Full-automatic cloth paving and cutting integrated machine

[0070] The present invention will be further described in detail below in conjunction with the drawings. Among them, descriptive terms such as up, down, left, and right are used for the description, which aims to help readers understand, and are not intended to limit.

[0071] Such as Figure 1 to Figure 10 As shown, the fully automatic cloth spreading and cutting machine includes a cutting table 5, a spreading machine 1, a spreading machine walking mechanism, a spreading and pressing mechanism 8, a cloth cutting machine 2 and a cutting machine walking mechanism;

[0072] The cloth spreading machine 1 includes a base, a cloth shaft, and a cloth cutting mechanism; the base is a long strip as a whole, and the cloth shaft is a long strip parallel to the length of the base and can rotate The cloth cutting mechanism includes a rodless cylinder 11 for cloth cutting and a cloth cutting knife 13. The cylinder tube of the rodless cylinder 11 for cloth cutting is installed horizontally and fixedly on the outlet of the machine base. The length direction of the cylinder tube of the rodless cylinder 11 for cloth cutting is parallel to the length direction of the machine base; the sliding table of the rodless cylinder 11 for cloth cutting is fixedly installed with a blade facing down and used for cutting The cloth cutting knife 13 of the cloth;

[0073] The walking mechanism of the spreading machine includes two linear guides for spreading machines arranged in parallel along the two sides of the cutting table 5, and each linear guide for spreading machines is sleeved with a sliding block for spreading machines; The bottoms of the two ends of the base in the length direction are fixedly installed on the sliding block for spreading machine, and the middle part of the base is located above the cutting table 5; the walking mechanism of the spreading machine also includes a driving mechanism for spreading cloth along the base Drive motor for spreading machine moved by linear guide rail;

[0074] The spreading and pressing mechanism 8 includes a support frame, a paving and pressing cylinder, a paving pressing plate, and a trigger switch; the support frame as a whole is a long strip structure parallel to the length of the machine base; the length of the support frame The two ends of the direction are fixed, the middle part is suspended above the cutting table 5 and the paving and pressing cylinder is installed; the push rod of the paving and pressing cylinder faces downward and the lower end is fixedly installed with the paving and pressing plate. The paving pressing plate can be pressed to the upper surface of the cutting table 5 with the push rod to compress the cloth; the trigger switch is fixedly installed on the supporting frame as a whole, and the trigger end of the trigger switch points to the paving The cloth machine 1 can be triggered by an approaching cloth spreader 1, and the signal output end of the trigger switch is electrically connected to the control end of the solenoid valve in the air supply circuit of the cloth laying press cylinder;

[0075] The cloth cutting machine 2 includes a cloth cutting machine frame 204 and a cloth cutting knife assembly; the cloth cutting machine walking mechanism includes a linear guide rail for the cloth cutting machine arranged in parallel along the side of the cutting table 5, the linear guide rail for the cloth cutting machine The upper part is sleeved with a sliding block for the cloth cutting machine; the lower part of the cloth cutting machine frame 204 is fixedly mounted on the sliding block for the cloth cutting machine, and the upper part of the cloth cutting machine frame 204 is mounted on the cutting table. 5 above and capable of cutting the cloth on the cutting table 5; the cloth cutting knife assembly; the cloth cutting machine walking mechanism also includes a cutting machine for driving the frame 204 to move along the cloth cutting machine linear guide Drive motor for cloth machine;

[0076] Also includes material management organization 3;

[0077] The material sorting mechanism 3 includes a mechanical arm 307 and a cloth collection trolley 310. The mechanical arm 307 and the cloth collection trolley 310 are integrally arranged outside the cutting table 5 and adjacent to the cutting table 5; the execution end of the mechanical arm 307 can Moving alternately between the upper surface of the cutting table 5 and the receiving opening of the cloth collecting trolley 310, the execution end of the mechanical arm 307 is fixedly provided with a cloth picking claw composed of a clamping claw mechanism, and the cloth picking claw is used for picking The cloth cut by the cloth cutting machine 2 on the cutting table 5 is completed.

