Multi-axis linkage continuous production device and processing technology for shoe upper based on roll drawing

Abstract

The application discloses a kind of based on material drawing flower to weave vamp multi-axis linkage continuous production device and processing technology.The device includes template conveying device, cloth feeding device and weaving device.The edge of template is set positioning needle, and conveying drive mechanism drives template to pass cloth feeding station and weaving station in turn;Cloth feeding device sprays adhesive to the surface of bottom cloth located in the periphery of positioning needle when laying cloth;Weaving device includes wire feeding module, second glue spraying module and multi-axis drive mechanism.By setting positioning needle on the edge of template and cooperating first glue spraying module to spray adhesive in the periphery of positioning needle, the double fixation of bottom cloth is realized, and by spraying adhesive to weaving wire by second glue spraying module, the adhesive fixation of weaving wire and bottom cloth is realized, and the dense steel nails for hanging wire winding in traditional template weaving area are cancelled.As there is no steel nail hindering in weaving area, there is no space interference when multi-axis drive mechanism drives pull wire assembly and gather wire assembly to move along preset weaving path.

Description

Technical Field

[0001] This invention relates to the field of textile technology, and in particular to a multi-axis linkage continuous production device and processing technology for weaving shoe uppers based on roll fabric lacquer weaving. Background Technology

[0002] Shoe uppers typically use rolled fabric as the base material, with woven threads laid on the surface to form a decorative structure resembling a mesh or specific patterns (this pattern-laying process is commonly referred to in the industry as "patterning"), resulting in a finished patterned shoe upper. To improve the production efficiency of patterned shoe uppers, the industry generally adopts multi-station continuous production lines, arranging processes such as fabric loading, thread laying, heat pressing, and unloading in sequence. The template circulates through each station under a conveyor drive to achieve continuous batch production of patterned shoe uppers. In the pattern-laying stage, automated weaving equipment is often used to lay and fix the woven threads on the base fabric along a specific trajectory, forming a mesh or specific patterned pattern. In existing technology, traditional weaving equipment generally uses a "nail-supported template" process, where a large number of probes made of metal nails are pre-arranged on the processing template. During operation, the equipment relies on a robotic arm to pull the woven threads between the nails to hang, wrap, and bend the threads, thereby fixing the weaving trajectory.

[0003] However, this traditional nailed weaving process has revealed many insurmountable technical problems in actual production: First, the path of the weaving thread is completely limited by the arrangement of the steel nails. Once the pattern needs to be changed, the entire nailed template must be remade and replaced, resulting in extremely limited process and a lack of flexible manufacturing capabilities; Second, when the robot moves the weaving thread, the dense steel nails can easily become spatial interference objects, hindering the mechanical movement trajectory and limiting the weaving speed. Summary of the Invention

[0004] The main objective of this invention is to provide a multi-axis linkage continuous production device and processing technology for woven shoe uppers based on roll fabric, so as to solve the above-mentioned technical problems.

[0005] In a first aspect, the present invention provides a multi-axis linkage continuous production device for fabric roll weaving shoe uppers, comprising:

[0006] A template conveying device includes a conveying drive mechanism and a template supported on the conveying drive mechanism. The template is provided with positioning pins for fixing the base fabric at its edge. The conveying drive mechanism is used to drive the template to pass sequentially through the fabric feeding station and the weaving station arranged in sequence.

[0007] A fabric feeding device is provided at the fabric feeding station. The fabric feeding device includes a fabric laying module and a first adhesive spraying module. The first adhesive spraying module is configured to spray adhesive onto the surface of the base fabric located around the positioning pin when the fabric laying module lays the base fabric onto the template located at the fabric feeding station.

[0008] A weaving device is provided at the weaving station. The weaving device includes a yarn inlet module, a second adhesive spraying module, and a multi-axis drive mechanism. The multi-axis drive mechanism has yarn gathering components at opposite ends and a yarn pulling component at one end. The multi-axis drive mechanism is configured to drive the yarn gathering components at both ends and the yarn pulling component at one end to move along a preset weaving path, so as to cooperate with the yarn inlet module to lay the weaving yarn on the surface of the base fabric located at the weaving station. Each yarn gathering component includes a first yarn gathering member and a second yarn gathering member arranged opposite to each other. The multi-axis drive mechanism also includes a yarn gathering drive component for driving the first and second yarn gathering members to move closer or further apart. The second adhesive spraying module is located on the yarn outlet side of the yarn inlet module and is configured to spray adhesive onto the weaving yarn output from the yarn inlet module.

