CN111067175A - Automatic flanging machine - Google Patents

Abstract

The invention discloses an automatic edge folding machine which comprises an edge folding device and a template moving mechanism, wherein the template moving mechanism is used for driving a fabric template clamping a fabric to be folded to move on an XY plane for edge folding of the edge folding device, and the XY plane is parallel to a plane where the fabric to be folded is located; the edge folding device comprises an edge hooking mechanism, an edge pressing mechanism, a flanging mechanism and an edge hammering mechanism, wherein the edge hooking mechanism is used for hooking the outer side of the edge of the fabric to be folded so as to enable the edge of the fabric to be folded to be tilted upwards; the edge pressing mechanism is used for pressing the inner side of the edge of the fabric to be folded to limit the fold line position of the fabric to be folded; the flanging mechanism is used for inwards turning the edge of the fabric to be folded, which is turned upwards, from the folding line position to form a folded edge; and the edge hammering mechanism is used for hammering the folded edge of the fabric to be folded, which is folded inwards, so that the folded edge of the fabric to be folded is tightly adhered. The automatic flanging machine decomposes the whole flanging process into four automatic procedures of edge hooking, edge pressing, flanging and edge hammering, and greatly improves the flanging efficiency and the flanging precision. The invention also provides an automatic flanging machine.

Description

Automatic flanging machine

Technical Field

The invention relates to the field of mechanical automation, in particular to an automatic flanging machine.

Background

The edge folding machine is special sewing equipment for folding the edge of a fabric to be processed, such as leather or clothes. The existing flanging machine is semi-automatic, and the flanging efficiency and the flanging precision are very low.

Disclosure of Invention

In order to solve the defects of the prior art, the invention provides the automatic flanging machine, which decomposes the whole flanging process into four automatic procedures of edge hooking, edge pressing, flanging and edge hammering, and greatly improves the flanging efficiency and the flanging precision.

The technical problem to be solved by the invention is realized by the following technical scheme:

an automatic flanging machine comprises a flanging device and a template moving mechanism, wherein,

the template moving mechanism is used for driving a fabric template clamping the fabric to be folded to move on an XY plane for the edge folding device to fold the edge, and the XY plane is parallel to the plane of the fabric to be folded;

the edge folding device comprises an edge hooking mechanism, an edge pressing mechanism, an edge folding mechanism and an edge hammering mechanism, wherein,

the edge hooking mechanism is used for extending into the bottom of the outer side of the edge of the fabric to be folded to enable the edge of the fabric to be folded to be tilted upwards;

the edge pressing mechanism is used for pressing the inner side of the edge of the fabric to be folded to limit the fold line position of the fabric to be folded;

the flanging mechanism is used for inwards turning the edge of the fabric to be folded, which is turned upwards, from the folding line position to form a folded edge;

and the edge hammering mechanism is used for hammering the folded edge of the fabric to be folded, which is folded inwards, so that the folded edge of the fabric to be folded is tightly adhered.

Further, collude limit mechanism including colluding limit head and colluding limit drive assembly, collude limit drive assembly with collude the limit head and be connected, in order to drive collude the limit head and collude the edge outside of treating a surface fabric.

Furthermore, collude limit drive assembly and include first Z axle removal subassembly and Z axle rotating assembly, first Z axle removal subassembly is used for driving collude the limit head and carry out the translation along the Z axle, Z axle rotating assembly is used for driving collude the limit head and rotate around the Z axle, Z axle perpendicular to treat the plane at a surface material place.

Furthermore, collude limit drive assembly still with blank pressing mechanism, turn-ups mechanism and hammer limit mechanism are connected, in order to drive blank pressing mechanism, turn-ups mechanism and hammer limit mechanism with collude limit head simultaneous movement.

Furthermore, the blank pressing mechanism comprises a blank pressing head and a blank pressing driving assembly, and the blank pressing driving assembly is connected with the blank pressing head so as to drive the blank pressing head to press the inner side of the edge of the fabric to be folded.

Furthermore, the blank pressing driving assembly comprises a second Z-axis moving assembly, the second Z-axis moving assembly is used for driving the blank pressing head to translate along the Z axis, and the Z axis is perpendicular to the plane where the fabric to be folded is located.

Furthermore, the flanging mechanism comprises a flanging paw and a flanging driving mechanism, and the flanging driving mechanism is connected with the flanging paw so as to drive the flanging paw to turn the edge of the fabric to be folded upwards and inwards.

