WO2016062237A1 - 自动罗拉车 - Google Patents
自动罗拉车 Download PDFInfo
- Publication number
- WO2016062237A1 WO2016062237A1 PCT/CN2015/092269 CN2015092269W WO2016062237A1 WO 2016062237 A1 WO2016062237 A1 WO 2016062237A1 CN 2015092269 W CN2015092269 W CN 2015092269W WO 2016062237 A1 WO2016062237 A1 WO 2016062237A1
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- WO
- WIPO (PCT)
- Prior art keywords
- edge
- sensor
- disposed
- ball
- roller
- Prior art date
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Classifications
-
- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B15/00—Machines for sewing leather goods
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B27/00—Work-feeding means
- D05B27/26—Work-feeding means in machines for sewing leather
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B31/00—Workpiece holders or hold-downs in machines for sewing leather
Definitions
- the utility model relates to the technical field of sewing machines, and more particularly to an automatic roller car which automatically performs straight and curved lap stitching.
- Roller car is a common industrial sewing machine. It adopts electrical integration to realize automatic operation such as automatic trimming, automatic lifting and pressing, automatic reverse stitching, etc.
- the upper and lower rollers and needles are used for synchronous feeding, and the feeding system is safe and reliable.
- the sewing seam is smooth and the stitches are beautiful. It is suitable for leather sewing materials of various thicknesses and is widely used in clothing enterprises and leather footwear industry.
- a roller car on the market generally includes a sewing table and a sewing machine head, a drive controller and a drive motor, and the sewing machine head is fixed on a sewing table, and the sewing machine head is provided with a sewing needle bar and an upper roller, and the inside is provided There is a transmission mechanism.
- the sewing table is provided with a sewing table, the sewing needle bar and the upper roller are located above the sewing table, and the lower roller is arranged corresponding to the sewing table and the upper roller, and the control pedal, the governor and the driving are arranged under the sewing table.
- Controller and drive motor, drive motor The drive, the upper roller and the lower roller are connected by the belt and the transmission wheel and the transmission mechanism on the sewing machine head.
- the drive controller controls the rotation of the motor, and the sewing needle bar, the upper and lower rollers. Cooperate with each other to complete the delivery and stitching.
- the existing roller car When the existing roller car is used to suture the workpiece, that is, the upper and lower materials, the silver needle is used to draw the corresponding size on the leather before the sewing, and then the handle is completely controlled by the operator. Stitched along the lap line, Therefore, the spirit of the operator needs to be highly concentrated, and it is easy to cause fatigue.
- the lines and margins that are sewn out tend to become sloppy.
- the curvature of the curve is not so smooth and labor-intensive, and it is time-consuming and laborious to rely on both hands to transport materials back and forth. Not only inefficient, labor intensity, and product quality is not high, easy to produce defective products.
- the object of the present invention is to provide an automatic roller car with low labor intensity, high degree of automation, easy operation, high production efficiency and better product quality.
- an automatic roller car including a sewing machine head and a sewing table, a drive controller and a drive motor, the sewing machine head and the sewing table are provided with a sewing needle bar, a transmission mechanism and a feeding mechanism composed of an upper roller and a lower roller, the driving motor drives the sewing needle bar and the feeding mechanism through a transmission mechanism under the control of the driving controller, and the upper roller and the lower roller clamp the workpiece to complete the feeding
- the utility model is characterized in that: the automatic roller car is further provided with an upper edger, a lower edge device and a trimming feeding mechanism, the upper edge closer and the lower edge closer are respectively disposed at two sides of the sewing needle position; the edge trimming feeding mechanism
- the utility model comprises a loading edge sensor, a blanking edge sensor, two edge correction actuators and a edge correction controller, wherein the edge sensor is used for detecting the position of the edge of the workpiece.
- the feeding edge sensor and the feeding edge sensor are respectively disposed on two sides of the feeding axis, and the intersection point between the connecting line sensor and the feeding edge sensor and the feeding axis is before entering the sewing needle position.
- the two edge-finishing actuators are respectively disposed on the two sides of the feeding axis of the sewing machine head respectively
- the upper and lower leather materials are trimmed, and the trimming actuator is provided with elastic clamping material.
- a clamping mechanism for swinging back and forth wherein the clamping mechanism has a center of oscillation of the upper roller and the lower roller, and an angle between the swinging direction and the feeding axis is at an acute angle.
- the utility model adds a backing device and a trimming feeding mechanism, and when working, the upper edge device and the lower edge device are utilized.
- the positioning function locates the initial position of the leather piece.
- the loading edge sensor, the blanking edge sensor and the two edge-finishing actuators in the edge-correcting feeding mechanism always automatically adjust the position of the edge of the leather piece.
- Figure 1 is a schematic perspective view of a specific embodiment of the present invention.
- FIG. 2 is a second schematic structural view of a specific embodiment of the present invention.
- Figure 3 is an enlarged view of a portion I of Figure 2;
- Figure 4 is an enlarged view of a portion II of Figure 3;
- Figure 5 is a third perspective view of a three-dimensional structure of a specific embodiment of the present invention.
- Figure 6 is an enlarged view of a portion III of Figure 3;
- Figure 7 is a fourth perspective view of a three-dimensional structure of a specific embodiment of the present invention.
- Figure 8 is an enlarged view of a portion IV of Figure 7;
- Figure 9 is a fifth perspective view of a three-dimensional structure of a specific embodiment of the present invention.
- Figure 10 is an enlarged view of a portion V of Figure 9;
- Figure 11 is a schematic view of a three-dimensional structure of a specific embodiment of the present invention.
- Figure 12 is an enlarged view of a portion VI of Figure 11;
- Figure 13 is a perspective view showing the structure of the swing frame assembly of the present invention.
- Figure 14 is a cross-sectional view taken along line A-A of Figure 13;
- Fig. 15 is a cross-sectional view taken along line B-B of Fig. 13;
- the automatic roller also includes a sewing machine head 1, an upper edger 5, a lower edger 6 and a trimming feeding mechanism.
- the sewing table 2, the lower edge closer 6 and the drive motor 3 are fixed to the sewing table 4.
- the sewing machine head 1 A sewing needle bar 8 and an upper roller 9 are disposed thereon, and a transmission mechanism (not shown) is disposed therein.
- the sewing needle bar 8 and the upper roller 9 are above the sewing table 2, and the sewing table 2 and the upper roller are provided.
