CN112226916A - Automatic edge covering machine and edge covering method thereof - Google Patents

Abstract

The application relates to an automatic taping machine and a taping method thereof, which comprises a workbench, wherein a plurality of working areas are arranged on the workbench, each working area comprises a calibration area, a sewing area and a discharge area, a feeding device is arranged on the workbench, a transfer device used for transferring a piece to be edged in the feeding device to the calibration area, a calibration device used for adjusting the posture of the piece to be edged in the calibration area, a multi-shaft mechanical arm used for horizontally moving the piece to be edged and driving the piece to be edged to rotate, a sewing machine used for taping the piece to be edged in the sewing area and leading out a thread head, and a thread cutting device used for cutting the thread head of the piece to be edged in the sewing area; the sewing machine comprises a machine body arranged on the workbench and a sewing head arranged on the machine body, and the multi-shaft mechanical arm rotates a piece to be hemmed in the sewing area so that the sewing head moves relative to the edge of the piece to be hemmed. This application has machining efficiency and improves the effect of processing quality.

Description

Automatic edge covering machine and edge covering method thereof

Technical Field

The application relates to the field of automation, in particular to an automatic taping machine and a taping method thereof.

Background

At present, when cutting pieces such as insoles are produced, edge covering treatment is often carried out on the cutting pieces so as to shield rough or uneven edges of the cutting pieces, and when edge covering is carried out by using a sewing machine, dense needle threads are needed to be sewn on the edges of the cutting pieces by using the sewing machine.

In the actual operation process, a worker is required to perform manual sewing, and the steps comprise: taking the cut pieces from the basket, placing the cut pieces on a sewing machine, pushing the edges of the cut pieces to move under a sewing head of the sewing machine by means of visual observation until a circle is completed → an edge covering thread end cutting the cut pieces → the edge covered pieces are placed in a collecting basket.

The sewing machine is often required to be folded and pushed at the same time, so that the sewing machine is easy to be busy and disordered, the quality during sewing is difficult to ensure, a lot of time is wasted, and the production efficiency is low.

In view of the above-mentioned related technologies, the inventors consider that this solution is dependent on manual work, the processing efficiency is low, and the processing quality is difficult to guarantee.

Disclosure of Invention

In order to improve the processing efficiency and improve the processing quality, the application provides an automatic covering machine and a covering method thereof.

In a first aspect, the application provides an automatic taping machine, which adopts the following technical scheme:

an automatic taping machine comprises a frame and a workbench arranged on the frame, wherein a plurality of working areas are arranged on the workbench, each working area comprises a calibration area, a sewing area and a discharge area, a feeding device for storing a piece to be edged, a transfer device for transferring the piece to be edged in the feeding device to the calibration area, a calibration device for adjusting the posture of the piece to be edged in the calibration area, a multi-shaft mechanical arm for horizontally moving the piece to be edged and driving the piece to be edged to rotate, a sewing machine for edging the piece to be edged in the sewing area and a thread cutting device for cutting a thread head of the piece to be edged in the sewing area are arranged on the workbench, and the multi-shaft mechanical arm is used for moving the piece to be edged in the calibration area to the sewing area; the sewing machine comprises a machine body arranged on the workbench and a sewing head arranged on the machine body, and the multi-shaft mechanical arm rotates a piece to be hemmed in the sewing area so that the sewing head moves relative to the edge of the piece to be hemmed; the multi-shaft mechanical arm is also used for moving the wrapped piece in the sewing area to the discharging area.

Through adopting above-mentioned technical scheme, treat that the piece of borduring piles up on loading attachment, loading attachment provides one at every turn to transfer device and treats the piece of borduring to the realization lasts the material loading. The transfer device transfers the piece to be edged in the feeding device to the position correcting area and puts down, the position correcting device adjusts the position of the uncertain piece to be edged in the position correcting area to a standard position, so that the multi-shaft mechanical arm is driven by a program to be fixed with the piece to be edged and the determined relative posture, the multi-shaft mechanical arm moves the piece to be edged to the sewing area, the sewing head aligns to the edge of the piece to be edged and starts sewing, and the multi-shaft mechanical arm drives the piece to be edged to rotate so that the sewing head moves relative to the edge of the piece to be edged until a circle with complete movement, and edge covering is completed. At the moment, the multi-shaft mechanical arm controls the workpiece to be covered to move away from the sewing head, the wire head is led out, and the wire head of the covered workpiece is cut by the wire cutting device. And finally, the multi-shaft mechanical arm moves the wrapped part in the sewing area to a discharging area, and then the next process is started. In conclusion, the device realizes the automatic edge covering process of the piece to be covered, and is favorable for saving labor and keeping the edge covering quality of the product.