Furthermore, the flanging mechanism comprises a third Z-axis moving assembly and a swinging assembly, the third Z-axis moving assembly is used for driving the flanging paw to translate along the Z axis, the swinging assembly is used for driving the flanging paw to swing inwards and outwards along the flanging direction, and the Z axis is perpendicular to the plane where the fabric to be folded is located.

Furthermore, the edge hammering mechanism comprises an edge hammering head and an edge hammering driving assembly, and the edge hammering driving assembly is connected with the flanging paw so as to drive the edge hammering head to hammer and press the flanging of the to-be-folded fabric, which is turned inwards.

Furthermore, the edge hammering driving assembly comprises a fourth Z-axis moving assembly, the fourth Z-axis moving assembly is used for driving the edge hammering head to translate along a Z axis, and the Z axis is perpendicular to the plane where the fabric to be folded is located.

The invention has the following beneficial effects: this automatic flanging machine adopts the full automatization, and the during operation is colluded through colluding the limit mechanism earlier treat the edge outside of a face material, then passes through blank pressing mechanism compresses tightly treat the edge inboard of a face material, collude limit mechanism and blank pressing mechanism and have injectd jointly treat the hem width of a face material, then pass through flanging mechanism will treat that the edge of a face material upwarping inwards turns over and rolls over and form the hem, passes through at last hammer the limit mechanism hammer press treat that the hem of a face material inwards turns over the hem messenger treat that a face material glues tightly (treat that the edge surface of a face material covers has the viscose), accomplishes the hem technology, decomposes whole hem technology into colluding limit, blank pressing, turn-ups and hammer the limit four automatic processes, has improved hem efficiency and hem precision greatly.

Drawings

FIG. 1 is a schematic view of an automatic hemming machine provided by the present invention;

FIG. 2 is a schematic view of a die plate moving mechanism in the automatic hemming machine provided by the invention;

FIG. 3 is a schematic view of a hemming device provided in the present invention;

FIG. 4 is another schematic view of the hemming device provided in the present invention;

FIG. 5 is a schematic view of the interior of the hemming device provided in the present invention;

FIG. 6 is another schematic internal view of the hemming device provided in the present invention;

FIG. 7 is a schematic view of a rotating spindle in the hemming device provided in the present invention;

FIG. 8 is a schematic view of a side hooking mechanism and a side pressing mechanism in the edge folding device provided by the invention;

FIG. 9 is a schematic view of a flanging mechanism in the flanging device provided by the invention;

FIG. 10 is another schematic view of a flanging mechanism in the flanging device provided by the invention;

FIG. 11 is a schematic view of a hammering mechanism in the hemming device provided by the present invention;

FIG. 12 is a top view of the edge hooking head, the edge pressing head, the edge turning claw and the edge hammering head of the edge folding device provided by the present invention;

FIG. 13 is a schematic view of the matching of the edge hooking head and the edge pressing head in the edge folding device provided by the invention;

FIG. 14 is a block diagram illustrating the steps of the automatic hemming method according to the present invention;

fig. 15 is a schematic diagram of the operation of the automatic hemming machine according to the present invention.

Detailed Description

The invention is described in detail below with reference to the figures and examples.

Example one

As shown in fig. 3-6, a flanging device comprises a flanging mechanism 1, a blank-pressing mechanism 2, a flanging mechanism 3 and a hammering mechanism 4, wherein,

the edge hooking mechanism 1 is used for extending into the bottom of the outer side of the edge of the fabric to be folded to enable the edge of the fabric to be folded to be tilted upwards;

the edge pressing mechanism 2 is used for pressing the inner side of the edge of the fabric to be folded to limit the folding line position of the fabric to be folded;

the flanging mechanism 3 is used for inwards folding the edge of the fabric to be folded, which is tilted upwards, from the folding line position to form a flange;

and the edge hammering mechanism 4 is used for hammering the folded edge of the fabric to be folded, which is folded inwards, so that the folded edge of the fabric to be folded is tightly adhered.

