CN115490083A - Yarn hanging and cutting mechanism for fiber winding forming - Google Patents
Yarn hanging and cutting mechanism for fiber winding forming Download PDFInfo
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- CN115490083A CN115490083A CN202211151513.3A CN202211151513A CN115490083A CN 115490083 A CN115490083 A CN 115490083A CN 202211151513 A CN202211151513 A CN 202211151513A CN 115490083 A CN115490083 A CN 115490083A
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- 239000000835 fiber Substances 0.000 title claims abstract description 74
- 238000005520 cutting process Methods 0.000 title claims abstract description 52
- 238000004804 winding Methods 0.000 title claims abstract description 38
- 230000007246 mechanism Effects 0.000 title claims abstract description 32
- 238000003825 pressing Methods 0.000 claims abstract description 28
- 238000010008 shearing Methods 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 5
- 238000009730 filament winding Methods 0.000 claims 9
- 230000003139 buffering effect Effects 0.000 claims 3
- 230000003044 adaptive effect Effects 0.000 claims 2
- 230000009471 action Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000000805 composite resin Substances 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 235000014676 Phragmites communis Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 229910001095 light aluminium alloy Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/70—Other constructional features of yarn-winding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/70—Other constructional features of yarn-winding machines
- B65H54/71—Arrangements for severing filamentary materials
-
- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01G—PRELIMINARY TREATMENT OF FIBRES, e.g. FOR SPINNING
- D01G1/00—Severing continuous filaments or long fibres, e.g. stapling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Treatment Of Fiber Materials (AREA)
Abstract
The invention discloses a yarn hanging and cutting mechanism for fiber winding forming, and aims to solve the problems that in the prior art, the automation degree of fiber winding is low and the labor cost is increased because the yarn hanging and cutting work of fibers is finished by manpower, so that workers are always in a factory building and the safety of the workers is not facilitated; the clamping cylinder is installed on the supporting frame body bottom, the pressing pad is fixedly installed on the piston extending end of the clamping cylinder, the cushion pad is arranged above the pressing pad, the cushion pad is fixedly installed on the supporting frame body top, the pressing pad and the cushion pad are arranged oppositely, the yarn shearing assembly is close to the clamping cylinder and fixedly installed on the supporting frame body bottom, and the yarn shearing assembly is used for shearing the pressing pad and the cushion pad clamped fiber bundle. The invention belongs to the field of fiber winding processing.
Description
Technical Field
The invention relates to an automatic yarn hanging and cutting mechanism, in particular to a yarn hanging and cutting mechanism for fiber winding forming, and belongs to the field of fiber winding processing.
Background
In modern aerospace development, composite materials improve system performance and reliability while reducing aircraft weight and maintenance requirements, and thus composite technology is considered to be one of the key technologies in modern aerospace development. The advanced resin-based composite material not only has the advantages of light weight, high strength, fatigue resistance, corrosion resistance and the like, but also integrates design and manufacture into a whole and can be used for forming complex components, and the advanced resin-based composite material becomes the fourth major aerospace structural material after aluminum, steel and titanium at present.
As for the automatic molding technology of resin-based composite materials, there are mainly automatic laying/filament laying, pultrusion, fiber winding and the like. The fiber winding can design a winding rule according to the stress condition of a product, and the strength of the fiber can be fully exerted. The fiber winding machine generally comprises a fiber yarn box, a moving trolley glue tank, a tension mechanism, a winding yarn nozzle and a moving main shaft, wherein the fiber yarn box is used for realizing initial supply of continuous fibers and ensuring the stability of initial tension, the moving trolley comprises a glue dipping tank for realizing the mixing of fibers and resin and a tension control mechanism for improving the tension of the fibers, the winding yarn nozzle is used for realizing the unfolding and sending out of fiber tows, the main shaft and the yarn nozzle wind the dipped fiber bundles on the surface of a core mold according to a certain movement rule to preliminarily complete the processing of fiber winding products, and then the manufacturing of the winding products is realized through curing and demolding. Therefore, the fiber winding product is easy to realize mechanical and automatic production, the quality of the wound product is stable and accurate after the process conditions are determined, and meanwhile, the fiber winding production efficiency is high, so that the fiber winding product has wide application in the aerospace field.
Before fiber winding, preparation work before winding is needed, a fiber bundle is fixed at a specified position of a core mold, the step is called yarn hanging, after the fiber winding work is finished, the fiber bundle needs to be cut off, and then the core mold is taken off, the step is called yarn cutting.
