TWI658347B - Winding forming method and winding forming device - Google Patents

Abstract

Under the integrated operation of a numerical control host, a clamp and a robot arm, the invention drives the silk nozzle to move back and forth towards the two ends of the core material through the rotation and swing of the robot arm, and the fiber filament is wound around the set pattern under the pull of the silk nozzle. The periphery of the core material on the fixture can not only effectively reduce the working space, but also has better molding accuracy. It can even cooperate to generate more winding patterns. It can improve the winding molding processing quality by a more positive and reliable method, which is especially suitable for composite type. The winding operation of composite materials for pressure vessels improves the processing accuracy and structural strength of composite pressure vessels.

Description

Winding forming method and winding forming device

The present invention relates to a winding processing technology, and aims to provide a winding molding method that can effectively reduce the working space and has better molding accuracy, can generate more winding patterns, and a winding molding device related thereto.

Composite materials have better specific strength, corrosion resistance, easier forming, and lower cost than metal materials, so they can achieve better durability for containers containing liquids or gases; most composite containers today Many material layers have been made by winding methods.

The basic concept of the winding molding method is to wind continuous fiber filaments on a pre-formed semi-finished product or model; the winding molding method currently used in composite containers is to fix an inner liner on a rotating shaft, and then a filament The mouth draws continuous fiber filaments to the inner liner, and with the rotation of the rotating shaft and the back and forth displacement of the silk mouth between the two ends of the inner liner, the purpose of winding the filaments around the outer periphery of the inner liner is achieved.

The existing conventional winding forming device is mainly provided with a horizontal linear slide rail for horizontal horizontal displacement of the wire nozzle and a set of vertical linear slide rails for horizontal horizontal displacement of the wire nozzle and the horizontal linear slide rail around the rotation axis. Driven by the horizontal linear slide rail and the vertical linear slide rail, it produces the action effect of moving the wire nozzle back and forth to the two ends of the liner.

However, similar to the winding molding device, because the specifications of the horizontal linear slide and the vertical linear slide must be sufficient to cover the travel of the wire nozzle, so that the overall equipment is quite large, and it must occupy more space. The arc of the line between the two ends of the inner liner varies greatly. The conventional winding molding device can only produce horizontal and horizontal movement effects. It is difficult to accurately drive the wire nozzle to match the arc displacement of the inner liner. The winding patterns that can be produced are also limited.

In view of this, the present invention is to provide a winding molding method which can effectively reduce the working space and has better molding accuracy, can generate more winding patterns, and a winding molding device related thereto, which are its main objectives.

The winding forming method of the present invention includes the following steps: (a) providing a numerical control host, the numerical control host is at least electrically integrated with a signal input unit, a signal output unit, a signal processing unit, a data storage unit, and Load at least one operating system into the data storage unit; (b) provide a jig, which is provided with at least a rotary chuck electrically connected to the numerical control host; (c) provide a mechanical arm, which is provided with a A base which can be controlled by the numerical control host to rotate in the horizontal direction, a first arm connected to the base and swingable in an upright direction under the control of the numerical control host, and a first arm A second arm which is controlled by the numerical control host to swing in an upright direction, and a silk mouth which can be controlled by the numerical control host to swing relative to the second arm is connected to the end of the second arm; (d ) Obtain the working origin of the robot arm, fix one of the core materials required for this winding molding operation to the chuck, execute the operating system of the numerical control host, and use the machine in manual mode. The silk nozzle of the arm is moved to the two ends of the core material, and the position control parameters of the two ends of the core material are captured by the numerical control host and set as the working origin; (e) the working parameters are established and the operating system of the numerical control host is established Corresponds to the parameters of the core material size of the secondary winding molding operation, the fiber filament size, the number of fiber winding layers, the fiber winding angle, and the fiber winding mode of the winding molding operation; (f) perform the winding action, to be determined The working parameters required for the winding and forming operation are established, and after the silk nozzle is connected to one of the fiber filaments used in the winding and forming operation, the operating system of the numerical control host can be started to perform the winding action. Under the integrated operation of the host machine, the clamp and the robot arm, the winding molding operation of winding the fiber filament around the periphery of the core material is completed.

The winding molding method of the present invention drives the wire nozzle to move back and forth toward the two ends of the core material through the rotation and swing of the mechanical arm, which not only can effectively reduce the working space, but also has better molding accuracy, and can even cooperate to generate more winding patterns. Improve the quality of winding molding by relatively more positive and reliable means.