This hem device adopts the full automatization, and the during operation passes through earlier collude limit mechanism 1 and collude the edge outside of treating a surface fabric, then passes through blank pressing mechanism 2 compresses tightly treat the edge inboard of a surface fabric, collude limit mechanism 1 and blank pressing mechanism 2 and have injectd jointly treat the hem width of a surface fabric, then pass through turn-ups mechanism 3 will treat that the edge of a surface fabric upwarping turns over inwards and forms the hem, pass through at last hammer limit mechanism 4 hammer presses treat that the hem that a surface fabric turned over inwards turns over makes the hem glue (treat that the edge surface of a surface fabric glues tightly), accomplish the hem technology, decompose whole hem technology into colludes limit, blank pressing, turn-ups and hammer limit four automatic processes, improved hem efficiency and hem precision greatly.

As shown in fig. 3, the edge hooking mechanism 1 includes an edge hooking head 11 and an edge hooking driving component, and the edge hooking driving component is connected to the edge hooking head 11 to drive the edge hooking head 11 to hook up the outer side of the edge of the fabric to be folded.

During operation, as shown in fig. 13, the edge hooking driving component drives the edge hooking head 11 to extend into the bottom of the outer side of the edge of the fabric to be folded, and the edge hooking head abuts against the edge of the fabric to be folded to enable the fabric to be folded to tilt upwards, so that the side surface of the edge hooking head 11 opposite to the fabric to be folded is an inward-concave arc surface, and the edge of the fabric to be folded can tilt upwards along the inward-concave arc surface of the edge hooking head 11.

Collude limit drive assembly and include first Z axle removal subassembly 6 and Z axle rotating assembly 5, first Z axle removal subassembly 6 is used for the drive collude limit head 11 and carry out the translation along the Z axle, Z axle rotating assembly 5 is used for the drive collude limit head 11 and rotate around the Z axle, Z axle perpendicular to treat the plane at a surface fabric place.

In a specific implementation, the first Z-axis moving assembly 6 is connected to an output end of the Z-axis rotating assembly 5, the Z-axis rotating assembly 5 drives the first Z-axis moving assembly to rotate around a Z-axis, the edge hooking mechanism 1 is arranged on the first Z-axis moving assembly 6, and the first Z-axis moving assembly 6 drives the first Z-axis moving assembly 6 to translate along the Z-axis and rotate around the Z-axis together with the first Z-axis moving assembly 6; or, the Z-axis rotating component 5 is arranged on the first Z-axis moving component 6, and is driven by the first Z-axis moving component 6 to translate along the Z-axis, the edge hooking mechanism 1 is connected to the output end of the Z-axis rotating component 5, and is driven by the Z-axis rotating component 5 to rotate around the Z-axis and translate along the Z-axis along with the Z-axis rotating component 5.

In this embodiment, the Z-axis rotating component 5 is disposed on the first Z-axis moving component 6, and the edge hooking mechanism 1 is connected to an output end of the Z-axis rotating component 5. The first Z-axis moving assembly 6 is driven by an air cylinder, the Z-axis rotating assembly 5 translates on the guide rail, and the Z-axis rotating assembly 5 is connected to the edge hooking mechanism 1 through a motor in a transmission mode through a transmission belt.

Before the fabric to be folded starts to be folded, the edge hooking head 11 is matched with rotation around the Z axis through translation along the Z axis, extends into the bottom of the outer side of the edge of the fabric to be folded, and only the edge pressing mechanism 2, the edge folding mechanism 3 and the edge hammering mechanism 4 repeatedly execute corresponding processes in the process of folding each point on the edge of the fabric to be folded, the edge hooking head 11 is always located at the bottom of the outer side of the edge of the fabric to be folded and does not leave any more, and the edge hooking head rotates only according to the edge profile of the fabric to be folded so as to adjust the edge hooking angle until the whole edge of the fabric to be folded is folded.

In this embodiment, first Z axle removes subassembly 6 and adopts cylinder and slide rail to cooperate, Z axle rotating assembly 5 adopts the motor and rotates the belt and cooperate, collude limit head 11 directly with Z axle rotating assembly 5's output is connected, and Z axle rotating assembly 5 of telling locates on the first Z axle removes subassembly 6.

