CN114228194B - Constant-tension winding industrial robot - Google Patents
Constant-tension winding industrial robot Download PDFInfo
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- CN114228194B CN114228194B CN202111543917.2A CN202111543917A CN114228194B CN 114228194 B CN114228194 B CN 114228194B CN 202111543917 A CN202111543917 A CN 202111543917A CN 114228194 B CN114228194 B CN 114228194B
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- movable arm
- wire guide
- wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
- B29C70/382—Automated fiber placement [AFP]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/54—Component parts, details or accessories; Auxiliary operations, e.g. feeding or storage of prepregs or SMC after impregnation or during ageing
Abstract
The invention discloses a constant-tension winding industrial robot, which comprises a robot main body, wherein the robot main body comprises a base, a rotating joint, a first movable arm, a second movable arm, a third movable arm and a fourth movable arm; the drafting mechanism is arranged at one end of the fourth movable arm, which is relatively far away from the third movable arm; the machine winding mechanism is scientific and reasonable in structure, the working efficiency of part production can be improved to the greatest extent through a machine winding mode, and the labor cost is reduced; and the arrangement method can greatly reduce friction, reduce loss and control the cost to be the lowest.
Description
Technical Field
The invention relates to the technical field of tension control of silk threads, in particular to a constant-tension winding industrial robot.
Background
In the field of composite material manufacturing, the traditional winding machine produced in China has low degree of freedom and poor operation flexibility, can only realize winding and forming of simple products with less than four degrees of freedom, such as containers, pipelines, telegraph poles and the like, and is difficult to realize winding of complex rotary shells; in addition, the equipment has poor adaptability and is difficult to adapt to the diversified production of products; the rubber groove is usually located on the winding trolley to move back and forth along with the wire guide head, so that the motion inertia of the winding equipment is increased to influence the dynamic performance of the winding equipment. However, the manual winding method is adopted for forming the complex special-shaped shell. The problems of low production efficiency, poor product quality, inconsistent product performance, higher labor cost and the like exist in manual winding, and the manufacturing of the high value-added composite shell is greatly limited. The traditional two-six-degree-of-freedom winding equipment has the defects of poor flexibility, poor universality and the like, and can not well complete the motion trajectory planning to achieve good kinematics characteristics.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the problems occurring in the prior art.
Accordingly, the present invention has been made in view of the above and/or other problems occurring in the conventional winding machine.
In order to solve the technical problems, the invention provides the following technical scheme: a constant-tension winding industrial robot comprises a robot main body, wherein the robot main body comprises a base, a rotating joint, a first movable arm, a second movable arm, a third movable arm and a fourth movable arm, the rotating joint is installed on the base, the first movable arm is hinged to the rotating joint, the second movable arm is hinged to the first movable arm, and the third movable arm is hinged to the second movable arm; and the drafting mechanism is arranged at one end of the fourth movable arm, which is relatively far away from the third movable arm.
As a preferable aspect of the constant tension winding industrial robot of the present invention, wherein: the drafting mechanism comprises a rotating shaft, a driving rod and a positioning plate, the rotating shaft is hinged to the fourth movable arm, one end of the driving rod penetrates through the rotating shaft to be connected with the cylinder, and the other end of the driving rod is fixedly connected with the positioning plate.
As a preferable aspect of the constant tension winding industrial robot of the present invention, wherein: the drafting mechanism further comprises a wire guide plate, a transverse fastening wheel, a longitudinal fastening wheel and a large tensioning wheel, wherein the wire guide plate, the transverse fastening wheel, the longitudinal fastening wheel and the large tensioning wheel are all installed on the same side of the positioning plate, the transverse fastening wheel is located on one side of the wire guide plate and is transversely movably arranged, the longitudinal fastening wheel is located on the top of the wire guide plate and is longitudinally movably arranged, and the large tensioning wheel is located on one side of the longitudinal fastening wheel.
As a preferable aspect of the constant tension winding industrial robot of the present invention, wherein: the size of the transverse fastening wheel is consistent with that of the longitudinal fastening wheel, and the size of the tensioning large wheel is larger than that of the transverse fastening wheel and that of the longitudinal fastening wheel.