Preferably, the feeding device comprises a feeding support located on the workbench, a plurality of limiting rods arranged on the feeding support, a supporting piece arranged between the limiting rods, and a feeding driving mechanism for driving the supporting piece to move up and down, the limiting rods are enclosed to form a containing cavity for containing stacked pieces to be covered, the cross section of the containing cavity in the horizontal direction is matched with the outer contour of the pieces to be covered, and the supporting piece extends into the containing cavity.

Through adopting above-mentioned technical scheme, the material loading support plays the supporting role to the gag lever post, and the gag lever post can adjust the position on the material loading support, forms the holding chamber of different shapes to the piece of waiting to bordure that adapts to different specifications. The supporting piece extends into the accommodating cavity, the piece to be covered with the edge is stacked on the supporting piece, the feeding driving mechanism drives the supporting piece to move up and down so that the piece to be covered with the edge on the top layer is abutted to the transfer device, and therefore the transfer device can grab a single piece to be covered with the edge and transfer the single piece.

Preferably, the feeding driving mechanism comprises a connecting piece connected to one end of the supporting piece far away from the accommodating cavity, a screw rod penetrating through the connecting piece and a feeding motor with an output shaft coaxially connected to the screw rod, the connecting piece is in sliding connection with the rack in the axial direction of the screw rod, the connecting piece is fixed with the rack in the circumferential direction of the screw rod, and the screw rod is axially arranged along the limiting rod and is in threaded connection with the connecting piece.

Through adopting above-mentioned technical scheme, when material loading motor drive screw rod rotated, because the connecting piece is fixed mutually with the frame in the circumference of screw rod, consequently the screw rod will promote or pull the connecting piece to make and hold in the palm and hold the piece and go up and down in the holding chamber.

Preferably, the transfer device is including setting up the transportation support on the workstation, setting up slewing mechanism on transporting the support and being located slewing mechanism's the terminal mechanism of snatching of rotation, snatch the mechanism and include the vertical cylinder of snatching and even in the vertical absorption piece that snatchs the end of the piston rod of cylinder, the vertical piston rod that snatchs the cylinder sets up towards the workstation.

Preferably, slewing mechanism is including setting up revolving cylinder on transporting the support and even in the spiral arm of revolving cylinder output shaft, the arm length direction of spiral arm is perpendicular with revolving cylinder's output shaft axial, vertical cylinder that snatchs sets up in the one end that revolving cylinder was kept away from to the spiral arm, the one end that revolving cylinder was kept away from to the spiral arm removes between alignment district and holding chamber.

Through adopting above-mentioned technical scheme, transport the support and be used for installing slewing mechanism, revolving cylinder drive spiral arm rotates, and the spiral arm drives and snatchs the mechanism and rotate around the rotation center. When the adsorption piece adsorbs the piece to be covered on the top layer in the accommodating cavity, the posture of the piece to be covered is indefinite, the rotating mechanism drives the grabbing mechanism to rotate to the calibration area from the accommodating cavity, and then the piece to be covered is released so as to adjust the posture of the piece to be covered.

Preferably, the surface of the workbench is smooth, an execution end used for pressing the piece to be covered with edges is arranged on the multi-shaft mechanical arm, and the execution end is used for pressing the rough contact surface of the piece to be covered with edges.

Through adopting above-mentioned technical scheme, when the execution end butt of multiaxis arm and press on treating the piece of borduring, treat that the piece of borduring is relatively fixed with the execution end, because the surface of workstation is smooth, multiaxis arm can conveniently press and treat that the piece of borduring slides on the workstation surface, and be unlikely to take place the execution end and treat the relative displacement of piece of borduring.