- the drive controller 12 drives the sewing needle bar 8 and the feeding mechanism by the drive mechanism under the control of the drive controller 12.
- the upper edge of the automatic roller car 5, the lower edge 6 and the edge-feeding mechanism detect and correct the edge of the machined workpiece (ie the leather) .
- the upper edge closer 5 and the lower edge closer 6 are respectively disposed at two sides of the sewing needle position, and the upper edge closer 5 and the lower edge closer 6 are respectively provided with an upright side wall for respectively
- the initial position of the upper and lower pieces is positioned, and the specific shape of the upper edger 5 and the lower edger 6 can be designed according to the positional space.
- the edge trimming feeding mechanism comprises a feeding edge sensor 13 and a feeding edge sensor 14 Two edge-finishing actuators and a trimming controller, wherein the loading edge sensor 13 and the cutting edge sensor 14 are respectively used for detecting the position of the edge of the workpiece (ie, the upper and lower skin members), and the loading edge sensor 13 ,
- the stocking edge sensors 14 are respectively disposed on both sides of a feeding axis of the sewing machine head 1 (an axis parallel to the sewing machine feed direction and intersecting the sewing needle position on the sewing table 2), the loading edge sensor 13
- the point of intersection between the line connecting the edge sensor 14 and the feed axis is before entering the sewing needle position (ie before sewing) to ensure that the position of the workpiece has been adjusted when entering the sewing needle position, the loading Edge sensor 13 ⁇
- the position of the stocking edge sensor 14 should be as close as possible to the position where the edge corresponding to the needle position of the upper and lower parts should be.
- the loading edge sensor 13 and the lowering edge sensor 14 Each consists of a position sensor, preferably a fiber optic sensor or a photosensor.
- the optical fiber sensor has the advantages of high measurement sensitivity, stable performance, no electromagnetic interference during transmission, and small amount of signal loss. Since the diameter of the optical fiber is small, it is advantageous to improve the detection precision and the volume of the edge of the workpiece (ie, the upper and lower leather members).
- the optical fiber is selected as the optical transmission medium, and the loading edge sensor 13
- the ends of the outgoing fiber and the receiving fiber are disposed on the upper edger 5, and the ends of the outgoing fiber and the receiving fiber of the blanking sensor 14 are disposed on the lower edger 6, and the optical signal is amplified by the optical signal amplifier and input to The edge correction controller performs data processing.
- the two edge-finishing actuators that is, the upper trimming actuator and the lower trimming actuator are respectively disposed on both sides of the feeding axis of the sewing machine head 1, respectively for the upper and lower materials.
- the edge-finding, the intersection of the line between the two edge-finishing actuators and the feeding axis is also before the sewing needle position, and the structure of the two edge-finishing actuators is the same.
- the edge-correcting actuator is provided with elastic clamping material
- the clamping mechanism is configured to swing back and forth, and the clamping mechanism is configured such that the nip point of the upper roller 9 and the lower roller 10 is an oscillating center, and an angle between the oscillating direction and the feeding axis is set at an acute angle.
- the angle between the swinging direction and the feeding axis is set at an acute angle, because if the swinging direction is perpendicular to the feeding axis, the feeding is not smooth, and the clamping mechanism requires that the workpiece has a certain holding force to complete the swinging motion, and Claim Tops and underskins are in The traction of the upper roller 9 and the lower roller 10 can advance the feeding, and therefore, it is suitable to perform the clamping in an elastic manner.
- the edge-correcting actuator includes a trimming driving device 15,
- the edge-trigger drive wheel 16 and the ball 17 are drivingly coupled to the edge-trigger drive wheel 16, and the edge-trigger drive wheel 16
- the clamping mechanism is configured to be in contact with the elasticity of the ball 17, and the ball 17 is positioned and rollably disposed.
- the side of the clamping mechanism adopts the structure of the ball 17 instead of the pair of rollers, because the ball 17 can roll in any direction, and the direction and speed of the rolling are automatically matched with
- the edging drive wheel 16 is matched, the structure is simple, and it is favorable for smooth feeding and improving the processing quality of the product.
- the ball 17 is preferably disposed in the sewing table 2, and the edge-trigger drive wheel 16
- the upper portion of the sewing table 2 is elastically opposed to the ball 17 (of course, the ball 17 may be disposed above, and the edge-trigger driving wheel 16 may be disposed.
- the sewing table 2 is provided with a pair of ball ball cavities that are in clearance with the ball 17.
- the ball 17 is placed in the ball cavity, and the upper surface of the sewing table 2 is corresponding.
- the ball ball cavity is provided with a circular hole, and the ball 17 is partially exposed from the round hole.
- the ball ball cavity is symmetrically provided with a plurality of small steel balls which are in conflict with the ball 17 to reduce the ball 17 Friction
- the edge-trigger drive wheel 16 is disposed above the ball 17, the angle between the rotation axis of the edge-trigger drive wheel 16 and the feed axis is set at an acute angle, and the edge-correcting controller receives the upper edge sensor 13 and the lower edge sensor 14 The edge correction signal is sent, and the rotation direction of the edge correction drive wheel 16 is controlled based on the edge correction signal.
- the clamping mechanism is oscillated with the nip point of the upper roller 9 and the lower roller 10 as a swing center.
- the edge correction controller is composed of a microprocessor system with a data processing capability such as a single chip microcomputer as a core, or a PLC controller, and the edge correction controller periodically reads from the loading edge sensor 13 and blanks.
- Side sensor 14 The edge correction signal (such as an optical signal) is sent, for example, when the edge correction signal sent by the loading edge sensor 13 is read, and the internal program processing indicates that the edge of the upper skin has blocked the between the exiting fiber and the receiving fiber.
- the edge-finding controller sends a control signal to control the rotation of the edge-trigger drive wheel 16 in the upper edge-trimming actuator, and drives the skin member to swing sideways away from the optical path between the exiting fiber and the receiving fiber;
- the edge correction signal sent by the loading edge sensor 13 is read, and the internal program processing indicates that the edge of the upper skin has left the optical path between the outgoing fiber and the receiving fiber.
- the edge correction controller sends a control signal to control the reverse rotation of the edge correction drive wheel 16 in the upper edge trimming actuator to drive the upper skin member to swing to the other side and return to the optical path between the exiting fiber and the receiving fiber.
- the edge of the upper member is always oscillated on both sides of the light path between the exiting fiber and the receiving fiber, that is, the edge sensor 13 to achieve the purpose of automatic edge correction.