According to the above technical features, the winding molding method can further install the robot arm on a linear slide.

According to the above technical features, the winding forming method can further install the robot arm on the linear slide; the linear slide has a set of horizontal linear slide rails arranged horizontally and laterally, and slides linearly on the set of lateral linear slides. A set of longitudinal linear slides arranged horizontally and longitudinally and capable of being displaced back and forth along the set of lateral linear slides is provided on the rail. A set of platforms for carrying the robotic arm is provided on the set of longitudinal linear slides. The linear slide is moved back and forth along the group of longitudinal linear slides; the linear slide is additionally provided with a traverse driving member for driving the set of longitudinal linear slides to move back and forth along the set of linear linear slides, and a carrier for driving the carrier A longitudinal displacement driving member that is reciprocated along the longitudinal linear slides of the group, the lateral displacement driving component and the longitudinal displacement driving component are electrically connected to the numerical control host.

In the winding forming method, the second arm of the robotic arm is connected by a first component and a second component that can be relatively rotated, and the wire nozzle is arranged on the second component.

In the winding forming method, a thimble is arranged at the periphery of the chuck of the clamp and can be moved back and forth toward the chuck by the control of the numerical control host.

The winding molding method is formed by combining the second arm of the robotic arm with the first component and the second component that can be relatively rotated, and the wire nozzle is provided on the second component; and the clamp The thimble is arranged at the periphery of the chuck and can be moved back and forth toward the chuck under the control of the numerical control host.

In the winding molding method, resin is impregnated with the fiber filaments used in the winding molding operation in advance.

The winding molding method is made by pre-impregnating the fiber used in the winding molding operation with resin; and the second arm of the robotic arm is connected by the first component and the second component which are relatively rotatable. The wire nozzle is arranged on the second component.

The winding molding method is pre-impregnated with resin for the fiber filaments used in the winding molding operation; and the thimble is arranged at the periphery of the chuck of the clamp and can be moved back and forth toward the chuck by the control of the numerical control host. .

The winding molding method is made by pre-impregnating the fiber used in the winding molding operation with resin; and the second arm of the robotic arm is connected by the first component and the second component which are relatively rotatable. The wire nipple is provided on the second component; and the thimble is arranged at the periphery of the chuck of the clamp and can be moved back and forth toward the chuck by the control of the numerical control host.

The winding molding device of the present invention includes: the numerical control host, which at least electrically integrates the signal input unit, the signal output unit, the signal processing unit, and the data storage unit, and loads at least the operation in the data storage unit System; the fixture is provided with at least a rotary control chuck electrically connected to the numerical control host; the robot arm is provided with the base which can be controlled by the numerical control host to rotate in a horizontal direction, is connected with the base, and The first arm which can be controlled by the numerical control host to swing in an upright direction, the second arm connected to the first arm which can be controlled to control the numerical control host to swing in an upright direction, and at the second The tail end of the boom is connected with the wire nozzle which can be controlled by the numerical control host and swings relative to the second boom.

According to the above structural features, the winding molding device further includes the linear slide for mounting the robot arm.

According to the above structural feature, the winding forming device further includes the linear slide for mounting the robot arm; the linear slide has a set of horizontal linear slides arranged horizontally and laterally, and the set of horizontal linear slides The set of longitudinal linear slides arranged horizontally and longitudinally and capable of being displaced back and forth along the set of lateral linear slides is provided on the set of longitudinal linear slides with the carrier for carrying the robotic arm, the carrier and The linear slide can be moved back and forth along the group of longitudinal linear slides; the linear slide is additionally provided with the traverse driving member for driving the group of longitudinal linear slides to move back and forth along the group of linear linear slides, and for driving the load The longitudinal displacement driving member, which is displaced back and forth along the set of longitudinal linear slides, is electrically connected to the numerical control host.

The second arm of the robotic arm is formed by the first component and the second component that can be relatively rotated, and the wire nozzle is provided on the second component.

The clamp is provided with an infiltration groove for containing resin at the periphery of the chuck, and at least one guide wheel is provided at the infiltration groove for guiding the fiber thread through the inside of the infiltration groove.

The clamp is arranged at the periphery of the chuck with the thimble that can be moved back and forth toward the chuck by the numerical control host.