Disclosure of Invention
The invention aims to solve the problems that in the prior art, the automation degree of fiber winding is low, the labor cost is increased, and workers are always in a factory building and are not beneficial to the safety of the workers because the yarn hanging and cutting work of fibers is completed by manpower, and further provides a yarn hanging and cutting mechanism for fiber winding forming.
The technical scheme adopted by the invention for solving the problems is as follows:
a yarn hanging and cutting mechanism for fiber winding forming comprises a supporting frame body, a clamping cylinder, a pressing pad, a cushion pad and a yarn cutting assembly; the clamping cylinder is installed on the supporting frame body bottom, the pressing pad is fixedly installed on the piston extending end of the clamping cylinder, the cushion pad is arranged above the pressing pad, the cushion pad is fixedly installed on the supporting frame body top, the pressing pad and the cushion pad are arranged oppositely, the yarn shearing assembly is close to the clamping cylinder and fixedly installed on the supporting frame body bottom, and the yarn shearing assembly is used for shearing the pressing pad and the cushion pad clamped fiber bundle.
The beneficial effects of the invention are:
1. the invention can be used for clamping fiber bundles and is matched with a mechanical arm to finish the yarn hanging work of the fiber bundles, the preparation is made for fiber winding, the time of workers in a factory is reduced, the safety of the workers is ensured, and the clamping cylinder 2 and the shearing cylinder 11 are designed by an integral gas circuit to realize the control during the yarn hanging and shearing actions.
2. The invention can be used for finishing the shearing work of the fiber bundle, and when the fiber winding is finished or the yarn breaking is needed in the middle process, the shearing can be finished by the mechanism, thereby reducing the manual direct contact.
3. The invention is suitable for the yarn hanging and cutting work in the multi-tow fiber winding process and has quick usability.
4. The winding device is simple in structure, small in size and suitable for finishing winding preparation work of the winding machine in a limited field.
5. The mechanism developed by the invention needs to pull the fiber bundle to move under the carrying of the robot, the robot has a rated load, in order to meet the use requirement of the robot with a smaller rated load, the parts of the yarn shearing mechanism have small volume and light weight, the clamping force of the yarn shearing mechanism of the invention is strong, when the yarn hanging action is completed, the developed mechanism needs to have a certain clamping force to carry the fiber to move to a specified position, the shearing property of the invention is good, the strength of the fiber bundle is high, and when the fiber winding is completed to cut the fiber bundle, the action mode and the acting force of the shearing blade need to be considered. The output force of the selected cylinder can reach 157N under the condition that the pressure is 0.5Mpa, and the mechanism is suitable for finishing the specified action.
6. According to the invention, before fiber winding, after the fiber bundle is taken out, the fiber bundle is fixed to a specified position, after the fiber winding is completed, the fiber bundle is sheared and pulled to the specified position, in the whole process, the clamping action and the shearing action are completed through the air cylinder, and the mounting frame and the blade support are made of light aluminum alloy materials, so that the whole weight of the mechanism is reduced.
Drawings
Fig. 1 is a front view of the overall structure of the present application.
Fig. 2 is an isometric view of the overall structure of the present application.
Fig. 3 is a cross-sectional view of the overall structure of the present application.
Fig. 4 is a schematic diagram that the whole structure of the present application is connected with a mechanical arm through a tool-side quick-change connector 5, and the mechanical arm drives a yarn hanging and cutting mechanism to cut a core mold yarn hanging point 21 and a machine tool yarn hanging point 22.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 4, and a yarn hanging and cutting mechanism for fiber winding forming comprises a supporting frame body, a clamping cylinder 2, a pressing pad 6, a cushion pad 7 and a yarn cutting assembly; the clamping cylinder 2 is installed on the supporting frame body bottom, the pressing pad 6 is fixedly installed on the piston extending end of the clamping cylinder 2, the cushion pad 7 is arranged above the pressing pad 6, the cushion pad 7 is fixedly installed on the supporting frame body top, the pressing pad 6 is arranged opposite to the cushion pad 7, the yarn shearing assembly is close to the clamping cylinder 2 and is fixedly installed on the supporting frame body bottom, and the fiber bundle tightly clamped by the pressing pad 6 and the cushion pad 7 is sheared through the yarn shearing assembly. In the embodiment, the output force of the clamping cylinder 2 can reach 157N under the condition that the pressure is 0.5 Mpa.