- the same principle is used for the edge correction actuator.
- the edge correction controller can also be integrated with the drive controller and shared with the drive controller. The edge correction controller is not the focus of the present invention, and the specific structure will not be described herein.
- the edge-finishing actuator is preferably integrally arranged on the sewing machine head 1 As shown in FIG. 8-13, in the embodiment, the edge-correcting actuator is further provided with a trimming bracket 18, and the edge-trigger driving device 15 and the edge-trigger driving wheel 16 are mounted on the edge-correcting bracket. 18, the edge correction drive 15 and A reciprocating transmission mechanism is disposed between the reaming drive wheels 16 to form a transmission connection; the elevating mechanism is disposed on the sewing machine head 1 , and a first elastic buffer mechanism is disposed between the reaming bracket 18 and the lifting mechanism, so that The edge-trigger drive wheel 16 is elastically opposed to the ball 17.
- the sewing machine head 1 is provided with a mounting plate 19, and the mounting plate 19 is fixed to the sewing machine head 1 On the side wall, the mounting plate 19 is provided with vertical sliding holes on both sides, and the lifting mechanisms of the two trimming actuators are respectively disposed on both sides of the mounting plate 19.
- the lifting mechanism includes a sliding rod 20, a sliding rod driving device 21 and a connecting block 22.
- Each of the mounting plates 19 is preferably provided with a vertical sliding hole on each side, and the sliding rod 20 is slidably fitted on the vertical sliding In the hole, the connecting block 22 is fixedly disposed on the lower end of the sliding bar 20, and the connecting block 22 is provided with a first vertical guiding post 23, and the trimming bracket 18 is provided with the first vertical guiding column 23
- the first guiding hole and the first vertical guiding column 23 are preferably disposed in a pair, and the edge guiding bracket 18 passes through the first guiding hole and the first vertical guiding column 23 in the axial direction.
- the sliding rod driving device 21 is movably disposed on the connecting block 22, and the sliding rod driving device 21 drives the sliding rod 20 to slide up and down under the control of the edge correcting controller to form the lifting mechanism.
- the sliding rod driving device 21 can be electrically pushed. a rod or a micro cylinder, an electric push rod or a micro cylinder fixed on the mounting plate 19 and above the upper end of the slide rod 20, the piston rod of the electric push rod or the micro cylinder being connected to the upper end of the slide rod 20; the first vertical guide A first compression spring 24 is sleeved on the column 23, and the first compression spring 24 End abuts against the holder 18 constituting the correct side of the first damper means, said damper means in said first The edge-trigger drive wheel 16 and the ball 17 provide spring force when clamping the workpiece.
- the sliding bar 20 and the vertical sliding hole are preferably rotatably fitted, and a circumferential positioning mechanism is disposed between the sliding bar 20 and the vertical sliding hole, so that the edge-finishing actuator is not required Turn it to one side.
- the mounting plate 19 has a rectangular block shape, and the two sides are provided with protrusions on the upper and lower sides.
- two upper convex blocks 25 and two lower convex blocks 26 are disposed on each side, and the vertical sliding holes are disposed through the vertical sliding hole.
- the sliding rod 20 and the vertical sliding hole are both circularly disposed, and the outer wall of the sliding rod 20 between the upper and lower vertical sliding holes is provided with a ring of convex rings 27, and the lower end surface of the protruding ring 27 is provided.
- the dimples 28, the lower bumps 26 are provided with protrusions 29 which cooperate with the dimples 28 to form the circumferential positioning mechanism.
- the automatic roller truck is preferably further provided with a sensor lifting mechanism, and the upper edge closer 5 and the loading edge sensor 13 are disposed on the sensor lifting mechanism.
- the sensor lifting mechanism can be a vertical lifting method or a swing lifting method. As shown in FIG. 13, in the embodiment, the sensor lifting mechanism includes a swing frame assembly and a swing driving device 31 swingable about a horizontal rotating shaft 30, and the upper edge closer 5 and the loading edge sensor 13 are mounted on the On the oscillating frame assembly, the oscillating frame assembly is driven to swing by the oscillating drive unit 31 to raise and lower the upper edging device 5 and the loading edge sensor 13.
- the swing frame assembly includes a swing rod 32, a swing rod mount 33, a sensing mount 34 and a connecting seat 35.
- the upper edge holder 5 and the loading edge sensor 13 are fixedly mounted on the sensing mounting frame 34, and the swing rod 32.
- the specific shape of the swing rod mounting seat 33, the sensing mounting bracket 34 and the connecting seat 35 can be designed according to the space of the position.
- the swing rod mounting seat 33 is generally a U-shaped block placed laterally, and the side of the swing rod mounting seat 33 That is, a horizontal circular shaft is disposed on one side of the bottom of the U-shaped portion to form the horizontal rotating shaft 30.
- the front surface of the mounting plate 19 is horizontally distributed with a pair of supporting seats 36.
- the supporting base 36 is provided with a horizontal shaft hole, and the swinging frame assembly passes through
- the horizontal shaft 30 is slidably fitted with the horizontal shaft hole to be set in the sewing Machine head 1 On.
- the swinging rod 32 is longitudinally disposed, and the upper end is mounted on one end of the U-shaped opening of the swinging rod mounting seat 33.
- the connecting seat 35 is fixedly disposed on the lower end of the swinging rod 32, and one end of the connecting seat 35 is also provided with a lateral direction.
- a second vertical guide post 37 is disposed in the U-shaped opening, and the sensing mounting frame 34 is provided with a second guiding hole that is in clearance with the second vertical guiding post 37, and the sensing mounting bracket 34 is axially movably coupled to the second vertical guide post 37 by a second guide hole 37, and the second vertical guide post 37 is sleeved with a second compression spring 38, the second compression spring The end of the 38 abuts against the connecting seat 35 to form a second elastic buffering mechanism, so that the sensing mounting frame 34 has a downward elastic pressure, and the swing driving device 31 is disposed on the horizontal rotating shaft 30 relative to the sensing mounting frame 34.
- the swing driving device 31 has a telescopic rod opposite to the mounting plate 19, and is provided with a swing control device for controlling the telescopic rod expansion and contraction of the swing driving device 31, so that the swing rod mounting seat 33 is wound around the horizontal level.
- the shaft 30 is swung to raise and lower the upper edger 5 and The purpose of the loading edge sensor 13.