[0078] In implementation, the robotic arm 307 is a six-axis robotic arm (manipulator structure jointly controlled by six servo motors). In this way, a higher degree of freedom of movement can be achieved, and the gripping of cloth is more sensitive.

[0079] In implementation, the paving pressing plate is a grid plate. In this way, when the paving press plate is moved down, it is not easy to push the wind current to blow the cloth and make it shift, which can make the spreading and cutting of the cloth more accurate.

[0080] In implementation, the trigger switch may be any one of a limit switch, a travel switch or a proximity switch.

[0081] In implementation, the upper surface of the conveyor belt 4 is covered with dense pins (not shown in the figure), and the pins are made of rubber material. The arrangement of the above-mentioned shaft needles, on the one hand, can exert sufficient supporting force on the cloth, and on the other hand, it prevents the cloth cutting tool from damaging the conveyor belt and ensures that the conveyor belt can be used repeatedly.

[0082] During implementation, the distance between the two driving rollers for the conveyor belt can be adjusted, so that the conveyor belt 4 is tensioned and relaxed.

[0083] In implementation, the cloth picking claws include a fixed plate, a cloth picking cylinder and an upper cloth pressing claw. The lower end of the side of the fixed plate facing away from the mechanical arm 307 is convexly formed with a lower cloth pressing claw, and the upper part of the side is fixedly arranged In the cloth picking cylinder, the push rod of the cloth picking cylinder faces the lower cloth pressing claws and is fixedly installed with the upper cloth pressing claws having an overall plate-like structure. The upper cloth pressing claws push the push rods of the cloth picking cylinders The lower can realize the clamping or opening and closing action together with the lower pressing cloth claw. The above-mentioned cloth picking claw has a simple structure and is convenient to manufacture.

[0084] In implementation, a magnet is fixedly installed on the side of the cloth collecting trolley 310 adjacent to the cutting table 5, and the magnet is used to magnetically connect the cloth collecting trolley 310 to the side of the cutting table 5 magnetically. The arrangement of the magnets on the cloth collecting trolley 310 described above can make the parking of the cloth collecting trolley 310 more stable and improve the accuracy of discharging the robot arm 307.

[0085] Among them, the above-mentioned fully automatic cloth laying and shearing machine further includes a conveyor belt 4, a drive roller for the conveyor belt, and a drive motor for the conveyor belt;

[0086] The conveyor belt is laid on the upper surface of the cutting table 5, the driving roller for the conveyor belt is installed at both ends of the cutting table 5, and the driving roller for the conveyor belt at the front end and the shaft of the driving motor for the transmission belt are installed. Connected

[0087] The cloth spreading machine 1, the cloth spreading and pressing mechanism 8, the cloth cutting machine 2 and the material sorting mechanism 3 are arranged in order from the front to the back along the conveying direction of the conveyor belt 4.

[0088] Wherein, the cloth collection trolley 310 is a rectangular box structure with a top opening as a whole, and the top opening constitutes the receiving opening; the collection space of the cloth collection trolley 310 is provided with multiple grid baffles crosswise and crosswise. 309. The plurality of grid baffles 309 divide the collection space into a plurality of storage spaces isolated from each other.

[0089] During implementation, the multiple grid baffles 309 are plugged and connected, and the grid baffles 309 can be freely inserted and pulled out to adapt to the number of types of fabrics to be cut, making the fabric collection cart 310 more flexible to use. Has better practicality.

[0090] Wherein, the material sorting mechanism 3 also includes a robot arm walking device, which includes a support base, a ball screw for the robot arm, a nut seat for the robot arm, and a stepping motor for the robot arm; The length direction of the ball screw is perpendicular to the length direction of the cutting table, and both ends of the ball screw for the robot arm are mounted on the support seat through bearings. One end of the ball screw for the robot arm is connected to the The robot arm is driven and connected by a stepping motor; the bottom of the robot arm 307 is fixedly installed on the nut seat for the robot arm sleeved on the ball screw for the robot arm.

[0091] During implementation, the maximum stroke of the nut seat for the robot arm on the ball screw for the robot arm is the maximum specification width of the fabric to be processed.

