WO2019100778A1

WO2019100778A1 - Automatic material grabbing device and sewing device having same

Info

Publication number: WO2019100778A1
Application number: PCT/CN2018/101761
Authority: WO
Inventors: 约翰•格瑞腾; 姚玉鹏; 熊建强
Original assignee: 苏州翰德利机电科技有限公司
Priority date: 2017-11-22
Filing date: 2018-08-22
Publication date: 2019-05-31
Also published as: CN107829222A; CN107829222B

Abstract

An automatic material grabbing device and a sewing device provided with the automatic material grabbing device, which may automatically feed fabric such as pocket cloth sheets. The automatic material grabbing device comprises: a frame (1), which has a horizontal work plane (10); a storage structure (2), the storage structure (2) comprising a bottom plate (20) used for bearing a stack of cloth sheets (8) which is formed by laminating a plurality of cloth sheets (8) from top to bottom, the bottom plate (20) being arranged on the frame (1) in a way that allows the bottom plate to move up and down; a vertical feeding structure (3), used for driving the bottom plate (20) to move up or down so as to make the top-most cloth sheet (8) reach a preset material grabbing height; and a material grabbing mechanism (4), used for grabbing the top-most cloth sheet (8) on the bottom plate (20) and placing the same onto the work plane (10), the material grabbing mechanism (4) comprising a plurality of gripper assemblies (41) movably arranged on the frame (1).

Description

Automatic picking device and sewing device therewith

Technical field

The invention relates to the field of sewing equipment, in particular to an automatic picking device and a sewing device having the same, such as a pocket cloth automatic picking device and a pocket machine or bag flower with a pocket cloth automatic picking device machine.

Background technique

Sewing equipment such as pocket machines and bag flower machines are mainly used for stitching of pockets of various jeans such as jeans back pockets and shirt pockets, sewing of pocket decorative threads, and the like. At present, artificial sewing pocket cloth is mostly used for such sewing equipment. For the sewing process of the pocket, if the material is fed manually, on the one hand, the precision of the sewing position is difficult to ensure, and the quality is difficult to ensure; on the other hand, the efficiency is not high.

Summary of the invention

In view of the above problems, it is an object of the present invention to provide an automatic picking device and a sewing apparatus having such an automatic picking device which can realize automatic feeding of a cloth such as a pocket sheet.

A technical solution adopted by the present invention is as follows:

An automatic picking device includes:

Rack with a horizontal work surface;

a stocking mechanism, comprising: a bottom plate for carrying a stack of fabric sheets formed by laminating a plurality of fabric sheets from top to bottom, wherein the bottom plate is movably disposed on the frame in an up and down direction;

a vertical feeding mechanism for driving the bottom plate to move up and down so that the cloth piece located at the uppermost layer reaches a set grab height;

A picking mechanism for grasping the uppermost cloth sheet on the bottom plate to the work surface, the picking mechanism comprising a plurality of jaw assemblies movably disposed on the frame.

In some embodiments, the stocking mechanism further includes a plurality of restriction members for positioning the cloth sheets to limit them.

In some embodiments, the bottom plate is provided with a plurality of sliding slots in a horizontal direction, and the plurality of sliding slots radiate from the center of the bottom plate to the periphery, and the limiting member is horizontally slidably disposed correspondingly The chute is adapted to accommodate different sizes of fabric sheets.

In some embodiments, the lower portion of the frame is horizontally provided with a plurality of first linear guides respectively corresponding to the plurality of restriction members, and the lower end of the restriction member and the first linear guide are A sliding connection is provided in a horizontal direction, and a locking mechanism is further disposed between the first linear guide and the limiting member.

In some embodiments, the vertical feed mechanism includes a first timing belt that is driven to move by a power source, a first slider that is coupled to the timing belt to move with the first timing belt, and a second vertically disposed The linear guide, the first slider and the second linear guide are slidably coupled in a vertical direction, and the bottom plate and the first slider are coupled to move up and down with the slider.