Preferably, the position correcting device comprises a position correcting pushing cylinder arranged on the workbench and a position correcting plate connected to the workbench in a sliding mode, a position correcting groove for embedding the piece to be covered is formed in one side, far away from the position correcting pushing cylinder, of the position correcting plate, and the position correcting pushing cylinder pushes or pulls the position correcting plate to enable the position correcting groove to enter or exit the position correcting area.

By adopting the technical scheme, when the piece to be wrapped is placed at the position correction area by the grabbing mechanism, the position correction pushing cylinder pushes the position correction plate to move towards the piece to be wrapped, the side wall of the position correction groove collides with the edge of the piece to be wrapped until the piece to be wrapped is embedded into the position correction groove, namely, the edge of the piece to be wrapped is attached to the groove wall of the position correction groove, and the piece to be wrapped is adjusted to be in a standard pose.

Preferably, the workstation is provided with in the sewing district and dodges the recess, the wire cutting device including set up in dodging the recess and along dodging the line cutting of recess setting cut off the scissors, be used for the drive to cut off the line and cut off the cylinder that closes and be used for the drive to cut off the line and promote the cylinder that cuts off the line and cut off so that the line cutting of cutting off the scissors gets into or withdraws from the sewing district in dodging the recess removal, cut off.

By adopting the technical scheme, when the sewing machine finishes covering the edge of the piece to be covered and leads out the thread end, the piece to be covered becomes the covered piece, the thread end passes through the top of the avoiding groove, the opening and closing cylinder drives the thread cutting scissors to open, and then the thread cutting scissors are pushed by the thread cutting pushing cylinder to move along the avoiding groove until the thread end enters the scissors edge of the thread cutting scissors. The opening and closing cylinder drives the thread cutting scissors to close and cut off thread ends, and then the separation of the hemmed piece and the sewing machine is completed.

Preferably, the suction member is a vacuum chuck.

In a second aspect, the present application provides a hemming method for an automatic hemming machine, which adopts the following technical scheme:

a hemming method of an automatic hemming machine comprises the following steps:

stacking the piece to be covered in a feeding device;

the transfer device transfers the piece to be covered in the feeding device to a position correcting area of the workbench;

the position correcting device adjusts the posture of the piece to be edged in the position correcting area to a standard posture;

the multi-shaft mechanical arm moves the piece to be covered in the calibration area to the sewing area;

the sewing machine is used for sewing and edge covering the piece to be covered in the sewing area until the edge covering is finished to lead out a line head;

the thread cutting device cuts off the thread end of the hemmed piece in the sewing area;

and the multi-shaft mechanical arm moves the wrapped part in the sewing area to the discharging area.

Through adopting above-mentioned technical scheme, treat that the piece of borduring piles up on loading attachment, loading attachment provides one at every turn to transfer device and treats the piece of borduring to the realization lasts the material loading. The transfer device transfers the piece to be edged in the feeding device to the position correcting area and puts down, the position correcting device adjusts the position of the uncertain piece to be edged in the position correcting area to a standard position, so that the multi-shaft mechanical arm is driven by a program to be fixed with the piece to be edged and the determined relative posture, the multi-shaft mechanical arm moves the piece to be edged to the sewing area, the sewing head aligns to the edge of the piece to be edged and starts sewing, and the multi-shaft mechanical arm drives the piece to be edged to rotate so that the sewing head moves relative to the edge of the piece to be edged until a circle with complete movement, and edge covering is completed. At the moment, the multi-shaft mechanical arm controls the workpiece to be covered to move away from the sewing head, the wire head is led out, and the wire head of the covered workpiece is cut by the wire cutting device. And finally, the multi-shaft mechanical arm moves the wrapped part in the sewing area to a discharging area, and then the next process is started. In conclusion, the device realizes the automatic edge covering process of the piece to be covered, and is favorable for saving labor and keeping the edge covering quality of the product.

Drawings

Fig. 1 is an overall schematic diagram of an automatic taping machine according to an embodiment of the present application.

Fig. 2 is an overall schematic diagram of an automatic taping machine according to an embodiment of the present application.

Fig. 3 is an enlarged view at a in fig. 1.

