform is equipped with a rotating platform directional guide wheel.

7. A winding head based on an industrial robot according to claim 1, characterized in that: The constant wrap angle floating yarn guide mechanism includes a mounting base, a lower yarn guide wheel, an upper yarn guide wheel, a guide wheel bracket, and a spring. The mounting base is fixedly installed at the bottom of the hollow rotating platform. The guide wheel bracket is rotatably connected to the mounting base. The lower yarn guide wheel and the upper yarn guide wheel are respectively installed on the guide wheel bracket. One end of the spring is connected to the mounting base, and the other end is connected to the guide wheel bracket.

8. A winding head based on an industrial robot according to claim 7, characterized in that: The guide wheel bracket and the mounting base are connected by a miniature bearing.

9. A winding head based on an industrial robot according to claim 7, characterized in that: A rotary encoder is installed between the mounting base and the guide wheel bracket. The rotary encoder is connected to the CPU, and the CPU is connected to the magnetic powder brake and the tension sensor.

10. A winding head based on an industrial robot according to claim 1, characterized in that: The laser heating and temperature detection mechanism includes a push rod mounting bracket, a sliding plate, a heating head mounting plate, a laser heating head, an angle electric push rod, a laser lateral electric push rod, a vision sensor, and an infrared temperature sensor. The push rod mounting bracket is fixedly mounted on the main back plate, the laser lateral electric push rod is fixedly mounted on the push rod mounting bracket, the sliding plate is slidably mounted on the push rod mounting bracket and is pushed laterally along the push rod mounting bracket by the laser lateral electric push rod, the angle electric push rod is mounted on the sliding plate, and the heating head mounting plate is rotatably mounted on the sliding plate and connected to the end of the angle electric push rod. The laser heating head, vision sensor, and infrared temperature sensor are all mounted on the heating head mounting plate.

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