As a preferable aspect of the constant tension winding industrial robot of the present invention, wherein: the wire guide plate is tightly attached to the positioning plate and fixedly connected with the positioning plate, the top of the wire guide plate is provided with a baffle, the two sides of the wire guide plate are provided with side plates, the baffle is provided with a pressing plate connected with the baffle in a clamping manner, and one end of the pressing plate is movably connected with the baffle and the pressing plate is suspended.
As a preferable aspect of the constant tension winding industrial robot of the present invention, wherein: an accommodating space is formed between the pressing plate and the wire guide plate, a folded sponge is plugged into the accommodating space, and a certain amount of static eliminating liquid is adsorbed in the sponge.
As a preferable aspect of the constant tension winding industrial robot of the present invention, wherein: the wire guide plate is characterized in that a vertical groove is formed in the positioning plate at the top of the wire guide plate, a transverse groove is formed in the positioning plate on one side of the wire guide plate, the axle center of the transverse fastening wheel penetrates through the transverse groove through a connecting shaft to be fastened and connected, and the axle center of the longitudinal fastening wheel penetrates through the vertical groove through the connecting shaft to be fastened and connected.
As a preferable aspect of the constant tension winding industrial robot of the present invention, wherein: the wire guide plate is tightly pressed with the pressing plate through a screw rod, the screw rod penetrates through the pressing plate, the wire guide plate and the positioning plate to be connected through bolts, and a solenoid coil is arranged between the screw rod and the pressing plate.
As a preferable aspect of the constant tension winding industrial robot of the present invention, wherein: the tensioning bull wheel is characterized in that a fixed threaded shaft penetrates through the axle center of the tensioning bull wheel, one end of the threaded shaft penetrates through the positioning plate, the other end of the threaded shaft is movably abutted to a nut cap, the nut cap is connected with the tensioning bull wheel through a thread piece, and wool is filled in the transverse fastening wheel, the longitudinal fastening wheel and the tensioning bull wheel.
As a preferable aspect of the constant tension winding industrial robot of the present invention, wherein: the baffle is provided with a groove, the groove is formed by sinking from one side surface of the baffle, which is far away from the wire guide plate, the two sides of the groove are provided with clamping grooves, the top of the pressing plate is provided with a clamping plate, and the clamping plate penetrates through the grooves to be embedded into the clamping grooves on the two sides and is limited in the clamping grooves in size.
The invention has the beneficial effects that: the machine winding mechanism is scientific and reasonable in structure, the working efficiency of part production can be improved to the greatest extent through a machine winding mode, and the labor cost is reduced; and the arrangement method can greatly reduce friction, reduce loss and control the cost to be the lowest.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a diagram showing the working positions of the robot main body and the shift mechanism in the first embodiment.
Fig. 2 is a view showing a structure of a draft mechanism in the first embodiment.
Fig. 3 is a view showing the positional arrangement of the members in the draft mechanism in the second embodiment.
Fig. 4 is a partial connection structure diagram of a drawing frame in a second embodiment.
Fig. 5 is an enlarged view of a portion F of fig. 3 in the second embodiment.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Example 1
Referring to fig. 1 and 2, a first embodiment of the present invention provides a constant tension winding industrial robot including a robot main body 100 and a draft mechanism 200.
The robot body 100 comprises a base 101, a revolute joint 102, a first movable arm 103, a second movable arm 104, a third movable arm 105 and a fourth movable arm 106, wherein the revolute joint 102 is mounted on the base 101 and can rotate 360 degrees, the first movable arm 103 is hinged to the revolute joint 102 and can rotate within a certain angle perpendicular to the plane of rotation of the revolute joint 102, the second movable arm 104 is hinged to the first movable arm 103, and the third movable arm 105 is hinged to the second movable arm 104.
The drafting mechanism 200 is installed at one end of the fourth movable arm 106 relatively far from the third movable arm 105, a winding rod 106a is installed on the fourth movable arm 106, and the yarn is wound on the winding rod 106a, drafted to the drafting mechanism 200, and drawn out by the drafting mechanism 200.
The whole robot main body is also provided with a position changing mechanism 300 opposite to the whole robot main body during operation, the position changing mechanism 300 comprises a position changing machine 301, a conical prefabricated body 302 and a servo motor 303, the position changing machine 301 drives the conical prefabricated body 302 to rotate, and when the conical prefabricated body 302 is driven to rotate through the servo motor 303, the robot main body 100 swings up and down through a mechanical arm, so that a fiber material is successfully wound to form a product in a prefabricated body shape.