The second embodiment is as follows: the present embodiment is described with reference to fig. 1 to 3, and the present embodiment is different from the present embodiment in that the support frame body includes a cylinder support frame 1, a support body frame 3, and a cushion support frame 8; cylinder support frame 1, support main part frame 3 and blotter support frame 8 fixed connection constitute 'U' font framework in proper order, press from both sides tight cylinder 2 and cut the vertical fixed mounting of yarn subassembly on cylinder support frame 1, blotter 7 fixed mounting is on blotter support frame 8.
The third concrete implementation mode: the present embodiment is described with reference to fig. 1 to 3, and differs from the present embodiment in that it further comprises an adapter flange 4 and a tool-side quick-change coupler 5; the tool-side quick-change coupling 5 is fixedly mounted on the outer side wall of the support body carrier 3 by means of an adapter flange 4. Other components and connection modes are the same as those of the second embodiment.
The fourth concrete implementation mode: the present embodiment is described with reference to fig. 1 to 3, and the present embodiment is different from the present embodiment in that a plurality of wave grooves are formed on an upper end surface of the pressing pad 6, a plurality of wave protrusions are formed on a lower end surface of the cushion pad 7 to be engaged with the plurality of wave grooves of the pressing pad 6, and the plurality of wave grooves of the pressing pad 6 are engaged with the plurality of wave protrusions of the cushion pad 7. The fiber bundles are clamped by the plurality of wave grooves of the pressing pad 6 and the plurality of wave protrusions of the cushion pad 7.
The tank bottom of every wave groove of compressing tightly pad 6 is the arc, and the bellied tip of every wave of blotter 7 is the arc, and the side becomes the clamp tight to the tow to the wave groove that compresses tightly pad 6 and the protruding damage that causes of wave of blotter 7 to the tow when preventing to press from both sides tight tow. The upper end surface of the pressing pad 6 can be processed with decorative patterns to replace the wave grooves, and the wave protrusions of the cushion pad 7 are replaced with corresponding decorative patterns, so that the effect of squeezing and clamping is achieved. Other components and connection modes are the same as those of the first embodiment.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 1 to 3, and the present embodiment is different from the present embodiment in that the yarn cutting assembly includes a blade 9, a blade holder 10, and a cutting cylinder 11; the blade 9 is fixedly arranged on the blade frame 10, the blade frame 10 is fixedly arranged on the extending end of a piston of the shearing cylinder 11, and the shearing cylinder 11 is arranged on the supporting frame body. Other components and connection modes are the same as those of the first embodiment. In the present embodiment, the output force of the shearing cylinder 11 can reach 157N under the condition that the pressure is 0.5 Mpa.
The sixth specific implementation mode: the present embodiment is described with reference to fig. 1 to 3, and the present embodiment is different from the present embodiment in that the shearing cylinder 11 is fixedly mounted on the cylinder support frame 1 near the clamping cylinder 2. Other components and connection modes are the same as those of the second embodiment or the fifth embodiment.
The seventh embodiment: the present embodiment is described with reference to fig. 1 to 3, and the present embodiment is different from the present embodiment in that the cutting edge of the blade 9 is disposed upward, and the cutting edge height of the top end of the blade 9 is lower than the bottom end height of the cushion 7. The yarn cutting assembly is convenient to cut the fiber bundles. Other components and connection modes are the same as those of the sixth embodiment.
The specific implementation mode is eight: the present embodiment is described with reference to fig. 1 to 3, and the present embodiment is different from the present embodiment in that the cutting edge of the blade 9 is a beveled cutting edge, and the cutting edge of the blade 9 is disposed close to the cushion 7. The blade is longer, and is suitable for cutting fiber bundles or bundles of fibers with different specifications. The fiber bundle is tightly pressed by the pressing pad 6 and the buffer pad 7 when being sheared, so that slippage cannot occur, meanwhile, certain tension exists at the other end of the fiber bundle on the winding machine, the fiber bundle is in a tightening state, the distance between the blade and the rubber pad is reduced as much as possible, the situation that the fiber bundle cannot be sheared due to the fact that the blade is drawn by high strength of the fiber bundle when the blade is carried under the 11 shearing cylinder to move rapidly is prevented, meanwhile, the beveling type blade can cut the fiber bundle while the blade is used for cutting the fiber bundle is guaranteed, and the fiber bundle is normally cut off. The other components and the connection mode are the same as those of the seventh embodiment mode.
The specific implementation method nine: the present embodiment is described with reference to fig. 1 to 3, and the present embodiment is different from the present embodiment in that the compression pad 6 and the cushion pad 7 are both rectangular solids, the compression pad 6 is a compression pad made of rubber, and the cushion pad 7 is a cushion pad made of rubber.