The clamp is provided with the infiltration groove for holding resin at the periphery of the chuck, and the ejector pin which can be moved back and forth toward the chuck by the control of the numerical control host, and at least the infiltration groove is provided at the infiltration groove. The fiber filament is guided through the guide wheel inside the infiltration groove.

The second arm of the robotic arm is formed by the first component and the second component that can be relatively rotated, and the wire nozzle is provided on the second component; the clamp is arranged on the periphery of the chuck The thimble can be moved back and forth toward the chuck by the control of the numerical control host.

The second arm of the robotic arm is formed by the first component and the second component that can be relatively rotated, the wire nozzle is provided on the second component, and the clamp is provided on the periphery of the chuck. There is the infiltration groove for containing the resin, and the thimble can be moved back and forth toward the chuck under the control of the numerical control host, and at the infiltration groove is provided at least for guiding the fiber filaments through the inside of the infiltration groove. Guide wheel.

Under the integrated operation of the numerical control host, the clamp and the robot arm, the invention drives the wire nozzle to move back and forth toward the two ends of the core material through the rotation and swing of the robot arm, which not only can effectively reduce the working space, but also has better molding accuracy, It can cooperate to produce more winding patterns, and use relatively positive and reliable methods to improve the quality of winding molding processing. It is especially suitable for the composite material winding molding operation of composite pressure vessels to improve the processing accuracy and structural strength of composite pressure vessels.

The present invention mainly provides a winding molding method which can effectively reduce the working space and has better molding accuracy, can generate more winding patterns, and a winding molding device related thereto. As shown in FIGS. 1 to 3, The winding molding method includes the following steps:

(a) A numerical control host 10 is provided. The numerical control host 10 is at least electrically integrated with a signal input unit 11, a signal output unit 12, a signal processing unit 13, and a data storage unit 14. Load at least one operating system.

(b) A clamp 20 is provided, and the clamp 20 is provided with at least one rotary chuck 21 electrically connected to the numerical control host 10; the chuck 21 mainly uses the core material A as a winding molding operation (as shown in the figure). The core material A can be an inner container of a composite pressure vessel, which is sandwiched and fixed and controlled by the numerical control host 10 to rotate.

(c) A robot arm 30 is provided. The robot arm 30 is provided with a base 31 that can be horizontally rotated by the numerical control host 10, and a base 31 that is connected to the base 31 and can be controlled by the numerical control host. A first boom 32 swinging in an upright direction, and a second boom 33 coupled to the first boom 32 and swinging in an upright direction under the control of the numerical control host 10, and at the tail end of the second boom 33 A silk nozzle 34 which can be controlled by the numerical control host 10 to swing relative to the second arm 33 is connected; the fiber nozzle B is mainly pulled by the silk nozzle 34 for the winding and forming operation.

(d) Obtain the working origin of the robot arm 30, fix a core material A required for the winding molding operation to the chuck 21, execute the numerical control host 10's operating system, and manually move the robot arm 30 The wire nozzle 34 is moved to both ends of the core material (as shown in FIG. 4 and FIG. 5), and the numerical control host 10 retrieves the position parameters of both ends of the core material A and sets them as the working origin.

(e) Establish working parameters, and establish the core material A size corresponding to the secondary winding molding operation, the fiber B size, the number of fiber winding layers, and the fiber in the operating system of the numerical control host 10 Wire winding angle, fiber winding mode and other parameters.

(f) Perform the winding action. After it is determined that the working parameters required for the winding forming operation are established, and the silk nozzle 34 is connected to the fiber filament B used in the winding forming operation, the numerical control host can be started. The operation system of 10 performs the winding operation. As shown in FIG. 6, under the integrated operation of the numerical control host 10, the clamp 20, and the robot arm 30, the winding of the fiber filament B around the core material is completed. Forming operations.

Because the winding molding method of the present invention drives the wire nozzle 34 to move back and forth toward the two ends of the core material A through the rotation and swing of the robotic arm 30, which not only can effectively reduce the working space, but also has better molding accuracy, and can even be produced in coordination. There are more winding styles to improve the winding molding processing quality by a more positive and reliable method; it is especially suitable for the composite material winding molding operation of composite pressure vessels to improve the processing accuracy and structural strength of composite pressure vessels.

Furthermore, when the winding molding method of the present invention is implemented, the robotic arm 30 can be further mounted on a linear slide 40 as shown in FIG. 7; if necessary, the linear slide 40 can be quickly and The relative positions of the robot arm 30 and the clamp 20 are accurately adjusted to meet the requirements of different winding molding operations.