- the swing driving device 31 can be selected from an electric push rod or a micro cylinder, and can be controlled by a corresponding swing switch.
- the swing frame assembly is preferably axially slidably disposed on the sewing head along the horizontal shaft 30. 1 Upper, and is provided with an axial displacement adjustment and positioning mechanism. As shown in FIG. 13-15, in the embodiment, the axial displacement adjustment includes an adjusting bolt 40 and a thrust spring 41.
- the horizontal rotating shaft 30 on the swinging frame assembly has a small diameter of the front section and a large diameter of the rear section.
- the stepped shaft shape (the horizontal rotating shaft 30 may also be a cylindrical shape with a uniform diameter), the adjusting bolt 40 is provided with an axial center through hole, and the center through hole is matched with the front portion of the horizontal rotating shaft 30, and the upper side of the mounting plate 19
- the support base 36 is provided with a horizontal shaft hole that is matched with the rear portion of the horizontal rotating shaft 30, and the support seat 36 on one side of the mounting plate 19 is provided with a horizontal screw hole that cooperates with the adjusting bolt 40, and the horizontal rotating shaft 30 and
- the adjusting bolts 40 are respectively opposite from the outer side of the support base 36 and are inserted in the horizontal shaft hole and the horizontal screw hole.
- the center line is on the same horizontal straight line, and the front portion of the horizontal rotating shaft 30 is inserted in the axial center of the adjusting bolt 40.
- a retaining ring 42 is fixed on the front section of the horizontal rotating shaft 30, and a compression spring is arranged on the rear section of the horizontal rotating shaft 30 to form a thrust spring 41.
- One end of the thrust spring 41 abuts against the side wall of the supporting base 36, and another One end is placed against the retaining ring 42
- the horizontal rotating shaft 30 is axially pushed together with the swing frame assembly to the other side of the retaining ring 42 to be in contact with the end of the adjusting bolt 40. Therefore, by adjusting the position of the end of the adjusting bolt 40 by rotating the adjusting bolt 40, the position can be adjusted.
- the axial position of the oscillating frame assembly is arranged on the front section of the horizontal rotating shaft 30, and a compression spring is arranged on the rear section of the horizontal rotating shaft 30 to form a thrust spring 41.
- One end of the thrust spring 41
- the existing garment and shoe leather industries usually use multiple layers of leather, sometimes even one or twenty layers, to be cut together with a cutter, because the leather material has a certain The toughness and elasticity, the multi-layer cutting at the same time will inevitably lead to the difference in the size of the skin pieces cut in the upper and lower layers.
- the materials for this difference were in the sewing process, relying on the operator to pass through during the processing.