Description of reference numerals:

1. a frame; 11. a work table; 111. avoiding the groove;

2. a working area; 21. a position correction area; 22. a sewing zone; 23. a discharge zone;

3. a feeding device; 31. a feeding support; 32. a limiting rod; 321. an accommodating cavity; 33. a holder; 34. a feeding driving mechanism; 341. a connecting member; 342. a screw; 343. a feeding motor;

4. a transfer device; 41. a transfer scaffold; 42. a rotating mechanism; 421. a rotating cylinder; 422. a swing arm; 43. a grabbing mechanism; 431. a vertical grabbing cylinder; 432. an adsorbing member;

5. a position correcting device; 51. a position correction pushing cylinder; 52. a calibration plate; 521. a position correcting groove;

6. a multi-axis robotic arm; 61. an execution end;

7. a sewing machine; 71. a body; 72. a sewing head;

8. a wire cutting device; 81. cutting the thread; 82. an opening and closing cylinder; 83. the wire cutting pushes the cylinder.

Detailed Description

The present application is described in further detail below with reference to figures 1-3.

The embodiment of the application discloses an automatic taping machine. Referring to fig. 1 and 2, the automatic taping machine includes a frame 1 and a workbench 11 disposed on the frame 1, wherein the workbench 11 is provided with a plurality of work areas 2, in the present embodiment, the work areas 2 are three in total and sequentially disposed, and respectively include a calibration area 21, a sewing area 22 and a discharging area 23. The side face of the working table 11 is fixedly provided with a feeding device 3 for storing a piece to be covered with edge, a transfer device 4 for transferring the piece to be covered with edge in the feeding device 3 to a position correction area 21, a position correction device 5 for adjusting the posture of the piece to be covered with edge in the position correction area 21, a multi-shaft mechanical arm 6 for horizontally moving the piece to be covered with edge or the piece to be covered with edge between the adjacent working areas 2 and driving the piece to be covered with edge or the piece to be covered with edge to rotate, a sewing machine 7 for covering the piece to be covered with edge in the sewing area 22 and leading out a thread head, and a thread cutting device 8 for cutting the thread head of the piece to be covered with edge in the sewing area 22.

Referring to fig. 1 and 2, the feeding device 3 includes a feeding support 31 located on a side surface of the working table 11, a plurality of limiting rods 32 installed on the feeding support 31, a supporting member 33 installed between the limiting rods 32, and a feeding driving mechanism 34 for driving the supporting member 33 to move up and down, the feeding support 31 is in a plate shape, and a plurality of threaded holes are arranged in an array on a top surface thereof. The limiting rod 32 is in threaded connection with the feeding support 31 through a threaded hole, and the position of the limiting rod 32 on the feeding support 31 can be adjusted according to the difference of the piece to be wrapped so as to be matched with the outline of the piece to be wrapped. Each limiting rod 32 encloses to form an accommodating cavity 321 for accommodating stacked pieces to be covered, and the cross section of the accommodating cavity 321 in the horizontal direction is matched with the outer contour of the pieces to be covered. The holder 33 may be a square rod or a plate, in this embodiment, the holder 33 is a square plate, and one end of the holder extends into the receiving cavity 321.

The feeding driving mechanism 34 includes a connector 341, a screw 342, and a feeding motor 343 having an output shaft coaxially connected to the screw 342, the connector 341 is integrally connected to one end of the holder 33 away from the accommodating cavity 321, and in this embodiment, the connector 341 and the holder 33 are made of stainless steel material. The screw 342 is disposed along the axial direction of the stop rod 32, penetrates the connector 341, and is in threaded connection with the connector 341. The connecting member 341 is disposed in a square shape, one side of which abuts against the side surface of the frame 1, and is slidably connected to the frame 1 in the axial direction of the screw 342. Since the connecting block is a square block, the connecting member 341 is fixed to the frame 1 in the circumferential direction of the screw 342. When the feeding motor 343 drives the screw 342 to rotate, the screw 342 pushes or pulls the connecting member 341, so that the holding member 33 is lifted in the accommodating cavity 321, and the top edge-to-be-wrapped member is abutted against the transfer device 4, so that the transfer device 4 can grab and transfer a single edge-to-be-wrapped member.