As shown in fig. 5 and 6, the edge pressing mechanism 2 includes an edge pressing head 21 and an edge pressing driving assembly, and the edge pressing driving assembly is connected to the edge pressing head 21 to drive the edge pressing head 21 to press the inner side of the edge of the fabric to be folded; the blank pressing driving assembly comprises a second Z-axis moving assembly, and the second Z-axis moving assembly is used for driving the blank pressing head 21 to translate along the Z axis. The flanging mechanism 3 comprises a flanging paw 31 and a flanging driving mechanism, and the flanging driving mechanism is connected with the flanging paw 31 so as to drive the flanging paw 31 to turn the edge of the fabric to be folded, which is tilted upwards, inwards; the flanging mechanism 3 comprises a third Z-axis moving assembly and a swinging assembly, the third Z-axis moving assembly is used for driving the flanging paw 31 to translate along the Z axis, and the swinging assembly is used for driving the flanging paw 31 to swing inwards and outwards along the flanging direction. The edge hammering mechanism 4 comprises an edge hammering head 41 and an edge hammering driving component, and the edge hammering driving component is connected with the flanging paw 31 so as to drive the edge hammering head 41 to hammer and press the flanging of the fabric to be folded inwards; the driving component of the hammer edge comprises a fourth Z-axis moving component, and the fourth Z-axis moving component is used for driving the hammer edge head 41 to translate along the Z-axis.

The edge pressing mechanism 2, the flanging mechanism 3 and the edge hammering mechanism 4 can be driven by different rotating assemblies respectively to rotate around the Z axis, but preferably a Z axis rotating assembly 5 common to the edge hooking mechanism 1 is used in the embodiment, so that the edge pressing mechanism 2, the flanging mechanism 3 and the edge hammering mechanism 4 can rotate synchronously with the edge hooking head 11.

In this embodiment, the edge pressing mechanism 2, the flanging mechanism 3 and the edge hammering mechanism 4 are simultaneously connected to the Z-axis rotating assembly 5, so that when the edge hooking head 11 rotates, the edge pressing mechanism 2, the flanging mechanism 3 and the edge hammering mechanism 4 can synchronously rotate along with the rotation; furthermore, the edge pressing mechanism 2, the edge turning mechanism 3 and the edge hammering mechanism 4 are also simultaneously connected to the first Z-axis moving assembly 6, so that when the edge hooking head 11 translates along the Z axis, the edge pressing mechanism 2, the edge turning mechanism 3 and the edge hammering mechanism 4 can translate synchronously; namely, the edge pressing mechanism 2, the flanging mechanism 3 and the edge hammering mechanism 4 are simultaneously connected to the edge hooking driving assembly, so that when the edge hooking head 11 moves (translates along the Z axis and rotates around the Z axis), the edge pressing mechanism 2, the flanging mechanism 3 and the edge hammering mechanism 4 can follow the synchronous motion.

Specifically, this hem device includes an assembly support 7, collude limit head 11, blank pressing mechanism 2, turn-ups mechanism 3 and hammer edge mechanism 4 all assemble in on the assembly support 7, collude limit actuating mechanism's output connect in assembly support 7, through the drive assembly support 7 carries out translation and rotation, and then drives collude limit head 11, blank pressing mechanism 2, turn-ups mechanism 3 and hammer edge mechanism 4 synchronous translation and rotation.

In this embodiment, the assembly bracket 7 is an assembly box, and the second Z-axis moving component, the third Z-axis moving component, the fourth Z-axis moving component and the swinging component are all accommodated in the assembly box.

The second Z-axis moving assembly, the third Z-axis moving assembly, the swing assembly, and the fourth Z-axis moving assembly may be driven by different driving sources, respectively, but are preferably driven by the same driving source (driving motor 9) as in the present embodiment.

In this embodiment, as shown in fig. 8, the second Z-axis moving assembly includes a first cam 22, a first driven swing rod 23 and a first moving member 24, the first driven swing rod 23 and the first cam 22 act to swing, the first driven swing rod 23 is further rotatably connected to the first moving member 24 to drive the first moving member 24 to translate when swinging, and the edge pressing head 21 is disposed on the first moving member 24 and translates along with the first moving member 24.

The first moving member 24 is connected to a fixed member (mounting bracket 7) by a first return spring 25, so that the second Z-axis moving assembly is returned by the elastic force of the first return spring 25 after the driving force is removed.

As shown in fig. 9 and 10, the third Z-axis moving assembly includes a second cam 32, a second driven swing link 33 and a second moving member 34, the second driven swing link 33 and the second cam 32 act to swing, and the second driven swing link 33 is further rotatably connected to the second moving member 34 to drive the second moving member 34 to translate when swinging; the swinging assembly comprises a third cam 35 and a third driven swing rod 36, the third driven swing rod 36 and the third cam 35 act to swing, the third driven swing rod 36 is further rotatably connected to the second moving member 34 and translates along with the second moving member 34, and the flanging paw 31 is arranged on the third driven swing rod 36 and swings and translates along with the third driven swing rod 36.