The drafting mechanism 200 comprises a rotating shaft 201, a driving rod 202 and a positioning plate 203, the rotating shaft 201 is hinged to the front end of the fourth movable arm 106, one end of the driving rod 202 penetrates through the rotating shaft 201 to be connected with a cylinder, the other end of the driving rod 202 is fixedly connected with the positioning plate 203, and the cylinder can drive the driving rod 202 to move forwards and backwards.
Further, the drafting mechanism 200 further comprises a wire guide plate 204, a transverse fastening wheel 205, a longitudinal fastening wheel 206 and a large tensioning wheel 207, wherein the wire guide plate 204, the transverse fastening wheel 205, the longitudinal fastening wheel 206 and the large tensioning wheel 207 are all arranged on the same side of the positioning plate 203, the silk threads are led out from the winding roller 106a, sequentially pass through the wire guide plate 204, the transverse fastening wheel 205, the longitudinal fastening wheel 206 and the large tensioning wheel 207, and finally are wound on the conical prefabricated body 302; the transverse fastening wheel 205, the longitudinal fastening wheel 206 and the tensioning bull wheel 207 are arranged in an S shape, so that the silk thread is led out in an S shape when being pulled, the S shape can better ensure the effect of constant tension through the transverse fastening wheel 205, the longitudinal fastening wheel 206 and the tensioning bull wheel 207, excessive impact force is not generated when the silk thread passes through salient points during winding, the tensioner is protected, and meanwhile the tension is better kept constant.
Meanwhile, the transverse fastening wheel 205 and the longitudinal fastening wheel 206 can move transversely and longitudinally respectively, so that the angle of the S-shaped leading-out of the silk thread can be adjusted, and the optimal effect is ensured.
Example 2
Referring to fig. 3 to 5, a second embodiment of the present invention is based on the previous embodiment, and the transverse fastening wheels 205 and the longitudinal fastening wheels 206 are disposed at an angle and can be moved.
The transverse fastening wheel 205 is arranged at one side of the wire guide plate 204 in a transverse movable mode, the longitudinal fastening wheel 206 is arranged at the top of the wire guide plate 204 in a longitudinal movable mode, the large tensioning wheel 207 is arranged at one side of the longitudinal fastening wheel 206, and meanwhile the large tensioning wheel 207 is arranged at the position above the transverse fastening wheel 205.
The transverse fastening wheels 205 and the longitudinal fastening wheels 206 are of the same size, and the tensioning large wheels 207 are of a larger size than the transverse fastening wheels 205 and the longitudinal fastening wheels 206.
Furthermore, a vertical slot 203a is formed in the positioning plate 203 at the top of the wire guide plate 204, a horizontal slot 203b is formed in the positioning plate 203 on one side of the wire guide plate 204, the axle center of the horizontal fastening wheel 205 passes through the horizontal slot 203b through a connecting shaft to be fastened and connected, and the axle center of the longitudinal fastening wheel 206 passes through the vertical slot 203a through a connecting shaft to be fastened and connected; vertical fastening wheel 206 can move in vertical direction along vertical slot 203a, horizontal fastening wheel 205 can move in horizontal direction along horizontal slot 203b to adjust the angle that forms between the two, the silk thread can personally submit 30 ~ 45 degrees angle with the level when crossing horizontal fastening wheel 205 and vertical fastening wheel 206, through many times of experiments, the silk thread is the softest at the draft between 30 ~ 45 degrees, also can not cause wearing and tearing for the silk thread, can also ensure to twine smoothly, reduce the impact that fiber material produced to the tensioner when twining.
In order to protect the fiber material and increase the friction force between the fiber material and the guide wheel, so as not to generate relative displacement between the guide wheel and the fiber material, and thus cannot meet the requirement of constant tension, wool is embedded among the guide wheels of the transverse fastening wheel 205, the longitudinal fastening wheel 206 and the tensioning large wheel 207.