In the winding forming method of the present invention, in the embodiment where the robot arm 30 is mounted on the linear slide 40, the linear slide 40 has a set of horizontal linear slide rails 41 arranged horizontally and horizontally. The horizontal linear slide rail 41 is provided with a set of vertical linear slide rails 42 arranged horizontally and longitudinally and capable of being reciprocated along the group of horizontal linear slide rails 41. A set of vertical linear slide rails 42 is provided for carrying the robotic arm 30. The carrier 43 can move back and forth along the group of longitudinal linear slide rails 42.

The linear slide 40 is further provided with a traverse driving member 44 for driving the group of longitudinal linear slides 42 to move back and forth along the group of linear linear slides 41, and a stage 43 for driving the stage 43 along the longitudinal direction of the group. The linear slide rail 42 is a longitudinal movement driving member 45 which is reciprocated. The transverse movement driving assembly 44 and the longitudinal movement driving assembly 45 are electrically connected to the numerical control host 10, and the mechanical arm 30 can be accurately fine-tuned through the numerical control host 10. Relative position to the clamp 20.

In the winding molding method of the present invention, the second arm 33 of the robot arm 30 is connected by a first member 331 and a second member 332 which can be relatively rotated in various possible implementation modes. The thread nipple 34 is provided on the second member 332, and the rotation effect of the first member 331 and the second member 332 can increase the angle changing effect of the wire nipple 34.

In the winding forming method of the present invention, under the various possible implementation modes, a periphery of the chuck 21 of the clamp 20 can be arranged around the chuck 21 and can be displaced back and forth toward the chuck 21 by the control of the numerical control host 10. The thimble 22 can facilitate the insertion of the core material A between the thimble 22 and the chuck 21 under the action of the thimble 22, and make the core material A rotate under the action of the thimble 22 More accurate.

In the winding molding method of the present invention, the second arm 33 of the robot arm 30 is connected by the first member 331 and the second member 332 which can be relatively rotated in various possible implementation modes. The wire nozzle 34 is disposed on the second member 332, and the thimble 22 is disposed around the chuck 21 of the clamp 20 and can be moved back and forth toward the chuck 21 by the control of the numerical control host 10.

Incidentally, according to the winding molding method of the present invention, the fiber filament B used in the winding molding operation can be impregnated with resin in advance according to the requirements of the product to which it is applied, so that the fiber filament B which has been wound on the core material A A better bonding effect is obtained between the fiber filaments B.

In the winding molding method of the present invention, under the various possible implementation modes, the fiber filament B used in the winding molding operation can be impregnated with resin in advance, and the second arm 33 of the robot arm 30 can be collected at the same time. The first member 331 and the second member 332 which are relatively rotatable are connected, and the wire nozzle 34 is arranged on the second member 332.

Similarly, in the winding molding method of the present invention, under the various possible implementation modes, the fiber filament B used in the winding molding operation can be impregnated with resin in advance, and the chuck 21 of the clamp 20 can be simultaneously impregnated with resin. The thimble 22 is disposed at the periphery and can be moved back and forth toward the chuck 21 under the control of the numerical control host 10.

Of course, in the winding molding method of the present invention, under the various possible implementation modes, the fiber filament B used for the winding molding operation is impregnated with resin in advance, and the second arm of the robot arm 30 is simultaneously impregnated. 33 is formed by the first member 331 and the second member 332 which are relatively rotatable, the wire nozzle 34 is arranged on the second member 332, and is arranged at the periphery of the chuck 21 of the clamp 20. The thimble 22 is preferably controlled by the numerical control host 10 to move back and forth toward the chuck 21.

As shown in FIG. 2 and FIG. 3, the present invention further specifically discloses a winding molding device capable of completing the above-mentioned winding molding method. The winding molding device includes:

The numerical control host 10 at least electrically integrates the signal input unit 11, the signal output unit 12, the signal processing unit 13, and the data storage unit 14, and loads at least the operating system in the data storage unit 14.

The clamp 20 is provided with at least a chuck 21 electrically connected to the numerical control host 10; the chuck 21 clamps and fixes the core material A of the winding molding operation and is controlled by the numerical control host 10 to rotate .