The second moving member 34 is connected to a fixed member (mounting bracket 7) by a second return spring 37, so that the third Z-axis moving assembly is returned by the elastic force of the second return spring 37 after the driving force is removed. The third driven swing link 36 is connected to the second moving member 34 through a third return spring (not shown), so that the swing assembly is returned by the elastic force of the third return spring after the driving force is removed.

As shown in fig. 11, the fourth Z-axis moving assembly includes a fourth cam 42, a fourth driven swing link 43, a fourth moving member 44 and a fifth driven swing link 45, the fourth driven swing link 43 and the fourth cam 42 act to swing, the fourth driven swing link 43 is further rotatably connected to the fourth moving member 44 to drive the fourth moving member 44 to translate when swinging, the fourth moving member 44 is further rotatably connected to the fifth driven swing link 45 to drive the fifth driven swing link 45 to swing when translating, and the hammer head 41 is rotatably connected to the fifth driven swing link 45 to drive the fifth driven swing link 45 to translate when swinging.

The hammer head 41 is connected to a fixing member (mounting bracket 7) by a fourth return spring 46 so that the fourth Z-axis moving member can be returned by the elastic force of the fourth return spring 46 after the driving force is removed.

As shown in fig. 7, the first cam 22, the second cam 32, the third cam 35 and the fourth cam 42 are sequentially sleeved on the same rotating main shaft 8 and are connected to the same driving source (driving motor 9) through the rotating main shaft 8.

The position of the edge hooking head 11 is lower than that of the edge pressing head 21, so that when edges are hooked, the fabric to be folded can enter a gap between the edge hooking head 11 and the edge pressing head 21.

Meanwhile, because the distance between the edge hooking head 11 and the edge pressing head 21 along the folding width is small, the fabric to be folded is inconvenient to enter during edge hooking, therefore, as shown in fig. 12, the bottom of the edge hooking head 11 extends outwards at two adjacent sides to form an extending part 1101, and the extending part 1101 and the side surface of the edge hooking head 11 are transited through the concave arc surface; the edge pressing head 21 is located on one side of the extension part 1101, when the edge is hooked, one side of the extension part 1101, which is not opposite to the edge pressing head 21 (and is opposite to the edge turning claw 31 of the edge turning mechanism 3), extends into the bottom of the outer side of the edge of the fabric A to be folded, and then the edge hooking head 11, the edge pressing head 21, the edge turning claw 31 and the edge hammering head 41 synchronously rotate to enable one side of the extension part 1101, which is opposite to the edge pressing head 21, to be shifted into the bottom of the outer side of the edge of the fabric to be folded (as shown in fig. 11).

The turn-up hand claw 31 and the hammer edge head 41 are both located on the same side of the edge hooking head 11 and the edge pressing head 21 (with the extension 1101 supplies the opposite side of the initial entering of the fabric to be folded), and the turn-up hand claw 31 is located on the hammer edge head 41 and between the edge hooking head 11 and the edge pressing head 21.

Example two

As shown in fig. 1 and 15, an automatic hemming machine includes a work table 101, and a hemming device and a template moving mechanism 10 according to an embodiment of the present invention provided on the work table 101, wherein,

the template moving mechanism 10 is configured to drive the fabric template 11 holding the fabric 12 to be folded to move on an XY plane, so that the edge folding device folds the edge, and the XY plane is parallel to a plane where the fabric 12 to be folded is located.

This automatic flanging machine passes through template moving mechanism 10 drives wait to roll over surface fabric 12 and carry out the translation along the X axle and along the Y axle, deuterogamy the translation along the Z axle of hem device and around Z rotation of axes, can be right wait to roll over the marginal orbit realization multiaxis location of surface fabric 12, improved the precision of hem location greatly, operating personnel only need accomplish behind the hem right wait to roll over surface fabric 12 in the surface fabric template 11 and trade the material, both improved hem efficiency, also improved the safety in utilization.