The rubber used is Microsoft rubber, the pressing pad 6 and the buffer pad 7 made of the rubber can be extruded and deformed to a certain extent, and when the pressing pad and the buffer pad are separated, the initial state can be restored. The other components and the connection mode are the same as those of the seventh embodiment.
The specific implementation mode is ten: the present embodiment is described with reference to fig. 1 to 3, and is different from the present embodiment in that the stroke of the clamp cylinder 2 is larger than the distance between the pressure pad 6 and the cushion pad 7.
Can guarantee that during operation die clamping cylinder 2 produces deformation when compressing tightly pad 6 and cushion 7 extrusion, simultaneously because compress tightly pad 6 and cushion 7 and make for rubber, consequently can guarantee to compress tightly that pad 6 and cushion 7 are tight more firmly to the clamp of tow. The other components and the connection mode are the same as those of the ninth embodiment.
Principle of operation
This application die clamping cylinder 2 passes through the screw with shearing cylinder 11 and is connected with cylinder support frame 1, and adaptation flange 4 and tool side quick change coupler 5 pass through the screw connection, and die clamping cylinder 2 passes through the screw connection with pressure pad 6, and blotter 7 passes through the screw connection with blotter support frame 8, passes through the screw connection between blade 9 and the blade frame 10, passes through the screw connection between blade frame 10 and the shearing cylinder 11.
In fig. 4, the mandrel yarn hanging point 21 and the machine tool yarn hanging point 22 are both composed of a reed, a round nut and a spring and used for clamping and fixing a fiber bundle, the mechanical arm is connected with the yarn hanging and cutting mechanism through the quick tool side quick-change connector 5, the air passage of the tool side quick-change connector 5 is controlled to disconnect or connect the robot with the yarn hanging and cutting mechanism, and meanwhile, the clamping cylinder 2 and the cutting cylinder 11 are controlled through the whole air passage.
In the working process, when the yarn hanging operation before winding is carried out, the mechanical arm yarn hanging and cutting mechanism moves to a machine tool yarn hanging point 22, the air supply of the clamping cylinder 2 pushes the pressing pad 6 to move towards the cushion pad 7, the clamping of fibers is realized by the clamping force of the cylinder, the acquisition of the fibers is completed, namely the yarn taking operation is carried out, then the fiber bundle is sent to the core mold yarn hanging point 21 to complete the yarn hanging operation of the fibers, after the winding is completed, the mechanical arm carries the yarn hanging and cutting mechanism to move to the position close to the core mold yarn hanging point 21, the air supply of the cutting cylinder 11 pushes the blade 9 to move towards the fibers quickly, the cutting of the fibers is realized, the fiber bundle is moved to the machine tool yarn hanging point 22 to be fixedly clamped, and the yarn cutting of the fibers is completed, namely the fixed yarn hanging operation.
Claims (10)
1. The utility model provides a be used for fashioned hanging yarn of fibre winding and cut yarn mechanism which characterized in that: the yarn cutting machine comprises a supporting frame body, a clamping cylinder (2), a pressing pad (6), a cushion pad (7) and a yarn cutting assembly; install on the braced frame body bottom in die clamping cylinder (2), compress tightly pad (6) fixed mounting and stretch out to serve at the piston of braced cylinder (2), blotter (7) set up and are compressing tightly pad (6) top, and blotter (7) fixed mounting is on the braced frame body top, compress tightly pad (6) and blotter (7) and set up relatively, it is close to die clamping cylinder (2) fixed mounting and on the braced frame body bottom to cut the yarn subassembly and cut compressing tightly pad (6) and blotter (7) tight tow through cutting.
2. The yarn hanging and cutting mechanism for filament winding forming according to claim 1, characterized in that: the supporting frame body comprises a cylinder supporting frame (1), a supporting main body frame (3) and a buffer pad supporting frame (8); cylinder support frame (1), support main part frame (3) and buffering pad support frame (8) fixed connection in proper order constitute 'U' font framework, press from both sides tight cylinder (2) and cut the vertical fixed mounting of yarn subassembly on cylinder support frame (1), buffering pad (7) fixed mounting is on buffering pad support frame (8).
3. The yarn hanging and cutting mechanism for filament winding forming according to claim 2, characterized in that: the tool side quick-change connector also comprises an adaptive flange (4) and a tool side quick-change connector (5); the quick-change connector (5) on the tool side is fixedly arranged on the outer side wall surface of the support main body frame (3) through an adaptive flange (4).