[0009] Secondly, the present invention also provides a processing technology for a multi-axis linkage continuous production device for knitted shoe uppers based on roll fabric weaving, comprising the following steps: driving a template with positioning pins at its edge to move to the upper fabric station; at the upper fabric station, laying the base fabric onto the template, causing the positioning pins to pierce and fix the base fabric, and spraying adhesive onto the surface of the base fabric located around the positioning pins to fix the base fabric to the template; driving the template carrying the base fabric to move to the weaving station; at the weaving station, outputting the weaving thread through the thread feeding module, and spraying adhesive onto the weaving thread when the weaving thread is output from the thread feeding module; clamping the weaving thread with the adhesive attached by a thread pulling assembly located at one end of the multi-axis drive mechanism. The yarn is woven, and the multi-axis drive mechanism drives the yarn-pulling assembly to move along a preset weaving path to lay the yarn on the surface of the base fabric, so that the yarn is bonded to the base fabric by the adhesive on its surface. During the laying of the yarn, the multi-axis drive mechanism drives the yarn-gathering assemblies located at their opposite ends to move along the preset weaving path, and according to the preset weaving pattern, the yarn-gathering drive assembly corresponding to each yarn-gathering assembly drives the corresponding first yarn-gathering member and second yarn-gathering member to move closer or further apart to gather or unfold the multiple yarns. The clamping, laying, and gathering or unfolding operations of the yarn are repeatedly performed until the preset weaving pattern is formed on the surface of the base fabric.

[0010] The beneficial technical effects of this invention are as follows: This invention achieves double fixation of the base fabric by setting positioning pins at the edge of the template and using a first adhesive spraying module to spray adhesive around the positioning pins. A second adhesive spraying module then sprays adhesive onto the braiding thread to achieve bonding and fixation between the braiding thread and the base fabric. This eliminates the need for dense steel nails used for hanging and winding threads in the traditional template weaving area. Because there are no steel nails obstructing the weaving area, there is no spatial interference when the multi-axis drive mechanism drives the thread pulling assembly and thread gathering assembly to move along the preset weaving path, resulting in a smoother running trajectory and increased weaving speed. Simultaneously, the thread trajectory is completely controlled by the multi-axis drive mechanism according to the preset weaving path, unrestricted by the physical structure of the template. Changing the pattern only requires modifying the control program of the weaving path, without replacing the template, achieving highly flexible manufacturing. Furthermore, the thread gathering assemblies at both ends of the multi-axis drive mechanism drive the first and second thread gathering components to move closer or further apart, enabling the gathering or unfolding of multiple braiding threads. Combined with the multi-degree-of-freedom movement of the multi-axis drive mechanism, it can automatically achieve the weaving of various complex patterns such as V-shapes and fan shapes. Furthermore, this invention is particularly suitable for the continuous production of lace patterns on shoe uppers: the sole fabric is continuously fed in roll form, and the device operates in parallel in a multi-station assembly line manner. Combined with the aforementioned flexible stitching and multi-pattern weaving capabilities, it can efficiently complete the continuous batch production of lace shoe uppers in scenarios where shoe styles are frequently iterated. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the device production line provided in an embodiment of the present invention;

[0013] Figure 2 This is a schematic diagram of the template conveying device and the weaving device in the apparatus provided in the embodiment of the present invention;

[0014] Figure 3 This is a schematic diagram of the weaving device in the apparatus provided in the embodiment of the present invention;

[0015] Figure 4 for Figure 3 Enlarged diagram of A in the middle;

[0016] Figure 5 for Figure 3 Enlarged diagram of B in the middle;

[0017] Figure 6 This is a schematic diagram of the wire gathering assembly in the device provided in the embodiment of the present invention;

[0018] Figure 7 This is a schematic diagram of the voltage line assembly in the device provided in the embodiment of the present invention;

[0019] Figure 8 This is a schematic diagram of the buffer mechanism in the device provided in an embodiment of the present invention;

[0020] Figure 9 This is a schematic diagram of the upper fabric device in the apparatus provided in the embodiment of the present invention;

[0021] Figure 10 for Figure 9 Enlarged diagram of C in the middle;

[0022] Figure 11 This is a schematic diagram of the hot pressing device in the apparatus provided in the embodiment of the present invention;