- the automatic roller of the present invention is further provided with a workpiece stretching mechanism, and the workpiece stretching mechanism adjusts the upper roller 9 and the lower roller 10 by a speed regulating device.
- the linear velocity causes a difference in the relative linear velocity between the upper roller 9 and the lower roller 10 to achieve a tensile action on the workpiece.
- the automatic roller of the present invention is provided with a transmission mechanism between the upper roller 9 and the driving motor 3.
- the clutch 39, the transmission mechanism between the lower roller 10 and the driving motor 3 is provided with a lower clutch, the clutch can adopt an electromagnetic or pneumatic power clutch mechanism, the upper clutch 39, and the lower clutch can also directly utilize the original of the roller car.
- the clutch mechanism is further provided with a clutch controller, and the upper clutch 39 is controlled by the upper clutch controller 43 so that the upper roller 9 has at least two states of forward rotation and idle rotation; the lower clutch is engaged at the lower clutch Under the control of the controller 44, the lower roller 10 also has two states of forward rotation and idle rotation.
- the upper clutch 9 and the lower clutch are controlled by the clutch controller to make the upper roller 9 idle and the lower roller 10 rotate forward to stretch the lower leather member. , or the upper roller 9 is rotated forward, and the lower roller 10 is idling to stretch the upper leather member
- the workpiece stretching mechanism is formed to achieve the purpose of pulling the upper and lower skin members together.
- the upper clutch controller 43 and the lower clutch controller 44 can be directly mounted on the front surface of the sewing machine head 1 by using a push button switch for convenient operation.
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Abstract
一种自动进行直线和曲线搭接缝合的自动罗拉车，设有上靠边器（5）、下靠边器（6）和纠边送料机构，纠边送料机构包括上料边传感器（13）、下料边传感器（14）、两个纠边执行机构及纠边控制器，所述料边传感器用于检测工件边缘的位置，所述两个纠边执行机构分别设置在缝纫机头的送料轴线的两侧，分别对上皮料和下皮料进行来回摆动纠边。在车缝物料时，不需要关注和调节皮件的位置，可以直接缝制，不用手动传送，缝制出来的产品边距均匀，质量稳定。
Description
本实用新型涉及缝纫机技术领域，更具体地说，它涉及一种自动进行直线和曲线搭接缝合的自动罗拉车。
罗拉车是一种常见的工业缝纫机，它采用电气一体化实现自动剪线、自动抬压脚、自动倒缝等自动化操作，采用上、下滚轮及机针同步送料，送布系统安全可靠，使车缝顺畅，线迹美观，适用于各种厚度的皮革缝料，在服装企业和皮革制鞋行业广泛地运用。
目前，市场上的罗拉车通常包括包括缝纫桌和缝纫机头、驱动控制器以及驱动电机，所述缝纫机头固设在缝纫桌上，所述缝纫机头上设有缝纫针杆和上滚轮，内部设有传动机构。缝纫桌上设有缝纫工作台，所述缝纫针杆和上滚轮处于缝纫工作台的上方，缝纫工作台与上滚轮对应位置设有下滚轮，缝纫桌下方设置有控制踏板、调速器、驱动控制器以及驱动电机，驱动电机
借助皮带及传动轮与缝纫机头上传动机构连接驱动、上滚轮和下滚轮 ，缝纫皮革时， 驱动控制器控制电机的转动、以及缝纫针杆、 上、下滚轮
相互配合运动，完成送件及缝合动作。
现有的罗拉车在缝合工件即上皮料和下皮料时，车缝前需用银笔按样板在皮料上画出相应尺寸的搭位线，然后完全凭操作工双手控制，让 缝纫针沿着 搭位线 缝合，
因而操作工精神需高度集中，容易产生疲劳，缝制出来的线条、边距往往会变歪，至于曲线的弧度也不是那么圆滑且费劳动力，而且要靠双手来回输送物料，费时又费力，导致不但效率低下，劳动强度大，且产品质量不高，容易出次品。
针对现有技术存在的不足，本实用新型的目的在于提供一种劳动强度低、自动化程度高、易于操作、生产效率高且产品质量更好的 自动罗拉车 。
为实现上述目的，本实用新型提供了如下技术方案：一种自动罗拉车，包括缝纫机头和缝纫工作台、驱动控制器以及驱动电机，所述缝纫机头和缝纫工作台上设有缝纫针杆、传动机构和由上滚轮及下滚轮构成的送料机构，所述驱动电机在驱动控制器的控制下通过传动机构驱动缝纫针杆及送料机构，所述上滚轮与下滚轮夹持工件滚动完成送料，其特征在于：所述自动罗拉车还设有上靠边器、下靠边器和
纠边送料机构 ，所述上靠边器和下靠边器分别设置在缝纫针位的两侧；所述 纠边送料机构