The robot arm 30 is provided with the base 31 which can be controlled by the numerical control host 10 to rotate in the horizontal direction, and the first arm which is connected to the base 31 and can be controlled by the numerical control host to swing in an upright direction. The second arm 33 connected to the first arm 32 can be controlled by the numerical control host 10 to swing in an upright direction, and the second arm 33 is connected at the rear end of the second arm 33 to be controlled by the numerical control 10 The thread nipple 34 is controlled to swing relative to the second arm 33.

During implementation, the winding forming device of the present invention may further include the linear slide 40 for installing the robot arm 30 as shown in FIG. 7; the winding forming device of the present invention further includes the robot arm 30 for installing the robot arm 30. In the implementation form of the linear slide 40, the linear slide 40 is provided with the set of horizontal linear slide rails 41 arranged horizontally and laterally. The set of longitudinal linear slide rails 42 that are reciprocated along the set of lateral linear slide rails 41 is provided on the set of longitudinal linear slide rails 42 with a carrier 43 for carrying the robotic arm 30, and the carrier 43 can be moved along the carrier. The group of longitudinal linear slides 42 is reciprocated.

The linear sliding seat 40 is further provided with the traverse driving member 44 for driving the group of longitudinal linear sliding rails 42 to move back and forth along the group of horizontal linear sliding rails 41, and the stage 43 for driving the carrier 43 along the longitudinal direction of the group. The longitudinal movement driving member 45 linearly displaced by the linear slide rail 42, the transverse movement driving assembly 44 and the longitudinal movement driving assembly 45 are electrically connected to the numerical control host 10.

In the winding forming device of the present invention, the second arm 33 of the robotic arm 30 is connected by the first member 331 and the second member 332 which can be relatively rotated under various possible implementation modes. The wire nozzle 34 is provided on the second member 332.

In the winding molding device of the present invention, in various possible implementation modes, the fixture 20 can be further provided with an infiltration groove 23 for holding resin (not shown) at the periphery of the chuck 21, and The infiltration groove 23 is provided with a structural form for guiding the fiber filament B through at least one guide wheel 24 inside the infiltration groove 23, and the winding forming operation can be performed through the infiltration groove 23 and the guide wheel 24. The fiber filament B used is impregnated with resin in advance.

The winding molding device of the present invention can also be arranged with the clamp 20 tied to the periphery of the chuck 21 under the various possible implementation modes, which can be controlled by the numerical control host 10 to move back and forth toward the chuck. The structure of the thimble 22 is shown.

The winding molding device of the present invention can also be provided with the infiltration groove 23 for holding the resin at the periphery of the chuck 21 with the clamp 20 attached under the various possible implementation modes, and can be controlled by the numerical value. The thimble 22 which is controlled by the host machine 10 and is displaced back and forth toward the chuck 21, and at the infiltration groove 23 is provided with at least a structure for guiding the fiber filament B through the guide wheel 24 inside the infiltration groove 23. .

Similarly, the winding molding device of the present invention can also use the second arm 33 of the robot arm 30 to relatively rotate the first member 331 and the second arm in various possible implementation modes. The component 332 is connected, the wire nozzle 34 is arranged on the second component 332, and the clamp 20 is arranged at the periphery of the chuck 21 and can be controlled by the numerical control host 10 to return to the chuck 21 The structural form of the ejector pin 22 that has been displaced appears.

Of course, in the winding forming device of the present invention, in various possible implementation modes, the second arm 33 of the robot arm 30 is composed of the first member 331 and the second member 332 which are relatively rotatable. In combination, the wire nipple 34 is provided on the second member 332, and the clamp 20 is provided with the infiltration groove 23 for holding the resin at the periphery of the chuck 21, and the main unit 10 which can be controlled by the value. The thimble 22 is controlled to move back and forth toward the chuck 21, and the infiltration groove 23 is provided with at least a structure of the guide wheel 24 for guiding the fiber filament B through the inside of the infiltration groove 23.

Compared with the conventional conventional technology, the present invention mainly uses the integrated operation of the numerical control host, the fixture and the robot arm to drive the wire nozzle back and forth to the two ends of the core material through the rotation and swing of the robot arm, which can effectively reduce the working space. And the molding accuracy is better, and it can even cooperate to produce more winding styles, which can improve the winding molding processing quality by a more positive and reliable method. It is especially suitable for the composite material winding molding operation of the composite pressure vessel to enhance the composite pressure vessel. Processing accuracy and structural strength.