As shown in fig. 2, the stencil moving mechanism 10 includes a stencil connecting unit 110, an X-axis moving unit 120, and a Y-axis moving unit 130, wherein,

the template connecting assembly 110 is used for connecting the fabric template 11;

the X-axis moving assembly 120 is configured to drive the template connecting assembly 110 to translate along the X-axis;

the Y-axis moving assembly 130 is configured to drive the template connecting assembly 110 to translate along the Y-axis;

the X-axis is perpendicular to the Y-axis.

In a specific implementation, the X-axis moving assembly 120 is disposed on the Y-axis moving assembly 130, and is driven by the Y-axis moving assembly 130 to translate along the Y-axis, and the template connecting assembly 110 is disposed on the X-axis moving assembly 120, is driven by the X-axis moving assembly 120 to translate along the X-axis, and translates along the Y-axis together with the X-axis moving assembly 120; or, the Y-axis moving assembly 130 is disposed on the X-axis moving assembly 120, and is driven by the X-axis moving assembly 120 to translate along the X-axis, and the template connecting assembly 110 is disposed on the Y-axis moving assembly 130, is driven by the Y-axis moving assembly 120 to translate along the Y-axis, and translates along the X-axis along with the Y-axis moving assembly 120.

In this embodiment, the X-axis moving assembly 120 is disposed on the Y-axis moving assembly 130, and the template connecting assembly 110 is disposed on the X-axis moving assembly 120. The X-axis moving assembly 120 is driven by a cylinder, the Y-axis moving assembly 130 translates on a guide rail, and the Y-axis moving assembly 130 is driven by a cylinder, and the template connecting assembly 110 translates on the guide rail.

The template connecting assembly 110 comprises a clamping groove 111, at least one rotatable clamping block 112 and at least one clamping driving assembly 113, the clamping groove 111 is used for being clamped with one side of the fabric template 11, the clamping driving assembly 113 is used for driving the corresponding clamping block 112 to rotate, and the corresponding clamping block 11 can be clamped or loosened with the fabric template 11 located in the clamping groove 111 through rotation.

In this embodiment, the clamping driving assembly 113 drives the clamping block 112 to rotate by using an air cylinder.

The automatic flanging machine also comprises a control host machine 13 arranged on the working table surface 101, is in communication connection with each mechanism in the flanging device and the template moving mechanism 10, and is used for controlling each mechanism in the flanging device and the template moving mechanism 10.

EXAMPLE III

As shown in fig. 14 and 15, a hemming method, which can be applied to the automatic hemming machine according to the second embodiment, includes the steps of:

step 1: the control host 13 obtains the template data of the fabric 12 to be folded.

In this step 1, in the template data of the material to be folded 12, the edge trajectory of the material to be folded 12 is decomposed into a plurality of folding points, each folding point corresponds to a point in the coordinate system and is represented as (X, Y, β), X is the value of each folding point on the X axis, Y is the value of each folding point on the Y axis, and β is the rotation angle of each folding point around the Z axis.

The template data of the fabric 12 to be folded is previously imported and stored in the control host 13.

And step 3: the template moving mechanism 10 drives the fabric 12 to be folded to translate on an XY plane according to the template data of the fabric 12 to be folded, so that the folding points on the edge track of the fabric 12 to be folded are sequentially positioned to a predetermined point, and the folding points on the predetermined point are sequentially folded by the folding device.

In step 3, the template moving mechanism 10 translates the fabric 12 to be folded on the XY plane by the x value and the y value of each folding point. When the flanging device is used for flanging the flanging point on the preset point, the flanging device comprises the following steps:

step 3.1: and the flanging device rotates according to the template data of the flanging point positioned on the preset point.

In this step, the edge hooking driving mechanism drives the edge hooking head 11, the edge pressing head 21, the flanging claw 31 and the edge hammering head 41 to synchronously rotate through the β value of the flanging point.

Step 3.2: the edge pressing mechanism 2 presses the inner side of the edge of the folding point on a preset point to limit the folding line position of the folding point.

In this embodiment, in step 3.2, the rotation angle corresponding to the rotation main shaft 8 is 0 to 45 °, and the first cam 22 interacts with the first driven swing rod 23 to make the edge pressing head 21 translate towards the fabric 12 to be folded, so as to press the inner side of the edge of the folding point located at the predetermined point.

Preferably, in step 3.2, the edge hammering mechanism 44 hammers the edge corresponding to the upper edge folding point to tightly adhere the edge of the upper edge folding point.

