The invention relates to a handheld
fiber laying device. The device comprises a mechanical arm and a laying head, wherein the mechanical arm is fixed on the ground or on a trolley, and the laying head is fixed at the front end of the mechanical arm; the mechanical arm comprises a fixed column, a rotating column, a control box, a swinging arm, a main arm, a small arm, a suspension arm, a cylinder and a pneumatic balance
system; and the laying head comprises a wire guiding module, a re-delivering module, a
cutting module, a pressure head module, a lining
paper recycling module and a heating module. The mechanical arm disclosed by the invention enables a worker to push the workpiece and complete the laying work by using a very weak force, and the mechanical arm can automatically maintain a state of equilibrium in any position and any condition; the laying head disclosed by the invention can laying a plurality of narrow
fiber prepreg tapes at one time and can complete the functions of wire guiding, conveying, lining
paper recycling, shearing, heating and laying, and the laying head is not only suitable for a mandrel with a simple structure of a cylinder, but also is suitable for a mandrel with a special structure of a cone or a latticed shape. The handheld
fiber laying device has the advantages of simplicity in operation, less manpower, high efficiency, and good laying effect.