[0023] Figure 12 This is a schematic diagram of the feeding device in the apparatus provided in the embodiment of the present invention;

[0024] Figure 13 for Figure 12 Enlarged schematic diagram of the pusher assembly;

[0025] Figure 14 This is a schematic diagram of the processing technology provided in an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures:

[0027] In the diagram: 100-Template conveying device, 110-Conveying drive mechanism, 120-Template, 121-Positioning pin, 200-Fabric feeding device, 211-Fabric pulling gripper, 212-Fabric pulling drive component, 2131-Pressure plate drive component, 2132-Pressure plate, 221-X-axis drive assembly, 222-Y-axis drive assembly, 223-Z-axis drive assembly, 224-Glue spray head, 231-Fabric cutting drive component, 232-Fabric cutting motor Resistance wire, 300-braiding device, 310-inlet module, 3111-conductor component, 3112-pressing assembly, 31121-pressing drive, 31122-clamping plate, 3113-second push-pull cylinder, 3114-cutting resistance wire, 312-spool, 313-tensioner, 314-conductor mechanism, 3141-guide wheel, 3151-gravity traction unit, 3152-frame, 3153-lifting ring, 3 154-Traction rope, 3155-Roller, 320-Second adhesive spraying module, 331-First linear drive assembly, 332-Second linear drive assembly, 333-Rotary drive assembly, 334-Third linear drive assembly, 335-Fixing plate, 340-Wire gathering assembly, 341-First wire gathering member, 342-Second wire gathering member, 3431-Rotary drive component, 3432-Rotary actuator, 344-Lever. 350-Wire pulling assembly, 351-Linear drive component, 352-Gripper cylinder, 353-Wire clamping component, 360-Heating assembly, 361-First push-pull cylinder, 362-Heating section, 363-Elastic support component, 400-Hot pressing device, 410-Hot pressing drive component, 420-Hot pressing head, 500-Discharging device, 510-Pushing assembly, 520-Pushing drive component, 530-Push plate, 540-Conveyor belt. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0030] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0031] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0032] Please also refer to Figures 1-13 This invention provides a multi-axis linkage continuous production device for woven shoe uppers based on roll fabric (hereinafter also referred to as "multi-axis linkage weaving machine"), which is used to use roll fabric as the base material, lay out the weaving threads according to a preset pattern and fix them on the surface of the base fabric to form a mesh or specific patterned woven structure, so as to continuously produce finished woven shoe uppers. The multi-axis linkage knitting machine includes a template conveying device 100, comprising a conveying drive mechanism 110 and a template 120 supported on the conveying drive mechanism 110. Positioning pins 121 for fixing the base fabric are provided at the edge of the template 120. The conveying drive mechanism 110 drives the template 120 to sequentially pass through a fabric loading station and a knitting station arranged in sequence. A fabric loading device 200 is located at the fabric loading station. The fabric loading device 200 includes a fabric laying module and a first adhesive spraying module. The first adhesive spraying module is configured to spray adhesive onto the surface of the base fabric located around the positioning pins 121 when the fabric laying module lays the base fabric onto the template 120 located at the fabric loading station. A knitting device 300 is located at the knitting station. The knitting device 300 includes a yarn feeding module 310, a second adhesive spraying module 320, and a multi-axis linkage. The multi-axis drive mechanism has wire gathering components 340 at both ends and a wire pulling component 350 at one end. The multi-axis drive mechanism is configured to drive the wire gathering components 340 at both ends and the wire pulling component 350 at one end along a preset weaving path to cooperate with the infeed module 310 in laying the braided thread on the surface of the base fabric located at the weaving station. Each wire gathering component 340 includes a first wire gathering member 341 and a second wire gathering member 342 arranged opposite to each other. The multi-axis drive mechanism also includes a wire gathering drive component for driving the first wire gathering member 341 and the second wire gathering member 342 to move closer or further apart. The second adhesive spraying module 320 is located on the outlet side of the infeed module 310 and is configured to spray adhesive onto the braided thread output from the infeed module 310.

[0033] In this embodiment, the multi-axis linkage knitting machine includes a template conveying device 100, a fabric feeding device 200, and a knitting device 300.

[0034] The template conveying device 100 is provided with a fabric feeding station S1 and a weaving station S2 along its conveying path. The fabric feeding device 200 is located at the fabric feeding station S1, and the weaving device 300 is located at the weaving station S2. The template conveying device 100 carries the template 120 and passes it through the fabric feeding station S1 and the weaving station S2 in sequence. The base fabric is laid and fixed at the fabric feeding station S1, and the weaving threads are laid and bonded at the weaving station S2.