4. The yarn hanging and cutting mechanism for filament winding forming according to claim 1, characterized in that: compress tightly pad (6) up end processing and have a plurality of wave grooves, the lower terminal surface processing of blotter (7) have with compress tightly a plurality of waves of a plurality of wave groove complex of pad (6) protruding, compress tightly a plurality of waves groove of pad (6) and a plurality of waves of blotter (7) protruding cooperation setting. The fiber bundles are clamped by a plurality of wave grooves of the pressing pad (6) and a plurality of wave bulges of the buffer pad (7).
5. The yarn hanging and cutting mechanism for filament winding forming according to claim 1, characterized in that: the yarn cutting assembly comprises a blade (9), a blade frame (10) and a cutting cylinder (11); the blade (9) is fixedly installed on the blade frame (10), the blade frame (10) is fixedly installed on the piston extending end of the shearing cylinder (11), and the shearing cylinder (11) is installed on the supporting frame body.
6. The yarn hanging and cutting mechanism for filament winding forming according to claim 2 or 5, characterized in that: the shearing cylinder (11) is fixedly arranged on the cylinder supporting frame (1) close to the clamping cylinder (2).
7. The yarn hanging and cutting mechanism for filament winding forming according to claim 6, characterized in that: the cutting edge of the blade (9) is arranged upwards, and the cutting edge height of the top end of the blade (9) is lower than the bottom end height of the cushion pad (7).
8. The yarn hanging and cutting mechanism for filament winding forming of claim 7, wherein: the cutting edge of the blade (9) is a beveled cutting edge, and the cutting edge of the blade (9) is arranged close to the cushion pad (7).
9. The yarn hanging and cutting mechanism for filament winding forming of claim 7, wherein: the pressing pad (6) and the buffer pad (7) are cuboids, the pressing pad (6) is made of rubber, and the buffer pad (7) is made of rubber.
10. The yarn hanging and cutting mechanism for filament winding forming of claim 9, wherein: the stroke of the clamping cylinder (2) is larger than the distance between the pressing pad (6) and the buffer pad (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211151513.3A CN115490083A (en) | 2022-09-21 | 2022-09-21 | Yarn hanging and cutting mechanism for fiber winding forming |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211151513.3A CN115490083A (en) | 2022-09-21 | 2022-09-21 | Yarn hanging and cutting mechanism for fiber winding forming |
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| Publication Number | Publication Date |
|---|---|
| CN115490083A true CN115490083A (en) | 2022-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211151513.3A Pending CN115490083A (en) | 2022-09-21 | 2022-09-21 | Yarn hanging and cutting mechanism for fiber winding forming |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312572A (en) * | 2018-01-15 | 2018-07-24 | 武汉理工大学 | A kind of automatic extension yarn cutting system for horizontal fiber winding machine |
| CN109545541A (en) * | 2018-12-29 | 2019-03-29 | 鲁班嫡系机器人（深圳）有限公司 | Assist coil winding machinery hand combined system |
| CN113618954A (en) * | 2021-07-19 | 2021-11-09 | 天津工业大学 | I fiber implantation device and I fiber implantation equipment |
| CN113753681A (en) * | 2016-10-20 | 2021-12-07 | 日本Tmt机械株式会社 | Yarn hanging mechanical arm |
| CN114620553A (en) * | 2022-03-31 | 2022-06-14 | 杭州君辰机器人有限公司 | Line hunting device |
| CN217456702U (en) * | 2021-11-25 | 2022-09-20 | 昆明理工大学 | Packing box belt cutting device |
-
2022
- 2022-09-21 CN CN202211151513.3A patent/CN115490083A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113753681A (en) * | 2016-10-20 | 2021-12-07 | 日本Tmt机械株式会社 | Yarn hanging mechanical arm |
| CN108312572A (en) * | 2018-01-15 | 2018-07-24 | 武汉理工大学 | A kind of automatic extension yarn cutting system for horizontal fiber winding machine |
| CN109545541A (en) * | 2018-12-29 | 2019-03-29 | 鲁班嫡系机器人（深圳）有限公司 | Assist coil winding machinery hand combined system |
| CN113618954A (en) * | 2021-07-19 | 2021-11-09 | 天津工业大学 | I fiber implantation device and I fiber implantation equipment |
| CN217456702U (en) * | 2021-11-25 | 2022-09-20 | 昆明理工大学 | Packing box belt cutting device |
| CN114620553A (en) * | 2022-03-31 | 2022-06-14 | 杭州君辰机器人有限公司 | Line hunting device |
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