In some embodiments, the jaw mechanism further includes a mounting plate that is movably disposed on the frame along a horizontal x-axis, the jaw assembly being disposed on the mounting plate. The jaw assembly includes a housing and a pneumatic jaw movably disposed within the housing, the pneumatic jaw being driven by the cylinder to have a non-grabbing state within the housing and extending beyond the housing Grab the state.

In some embodiments, the jaw assemblies are horizontally movably disposed on the mounting plate, each of the jaw assemblies moving in a different direction.

In some embodiments, further comprising a horizontal feed mechanism for driving the gripper mechanism to move the gripped pocket sheet to the work surface, the horizontal feed mechanism comprising a top disposed above the work surface The power source drives the moving second timing belt, the second timing belt has a horizontal feed section, and the picking mechanism is coupled to the feed section.

In some embodiments, further comprising a position adjustment mechanism for aligning the sheet of cloth placed on the work surface, the position adjustment mechanism including a push that is movably disposed on the frame along a horizontal y-axis a material member and a pressing member movable on the pushing member or the frame along a horizontal x-axis, wherein the x-axis and the y-axis constitute a rectangular coordinate system in a horizontal plane, the pushing member having a cloth and a cloth A portion of the outer edge of the sheet is matched to push the web to a positive push portion, the press member having a downwardly extending press portion for pressing the sheet to the working surface and feeding along the x-axis .

Another technical solution adopted by the present invention is as follows:

A sewing apparatus comprising the automatic picking device.

The present invention adopts the above scheme and has the following advantages compared with the prior art:

The automatic picking device of the invention aims to automatically grasp the pocket cloth piece and send the pocket cloth piece to a sewing device such as a pocket machine or a bag flower machine, which can reduce labor cost, improve production efficiency and reduce waste due to manual operation. The advantages of institutional performance.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can apply the present invention to other similarities according to the drawings without any creative work. scene. Unless otherwise apparent from the language environment or otherwise stated, the same reference numerals in the drawings represent the same structure and operation.

Figure 1 shows a perspective view of a sewing apparatus in accordance with the present invention;

Figure 2 is a partial enlarged view of a portion A in Figure 1;

Figure 3 shows a front view of a sewing apparatus in accordance with the present invention;

Figure 4 shows a side view of a sewing apparatus in accordance with the present invention;

Figure 5 shows a plan view of a stocking mechanism and a picking mechanism in accordance with the present invention;

Figure 6 shows a schematic view of a material limiting member in accordance with the present invention;

Figure 7 shows a schematic view of a vertical feeding mechanism in accordance with the present invention;

Figure 8 shows a schematic view of a jaw assembly in accordance with the present invention;

Figure 9 shows a schematic view of a position adjustment mechanism in accordance with the present invention;

Figure 10 shows a schematic view of a horizontal feed mechanism in accordance with the present invention.

In the above figures,

1, the frame; 10, the working surface; 11, the first linear guide; 12, the locking screw;

2, storage mechanism; 20, bottom plate; 201, chute; 21, limit rod; 211, connecting block;

3, vertical feeding mechanism; 30, the first motor; 31, the first synchronous wheel; 32, the first timing belt; 33, the slider; 34, the second linear guide;

4, grasping mechanism; 40, mounting plate; 401, long hole; 41, jaw assembly; 411, housing;

5. Horizontal feeding mechanism; 50, second motor; 51, second synchronous wheel; 52, second synchronous belt;

6. Position adjustment mechanism; 60, pushing material; 601, pushing part; 602, third linear guide; 61, pressing part; 611, body; 612, z-direction cylinder; 613, pressing part; 62, y To the cylinder; 63, x to the cylinder;

7. Sewing machine head;

8, pocket cloth.

Detailed ways

The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings, in which the advantages and features of the invention can be more readily understood by those skilled in the art. As used in the specification and the claims, the <RTIgt; "comprises" and "comprises" are intended to include only the steps and elements that are explicitly identified, and the steps and elements do not constitute an exclusive list, and the method or device may also include Other steps or elements.