[0035] The template conveying device 100 includes a conveying drive mechanism 110 and a template 120 supported on the conveying drive mechanism 110.

[0036] The conveying drive mechanism 110 drives the template 120 to move along a predetermined conveying path, allowing the template 120 to sequentially pass through the fabric loading station S1 and the weaving station S2 arranged in sequence. In this embodiment, the conveying drive mechanism 110 can be a sprocket and chain conveying mechanism, with template 120 mounting positions provided on the chain. The template 120 is fixedly mounted on the template 120 mounting positions and moves between the various stations with the movement of the chain. The conveying drive mechanism 110 can be programmed to stop the template 120 at each station, ensuring that the template 120 remains stationary after reaching the corresponding station, allowing the corresponding device to operate on the base fabric or weaving thread it carries.

[0037] Template 120 is a customized processing template 120, with positioning pins 121 at its edges for securing the base fabric. Specifically, refer to... Figure 2 Positioning pins 121 are arranged in a circle along the edge of template 120, and are vertically upward on the upper surface of template 120. The function of positioning pins 121 is to pierce and fix the base fabric, so that the base fabric is kept taut and flat on template 120 and does not shift during subsequent weaving processes.

[0038] It should be noted that in this embodiment, the central weaving area of ​​the template 120 does not have positioning pins for hanging and winding the yarn. Positioning pins 121 are only located at the edge of the template 120, and their function is solely to fix the base fabric; they do not participate in hanging, fixing, or guiding the weaving yarn. The weaving yarn's trajectory is entirely controlled by the multi-axis drive mechanism of the weaving device 300 according to a pre-programmed weaving path, and is not limited by any physical structure on the template 120. Therefore, when it is necessary to change the weaving pattern, only the control program for the weaving path needs to be modified, without replacing the template 120.

[0039] The fabric feeding device 200 is located at the fabric feeding station S1 and is used to lay the base fabric onto the template 120 and fix it. The fabric feeding device 200 includes a fabric laying module and a first adhesive spraying module.

[0040] The fabric laying module is used to lay the base fabric onto the template 120 located at the fabric feeding station S1. After the template 120 is driven to the fabric feeding station S1 and positioned by the conveying drive mechanism 110, the fabric laying module lays the base fabric material flat on top of the template 120, so that the base fabric covers the central weaving area of ​​the template 120, and the base fabric is fixed by the positioning pins 121 at the edge of the template 120. The fabric laying module can also cut the base fabric from the feeding side after it is fixed, leaving a piece of cut base fabric on the template 120.

[0041] The first adhesive spraying module is configured to spray adhesive onto the surface of the base fabric surrounding the positioning pin 121 when the fabric laying module lays the base fabric onto the template 120 located at the upper fabric station S1. In this embodiment, the adhesive is a hot melt adhesive. Specifically, after the base fabric is pierced and fixed by the positioning pin 121, the first adhesive spraying module sprays a ring of adhesive onto the upper surface of the base fabric, in the area surrounding the positioning pin 121. Here, "surrounding the positioning pin 121" refers to the outer area of ​​the base fabric where it is pierced and fixed by the positioning pin 121. After the adhesive is sprayed onto this area, the edge area of ​​the base fabric is further adhered to the template 120.

[0042] The purpose of this adhesive spray is to further reinforce the base fabric in conjunction with the positioning pins 121. Specifically, the base fabric is secured using a dual method: "positioning pin 121 puncture fixation + external adhesive bonding." The positioning pins 121 provide initial physical puncture positioning, ensuring the base fabric does not shift after installation; the externally sprayed adhesive provides a larger area and more evenly distributed bonding force, firmly adhering the edges of the base fabric to the surface of the template 120. These two methods work together to ensure the base fabric remains flat and secure during subsequent weaving thread pulling, preventing loosening or displacement due to the pulling force of the weaving threads.

[0043] The braiding device 300 is located at the braiding station S2. The braiding device 300 is used to lay multiple braiding threads on the surface of the base fabric according to a preset pattern, and to fix the braiding threads to the base fabric with adhesive. The braiding device 300 includes a thread inlet module 310, a second adhesive spraying module 320, and a multi-axis drive mechanism.