[0092] Wherein, the material sorting mechanism 3 further includes a waste collection tank 305. The waste collection tank 305 is an elongated tank structure with a notch on the top; the length direction of the waste collection tank 305 is the same as that of the conveyor belt 4 The conveying direction is vertical; the notch of the waste collection tank 305 is located outside and below the rear end of the conveyor belt 4, and can accept the waste falling from the rear end of the conveyor belt 4.

[0093] In implementation, the waste collection tank 305 is located between the rear end of the conveyor belt 4 and the robot walking device. This can make the overall layout of the material sorting mechanism 3 more compact and reasonable.

[0094] In implementation, the waste collection tank 305 is provided with a push plate that closely fits the circumferential side and the wall of the waste collection tank 305 inside the waste collection tank 305, and the waste collection tank 305 is provided with an externally arranged along the length of the tank. The rodless cylinder for waste collection, the push plate is fixedly connected to the sliding table of the rodless cylinder 302 for waste collection, so that the push plate can reciprocate in the waste collection tank 305, one end of the waste collection tank 305 is an opening End; the sorting mechanism 3 also includes a waste collection box 308, the waste collection box 308 is located adjacent to the open end, and the side of the waste collection box 308 is provided with a waste inlet corresponding to the open end. The above-mentioned structure of the waste collection box 308 and the waste collection tank 305 can effectively move the waste in the waste collection tank 305 to the waste collection box 308 for collection and collection, so that a small volume of the waste collection tank 305 can be used to process a large amount of waste. The efficiency of waste collection.

[0095] Wherein, the cloth spreading machine 1 includes a cloth pinching mechanism, the cloth pinching mechanism is arranged on the base between the cloth shaft and the cloth breaking mechanism; the cloth pinching mechanism includes a drum driving motor 19 and at least one For the rollers, the axial direction of each pair of rollers is parallel to the longitudinal direction of the base and both ends are rotatably connected to the base, and the rollers are fixedly installed on the base with a drive motor 19 and are used to drive each pair The drum can rotate inward and downward to pinch the cloth.

[0096] In implementation, the cloth-breaking cylinder is a rodless cylinder 11 for cloth-breaking, and the cloth-breaking cutter 13 is a disc-shaped milling cutter; the cylinder tube of the cloth-breaking rodless cylinder 11 is fixed and installed horizontally on the machine base. The length direction of the cylinder tube of the rodless cylinder 11 for cloth cutting is parallel to the length direction of the machine base; the sliding table of the rodless cylinder 11 for cloth cutting is fixedly installed with the cloth cutting knife 13. In this way, the structure of the rodless cylinder 11 for cloth cutting and the cloth cutting knife 13 can make the overall structure of the cloth cutting mechanism more compact, occupy less space, and facilitate the installation and use of the cloth pulling mechanism.

[0097] In implementation, the rollers are in two pairs, and the two pairs of rollers are a pair of upper rollers 107 arranged above and a pair of lower rollers 106 arranged below; and one end of the rollers is provided with a pulley 102 and passes through a belt 101 is connected with a driving motor 19 for the drum, and the other end is meshed and connected by a gear 109. In this way, the driving connection of the above-mentioned drum is not only reliable in transmission, but also can be connected by the belt 101 to reduce the driving noise of the driving motor 19 for the drum.

[0098] In implementation, the outer cover of the pulley 102 is provided with a pulley cover 16, and the outer cover of the gear 109 is provided with a gear box cover 17.

[0099] In implementation, the two ends of the other upper roller 107 are respectively rotatably connected with one end of a strip-shaped support block, the other end of the support block is hingedly connected to the base, and the middle of the support block in the longitudinal direction is connected to the base A tension spring 108 is provided in the diagonal pull connection; the elastic tension of the tension spring 108 acts on the support block and makes the pair of upper rollers 107 fit each other. In this way, the arrangement of the tension spring 108 and the supporting block enables the pair of upper rollers 107 to be used to pinch cloth of different thicknesses, which has better versatility.

[0100] In implementation, the two ends of the other lower roller 106 are respectively fixedly connected to the outer ends of the push rods of a cylinder cylinder 105 fixedly installed on the machine base. After the push rods are fully extended, the pair of lower rollers 106 are attached to each other. . In this way, the gap between the pair of lower rollers 106 can be controlled by controlling the extension of the push rod, so as to be used in conjunction with cloths of different thicknesses.