包括上料边传感器、下料边传感器、两个纠边执行机构及纠边控制器，所述料边传感器用于检测 工件边缘的位置，
所述上料边传感器、下料边传感器分别设置在送料轴线的两侧，所述上料边传感器、下料边传感器之间的连线与所述送料轴线的相交点处于进入缝纫针位之前；所述上滚轮与下滚轮夹持点处于进入缝纫针位之后，所述两个纠边执行机构分别设置在缝纫机头的送料轴线的两侧分别对
上皮料和下皮料 纠边，纠边执行机构设有弹性夹持 皮料
进行来回摆动的夹持机构，所述夹持机构以所述上滚轮与下滚轮夹持点为摆动中心，且摆动方向与送料轴线夹角呈锐角设置。
本实用新型通过采用上述技术方案，增设 靠边器和 纠边送料机构，工作时， 利用 上靠边器、下靠边器
的定位功能，对皮件初始的位置进行定位，随后的车缝过程中， 纠边送料机构 中的上料边传感器、下料边传感器以及两个纠边执行机构始终自动调节 皮件边缘的位置恒定
，因此
在车缝物料时无需事先画线，也不需要操作工时刻关注和调节皮件的位置，可以直接车，不用手动传送，因此与现有技术相比效率更高、工人劳动强度及生产成本更低，且缝制出来的直线线条更直，曲线线条的弧度更加圆滑，边距更加均匀，产品质量更稳定。
下面将结合具体实施例和附图对本实用新型做进一步说明。
图1为本实用新型具体实施例立体结构示意图之一；
图2为本实用新型具体实施例立体结构示意图之二；
图3为图2的I部放大图；
图4为图3的II部放大图；
图5为本实用新型具体实施例立体结构示意图之三；
图6为图3的Ⅲ部放大图；
图7为本实用新型具体实施例立体结构示意图之四；
图8为为图7的Ⅳ部放大图；
图9为本实用新型具体实施例立体结构示意图之五；
图10为为图9的Ⅴ部放大图；
图11为本实用新型具体实施例立体结构示意图之六；
图12为图11的Ⅵ部放大图；
图13为本实用新型摆动架组件具体实施例立体结构示意图；
图14为图13的A-A剖视图；
图15为图13的B-B剖视图。
具体实施方式
如图1-3所示，自动罗拉车同样包括缝纫 机头 1 、上靠边器5、下靠边器6和 纠边送料机构
、缝纫工作台2、 下靠边器 6 以及驱动电机3，所述缝纫 机头 1 和缝纫工作台2固设在缝纫桌4上。所述缝纫 机头 1
上设有缝纫针杆8和上滚轮9，内部设有传动机构（图中未示出），所述缝纫针杆8和上滚轮9处于缝纫工作台2的上方，缝纫工作台2与上滚轮9对应位置设有下滚轮10，上滚轮9、下滚轮10及其传动机构构成送料机构，所述上滚轮9与下滚轮10夹持工件滚动完成送料，缝纫桌4下方设置有控制踏板11和驱动控制器12，由所述驱动电机3在驱动控制器12的控制下通过传动机构驱动缝纫针杆8及送料机构。
自动罗拉车的上靠边器 5 、下靠边器 6 和 纠边送料机构对加工的工件（即皮件）的边缘进行检测和纠边
。 如图4所示， 所述上靠边器 5 和下靠边器 6 分别设置在缝纫针位的两侧，所述上靠边器 5 和下靠边器 6 上均设有一个直立的侧壁分别用于
对上下皮件初始的位置进行定位， 上靠边器 5 和下靠边器 6 的具体形状可以根据位置空间设计。纠边送料机构包括上料边传感器 13 、 下料边传感器14
、两个纠边执行机构及纠边控制器，所述上料边传感器 13 、 下料边传感器14 分别用于检测 工件（即上、下皮件）边缘的位置， 所述上料边传感器 13 、
下料边传感器14 分别设置在缝纫 机头 1 的送料轴线（ 缝纫工作台2上 与缝纫机送料方向平行且与缝纫针位相交的轴线）的两侧，所述上料边传感器 13 、
下料边传感器14 之间的连线与所述送料轴线的相交点处于进入缝纫针位之前（即缝合之前），以保证 工件在进入 缝纫针位时已经调整好边缘的位置，所述上料边传感器
13 、 下料边传感器14 所设置的位置应该尽可能分别接近 上、下皮件下一针针位所对应边缘应该所处的位置 。所述上料边传感器 13 和 下料边传感器14
均由位置传感器构成，位置传感器优选 光纤传感器或光电传感器。 由于光纤传感器具有测量敏感性高、性能稳定，在传输过程中不受电磁干扰、信号损失量小的优点，同时，
由于光纤直径小，有利于提高对 工件（即上、下皮件）边缘的 检测精度，缩小体积， 本具体实施例中选用光纤作为光传导媒介，上料边传感器 13
的射出光纤和接收光纤的端部都设置在上靠边器 5 上， 下料边传感器14 的射出光纤和接收光纤的端部都设置在下靠边器 6 上，光信号经过光信号放大器放大后输入到
纠边控制器进行数据处理 。 两个纠边执行机构即上纠边执行机构和下纠边执行机构分别设置在缝纫 机头 1 的送料轴线的两侧，分别对 上皮料和下皮料进行
纠边，两个纠边执行机构 之间的连线与所述送料轴线的相交点同样处于进入缝纫针位之前， 两个纠边执行机构的结构相同。
所述纠边执行机构设有弹性夹持 皮料
进行来回摆动的夹持机构，所述夹持机构以所述上滚轮9与下滚轮10夹持点为摆动中心，且摆动方向与送料轴线夹角呈锐角设置。摆动方向与送料轴线夹角呈锐角设置，是由于如果摆动方向与送料轴线呈垂直设置，则会导致送料不畅，所述夹持机构要求既能对工件有一定的加持力量完成摆动动作，又要求
上皮料和下皮料在
上滚轮9、下滚轮10的牵引下能够前移进料，因此，以弹性的方式进行夹持比较合适。本具体实施例中，如图3-8所示，所述纠边执行机构包括纠边驱动装置15、
纠边驱动轮16 和滚球17，所述纠边驱动装置15与 纠边驱动轮16 传动连接，所述 纠边驱动轮16
与滚球17弹性相抵触设置构成所述夹持机构，滚球17定位且可滚动地设置。所述夹持机构的一侧选用滚球17而不选用一对滚轮夹持的结构，是因为滚球17可以向任何方向滚动，其滚动的方向及速度自动与
纠边驱动轮16 相配，结构简单，且有利于顺畅送料，提高产品加工质量。所述滚球17优选设置在缝纫工作台2中，所述 纠边驱动轮16
设置在缝纫工作台2上方与滚球17弹性相抵触设置（当然，也可以是滚球17设置在上方，所述 纠边驱动轮16
设置在缝纫工作台2上）。本具体实施例中，所述缝纫工作台2中设有一对与所述滚球17间隙配合的滚球容腔，所述滚球17置于滚球容腔中，缝纫工作台2上表面对应滚球容腔的位置设有圆孔，所述滚球17部分从圆孔中露出，所述滚球容腔壁上对称设有若干小钢珠与滚球17相抵触，以减小滚球17的摩擦力；所述
纠边驱动轮16 设置在滚球17上方， 纠边驱动轮16 旋转轴与送料轴线夹角呈锐角设置，所述纠边控制器接收所述上料边传感器13、 下料边传感器14
发出的纠边信号，并根据纠边信号控制所述 纠边驱动轮16 的旋转方向。 为了能够灵活地进行摆动纠边，
所述上滚轮9与下滚轮10对工件夹持的夹持点处于进入缝纫针位之后，所述夹持机构以所述上滚轮9与下滚轮10夹持点为摆动中心。
所述纠边控制器由具有数据处理能力的如单片机为核心的微处理器系统构成，或是由PLC控制器组成，所述纠边控制器分别定时读取从上料边传感器13、 下料边传感器14
发出的纠边信号（如光信号），譬如，当读取到上料边传感器13发出的纠边信号，经过内部程序处理表明此时 上皮件边缘已经阻断了 射出光纤和接收光纤之间的光路，
所述纠边控制器即发出控制信号控制上纠边执行机构中的 纠边驱动轮16 旋转，带动 上皮件向一侧摆动离开 射出光纤和接收光纤之间的光路；当