The definition of azimuth in this paper is defined according to the conventional observation angle of the person in the field and for convenience of description. For example, the front and the back are defined according to the conveying direction of the cloth, and the side closer to the output end of the cloth is the front, and vice versa. .

The embodiment provides a sewing device and an automatic picking device for the sewing device, and the sewing device is specifically a bag machine, a bag applicator or a pocket machine for decorating the pockets on the clothing (such as jeans and shirts). Sewing or pocket stitching. The sewing apparatus is improved in that it includes an automatic gripping device for automatically feeding the pocket sheet to the rear processing mechanism for sewing. The processing mechanism is specifically selected according to the type of processing of the cloth sheet, such as a sewing machine head for sewing the cloth sheet.

Referring to Figures 1-10, an automatic picking device includes: a frame 1, a stocking mechanism 2, a vertical feeding mechanism 3, a picking mechanism 4, a horizontal feeding mechanism 5, and a position adjusting mechanism 6, wherein the pocket The cloth sheet 8 enters the sewing machine head 7 from the stocking mechanism 2 through the picking mechanism 4, the horizontal feeding mechanism 5, and the position adjusting mechanism 6 in order.

The rack 1 is used to carry and install the above various mechanisms. It has a horizontal working surface 10 on which the pocket cloth 8 is aligned, conveyed, and the like. The frame 1 can also be used as a processing mechanism for the sewing machine head 7 behind and behind the loading and mounting.

The storage mechanism 2 is disposed at the front of the frame 1 for storing a stack of sheets and continuously feeding the uppermost sheets to a set pick height. In this embodiment, the cloth sheet is specifically a pocket cloth sheet 8 to be stitched or to be sewn. The set grab height is dependent on the height of the work surface 10, preferably close to or equal to the height of the work surface 10. As shown in FIGS. 2-5, the stocking mechanism 2 includes a horizontally disposed bottom plate 20 and a plurality of vertically disposed restriction members, and a stack of pocket sheets 8 are placed on the bottom plate 20, and the stack of pocket sheets 8 The plurality of tiled pocket sheets 8 are sequentially stacked from top to bottom; a plurality of restriction members are located around the stack of pocket sheets 8 to limit the four sides of the pocket sheet 8 to prevent offset . The bottom plate 20 is movably disposed on the frame 1 in the up and down direction and is vertically moved by the vertical feeding mechanism 3, and the bottom plate 20 preferably moves along the z axis, and the z axis and an x-axis and the y-axis constitute a spatial rectangular coordinate system. The restricting member is specifically a limiting rod 21 made of a stainless steel metal tube. The lower end portion of the limiting rod 21 is attached to the frame 1 and slidably passed through the bottom plate 20, thereby allowing the bottom plate 20 to slide along the z-axis.

In order to be able to store the pocket cloth 8 of different specifications, the restriction rod 21 can be slidably disposed on the bottom plate 20 in the horizontal direction, so that the distance between the plurality of restriction rods 21 can be adjusted to adapt to different specifications of the pocket cloth. Slice 8. Specifically, the bottom plate 20 is provided with a plurality of sliding slots 201 in the horizontal direction. The plurality of sliding slots 201 extend from the center of the bottom plate 20 to the periphery, and the limiting rod 21 is horizontally slidably disposed in the corresponding sliding slot 201. The lower portion of the frame 1 is horizontally provided with a plurality of first linear guides 11 respectively corresponding to the plurality of restriction rods 21, and the connection block 211 of the lower end of the restriction rod 21 and the corresponding first linear guide 11 are horizontally Slidingly connected. The extending direction of the first rail coincides with the extending direction of the corresponding sliding slot 201 on the bottom plate 20. Specifically, as shown in FIG. 1, the number of the limit bars 21 is four, and the four sides of the pocket cloth 8 are respectively limited. A locking mechanism is further disposed between the first linear guide 11 and the limiting rod 21, and the locking mechanism is specifically a locking screw 12 connected to the connecting block 211 of the first linear guide 11 and the limiting rod 21. When the pocket sheets 8 of different specifications are replaced, the restriction rod 21 is horizontally moved inward or outward until the edge of the cloth is brought into contact, the movement is stopped, and the locking screw 12 is tightened to lock the restriction rod 21. The upper end of the restriction rod 21 extends to the set height, as is equal to the working surface 10.