[0044] The feed module 310 is used to continuously supply braiding yarn to the braiding device 300. The feed module 310 has an output side. After the braiding yarn is output from the output side of the feed module 310, it can be pulled by the wire pulling assembly 350 on the multi-axis drive mechanism for subsequent braiding. The feed module 310 can supply multiple braiding yarns to the braiding device 300 simultaneously to achieve synchronous deployment of multiple braiding yarns.

[0045] The second adhesive spraying module 320 is located on the output side of the inlet module 310 and is configured to spray adhesive onto the braided wire output from the inlet module 310. In this embodiment, the adhesive is a hot melt adhesive.

[0046] Specifically, during the weaving process, when the braided yarn is output from the output side of the infeed module 310, the second adhesive spraying module 320 sprays adhesive onto the surface of the braided yarn, causing a layer of adhesive to adhere to the surface of the braided yarn. When the braided yarn with adhesive is subsequently laid onto the base fabric by the multi-axis drive mechanism, it can be bonded and fixed to the base fabric by the adhesive's stickiness. This spraying method ensures that the braided yarn is already coated with adhesive during the pulling and laying process, eliminating the need for pre-applying glue to the entire surface of the base fabric. Furthermore, the adhesive can be precisely applied to the contact area between the braided yarn and the base fabric, improving bonding efficiency and quality.

[0047] It should be noted that the second adhesive spraying module 320 has a different spraying target and function than the first adhesive spraying module in the fabric feeding device 200: the first adhesive spraying module sprays the area on the surface of the base fabric located around the positioning pin 121, and its purpose is to strengthen the fixed relationship between the base fabric and the template 120; the second adhesive spraying module 320 sprays the braided thread output from the infeed module 310, and its purpose is to enable the braided thread to be bonded and fixed to the base fabric after being laid on the surface of the base fabric, thereby replacing the traditional method of fixing the braided thread with steel nails.

[0048] The multi-axis drive mechanism is responsible for driving the knitting execution end to move along the preset knitting path.

[0049] The multi-axis drive mechanism has wire gathering components 340 at both ends, and a wire pulling component 350 at one end. That is, one end of the multi-axis drive mechanism has both a wire pulling component 350 and a wire gathering component 340, while the other end only has a wire gathering component 340.

[0050] The multi-axis drive mechanism is configured to drive the thread-gathering assemblies 340 at both ends and the thread-pulling assembly 350 at one end to move along a preset weaving path, so as to cooperate with the thread-feeding module 310 to lay the braided thread on the surface of the base fabric located at the weaving station S2. Specifically, the multi-axis drive mechanism can perform multi-axis linkage motion (including translational motion and rotational motion along each straight direction) along the preset weaving path, driving the thread-gathering assemblies 340 installed at both ends and the thread-pulling assembly 350 installed at one end to move together, thereby pulling the braided thread with adhesive attached output from the thread-feeding module 310 to a predetermined position on the surface of the base fabric, and completing the laying of the braided thread according to the preset pattern.

[0051] The thread-pulling assembly 350 is located at one end of the multi-axis drive mechanism and is used to clamp the braided threads and pull them out and lay them out in coordination with the movement of the multi-axis drive mechanism. During the weaving process, the thread-pulling assembly 350 clamps multiple braided threads (e.g., four threads) output from the thread-feeding module 310. The multi-axis drive mechanism drives the thread-pulling assembly 350 to move along a preset weaving path, pulling the multiple braided threads from one side of the template 120 to the other side, so that the braided threads are laid on the surface of the base fabric. After reaching the target position, the adhesive attached to the braided threads initially bonds the braided threads to the surface of the base fabric. The multi-axis drive mechanism repeatedly drives the thread-pulling assembly 350 to move back and forth along the preset weaving path, thereby completing the laying of the braided threads segment by segment on the surface of the base fabric according to the preset weaving pattern.

[0052] The yarn gathering component 340 is used to gather or unfold multiple braided yarns during the weaving process to form specific patterns such as V-shapes and fan shapes.

[0053] Each wire gathering assembly 340 includes a first wire gathering member 341 and a second wire gathering member 342 disposed opposite to each other. The multi-axis drive mechanism also includes a wire gathering drive assembly for driving the first wire gathering member 341 and the second wire gathering member 342 to move closer to or further away from each other.