[0101] In implementation, the cloth spreading machine 1 also includes a discharging port cloth pressing mechanism, the discharging port cloth pressing mechanism is integrally arranged at the bottom position of the base between the cloth clamping mechanism and the cloth cutting mechanism; The cloth-breaking mechanism includes a cloth-breaking cylinder and a cloth-breaking pressure plate. The cloth-breaking cylinder is suspended and mounted on the machine base and located above the cutting table 5 through a bracket; the push rod of the cloth-breaking cylinder faces downward and the lower end is fixed. The cloth-breaking pressing plate is installed, and the lower surface of the cloth-breaking pressing plate can cooperate with the cutting table 5 to compress the cloth after the push rod moves. The setting of the cloth pressing mechanism at the discharging port can cooperate with the spreading and pressing mechanism 8 to compress the unfolded cloth before the cloth cutting knife 13 cuts the cloth, so that the cutting process of the cloth cutting knife 13 is more stable and accurate, and the cutting process of the cloth cutting knife 13 is more stable and accurate. High precision and more stable and reliable fabric cutting processing.

[0102] In implementation, a spreading machine housing 15 is covered on the base of the spreading machine 1.

[0103] Wherein, the cloth spreading machine 1 is also provided with a cloth spreading mechanism 104; the cloth spreading mechanism 104 is installed on the discharge side of the machine base, and the cloth spreading mechanism 104 is lower than the rodless cylinder 11 for cloth cutting as a whole. The position of the cylinder; the cloth-spreading mechanism 104 includes a cloth-spreading cylinder 113, a cloth-spreading connecting rod 114, an arc-shaped guide rail slide 115, a side pressure cylinder 116 and a side pressure plate 117;

[0104] Two flanges are protrudingly formed at the two ends of the machine base in the longitudinal direction and below the discharge side, wherein each flange is fixedly installed with one of the cloth spreading cylinder 113 transversely. The push rod of 113 faces the outside of the base;

[0105] On the two opposite inner sides of the two flanges, an arc-shaped guide rail slide 115 with an upward opening is fixedly installed in mirror symmetry. Each arc-shaped guide rail slide 115 is slidably connected with a sliding block, and each slide The cloth cloth connecting rod 114 is hingedly connected between the block and the adjacent cloth cloth cylinder 113; the lower edge of the side surface facing away from the adjacent flange of each slider is convexly formed with a side pressure plate 117, which The side pressure cylinder 116 is fixedly installed on the side of the slider above the side pressure plate 117. The length direction of the push rod of the cylinder is perpendicular to the side pressure plate 117, and a side pressure plate 117 is fixedly installed at the outer end. .

[0106] During implementation, a cloth spreading mechanism bracket 118 with an overall strip-shaped plate structure is also fixedly connected between the two flanges; the cloth spreading mechanism bracket 118 can not only enhance the structural strength between the two flanges, but also form a The support for installing the cloth pressing mechanism at the discharge port makes the overall structure of the spreader more reasonable and compact.

[0107] In implementation, the spreading machine 1 further includes an electromagnetic clutch, and an electromagnetic clutch is installed between the rotating shaft of the driving motor 19 for the drum and the pulley 102. The arrangement of the electromagnetic clutch mentioned above can cut off the power output by the drum drive motor 19 when the cloth spreading mechanism 104 is spreading and when the spreading machine 1 is retreating as a whole, so as to ensure the orderly and smooth spreading process. smooth.

[0108] Wherein, the base includes an upper frame 112 and a lower frame base 103; a guide sleeve 14 is fixed and vertically arranged at the bottom of the upper frame 112, and the lower frame base 103 corresponds to the guide sleeve 14 A guide post is arranged vertically and fixedly at the position, the guide sleeve 14 is sleeved on the corresponding guide post so that the upper frame 112 is connected with the lower frame seat 103, the cloth shaft, the cloth cutting mechanism and The cloth spreading mechanism 104 is installed on the upper frame 112;

[0109] The upper frame 112 and the lower frame seat 103 are provided with two supporting plates 110 that are vertically opposed to each other; the spreading machine 1 further includes a scissor lift table 120, which is fixedly installed on Between the two supporting plates 110, the upper frame 112 can rise and fall relative to the lower frame base 103.