The above-mentioned embodiments are only for explaining the technical ideas and characteristics of the present invention. The purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. When the scope of the patent of the present invention cannot be limited, That is, any equivalent changes or modifications made in accordance with the spirit disclosed in the present invention should still be covered by the patent scope of the present invention.

A core material B fiber filament 10 numerical control host 11 signal input unit 12 signal output unit 13 signal processing unit 14 data storage unit 20 clamp 21 collet 22 thimble 23 infiltration groove 24 guide wheel 30 mechanical arm 31 base 32 first arm Rod 33 Second arm 331 First member 332 Second member 34 Wire nozzle 40 Linear slide 41 Lateral linear slide 42 Vertical linear slide 43 Carrier 44 Lateral drive assembly 45 Vertical drive assembly

FIG. 1 is a basic flowchart of the winding molding method of the present invention. FIG. 2 is a block diagram of the basic composition architecture of the numerical control host in the present invention. Fig. 3 is a layout diagram of the numerical control host, fixture and robot arm in the first embodiment of the present invention. FIG. 4 is a schematic diagram of an action state in which a robot arm moves a wire nozzle to one end of a core material in the present invention. FIG. 5 is a schematic diagram of the movement state of the robot arm to move the wire nozzle to the other end of the core material in the present invention. FIG. 6 is a schematic diagram showing a state in which the operation system of the numerical control host of the present invention performs the winding action. FIG. 7 is a layout diagram of a numerical control host, a fixture and a robot arm in the second embodiment of the present invention.

Claims (17)