The transfer device 4 includes a transfer bracket 41 provided on the work table 11, a rotating mechanism 42 provided on the transfer bracket 41, and a gripping mechanism 43 located at a rotation end of the rotating mechanism 42.

The rotating mechanism 42 includes a rotating cylinder 421 disposed on the transferring support 41, and a rotating arm 422 connected to an output shaft of the rotating cylinder 421, a length direction of the rotating arm 422 is perpendicular to an axial direction of the output shaft of the rotating cylinder 421, the grabbing mechanism 43 is disposed at one end of the rotating arm 422 far from the rotating cylinder 421, and one end of the rotating arm 422 far from the rotating cylinder 421 moves between the alignment area 21 and the accommodating cavity 321. The grabbing mechanism 43 comprises a vertical grabbing cylinder 431 and an adsorption piece 432 connected to the tail end of a piston rod of the vertical grabbing cylinder 431, the vertical grabbing cylinder 431 is fixed at one end of the rotary arm 422 far away from the rotary cylinder 421, and the piston rod of the vertical grabbing cylinder 431 is arranged towards the workbench 11. In this embodiment, the suction member 432 is a vacuum chuck. When the adsorbing member 432 adsorbs the piece to be wrapped on the top layer in the accommodating cavity 321, the posture of the piece to be wrapped is indefinite, the rotating mechanism 42 drives the grabbing mechanism 43 to rotate from the accommodating cavity 321 to the alignment area 21, and then the piece to be wrapped is released so as to adjust the posture of the piece to be wrapped.

The multi-axis mechanical arm 6 has multiple degrees of freedom, an execution end 61 for pressing a piece to be edged is arranged on the multi-axis mechanical arm, the execution end 61 can be lifted in a direction vertical to the top surface of the workbench 11, can move in the transverse direction or the longitudinal direction on the top surface of the workbench 11, and can also rotate around the normal line of the top surface of the workbench 11. In the use process, the multi-shaft mechanical arm 6 can move the piece to be hemmed in the calibration area 21 to the sewing area 22 and can also move the hemmed piece in the sewing area 22 to the discharging area 23. In the present embodiment, the surface of the table 11 is smoothly arranged, and the actuating end 61 is used for pressing the contact surface of the piece to be edged to be roughly arranged. When the actuating end 61 of the multi-axis mechanical arm 6 is abutted against and pressed on the piece to be covered, the piece to be covered and the actuating end 61 are relatively fixed, and the multi-axis mechanical arm 6 can conveniently press the piece to be covered to slide on the surface of the workbench 11 without relative displacement of the actuating end 61 and the piece to be covered due to the smooth surface of the workbench 11.

The position correcting device 5 comprises a position correcting pushing cylinder 51 arranged on the workbench 11 and a position correcting plate 52 connected to the workbench 11 in a sliding manner, a position correcting groove 521 for embedding the piece to be covered is arranged on one side, far away from the position correcting pushing cylinder 51, of the position correcting plate 52, and the position correcting pushing cylinder 51 pushes or pulls the position correcting plate 52 to enable the position correcting groove 521 to enter or exit the position correcting area 21. When the piece to be covered is placed in the calibration area 21 by the grabbing mechanism 43, the calibration pushing cylinder 51 pushes the calibration plate 52 to move towards the piece to be covered, the side wall of the calibration groove 521 collides with the edge of the piece to be covered until the piece to be covered is embedded into the calibration groove 521, namely, the edge of the piece to be covered is attached to the groove wall of the calibration groove 521, and the piece to be covered is adjusted to be in a standard pose.

Referring to fig. 2 and 3, the sewing machine 7 comprises a machine body 71 arranged on the workbench 11 and a sewing head 72 arranged on the machine body 71, the multi-shaft mechanical arm 6 moves the piece to be edged to the sewing area 22, the sewing head 72 aligns with the edge of the piece to be edged and starts sewing, the multi-shaft mechanical arm 6 drives the piece to be edged to rotate, and the pose of the piece to be edged is continuously adjusted, so that the sewing head 72 moves relative to the edge of the piece to be edged until the edge moves for a complete circle, and edge covering is completed. At the moment, the multi-shaft mechanical arm 6 controls the part to be covered to move away from the sewing head 72, and the wire head is led out.