[0110] In implementation, the cloth clamping mechanism is also fixedly installed on the upper frame 112.

[0111] During implementation, the scissor lifting table 120 (an existing device, which can adopt the technical solution as in the existing announcement number: CN104627899A) is placed inside the spreader 1, and is placed horizontally relative to the entire cutting table 5, and is The stepping motor 119 for the table, the ball screw for the lifting table, the guide rail slide 121 for the lifting table, and the scissor jack; the base of the ball screw for the lifting table is connected to the frame base of the spreader, and the guide rail for the lifting table The sliding table is installed on the upper part of the ball screw base of the lifting platform, and the upper end of the sliding platform of the lifting platform is connected to the scissor jack. The lifting platform is connected to the bottom leg of the scissor jack with the ball screw nut base 122, so that the lifting platform is stepped The lifting platform controlled by the motor 119 uses a ball screw to drive the scissor jack up and down.

[0112] Wherein, the linear guide rails for the cloth cutting machine are two parallelly arranged along the two sides of the length direction of the cutting table 5; the frame of the cloth cutting machine 204 is a long strip parallel to the width direction of the cutting table 5 Support structure, the bottoms of both ends of the cloth cutting machine frame 204 are fixedly installed on the sliding blocks of the linear guide rails 7 arranged in parallel on the two sides of the length direction of the cutting table 5; the middle part of the cloth cutting machine frame 204 is located Above the cutting table 5;

[0113] The cloth cutting machine also includes a knife head traverse mechanism, which includes a ball screw for the cloth cutting machine, a ball screw slide 201 for the cloth cutting machine, and a cloth cutting machine mounted on the frame 204 of the cloth cutting machine. Machine stepping motor; the ball screw for the cloth cutting machine is a long strip arranged along the length of the cloth cutting machine frame 204, and both ends are mounted on the cloth cutting machine frame 204 through bearings. One end of the machine ball screw is drivingly connected to the stepping motor for the cloth cutting machine, and the ball screw for the cloth cutting machine is slidingly sleeved with a ball screw slide plate 201 for the cloth cutting machine. The side of the ball screw slide plate 201 facing away from the ball screw is a vertical installation surface;

[0114] The cloth cutting knife assembly includes a cloth cutting knife head support box 211, a cloth cutting knife head 206, a cloth cutting knife head connecting rod 223, a knife cutting vibration mechanism and a knife steering mechanism; the cloth cutting knife head supporting box 211 is fixed Installed on the vertical mounting surface; the cloth cutting knife connecting rod 223 vertically slides through the bottom of the cloth cutting knife support box 211, and the lower end is fixedly installed with the vertical cloth cutting knife 206. The outer cutting edge of the cloth cutting head 206 is an arc-shaped structure with a pointed lower end;

[0115] The cutter cutting vibration mechanism and the cutter steering mechanism are installed on the cloth cutting cutter head support box 211, and are respectively connected to the upper section of the cloth cutting cutter connecting rod 223.

[0116] In implementation, the cutter cutting vibration mechanism includes a driving cylinder 216 for cutting, the push rod of the driving cylinder 216 for cutting is vertically downward and the lower end is fixedly connected with the connecting rod 223 of the cloth cutting cutter head. The cutter cutting vibration mechanism including the driving cylinder 216 for cutting is simple in structure, convenient to control, and easier to implement. During implementation, the cutting drive cylinder 216 is fixedly installed on the cylinder block positioning cover 217, and the edge of the cylinder block positioning cover 217 is fixedly connected to the cylinder block 214 fixedly installed on the top of the supporting box by bolts.