[0054] The working process of the thread gathering component 340 is as follows: When multiple braided threads (e.g., two threads) are pulled out in parallel by the thread pulling component 350, if the preset braiding pattern requires the formation of a V-shaped or fan-shaped pattern, the thread gathering drive component drives the first thread gathering component 341 and the second thread gathering component 342 to move closer to each other. The first thread gathering component 341 and the second thread gathering component 342 converge from both sides to the middle, gathering the multiple braided threads that were originally spread out in parallel towards the middle, so that the multiple braided threads change from a parallel arrangement state to a converged state towards the middle, thereby forming a V-shaped or fan-shaped pattern on the surface of the base fabric.

[0055] If the preset weaving pattern only requires parallel straight lines, the thread gathering drive component does not drive the first thread gathering member 341 and the second thread gathering member 342 to operate, and the multiple weaving threads remain in a parallel unfolded state and are directly laid on the surface of the base fabric.

[0056] If it is necessary to re-unfold the multiple braided threads that have been gathered, the thread gathering drive component drives the first thread gathering member 341 and the second thread gathering member 342 to move away from each other, and the multiple braided threads return to a parallel unfolded state.

[0057] Since the multi-axis drive mechanism has wire gathering components 340 at both ends, after multiple braided wires are pulled out and laid by the wire pulling component 350, both ends of the braided wires can be gathered or unfolded by the corresponding wire gathering components 340. For example, if the wire gathering component 340 at one end gathers the braided wire while the wire gathering component 340 at the other end remains unfolded, a fan-shaped pattern with single-end convergence can be formed.

[0058] Furthermore, the gathering / unfolding action of the thread gathering assembly 340 can be coordinated with the rotational motion of the multi-axis drive mechanism. The thread gathering assembly 340 is responsible for changing the width and shape (gathering or unfolding) of multiple braided threads, while the rotational motion of the multi-axis drive mechanism is responsible for positioning the multiple braided threads on the template 120. The two can operate independently or in coordination. For example, the thread gathering assembly 340 can be used to gather multiple parallel braided threads first, and then the multi-axis drive mechanism can be used to rotate them; gathering without rotation can form a V-shaped or fan-shaped pattern; neither gathering nor rotating results in ordinary parallel straight-line wiring. Thus, through various combinations of the actions of the thread gathering assembly 340 and the multi-axis drive mechanism, various interlacing patterns can be achieved fully automatically.

[0059] The overall working process of the multi-axis linkage knitting machine described in this embodiment will be explained below.

[0060] Step 1, Preloading the base fabric: The conveyor drive mechanism 110 drives an empty template 120 to the fabric loading station S1 and positions it. The fabric laying module lays the base fabric onto the template 120, so that the base fabric is pierced and fixed by the positioning pins 121 at the edge of the template 120. After the base fabric is fixed, the first adhesive spraying module sprays adhesive on the surface of the base fabric located around the positioning pins 121, so that the adhesive adheres the edge area of ​​the base fabric to the template 120. Combined with the physical piercing and positioning of the positioning pins 121, the base fabric is double-fixed.

[0061] Step 2, Weaving: The conveyor drive mechanism 110 drives the template 120, which has the base fabric fixed, to move from the upper fabric station S1 to the weaving station S2 and position it. The weaving thread is output from the infeed module 310. During the process of the weaving thread being output from the outlet side of the infeed module 310, the second adhesive spraying module 320 sprays adhesive onto the weaving thread, so that the adhesive adheres to the surface of the weaving thread. The multi-axis drive mechanism drives the thread pulling assembly 350 at one end to clamp the weaving thread with the adhesive and move it along the preset weaving path, pulling the weaving thread from one side of the template 120 to the other side and laying it on the surface of the base fabric. The weaving thread is initially bonded to the base fabric through the adhesive adhering to its surface. When the preset weaving pattern requires the formation of V-shapes, fan-shaped patterns, etc., the thread-gathering drive components in the thread-gathering assemblies 340 at both ends of the multi-axis drive mechanism drive the corresponding first thread-gathering component 341 and second thread-gathering component 342 to move closer together, gathering multiple parallel weaving threads to form the desired pattern. When it is necessary to form three-dimensional interwoven patterns such as braids, the multi-axis drive mechanism also drives the thread-pulling assembly 350 and the thread-gathering assembly 340 to rotate as a whole, causing multiple weaving threads to cross on the template 120. The above-mentioned thread-pulling, thread-gathering, and rotation operations are repeatedly performed according to the preset weaving path until the entire preset weaving pattern is laid on the surface of the base fabric.