The workbench 11 is provided with an avoiding groove 111 in the sewing area 22, the thread cutting device 8 comprises a thread cutting scissors 81 arranged in the avoiding groove 111 and along the avoiding groove 111, an opening and closing air cylinder 82 used for driving the thread cutting scissors 81 to open and close, and a thread cutting pushing air cylinder 83 used for driving the thread cutting scissors 81 to move in the avoiding groove 111, and the thread cutting pushing air cylinder 83 pushes or pulls the thread cutting scissors 81 to enable the thread cutting scissors 81 to enter or exit the sewing area 22. When the sewing machine 7 finishes edge covering of a piece to be covered and leads out a thread end, the piece to be covered becomes a covered piece, the thread end passes through the top of the avoiding groove 111, the opening and closing cylinder 82 drives the thread cutting scissors 81 to open, and then the thread cutting scissors 81 are pushed by the thread cutting pushing cylinder 83 to move along the avoiding groove 111 until the thread end enters the scissors edge of the thread cutting scissors 81. The opening and closing cylinder 82 drives the thread cutting scissors 81 to close and cut the thread end, and the separation of the wrapped piece and the sewing machine 7 is completed.

Finally, the multi-shaft mechanical arm 6 presses the piece to be covered to move from the sewing area 22 to the discharging area 23, so that the blanking process is realized, and the next cycle is ready to start.

The embodiment of the application also discloses a wrapping method of the automatic wrapping machine. The edge covering method comprises the following steps:

s1, stacking a piece to be covered in a feeding device 3;

s2, the transfer device 4 transfers the piece to be wrapped in the feeding device 3 to a position correction area 21 of the workbench 11;

s3, the posture of the piece to be edged in the position correcting area 21 is adjusted to a standard posture by the position correcting device 5;

s4, moving the piece to be edged in the calibration area 21 to a sewing area 22 by the multi-shaft mechanical arm 6;

s5, sewing and edge covering are carried out on the piece to be edge-covered in the sewing area 22 by the sewing machine 7 until the edge covering is finished, and a line head is led out;

s6, cutting off the thread head of the edge-wrapped piece in the sewing area 22 by the thread cutting device 8;

s7, the multi-shaft mechanical arm 6 moves the wrapped piece in the sewing area 22 to the discharging area 23.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. An automatic taping machine is characterized by comprising a rack (1) and a workbench (11) arranged on the rack (1), wherein a plurality of working areas (2) are arranged on the workbench (11), each working area (2) comprises a position correction area (21), a sewing area (22) and a discharge area (23), a feeding device (3) for storing a piece to be edged, a transfer device (4) for transferring the piece to be edged in the feeding device (3) to the position correction area (21), a position correction device (5) for adjusting the posture of the piece to be edged in the position correction area (21), a multi-shaft mechanical arm (6) for horizontally moving the piece to be edged and driving the piece to be edged to rotate, a sewing machine (7) for taping the piece to be edged in the sewing area (22) and a thread cutting device (8) for cutting the thread end of the piece to be edged in the sewing area (22) are arranged on the workbench, the multi-shaft mechanical arm (6) is used for moving the piece to be hemmed in the calibration area (21) to the sewing area (22); the sewing machine (7) comprises a machine body (71) arranged on the workbench (11) and a sewing head (72) arranged on the machine body (71), and the multi-shaft mechanical arm (6) rotates a piece to be hemmed in the sewing area (22) so that the sewing head (72) moves relative to the edge of the piece to be hemmed; the multi-axis mechanical arm (6) is also used for moving the edge-covered piece in the sewing area (22) to the discharging area (23).

2. The automatic taping machine according to claim 1, wherein the feeding device (3) comprises a feeding support (31) located on the workbench (11), a plurality of limiting rods (32) mounted on the feeding support (31), supporting pieces (33) mounted between the limiting rods (32), and a feeding driving mechanism (34) for driving the supporting pieces (33) to move up and down, each limiting rod (32) is enclosed to form an accommodating cavity (321) for accommodating stacked pieces to be edged, the cross section of the accommodating cavity (321) in the horizontal direction is matched with the outer contour of the pieces to be edged, and the supporting pieces (33) extend into the accommodating cavity (321).