The vertical feeding mechanism 3 is disposed on the side of the stocking mechanism 2 for driving the bottom plate 20 to be gradually raised, so that the uppermost pocket cloth sheet 8 reaches the set main material height. As shown in Fig. 7, the vertical feeding mechanism 3 includes a first timing belt 32 that is driven to move by a power source, a first slider 33 that is coupled to the first timing belt 32 to move with the first timing belt 32, and is vertically disposed at The second linear guide 34 on the frame 1 , the first slider 33 and the second linear guide 34 are slidably coupled in a vertical direction, and the bottom plate 20 and the first slider 33 are fixedly coupled to move up and down with the first slider 33 . The power source may be selected from the first motor 30 as described in FIG. 7, in addition to which a cylinder or the like may be selected. The first timing belt 32 is disposed on two vertically spaced first timing wheels 31, and the first synchronization wheel 31 is disposed on the frame 1, wherein the first motor 30 and the lower first synchronization wheel 31 are in contact. The first motor 30 is a servo motor, and is equipped with a servo-specific reducer to increase the torque. The first timing belt 32 is driven, and the first linear guide 11 guides the vertical movement of the bottom plate 20.

The picking mechanism 4 is disposed above the stocker 2 for gripping the uppermost pocket panel 8 on the bottom panel 20 onto the work surface 10. The gripping mechanism 4 includes a plurality of jaw assemblies 41 and a mounting plate 40. The mounting plate 40 is movably disposed on the frame 1 along the x-axis, and the jaw assembly 41 is disposed on the mounting plate 40. Wherein, the x-axis and the y-axis constitute a Cartesian coordinate system in a horizontal plane. Referring to Figure 8, the jaw assembly 41 includes a housing 411 and a pneumatic jaw (not shown) movably disposed within the housing 411, the lower portion of the housing 411 having an aperture that allows the activation jaw to extend. The pneumatic jaw is driven to move by the cylinder to have a non-grabbing state within the housing 411 and a gripping state that projects out of the housing 411. When the vertical feed mechanism 3 feeds the pocket sheet 8 under the pneumatic jaws, the pneumatic jaws will grip a single pocket panel 8, the uppermost pocket panel 8.

It should be noted that, in a preferred embodiment, the jaw assemblies 41 are horizontally movably disposed on the mounting plate 40, and the movement directions of the respective jaw assemblies 41 are different to accommodate the pocket cloth sheets 8 of different specifications. The upper portion of the housing 411 is horizontally movably coupled to the mounting plate 40. As shown in FIGS. 2 and 5, the number of the jaw assemblies 41 is three, and the mounting plate 40 has three elongated holes 401 corresponding thereto. The upper portion of the body 411 is horizontally movably disposed in the corresponding elongated hole 401. Wherein, the center lines of the first and second elongated holes 401 coincide with each other and extend along the x-axis, and the center line of the third long hole 401 extends along the y-axis.

The horizontal feeding mechanism 5 is configured to drive the picking mechanism 4 to move back and forth along the x-axis, specifically to move the driving mounting plate 40 to send the grasped pocket cloth 8 to the work surface 10. As shown in FIG. 9, the horizontal feeding mechanism 5 includes a second timing belt 52 that is driven by a power source and is disposed above the working surface 10. The second timing belt 52 has a horizontal feeding section, and the mounting plate 40 of the picking mechanism 4 Fixed connection to the feed section. The power source is specifically the second motor 50 described in FIG. The second timing belt 52 is disposed on the two front and rear spaced apart second synchronous wheels 51, and the second synchronous wheel 51 is disposed on the frame 1, wherein the second motor 50 and the front second synchronous wheel 51 are in contact. The second motor 50 is also a servo motor.