[0117] In implementation, the turning structure of the cloth cutting cutter head includes a hollow sleeve shaft 225, a worm gear 219, a worm 210 and a stepping motor for turning the cloth cutting cutter head; the hollow sleeve shaft 225 is integrally slidingly sleeved on the cloth cutting cutter head connection Outside the rod 223, the upper and lower ends of the hollow sleeve shaft 225 penetrate the cloth cutting tool head support box 211 and are connected to the cloth cutting tool support box 211 through bearings; the hollow sleeve shaft 225 has a vertical A set screw 222 inserted into the strip-shaped guide groove is protrudingly provided on the outer surface of the cloth-cutting cutter head connecting rod 223, so that the cloth-cutting cutter head connecting rod 223 is restricted in the circumferential direction and It can move vertically along the strip-shaped guide groove; the outer part of the hollow sleeve shaft 225 is coaxially fixedly connected with the worm gear 219, and the worm 210 is meshed and connected with the worm gear 219 and is fixedly mounted on the cutting machine through a bearing and a bracket. The cloth cutter head supports the inside of the box 211; the stepping motor for turning the cloth cutter head is drivingly connected with the worm 210.

[0118] The above-mentioned setting of the turning structure of the cloth cutting knife head, because the cloth cutting knife head connecting rod 223 and the hollow sleeve shaft 225 are connected by the above structure, so that the cloth cutting knife head connecting rod 223 can ensure the driving of the driving cylinder 216 for cutting. The function of shaking and cutting cloth in the vertical direction; in addition, the above-mentioned worm gear 219, worm 210 and the stepping motor for turning the cloth cutter head are matched with the hollow sleeve shaft 225 to smoothly control the hollow sleeve The cylindrical shaft 225 and the cloth cutting head rotate in the circumferential direction, so that the cloth cutting head (after cooperating with the walking mechanism of the cloth cutting machine and the cutting head traverse mechanism) completes the cutting of complex plane graphics, which improves the automation and intelligence of the cloth cutting machine 化 level.

[0119] The cloth cutting knife assembly further includes a compression spring 224 and a compression pawl 207; the compression spring 224 is sleeved outside the lower end of the hollow sleeve shaft 225 and both ends abut on the upper surface of the compression pawl and the cloth cutting Between the lower surface of the end cap 221 on the cutter head support box 211; the pressing claws 207 are two L-shaped structures as a whole, and the upper ends of the two pressing claws 207 are sleeved on the lower end of the hollow sleeve shaft 225, In connection with the compression spring, the cloth cutting cutter head penetrates through the gap between the lower ends of the two compression pawls 207.

[0120] The arrangement of the ribs, the pressure spring 224 and the pressure pawl 207 enables the lower end surface of the pressure pawl 207 to smoothly press the cloth at the position to be cut, so that the cloth cutting head can cut more accurately and smoothly.

[0121] Wherein, the cloth cutting machine further includes a vertical movement mechanism of the cutter head (not shown in the figure), and the vertical movement mechanism of the cutter head includes a vertical installation surface installed on the vertical installation surface of the ball screw slide plate for the cloth cutting machine. A ball screw for moving, a screw nut seat for vertical moving, and a stepping motor for vertical moving; the ball screw for vertical moving is vertical as a whole, and both ends are fixed on the vertical mounting surface through a bearing seat The ball screw for vertical movement is connected to the stepping motor for vertical movement, the ball screw for vertical movement is sleeved with the screw nut seat for vertical movement, and the screw nut for vertical movement is sleeved on the ball screw for vertical movement. The cloth cutting knife head supporting box is fixedly installed on the seat, and the cloth cutting knife supporting box can move in the vertical direction along the ball screw.

[0122] In implementation, the cloth cutting machine 2 further includes a box body cover 208, which is connected to the top circumferential side of the box body 211 of the cloth cutting head supporting box 211 in a closed manner. In this way, the box cover 208 can effectively prevent the floating objects generated during the cloth cutting process from entering the cloth cutting knife head supporting box 211, which provides better protection.

[0123] In implementation, the cloth cutting machine 2 also includes a dust cover 205 for the walking mechanism of the cloth cutting machine, and a dust cover 205 for the walking mechanism of the cloth cutting machine is covered at both the ball screw for the cloth cutting machine and the ball screw for vertical movement. .