读取到上料边传感器13发出的纠边信号，经过内部程序处理表明此时 上皮件边缘已经离开了 射出光纤和接收光纤之间的光路，
所述纠边控制器则发出控制信号控制上纠边执行机构中的 纠边驱动轮16 反旋转，带动 上皮件向另一侧摆动，又回到 射出光纤和接收光纤之间的光路
，如此反复，使得在送料的过程中，上皮件边缘始终在 射出光纤和接收光纤之间的光路即 上料边传感器13的 两侧摆动，达到自动纠边的目的，下
纠边执行机构同样原理。纠边控制器也可以与驱动控制器一体是设置，与驱动控制器共用。所述纠边控制器并非本实用新型重点，具体结构此处不再赘述。
为了方便放料或维修，所述纠边执行机构优选整体可升降地设置在缝纫 机头 1
上，如图8-13所示，本具体实施例中，所述纠边执行机构还设有纠边支架18，所述纠边驱动装置15和 纠边驱动轮16 安装在所述纠边支架18上，纠边驱动装置15与
纠边驱动轮16 之间设有纠边传动机构构成传动连接；所述升降机构设置在缝纫 机头 1 上，所述纠边支架18与升降机构之间设有第一弹性缓冲机构，使所述
纠边驱动轮16 与滚球17弹性相抵触。具体地，所述缝纫 机头 1 上设有安装板19，所述安装板19固定在缝纫 机头 1
侧壁上，所述安装板19上两侧均设有垂直滑孔，两个所述纠边执行机构的升降机构分别设置在安装板19上两侧。所述升降机构包括滑杆20、滑杆驱动装置21和连接块22，所述安装板19上每侧优选上下各设一个垂直滑孔，所述滑杆20可滑动地配合在所述垂直滑孔中，所述连接块22固定设置在滑杆20下端上，所述连接块22上设有第一垂直导柱23，所述纠边支架18上设有与所述第一垂直导柱23间隙配合的第一导孔，为防止旋转，所述第一导孔、第一垂直导柱23优选设置一对，所述纠边支架18通过第一导孔与第一垂直导柱23轴向可移动地配合设置在连接块22上，所述滑杆驱动装置21在所述纠边控制器控制下驱动滑杆20上下滑动构成所述升降机构，所述滑杆驱动装置21可以选用电动推杆或微型气缸，电动推杆或微型气缸固定在所述安装板19上并处于滑杆20上端的上方，电动推杆或微型气缸的活塞杆与滑杆20上端连接；所述第一垂直导柱23上套设有第一压缩弹簧24，所述第一压缩弹簧24一端抵在纠边支架18上构成所述第一弹性缓冲机构，所述第一弹性缓冲机构在所述
纠边驱动轮16 与滚球17对工件进行夹持时提供弹力。
为了方便操作或维修，所述滑杆20和垂直滑孔优选可旋转配合，所述滑杆20和垂直滑孔之间设有周向定位机构，使得在不需要所述纠边执行机构时可以将其转向一边。本具体实施例中，所述安装板19呈矩形块状，两侧边上下各设有凸块，优选每侧设置上凸块25、下凸块26两个，所述垂直滑孔贯穿设置在凸块上，所述滑杆20和垂直滑孔截面均为圆形设置，所述上下垂直滑孔之间的滑杆20外壁设有一圈凸环27，所述凸环27下端面上设有凹坑28，下凸块26上设有突起29，所述突起29和凹坑28相配合构成所述周向定位机构。
同样为了方便操作和维修，所述自动罗拉车优选还设有传感器升降机构，所述上靠边器5和上料边传感器13设置在传感器升降机构上。传感器升降机构可以是垂直升降方式，也可以是采取摆动升降方式。如图13所示，本具体实施例中，传感器升降机构包括具有一可绕水平转轴30摆动的摆动架组件及摆动驱动装置31，所述上靠边器5和上料边传感器13安装在所述摆动架组件上，通过摆动驱动装置31驱动所述摆动架组件摆动，以提升和降下所述上靠边器5和上料边传感器13。
所述摆动架组件包括摆杆32、摆杆安装座33、传感安装架34和连接座35，所述上靠边器5和上料边传感器13固定安装在传感安装架34上，摆杆32、摆杆安装座33、传感安装架34和连接座35具体形状可以根据所处位的空间设计，所述摆杆安装座33大体呈横向放置的U形块，摆杆安装座33侧面即U形底部一侧上设有水平圆轴构成所述水平转轴30，所述安装板19正面水平分布设有一对支撑座36，支撑座36上设有水平轴孔，所述摆动架组件通过水平转轴30与水平轴孔滑动配合设置在缝纫
机头 1
上。所述摆杆32纵向设置，上端安装在摆杆安装座33的U形开口一端上，所述连接座35固定设置在所述摆杆32下端上，所述连接座35的一端也设有横向U形开口，U形开口中设有第二垂直导柱37，所述传感安装架34上设有与所述第二垂直导柱37间隙配合的第二导孔，所述传感安装架34通过第二导孔与第二垂直导柱37轴向可移动地配合设置在连接座35上，所述第二垂直导柱37上套设有第二压缩弹簧38，所述第二压缩弹簧38一端抵在连接座35上构成第二弹性缓冲机构，使得所述传感安装架34有一个向下的弹性压力，所述摆动驱动装置31设置在水平转轴30相对于传感安装架34的另一侧，所述摆动驱动装置31具有一个伸缩杆，伸缩杆与安装板19相对，并设有摆动控制装置控制摆动驱动装置31的伸缩杆伸缩，从而使摆杆安装座33绕所述水平转轴30摆动，达到提升和降下所述上靠边器5和上料边传感器13的目的。所述摆动驱动装置31可以选用电动推杆或微型气缸，可通过相应的摆动开关控制。
为了能够调节所述上靠边器5和上料边传感器13与缝纫针的横向距离，以适应不同规格产品的加工要求，所述摆动架组件优选沿水平转轴30可轴向滑动地设置在缝纫 机头 1
上，并设有轴向位移调节及定位机构。如图13-15所示，本具体实施例中，轴向位移调节包括一个调节螺栓40和推力弹簧41，所述摆动架组件上的水平转轴30为前段直径较小，后段直径较大的阶梯轴状（水平转轴30也可以是直径一致圆柱形），所述调节螺栓40设有轴向中心通孔，所述中心通孔与水平转轴30前段间隙配合，所述安装板19上一侧的支撑座36设有与水平转轴30后段间隙配合的水平轴孔，所述安装板19上一侧的支撑座36设有与调节螺栓40相配合的水平螺孔，所述水平转轴30和调节螺栓40从支撑座36外侧分别相对且插设在水平轴孔和水平螺孔中，中心线处于同一条水平直线上，所述水平转轴30的前段部插设在调节螺栓40轴向中心通孔中，所述水平转轴30的前段上固定设有挡环42，所述水平转轴30后段上套设有压缩弹簧构成推力弹簧41，推力弹簧41一端抵在支撑座36侧壁上，另一端抵在挡环42上将所述水平转轴30连同所述摆动架组件轴向推至挡环42的另一侧与调节螺栓40端部相抵触限位，因此通过旋转调节螺栓40改变调节螺栓40端部的位置，即可调节所述摆动架组件的轴向位置。
现有的制衣和鞋革行业为了提高生产效率，在下料的时候通常都是将多层皮件，有时甚至是一、二十层相叠后同时用切刀裁切，由于皮革材料具有一定的韧性和弹性，多层同时裁切不可避免地会导致上下层切下的皮片尺寸有所差异，以往对于这种差异的材料都是在车缝时，依靠操作工在加工过程中通过对尺寸稍短的皮片拉伸来弥补，为了解决上述问题，本实用新型的自动罗拉车还设有工件拉伸机构，所述工件拉伸机构通过调速装置调节上滚轮9和下滚轮10的线速度，使得上滚轮9和下滚轮10相对线速度产生差异，达到对工件的拉伸作用。对上滚轮9和下滚轮10的调速方式及机构有很多，结合罗拉车的现有结构，本实用新型的自动罗拉车在所述上滚轮9与驱动电机3之间的传动机构设有上离合器39，所述下滚轮10与驱动电机3之间的传动机构设有下离合器，离合器可以采用电磁或气压为动力的离合机构，上离合器39，所述下离合器还可以直接利用罗拉车中原有的离合机构，所述自动罗拉车还设有离合控制器，所述上离合器39在上离合控制器43的控制下使得上滚轮9至少具有正转及空转两种状态；所述下离合器在下离合控制器44的控制下使得下滚轮10同样具有正转及空转两种状态，通过离合控制器控制上离合器和下离合器使得上滚轮9空转、下滚轮10正转来拉伸下皮件