The position adjusting mechanism 6 is provided after the horizontal feeding mechanism 5. When the pocket sheet 8 is placed on the work surface 10, the position of the pocket sheet 8 may be offset, and the position adjustment mechanism 6 functions to push the pocket sheet 8 placed on the work surface 10 to be positive. As shown in Figures 2 and 10, the position adjustment mechanism 6 includes a pusher member 60 movably disposed on the frame 1 along a horizontal y-axis and is movably disposed on the pusher member 60 or the frame along a horizontal x-axis. The pressing member 61 on the first pushing member 60 has a pushing portion 601 for matching with a part of the outer edge of the pocket piece 8 to push the pocket piece 8 positively, and the pushing portion 601 and the working surface 10 are attached. The press member 61 has a downwardly extending press portion 613 for pressing the pocket sheet 8 against the work surface 10 and feeding along the x-axis. Specifically, the position adjusting mechanism 6 further includes a y-direction cylinder 62 provided on the frame 1 for urging the pusher member 60 to move along the y-axis and an x-direction cylinder 63 for urging the presser member 61 to move along the x-axis. The upper portion of the pushing member 60 has a third linear guide 602 extending along the x-axis. The pressing member 61 includes a body 611 slidably disposed on the third linear guide 602 along the x-axis. The pressing portion 613 can be It is disposed on the body 611 so as to move along the z-axis. The pressing portion 613 is specifically disposed on the lower end of the piston rod of the z-direction cylinder 612. The z-direction cylinder 612 is disposed on the body 611 and the piston rod can reciprocate along the z-axis. The z-direction cylinders 612 are two and are arranged at intervals.

The following steps in the working process of the above automatic picking device are described in detail below:

A, a stack of pocket cloth sheets 8 are placed on the bottom plate 20, driving the respective restriction rods 21 to move inwardly in the chute 201 to meet the edge of the pocket cloth sheet 8, and tightening the locking screws to fix the restriction rods 21, Thereby confining the pocket sheet 8 between the bottom plate 20 and the four restriction rods 21;

B. The motor of the vertical feeding mechanism 3 is operated, and the first timing belt 32 drives the bottom plate 20 to move along the z-axis, so that the uppermost pocket cloth sheet 8 reaches the set grab height;

C. The mounting plate 40 of the picking mechanism 4 is located directly above the bottom plate 20 such that each jaw assembly 41 moves horizontally inward or outward in the elongated hole 401 to accommodate pocket cloth of this size such that each jaw assembly 41 Can face the top layer of pocket cloth 8;

D, driving the pneumatic jaws of each of the jaw assemblies 41 to extend only the uppermost pocket cloth 8;

E. The motor of the horizontal feeding mechanism 5 is operated, and the second timing belt 52 drives the mounting plate 40 to move rearward along the x-axis. After moving to the upper surface of the working surface 10, the pneumatic jaws of the respective jaw assemblies 41 are driven back to the housing 411. The grabbed pocket sheet 8 is placed on the work surface 10;

F. The y of the position adjusting mechanism 6 moves toward the cylinder 62 to push out the pusher 60, and the stripping portion contacts the upper edge of the pocket sheet 8 to push the pocket sheet 8 forward; after the pushing, the two positions of the position adjusting mechanism 6 The z-to-cylinder 612 moves the two pressing portions 613 downward to press the pocket cloth 8 against the working surface 10; after pressing, the x of the position adjusting mechanism 6 moves toward the cylinder 63 to move the pressing member 61 toward After pushing, the pressed fabric is pushed to the feeding port of the processing mechanism of the pocket machine and the bag machine, and the entire automatic picking process is completed.

It should also be noted that the above steps A and C are two adjustment steps required for each replacement of the pocket cloth sheet 8 of one specification, and when the pocket cloth 8 of the same specification is fed, steps A and C are not performed. . That is, when feeding the pocket cloth 8 of the same specification, the automatic picking process includes only the above steps B, D, E, and F, and the four steps are sequentially and cyclically performed.