[0124] The following is an explanation of the working principle of the above-mentioned fully automatic fabric paving and cutting integration:

[0125] The above-mentioned automatic cloth laying and shearing machine adopts a matching control system (not shown in the figure) for control. Under the premise of knowing the complete structure of the above-mentioned automatic cloth laying and shearing machine, those skilled in the art (industrial control) can design a control system that matches the structure of the automatic cloth laying and cutting machine (which can be used Any one of industrial computer, single-chip microcomputer or PLC is used as the controller), which will not be repeated here.

[0126] Before work:

[0127] The initial position of the spreading machine 1 is far away from the maximum stroke of the spreading and pressing mechanism 8; the initial position of the cutting machine 2 is at the maximum reverse stroke away from the spreading and pressing mechanism 8 (with the spreading machine 1); The cut fabric specifications need to be placed at the far left or right end.

[0128] First install a roll of fabric of the specified specifications on the spreader 1 (such as Figure 4 The cloth roll 18 is shown), and then pull out the cloth head, pass through the upper two rollers 107 of the spreading machine 1, and pull out a certain length.

[0129] in working:

[0130] First, start the control system, and the spreader 1 starts to work. The roller inside the spreader 1 uses the drive motor 19 to drive the pulley 102 and then to the gear 109, so that the cloth falls along the roller to the side pressure plate 117 on the spreading mechanism 104 , Then, the spreading cylinder 113 pulls out the cloth. At the same time, a stepping motor on the side of the cutting table 5 controls the ball screw 6 to make the spreading machine 1 approach the spreading and pressing mechanism 8 as a whole, and after the spreading machine 1 triggers the proximity switch of the spreading and pressing mechanism 8, the biaxial cylinder After the action and the grid plate moves down, the cloth pulled out by the spreader 1 is pressed.

[0131] Then, the spreading machine 1 as a whole retreats, and the spreading cylinder shaft of the spreading mechanism 104 is simultaneously retracted, waiting for the next spreading process. When the spreading machine is retracted to the back position, the cloth cutter 13 cuts the cloth. In the whole process of spreading and cutting the cloth: because the electromagnetic clutch is installed at the rear of the upper pulley of the spreading machine 1, when the spreading mechanism 104 is spreading and the spreading machine 1 is retracted, the electromagnetic clutch will be broken. The driving motor 19 is used to open the drum to ensure the orderly and stable spreading process. And when the spreading machine 1 retreats as a whole, the spreading cylinder shaft of the spreading mechanism 104 must be retracted at the same time, waiting for the next spreading process. At the same time, when the thickness of the cloth to be spread reaches a certain level, the scissor lift 111 at the rear of the spreader 1 controls the entire spreader 1 to lift. In this way, the fabric of the specified number of layers and length is laid back and forth.

[0132] Secondly, the spread cloth reaches the working range of the cloth cutting machine 2 via the conveyor 4. Driven by the ball screw controlled by the stepper motor, the cutter part can move forward and backward, left and right, and up and down. The driving air cylinder 216 for cutting controls the cloth cutting head 206 to vibrate up and down to cut the cloth. The stepping motor 203 drives the worm wheel 219 and the worm 210 for the turning of the cloth cutting head, so that the cloth cutting head 206 can rotate 360 ​​degrees without dead angle.

[0133] Finally, the cut fabric is delivered to the working range of the six-axis mechanical arm 307 of the material sorting mechanism 3 via the conveyor 4. The six-axis robotic arm 307 sorts and picks useful and useless fabrics and puts them into the fabric collection cart 310 and the waste collection box 308 respectively. The remaining fabrics on the conveyor belt 4 that cannot be clamped and unnecessary to be clamped eventually fall into the waste collection tank 305 through the conveyor belt 4, and are pushed into the waste collection box 308 by the rodless air cylinder 302 for waste collection.

[0134] Repeat the above process to realize continuous automatic processing of cloth.

[0135] The use of the above-mentioned fully automatic fabric laying and shearing machine can greatly improve the working efficiency of fabric spreading, cutting and picking up the cut fabric.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention instead of limiting the technical solutions. Those of ordinary skill in the art should understand that those who modify or equivalently replace the technical solutions of the present invention do not depart from the technology. The purpose and scope of the solution should be included in the scope of the claims of the present invention.