3. The automatic taping machine according to claim 2, wherein the feeding driving mechanism (34) comprises a connecting piece (341) connected to one end of the supporting piece (33) far away from the accommodating cavity (321), a screw rod (342) penetrating through the connecting piece (341), and a feeding motor (343) with an output shaft coaxially connected to the screw rod (342), the connecting piece (341) is slidably connected with the frame (1) in the axial direction of the screw rod (342), the connecting piece (341) is fixed with the frame (1) in the circumferential direction of the screw rod (342), and the screw rod (342) is arranged along the axial direction of the limiting rod (32) and is in threaded connection with the connecting piece (341).

4. The automatic taping machine according to claim 3, wherein the transfer device (4) comprises a transfer support (41) provided on the table (11), a rotating mechanism (42) provided on the transfer support (41), and a gripping mechanism (43) located at a rotating end of the rotating mechanism (42), the gripping mechanism (43) comprising a vertical gripping cylinder (431) and an adsorbing member (432) connected to an end of a piston rod of the vertical gripping cylinder (431), the piston rod of the vertical gripping cylinder (431) being disposed toward the table (11).

5. The automatic taping machine according to claim 4, wherein the rotating mechanism (42) comprises a rotating cylinder (421) arranged on the transferring support (41), and a rotary arm (422) connected to an output shaft of the rotating cylinder (421), the arm length direction of the rotary arm (422) is perpendicular to the axial direction of the output shaft of the rotating cylinder (421), the vertical grabbing cylinder (431) is arranged at one end of the rotary arm (422) far away from the rotating cylinder (421), and one end of the rotary arm (422) far away from the rotating cylinder (421) moves between the alignment area (21) and the accommodating cavity (321).

6. An automatic taping machine according to claim 5, wherein the surface of the table (11) is smooth, the multi-axis robot arm (6) is provided with an actuating end (61) for pressing the piece to be taped, and the actuating end (61) is used for pressing the rough contact surface of the piece to be taped.

7. The automatic taping machine according to claim 6, wherein the position correcting device (5) comprises a position correcting pushing cylinder (51) arranged on the workbench (11) and a position correcting plate (52) connected to the workbench (11) in a sliding manner, a position correcting groove (521) for embedding the piece to be taped is arranged on one side of the position correcting plate (52) far away from the position correcting pushing cylinder (51), and the position correcting pushing cylinder (51) pushes or pulls the position correcting plate (52) to enable the position correcting groove (521) to enter or exit the position correcting area (21).

8. The automatic taping machine according to claim 7, wherein the table (11) is provided with an avoiding groove (111) in the sewing zone (22), the thread cutting device (8) comprises a thread cutter (81) disposed in the avoiding groove (111) and along the avoiding groove (111), an opening and closing cylinder (82) for driving the thread cutter (81) to open and close, and a thread pushing cylinder (83) for driving the thread cutter (81) to move in the avoiding groove (111), the thread pushing cylinder (83) pushes or pulls the thread cutter (81) to make the thread cutter (81) enter or exit the sewing zone (22).

9. An automated taping machine according to claim 4, wherein the suction member (432) is a vacuum cup.

10. A hemming method of an automatic hemming machine is characterized by comprising the following steps:

stacking the piece to be covered in a feeding device (3);

the transfer device (4) transfers the piece to be wrapped in the feeding device (3) to a position correcting area (21) of the workbench (11);

the position correcting device (5) adjusts the posture of the piece to be edged in the position correcting area (21) to a standard posture;

the multi-shaft mechanical arm (6) moves the piece to be edged in the calibration area (21) to the sewing area (22);

the sewing machine (7) sews and bordures the piece to be bordured in the sewing area (22) until the bordure is finished and leads out the line head;

the thread cutting device (8) cuts off the thread end of the edge-wrapped piece in the sewing area (22);

the multi-shaft mechanical arm (6) moves the edge-wrapped piece in the sewing area (22) to the discharging area (23).

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