The wire guide plate 204 is of a plate-shaped structure, is tightly attached to the positioning plate 203 and is fixedly connected with the positioning plate 203 through bolts, a baffle plate 204a is vertically arranged at the top of the wire guide plate 204, the baffle plate 204a is vertical to the positioning plate 203, and the baffle plate 204a is arranged along the length direction of the positioning plate 203; the wire guide plate 204 is provided with side plates 204b on two sides, a clamping connection pressing plate 204c is arranged on the blocking plate 204a, one end of the pressing plate 204c is movably connected with the blocking plate 204a, the pressing plate 204c is arranged in a hanging mode, an accommodating space T is formed between the pressing plate 204c and the wire guide plate 204, a folding sponge K is plugged in the accommodating space T, the folding bending position of the sponge K is plugged into the accommodating space T in a half folding mode, a silk thread passes through two sections of the sponge K, static eliminating liquid with a certain content is adsorbed in the sponge K, static electricity generated when the silk thread passes through can be eliminated through the static eliminating liquid, friction generated during rapid drafting can be reduced, and loss is reduced.
The baffle 204a is provided with a groove 204a-1, the groove 204a-1 is formed by sinking from one side surface of the baffle 204a far away from the wire guide plate 204, the two sides of the groove 204a-1 are provided with clamping grooves 204a-2, the top of the pressing plate 204c is provided with a clamping plate 204c-1, the clamping plate 204c-1 penetrates through the groove 204a-1 to be embedded into the clamping grooves 204a-2 at the two sides, and the size of the part of the clamping plate 204c-1, which crosses the clamping groove 204a-2, is larger than that of the clamping groove 204a-2, so that the clamping plate can be limited in the clamping groove 204 a-2.
The wire plate 204 and the pressing plate 204c are pressed tightly through a screw 204d, the screw 204d passes through the pressing plate 204c, the wire guide plate 204 and the positioning plate 203 and is in bolt connection, and a solenoid 204d-1 is arranged between the screw 204d and the pressing plate 204 c. The screw 204d rotates to adjust the pressing degree of the pressing plate 204c, and the solenoid 204d-1 can well control the force generated in the pressing process of the pressing plate 204c, so that the static elimination liquid is prevented from being extruded due to too fast pressing.
The axis of the large tensioning wheel 207 is provided with a fixed threaded shaft 207a in a penetrating manner, one end of the threaded shaft 207a penetrates through the positioning plate 203, the other end of the threaded shaft is movably abutted to a threaded cap 207b, and the threaded cap 207b is connected with the large tensioning wheel 207 through a thread 207 c. The cap 207b is spaced from the shaft 207a such that during tightening the cap 207b is in threaded contact with the shaft 207a and the thread 207c, like the coil 204d-1, controls the release and tightening of the force during tightening.
It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (3)
1. A constant tension winding industrial robot, its characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the robot comprises a robot main body (100), wherein the robot main body (100) comprises a base (101), a rotating joint (102), a first movable arm (103), a second movable arm (104), a third movable arm (105) and a fourth movable arm (106), the rotating joint (102) is installed on the base (101), the first movable arm (103) is hinged to the rotating joint (102), the second movable arm (104) is hinged to the first movable arm (103), and the third movable arm (105) is hinged to the second movable arm (104); and the number of the first and second groups,
the drafting mechanism (200), the drafting mechanism (200) is installed at one end of the fourth movable arm (106) relatively far away from the third movable arm (105);
the drafting mechanism (200) comprises a rotating shaft (201), a driving rod (202) and a positioning plate (203), the rotating shaft (201) is hinged to the fourth movable arm (106), one end of the driving rod (202) penetrates through the rotating shaft (201) to be connected with the air cylinder, and the other end of the driving rod is fixedly connected with the positioning plate (203);
the drafting mechanism (200) further comprises a wire guide plate (204), a transverse fastening wheel (205), a longitudinal fastening wheel (206) and a large tensioning wheel (207), wherein the wire guide plate (204), the transverse fastening wheel (205), the longitudinal fastening wheel (206) and the large tensioning wheel (207) are all arranged on the same side of the positioning plate (203), the transverse fastening wheel (205) is transversely and movably arranged on one side of the wire guide plate (204), the longitudinal fastening wheel (206) is longitudinally and movably arranged on the top of the wire guide plate (204), and the large tensioning wheel (207) is arranged on one side of the longitudinal fastening wheel (206);