A winding molding method includes the following steps: (a) providing a numerical control host, the numerical control host is at least electrically integrated with a signal input unit, a signal output unit, a signal processing unit, and a data storage unit; and The data storage unit is loaded into at least one operating system; (b) a clamp is provided, the clamp is provided with at least a rotary chuck electrically connected to the numerical control host; (c) a mechanical arm is provided, and the mechanical arm is provided with an acceptable The base controlled by the numerical control host to rotate in the horizontal direction, a first arm connected to the base and swingable in the upright direction under the control of the numerical control host, and connected to the first arm can be controlled by the base. A second arm which is controlled by the numerical control host to swing in an upright direction, and a wire nipple which can be controlled by the numerical control host to swing relative to the second arm is connected to the rear end of the second control arm; (d) Obtained Work origin of the robot arm, fix one core material required for this winding molding operation to the chuck, execute the operating system of the numerical control host, and manually operate the robot arm The wire nozzle is moved to the two ends of the core material, and the numerical control host captures the position parameters of the two ends of the core material and sets them as the working origin; (e) Establishing the working parameters, and establishing a corresponding response in the operating system of the numerical control host The core material size of the secondary winding forming operation, the size of the fiber filament used in the winding forming operation, the number of layers of the filament winding, the angle of the filament winding, and the mode of the filament winding; (f) perform the winding action, to be determined The working parameters required for the secondary winding forming operation are established, and after the silk nozzle is connected to one of the fiber filaments used in the winding forming operation, the operating system of the numerical control host can be started to perform the winding action. Under the integrated operation of the clamp and the robot arm, the winding forming operation of winding the fiber filament around the periphery of the core material is completed. The winding molding method according to claim 1, wherein the winding molding method further installs the robot arm on a linear slide. The winding forming method according to claim 1, wherein the winding forming method further installs the robot arm on a linear slide; the linear slide has a set of horizontal linear slide rails arranged horizontally and laterally A set of longitudinal linear slides arranged horizontally and longitudinally and capable of moving back and forth along the set of horizontal linear slides is provided on the set of horizontal linear slides, and a load for carrying the robotic arm is provided on the set of longitudinal linear slides. Platform, the carrier can be moved back and forth along the group of longitudinal linear slides; the linear slide seat is also provided with a traverse drive member for driving the group of longitudinal linear slides to move back and forth along the group of linear linear slides, And a longitudinal displacement driving member for driving the carrier to move back and forth along the group of longitudinal linear slides, the lateral displacement driving component and the longitudinal displacement driving component are electrically connected with the numerical control host. The winding molding method according to any one of claims 1 to 3, wherein the winding molding method is to connect the second arm of the robotic arm with a first component and a second component that can be relatively rotated As a result, the wire nozzle is arranged on the second component. The winding molding method according to any one of claims 1 to 3, wherein the winding molding method is arranged at the periphery of the chuck of the jig to be moved back and forth toward the chuck under the control of the numerical control host. Thimble. The winding molding method according to any one of claims 1 to 3, wherein the winding molding method is to connect the second arm of the robotic arm with a first component and a second component that can be relatively rotated As a result, the wire nozzle is arranged on the second component; and a thimble that can be moved back and forth toward the chuck under the control of the numerical control host is arranged at the periphery of the chuck of the clamp. The winding molding method according to any one of claims 1 to 3, wherein the winding molding method is pre-impregnated with a resin for the fiber filament used in the winding molding operation. The winding molding method according to any one of claims 1 to 3, wherein the winding molding method is pre-impregnated with resin for the fiber filament used in the winding molding operation; and the second arm of the robot arm The rod is connected by a first component and a second component which can rotate relatively, and the wire nozzle is arranged on the second component. The winding molding method according to any one of claims 1 to 3, wherein the winding molding method is pre-impregnated with the resin for the fiber filament used in the winding molding operation; and at the periphery of the chuck of the clamp An ejector pin configured to be controlled by the numerical control host to move back and forth toward the chuck is provided. The winding molding method according to any one of claims 1 to 3, wherein the winding molding method is pre-impregnated with resin for the fiber filament used in the winding molding operation; and the second arm of the robot arm The rod is connected by a first component and a second component that can be relatively rotated, and the wire nozzle is arranged on the second component; and a peripheral part of the host that can be controlled by the value is arranged at the periphery of the chuck of the clamp. A thimble that is manipulated to move back and forth toward the chuck. A winding molding device includes: a numerical control host, which at least electrically integrates a signal input unit, a signal output unit, a signal processing unit, and a data storage unit, and loads at least one operating system in the data storage unit; A fixture is provided with at least a rotating chuck electrically connected to the numerical control host; a mechanical arm is provided with a base which can be controlled by the numerical control host to rotate in a horizontal direction, and is connected to the base and can be subject to the A first boom which is controlled by the numerical control host to swing in an upright direction, and a second boom which is connected to the first boom and is controlled by the numerical control host to swing in an upright direction, and is at the tail end of the second boom. A wire nozzle that can be controlled by the numerical control host to swing relative to the second arm is connected; wherein the winding forming device further includes a linear slide for mounting the robot arm; the linear slide is provided with A set of horizontal linear slide rails arranged horizontally and laterally, a set of horizontal and vertical slide rails arranged horizontally and vertically along the set of horizontal linear slide rails A longitudinal linear slide for back displacement is provided on the group of longitudinal linear slides with a stage for carrying the robotic arm, and the stage can be reciprocated along the group of longitudinal linear slides; the linear slide is further provided with a A traverse driving member for driving the group of longitudinal linear slides to reciprocate along the group of linear linear slides, and a traverse driving member for driving the carrier to reciprocately move along the group of linear linear slides. The traverse drive assembly and the longitudinal drive assembly are electrically connected to the numerical control host. The winding molding device according to claim 11, wherein the second arm of the robot arm is composed of a first component and a second component that can be relatively rotated, and the wire nozzle is provided on the second component. on. The winding molding device according to claim 11, wherein the clamp is provided with an infiltration groove for holding a resin at the periphery of the chuck, and an infiltration groove for guiding a fiber thread through the inside of the infiltration groove is provided at the infiltration groove At least one guide wheel. The winding molding device according to claim 11, wherein the clamp is provided at the periphery of the chuck with a thimble that can be moved back and forth toward the chuck by the numerical control host. The winding molding device according to claim 11, wherein the clamp is provided with an infiltration groove for holding resin at the periphery of the chuck, and a reciprocating displacement toward the chuck can be controlled by the numerical control host. A thimble is provided at the infiltration groove with at least one guide wheel for guiding a fiber filament through the inside of the infiltration groove. The winding molding device according to claim 11, wherein the second arm of the robot arm is composed of a first component and a second component that can be relatively rotated, and the wire nozzle is provided on the second component. The clamp is arranged at the periphery of the chuck with a thimble that can be moved back and forth toward the chuck by the control of the numerical control host. The winding molding device according to claim 11, wherein the second arm of the robot arm is composed of a first component and a second component that can be relatively rotated, and the wire nozzle is provided on the second component. The fixture is provided with an infiltration groove for holding resin at the periphery of the chuck, and a thimble that can be moved back and forth toward the chuck under the control of the numerical control host, and is provided at the infiltration groove. A fiber filament is guided through at least one guide wheel inside the infiltration groove.