[0062] In this embodiment, the base fabric is fixed by setting positioning pins 121 on the edge of the template 120 and spraying adhesive on the periphery of the first adhesive spraying module. The adhesive is sprayed onto the braided thread by the second adhesive spraying module 320 to achieve the bonding and fixing of the braided thread and the base fabric, eliminating the need for the dense steel nails used for hanging and winding the thread on the traditional template. At the same time, the multi-axis drive mechanism drives the thread pulling assembly 350 and the thread gathering assembly 340 at both ends to move in coordination, which can realize a variety of complex actions such as gathering, unfolding and twisting of multiple braided threads, thereby automatically completing the weaving of various complex patterns such as V-shape and fan shape.

[0063] In one embodiment, the multi-axis drive mechanism includes a first linear drive assembly 331, a second linear drive assembly 332, a rotary drive assembly 333, and a third linear drive assembly 334; the second linear drive assembly 332 is disposed at the output end of the first linear drive assembly 331, and the rotary drive assembly 333 is connected between the output end of the second linear drive assembly 332 and the third linear drive assembly 334; the wire gathering assembly 340 and the wire pulling assembly 350 are both disposed on the third linear drive assembly 334.

[0064] In this embodiment, the multi-axis drive mechanism includes a first linear drive component 331, a second linear drive component 332, a rotary drive component 333, and a third linear drive component 334.

[0065] To facilitate the description of the spatial relationship and driving direction of each driving component, the conveying direction of the template 120 is defined as the first direction, and the width direction of the template 120 (i.e., the direction perpendicular to the first direction in the horizontal plane) is defined as the second direction.

[0066] The first linear drive assembly 331, the second linear drive assembly 332, and the third linear drive assembly 334 are arranged sequentially from top to bottom above the weaving station S2, and the rotary drive assembly 333 is located between the second linear drive assembly 332 and the third linear drive assembly 334.

[0067] Specifically, the first linear drive assembly 331 is located at the top and is fixedly installed on the frame corresponding to the weaving station S2. The driving direction of the first linear drive assembly 331 is the first direction, which is the same as the conveying direction of the template 120. The first linear drive assembly 331 can achieve linear motion by using a servo motor combined with a lead screw guide module.

[0068] The second linear drive assembly 332 is located at the output end of the first linear drive assembly 331, meaning the second linear drive assembly 332 is entirely mounted on the motion output end of the first linear drive assembly 331 and is driven by the first linear drive assembly 331 to translate along a first direction. The driving direction of the second linear drive assembly 332 is a second direction, that is, perpendicular to the conveying direction of the template 120 and extending along the width direction of the template 120. The second linear drive assembly 332 can also be implemented using a servo motor paired with a lead screw guide module.

[0069] A rotary drive assembly 333 is connected between the output end of the second linear drive assembly 332 and the third linear drive assembly 334. That is, the input side of the rotary drive assembly 333 is fixedly connected to the motion output end of the second linear drive assembly 332, and the output side of the rotary drive assembly 333 is connected to the third linear drive assembly 334. The rotary drive assembly 333 drives the third linear drive assembly 334 and all components mounted on it to rotate around a rotation axis. In this embodiment, the rotation axis extends vertically (i.e., perpendicular to the surface of the template 120), and the rotary drive assembly 333 can drive the third linear drive assembly 334 to rotate 360 ​​degrees. The rotary drive assembly 333 can be implemented using a servo motor paired with a rotary platform.

[0070] The third linear drive component 334 is located at the bottom, that is, the position closest to the template 120. In the initial state (when the rotary drive component 333 has not performed a rotational action), the driving direction of the third linear drive component 334 is the second direction, and the opposite ends of the third linear drive component 334 are distributed at intervals along the width direction of the template 120, spanning across the template 120 located at the weaving station S2.

[0071] Both the wire gathering assembly 340 and the wire pulling assembly 350 are mounted on the third linear drive assembly 334. As described in the previous embodiment, the third linear drive assembly 334 has wire gathering assemblies 340 at opposite ends, and a wire pulling assembly 350 at one end. The third linear drive assembly 334 can drive the wire gathering assembly 340 and the wire pulling assembly 350 mounted thereon to move along its own driving direction.