In this embodiment, when the rotation angle of the rotation main shaft 8 is 0 to 45 °, the fourth cam 52 and the fourth driven swing link act to make the edge-hammering head 41 translate towards the material 12 to be folded, so as to hammer and press the folded edge corresponding to the previous folded edge point.

Step 3.3: and the flanging mechanism 3 folds the edge of the flanging point on the preset point, which is tilted upwards, inwards from the fold line position to form a flanging.

In this embodiment, in step 3.2, the rotation angle corresponding to the rotation main shaft 8 is 45 to 110 °, when the rotation main shaft 8 rotates to 45 to 70 °, the second cam 32 and the second driven swing link 33 interact with each other to make the flanging gripper 31 move horizontally toward the fabric 12 to be folded so as to approach to the flanging point located on the predetermined point, when the rotation main shaft 8 rotates to 70 to 110 °, the flanging gripper 31 stops approaching to the fabric 12 to be folded, and the third cam 42 interacts with the third driven swing link 43 to make the flanging gripper 31 swing inward to turn over the edge of the flanging point located on the predetermined point, which is tilted upward.

After step 3.3, the hemming method further comprises:

step 3.4: and the flanging mechanism 3 compresses the flange which is positioned on a preset point and is turned inwards.

In this embodiment, in step 3.4, the rotation angle corresponding to the rotation main shaft 8 is 110-135 °, the second cam 32 continuously interacts with the second driven swing rod 33, so that the flanging paw 31 continuously translates towards the fabric 12 to be folded, so as to press the folded edge folded inwards at the predetermined point.

The second cam 32 has an equal-large convex arc edge, and distances from circumferential points on the equal-large convex arc edge to the center of the rotating main shaft 8 are equal, so that when the second cam 32 acts with the second driven swing rod 33 through the equal-large convex arc edge, the flanging paw 31 stops at a certain descending height to swing.

After step 3.4, the hemming method further comprises:

step 3.5: the flanging mechanism 3, the edge pressing mechanism 2 and the edge hammering mechanism 4 are reset in sequence.

In this embodiment, in this step 3.5, corresponding to the rotation angle of the rotation main shaft 8 being 135-225 °, the first driven swing link 23 is disconnected from the first cam 22 and is reset by the first reset spring 25, the second driven swing link 33 is disconnected from the second cam 32 and is reset by the second reset spring 35, the third driven swing link 43 is disconnected from the third cam 42 and is reset by the third reset spring, and the fourth driven swing link 53 is disconnected from the fourth cam 52 and is reset by the fourth reset spring 46.

In this embodiment, when the rotation angle of the rotation spindle 8 is 225-360 °, a gap state is formed between the folding device (not folding) and the working table, and the template moving mechanism 10 drives the material 12 to be folded to move horizontally, so as to position the next folding point to a predetermined point.

Between step 1 and step 3, further comprising:

step 2: the template moving mechanism 10 drives the fabric 12 to be folded to translate on an XY plane according to the template data of the fabric 12 to be folded, so as to position a preset starting position for folding the fabric 12 to be folded to a preset point, so that the edge hooking mechanism 1 extends into the bottom of the outer side of the edge of the fabric 12 to be folded from the preset starting position, and the edge of the fabric 12 to be folded is tilted upwards.

In the step 2, a preset starting position and a preset ending position for flanging are arranged in the template data of the fabric 12 to be flanged, and the flanging track of the fabric 12 to be flanged extends from the preset starting position to the preset ending position, wherein the preset starting position and the preset ending position can be also expressed as (x, y, β) and have corresponding x value, y value and β value.

The steps of step 2 are as follows:

the edge hooking driving component drives the edge hooking head 11 to translate towards the fabric 12 to be folded to reach the lowest point, then the template moving mechanism 10 drives the fabric 12 to be folded to translate on an XY plane according to the template data of the fabric 12 to be folded, so as to position and extend the predetermined start position of the fabric 12 to be folded into the side of the extension 1101 of the edge hooking head 11 not opposite to the edge pressing head 21 (and back to the edge turning claw 31 of the edge turning mechanism 3), so that the predetermined start position of the fabric 12 to be folded and the edge hooking head 11 act to tilt upwards, then the edge hooking driving component drives the edge hooking head 11 and the edge pressing head 21 to synchronously rotate, so as to rotate the predetermined start position of the fabric 12 to be folded to the side of the extension 1101 of the hemming head 11 opposite to the hemming head 21, so that the predetermined start position of the fabric 12 to be folded is positioned to enter the gap between the hemming head 11 and the hemming head 21.