the wire guide plate (204) is tightly attached to the positioning plate (203) and fixedly connected with the positioning plate, a baffle plate (204 a) is arranged at the top of the wire guide plate (204), side plates (204 b) are arranged on two sides of the wire guide plate (204), a pressing plate (204 c) in clamping connection is arranged on the baffle plate (204 a), one end of the pressing plate (204 c) is movably connected with the baffle plate (204 a), and the pressing plate (204 c) is arranged in a hanging mode;
an accommodating space (T) is formed between the pressing plate (204 c) and the wire guide plate (204), a folded sponge (K) is plugged in the accommodating space (T), and a certain amount of static eliminating liquid is adsorbed in the sponge (K);
a vertical groove (203 a) is formed in the positioning plate (203) at the top of the wire guide plate (204), a transverse groove (203 b) is formed in the positioning plate (203) on one side of the wire guide plate (204), the axle center of the transverse fastening wheel (205) penetrates through the transverse groove (203 b) through a connecting shaft to be fastened and connected, and the axle center of the longitudinal fastening wheel (206) penetrates through the vertical groove (203 a) through the connecting shaft to be fastened and connected;
the wire guide plate (204) and the pressing plate (204 c) are tightly pressed through a screw rod (204 d), the screw rod (204 d) penetrates through the pressing plate (204 c), the wire guide plate (204) and the positioning plate (203) to be connected through bolts, and a solenoid coil (204 d-1) is arranged between the screw rod (204 d) and the pressing plate (204 c);
the tensioning device is characterized in that a fixed threaded shaft (207 a) penetrates through the axis of the large tensioning wheel (207), one end of the threaded shaft (207 a) penetrates through the positioning plate (203), the other end of the threaded shaft is movably connected with a threaded cap (207 b), the threaded cap (207 b) is connected with the large tensioning wheel (207) through a thread piece (207 c), and wool is filled in the transverse fastening wheel (205), the longitudinal fastening wheel (206) and the large tensioning wheel (207).
2. A constant tension winding industrial robot according to claim 1, characterized in that: the transverse fastening wheel (205) and the longitudinal fastening wheel (206) are consistent in size, and the large tensioning wheel (207) is larger than the transverse fastening wheel (205) and the longitudinal fastening wheel (206) in size.
3. A constant tension winding industrial robot according to claim 2, characterized in that: the wire guide plate is characterized in that a groove (204 a-1) is formed in the baffle (204 a), the groove (204 a-1) is formed by sinking from one side face, far away from the wire guide plate (204), of the baffle (204 a), clamping grooves (204 a-2) are formed in two sides of the groove (204 a-1), a clamping plate (204 c-1) is arranged at the top of the pressing plate (204 c), the clamping plate (204 c-1) penetrates through the groove (204 a-1) to be embedded into the clamping grooves (204 a-2) in the two sides, and the size of the clamping plate (204 c-1) is limited in the clamping grooves (204 a-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111543917.2A CN114228194B (en) | 2021-12-16 | 2021-12-16 | Constant-tension winding industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111543917.2A CN114228194B (en) | 2021-12-16 | 2021-12-16 | Constant-tension winding industrial robot |
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| CN114228194A CN114228194A (en) | 2022-03-25 |
| CN114228194B true CN114228194B (en) | 2022-09-27 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001070576A1 (en) * | 2000-03-23 | 2001-09-27 | Mas, Construcciones Mecanicas, S.A. | Wrapping method and machine for implementing said method |
| CN205011883U (en) * | 2015-08-18 | 2016-02-03 | 天津市永星织造有限公司 | Novel tensioning of chemical fibre silk device |
| CN105459412B (en) * | 2015-12-19 | 2018-06-26 | 胜利油田新大管业科技发展有限责任公司 | Equipment and manufacturing process is made in a kind of fiber fw frp pipe fitting |
| CN111169032A (en) * | 2020-02-08 | 2020-05-19 | 湖南江南四棱数控机械有限公司 | Single-wheel type numerical control coreless yarn group tension control device and method |
| CN112026200A (en) * | 2020-08-12 | 2020-12-04 | 东华大学 | Robot-based composite material fiber winding forming device |
| CN113370181A (en) * | 2021-05-24 | 2021-09-10 | 陈春莉 | Industrial robot arm capable of doing linear motion |
| CN113415677A (en) * | 2021-08-09 | 2021-09-21 | 常州新创航空科技有限公司 | Tension compensation device for winding prepreg narrow band |
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