，或者上滚轮9正转、下滚轮10空转来拉伸上皮件
，由此构成所述工件拉伸机构，达到将上皮件、下皮件拉齐的目的。上离合控制器43和下离合控制器44可以直接采用按钮开关，安装在缝纫机头1正面，方便操作。
Claims (15)
- 一种自动罗拉车，包括缝纫机头和缝纫工作台、驱动控制器以及驱动电机，所述缝纫机头和缝纫工作台上设有缝纫针杆、传动机构和由上滚轮及下滚轮构成的送料机构，所述驱动电机在驱动控制器的控制下通过传动机构驱动缝纫针杆及送料机构，所述上滚轮与下滚轮夹持工件滚动完成送料，其特征在于：所述自动罗拉车还设有上靠边器、下靠边器和纠边送料机构，所述上靠边器和下靠边器分别设置在缝纫针位的两侧；所述纠边送料机构包括上料边传感器、下料边传感器、两个纠边执行机构及纠边控制器，所述料边传感器用于检测工件边缘的位置，所述上料边传感器、下料边传感器分别设置在送料轴线的两侧，所述上料边传感器、下料边传感器之间的连线与所述送料轴线的相交点处于进入缝纫针位之前；所述上滚轮与下滚轮夹持点处于进入缝纫针位之后，所述两个纠边执行机构分别设置在缝纫机头的送料轴线的两侧分别对上皮料和下皮料纠边，纠边执行机构设有弹性夹持皮料进行来回摆动的夹持机构，所述夹持机构以所述上滚轮与下滚轮夹持点为摆动中心，且摆动方向与送料轴线夹角呈锐角设置。
- 根据权利要求1所述的自动罗拉车，其特征在于：所述纠边执行机构包括纠边驱动装置、纠边驱动轮和滚球，所述纠边驱动装置与纠边驱动轮传动连接，所述纠边驱动轮与滚球弹性相抵触设置构成所述夹持机构，所述纠边驱动轮旋转轴与送料轴线夹角呈锐角设置，所述纠边控制器接收所述上料边传感器、下料边传感器发出的纠边信号，并根据纠边信号控制所述纠边驱动轮的旋转方向。
- 根据权利要求2所述的自动罗拉车，其特征在于：所述滚球定位且可滚动地设置在缝纫工作台中，所述纠边驱动轮设置在缝纫工作台上方与滚球弹性相抵触设置。
- 根据权利要求3所述的自动罗拉车，其特征在于：所述缝纫工作台中设有一对与所述滚球间隙配合的滚球容腔，所述滚球置于滚球容腔中，缝纫工作台上表面对应滚球容腔的位置设有圆孔，所述滚球部分从圆孔中露出，所述滚球容腔壁上对称设有若干小钢珠与滚球相抵触。
- 根据权利要求2所述的自动罗拉车，其特征在于：所述纠边执行机构还包括纠边支架，所述纠边驱动装置和纠边驱动轮安装在所述纠边支架上，纠边驱动装置与纠边驱动轮之间设有纠边传动机构构成传动连接；所述纠边支架设置在升降机构上，所述升降机构设置在缝纫机头上，所述纠边支架与升降机构之间设有第一弹性缓冲机构，使所述纠边驱动轮与滚球弹性相抵触。
- 根据权利要求5所述的自动罗拉车，其特征在于：所述缝纫机头上设有安装板，所述安装板固定在缝纫机头上，所述安装板上设有垂直滑孔，所述升降机构包括滑杆、滑杆驱动装置和连接块，所述滑杆可滑动地配合在所述滑孔中，所述连接块固定设置在滑杆上，所述连接块上设有第一垂直导柱，所述纠边支架上设有与所述第一垂直导柱间隙配合的第一导孔，所述纠边支架通过第一导孔与第一垂直导柱轴向可移动地配合设置在连接块上，所述滑杆驱动装置在所述纠边控制器控制下驱动滑杆上下滑动构成所述升降机构；所述第一垂直导柱上套设有第一压缩弹簧，所述第一压缩弹簧一端抵在纠边支架上构成所述第一弹性缓冲机构。
- 根据权利要求6所述的自动罗拉车，其特征在于：所述滑杆和垂直滑孔可旋转配合，所述滑杆和垂直滑孔之间设有周向定位机构。
- 根据权利要求1所述的自动罗拉车，其特征在于：所述自动罗拉车还设有传感器升降机构，所述上靠边器和上料边传感器设置在传感器升降机构上。
- 根据权利要求8所述的自动罗拉车，其特征在于：所述传感器升降机构包括具有可绕水平转轴摆动的摆动架组件及摆动驱动装置，所述上靠边器和上料边传感器安装在所述摆动架组件上，通过摆动驱动装置驱动所述摆动架组件摆动，以提升和降下所述上靠边器和上料边传感器。
- 根据权利要求9所述的自动罗拉车，其特征在于：所述摆动架组件包括摆杆、摆杆安装座、传感安装架和连接座，所述上靠边器和上料边传感器固定安装在传感安装架上，所述摆杆安装座上设有水平圆轴构成所述水平转轴，所述摆杆安装在摆杆安装座上，所述连接座固定设置在所述摆杆上，所述连接座上设有第二垂直导柱，所述传感安装架上设有与所述第二垂直导柱间隙配合的第二导孔，所述传感安装架通过第二导孔与第二垂直导柱轴向可移动地配合设置在连接座上，所述第二垂直导柱上套设有第二压缩弹簧，所述第二压缩弹簧一端抵在连接座上构成第二弹性缓冲机构。
- 根据权利要求9所述的自动罗拉车，其特征在于：所述摆动架组件沿水平转轴可轴向滑动地设置在缝纫机头上，并设有轴向位移调节及定位机构。
- 根据权利要求1所述的自动罗拉车，其特征在于：所述自动罗拉车还设有上滚轮和下滚轮的调速装置，调节上滚轮和下滚轮相对线速度差构成工件拉伸机构。
- 根据权利要求12所述的自动罗拉车，其特征在于：所述上滚轮与驱动电机之间的传动机构设有上离合器，所述下滚轮与驱动电机之间的传动机构设有下离合器，所述自动罗拉车还设有离合控制器，所述上离合器在离合控制器的控制下使得上滚轮至少具有正转及空转两种状态；所述下离合器在离合控制器的控制下使得下滚轮同样具有正转及空转两种状态，由此构成所述工件拉伸机构。
- 根据权利要求1所述的自动罗拉车，其特征在于：所述上料边传感器和下料边传感器均由位置传感器构成。
- 根据权利要求14所述的自动罗拉车，其特征在于：所述位置传感器为光纤传感器或光电传感器。
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|---|---|---|---|---|
| CN108385292A (zh) * | 2018-04-28 | 2018-08-10 | 台州职业技术学院 | 一种皮革制品缝纫设备的自动上下料装置 |
| CN110296834A (zh) * | 2019-07-30 | 2019-10-01 | 燕山大学 | 缝纫机送布系统部件的疲劳性能试验装置 |
| CN110499591A (zh) * | 2019-09-20 | 2019-11-26 | 浙江睿丰智能科技有限公司 | 智能缝制机及其工作方法 |
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| CN204174389U (zh) * | 2014-10-22 | 2015-02-25 | 郝金红 | 自动罗拉车 |
| CN205636095U (zh) * | 2016-05-19 | 2016-10-12 | 肖修锋 | 一种针车台板的自动升降机构 |
| CN108914398B (zh) * | 2018-09-29 | 2024-01-30 | 广东金悦来自动化设备有限公司 | 一种鞋舌织带自动缝纫设备 |
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