In the whole step 3, the edge hooking mechanism 1 does not leave from the bottom of the outer side of the edge of the fabric 12 to be folded, and the edge hooking angle is adjusted only by rotating according to the β value of each folding point on the fabric 12 to be folded until the whole edge of the fabric 12 to be folded is folded.

The above-mentioned embodiments only express the embodiments of the present invention, and the description is more specific and detailed, but not understood as the limitation of the patent scope of the present invention, but all the technical solutions obtained by using the equivalent substitution or the equivalent transformation should fall within the protection scope of the present invention.

Claims (10)

1. An automatic flanging machine is characterized by comprising a flanging device and a template moving mechanism, wherein,

the template moving mechanism is used for driving a fabric template clamping the fabric to be folded to move on an XY plane for the edge folding device to fold the edge, and the XY plane is parallel to the plane of the fabric to be folded;

the edge folding device comprises an edge hooking mechanism, an edge pressing mechanism, an edge folding mechanism and an edge hammering mechanism, wherein,

the edge hooking mechanism is used for extending into the bottom of the outer side of the edge of the fabric to be folded to enable the edge of the fabric to be folded to be tilted upwards;

the edge pressing mechanism is used for pressing the inner side of the edge of the fabric to be folded to limit the fold line position of the fabric to be folded;

the flanging mechanism is used for inwards turning the edge of the fabric to be folded, which is turned upwards, from the folding line position to form a folded edge;

and the edge hammering mechanism is used for hammering the folded edge of the fabric to be folded, which is folded inwards, so that the folded edge of the fabric to be folded is tightly adhered.

2. The automatic flanging machine according to claim 1, wherein the edge hooking mechanism comprises an edge hooking head and an edge hooking driving assembly, and the edge hooking driving assembly is connected with the edge hooking head so as to drive the edge hooking head to hook the outer side of the edge of the fabric to be bent.

3. The automatic flanging machine according to claim 2, wherein the edge hooking driving assembly comprises a first Z-axis moving assembly and a Z-axis rotating assembly, the first Z-axis moving assembly is used for driving the edge hooking head to translate along a Z axis, the Z-axis rotating assembly is used for driving the edge hooking head to rotate around the Z axis, and the Z axis is perpendicular to a plane of the fabric to be flanged.

4. The automatic flanging machine according to claim 2 or 3, wherein the edge hooking driving assembly is further connected with the edge pressing mechanism, the flanging mechanism and the edge hammering mechanism to drive the edge pressing mechanism, the flanging mechanism and the edge hammering mechanism to move synchronously with the edge hooking head.

5. The automatic flanging machine according to claim 1, wherein the flanging mechanism comprises a flanging head and a flanging driving assembly, and the flanging driving assembly is connected with the flanging head so as to drive the flanging head to press the inner side of the edge of the fabric to be flanged.

6. The automatic flanging machine of claim 5, wherein the flanging press driving assembly comprises a second Z-axis moving assembly, the second Z-axis moving assembly is used for driving the flanging press head to translate along a Z axis, and the Z axis is perpendicular to a plane of the fabric to be folded.

7. The automatic flanging machine according to claim 1, wherein the flanging mechanism comprises a flanging claw and a flanging driving mechanism, and the flanging driving mechanism is connected with the flanging claw so as to drive the flanging claw to turn the edge of the fabric to be flanged, which is tilted upwards, inwards.

8. The automatic flanging machine according to claim 7, wherein the flanging mechanism comprises a third Z-axis moving assembly and a swinging assembly, the third Z-axis moving assembly is used for driving the flanging gripper to translate along a Z axis, the swinging assembly is used for driving the flanging gripper to swing inwards and outwards along a flanging direction, and the Z axis is perpendicular to a plane where the fabric to be bent is located.

9. The automatic flanging machine according to claim 1, wherein the hammering mechanism comprises a hammering head and a hammering driving assembly, and the hammering driving assembly is connected with the flanging claw so as to drive the hammering head to hammer the flanging of the fabric to be flanged inwards.

10. The automatic flanging machine according to claim 9, wherein the hammered edge driving assembly comprises a fourth Z-axis moving assembly, and the fourth Z-axis moving assembly is used for driving the hammered edge head to translate along a Z-axis, and the Z-axis is perpendicular to a plane of the fabric to be folded.

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