The automatic picking device of the invention aims to automatically grasp the pocket cloth piece and send the pocket cloth piece to the sewing device such as the pocket machine and the bag flower machine in the correct position, which can reduce the labor cost, improve the production efficiency and reduce the labor. The advantages of operational and wasted institutional performance.

The above embodiments are merely illustrative of the technical concept and features of the present invention, and are a preferred embodiment for those skilled in the art to understand the contents of the present invention and to implement the present invention. protected range. Equivalent transformations or modifications made in accordance with the spirit of the invention are intended to be included within the scope of the invention.

Claims

An automatic picking device, comprising:

Rack with a horizontal work surface;

a stocking mechanism, comprising: a bottom plate for carrying a stack of fabric sheets formed by laminating a plurality of fabric sheets from top to bottom, wherein the bottom plate is movably disposed on the frame in an up and down direction;

a vertical feeding mechanism for driving the bottom plate to move up and down so that the cloth piece located at the uppermost layer reaches a set grab height;

A picking mechanism for grasping the uppermost cloth sheet on the bottom plate to the work surface, the picking mechanism comprising a plurality of jaw assemblies movably disposed on the frame.
The automatic picking device according to claim 1, wherein said stocking mechanism further comprises a plurality of restriction members for positioning the cloth sheets to be restrained.
The automatic picking device according to claim 2, wherein the bottom plate is provided with a plurality of sliding grooves in a horizontal direction, and the plurality of sliding grooves radiate from the center of the bottom plate to the periphery, the limit The material can be horizontally slidably disposed in the corresponding chute to accommodate different specifications of the cloth sheet.
The automatic picking device according to claim 3, wherein the lower portion of the frame is horizontally provided with a plurality of first linear guides respectively corresponding to the plurality of limiting members, and the limiting member The lower end and the first linear guide are slidably coupled in a horizontal direction, and a locking mechanism is further disposed between the first linear guide and the restricting member.
The automatic picking device according to claim 1, wherein said vertical feeding mechanism comprises a first timing belt driven by a power source and connected to said timing belt to move with said first timing belt a slider and a second linear guide disposed vertically, the first slider and the second linear guide are slidably coupled in a vertical direction, and the bottom plate and the first slider are connected to be The slider moves up and down.
The automatic picking device according to claim 1, wherein the jaw mechanism further comprises a mounting plate, the mounting plate being movably disposed on the frame along a horizontal x-axis, the clip a jaw assembly is disposed on the mounting plate, the jaw assembly including a housing and a pneumatic jaw movably disposed within the housing, the pneumatic jaw being driven by a cylinder to have a non-grabbing within the housing a state and a gripping state that protrudes out of the housing.
The automatic picking device according to claim 6, wherein the jaw assembly is horizontally movably disposed on the mounting plate, and each of the jaw assemblies moves in a different direction.
The automatic picking device of claim 1 further comprising a horizontal feed mechanism for driving the picking mechanism to move the gripped pocket sheet to the work surface, the horizontal feed mechanism The second timing belt is driven by the power source and is disposed above the working surface. The second timing belt has a horizontal feeding section, and the picking mechanism is connected to the feeding section.
The automatic picking device according to claim 1, further comprising a position adjusting mechanism for aligning the cloth sheet placed on the work surface, the position adjusting mechanism including movement along a horizontal y-axis a pushing member disposed on the frame and a pressing member movable on the pushing member or the frame along a horizontal x-axis, wherein the x-axis and the y-axis constitute a rectangular coordinate system in a horizontal plane, The pusher member has a pusher portion for mating with a portion of the outer edge of the fabric sheet to press the fabric sheet, the presser member having a downwardly extending shape for pressing the fabric sheet against the work surface The nip portion that feeds up and along the x-axis.
A sewing apparatus, comprising the automatic picking device according to any one of claims 1-9.