[0072] When the first linear drive assembly 331 drives its output end to move along the first direction, it drives the second linear drive assembly 332 located at its output end, as well as the rotary drive assembly 333, the third linear drive assembly 334 connected in sequence below the second linear drive assembly 332, and the wire gathering assembly 340 and the wire pulling assembly 350 mounted on the third linear drive assembly 334 to move as a whole along the first direction, thereby realizing position adjustment along the conveying direction of the template 120.

[0073] When the second linear drive component 332 drives its output end to move along the second direction, it drives the rotary drive component 333, the third linear drive component 334, the wire gathering component 340, and the wire pulling component 350 to translate as a whole along the second direction, thereby realizing position adjustment along the width direction of the template 120.

[0074] When the rotary drive assembly 333 drives the third linear drive assembly 334 to rotate around the rotation axis, the third linear drive assembly 334, along with its thread gathering assembly 340 and thread pulling assembly 350, rotate as a whole by a preset angle. After rotation, the driving direction of the third linear drive assembly 334 relative to the template 120 changes from the second direction in the initial state to the direction corresponding to the rotation. Thus, when multiple braided threads are clamped by the thread pulling assembly 350 and straddle the base fabric, the rotational action of the rotary drive assembly 333 can cause the multiple braided threads to cross on the upper surface of the template 120, thereby forming interwoven patterns such as braids and grids.

[0075] The third linear drive assembly 334 drives the wire gathering assembly 340 and the wire pulling assembly 350 mounted thereon to move along their current driving direction. In the initial state, the third linear drive assembly 334 drives the wire gathering assembly 340 and the wire pulling assembly 350 to move along the second direction, realizing the wire laying action of the braided thread crossing the width direction of the template 120. After the rotation drive assembly 333 rotates a certain angle, the third linear drive assembly 334 then drives the wire gathering assembly 340 and the wire pulling assembly 350 to move along the rotated direction, realizing the laying of the braided thread across the template 120 at different angles.

[0076] During the weaving process, the four drive components mentioned above operate in multi-axis linkage under the coordination of the control program. The first linear drive component 331 and the second linear drive component 332 work together to position the thread gathering component 340 and the thread pulling component 350 in the plane above the template 120, so that the weaving execution end reaches each target point on the preset weaving path; the rotary drive component 333 adjusts the orientation of the third linear drive component 334 according to the angle requirements of the current weaving path segment, changing the angle of the thread pulling and laying; the third linear drive component 334 drives the thread gathering component 340 and the thread pulling component 350 to complete the thread pulling action across the template 120 along the adjusted direction. Through the coordinated linkage of the above four drive components, the multi-axis drive mechanism can drive the thread gathering component 340 and the thread pulling component 350 to move along any preset weaving path, realizing the fully automatic laying of various complex weaving paths.

[0077] In one embodiment, a fixing plate 335 is connected between the yarn gathering drive assembly and the third linear drive assembly 334. Each yarn gathering drive assembly has a heating assembly 360 on one side facing each other. The heating assembly 360 includes a first push-pull cylinder 361 and a heating part 362 disposed at the output end of the first push-pull cylinder 361. The output end of the first push-pull cylinder 361 is vertically oriented towards the template 120 located at the weaving station. An elastic support member 363 is disposed between the output end of the first push-pull cylinder 361 and the heating part 362.

[0078] In this embodiment, a fixing plate 335 connects the wire-gathering drive assembly and the third linear drive assembly 334. Specifically, a fixing plate 335 is provided at each of the opposite ends of the third linear drive assembly 334. The upper end of each fixing plate 335 is fixedly connected to the corresponding end of the third linear drive assembly 334, and the lower end of each fixing plate 335 is fixedly connected to the corresponding wire-gathering drive assembly. The fixing plate 335 serves as a structural transition between the wire-gathering drive assembly and the third linear drive assembly 334, providing a stable mounting base for the wire-gathering drive assembly and enabling the wire-gathering drive assembly to move synchronously with the third linear drive assembly 334. When the third linear drive assembly 334 drives its output ends to move along the driving direction, the fixing plates 335 at both ends move accordingly, thereby driving the wire-gathering drive assemblies and corresponding wire-gathering assemblies 340 mounted on each fixing plate 335 to move synchronously.

[0079] Each wire-gathering drive assembly has a heating component 360 on its opposite side. Since the third linear drive assembly 334 has wire-gathering components 340 and corresponding wire-gathering drive assemblies at its opposite ends, the side of the wire-gathering drive assemblies facing each other is the side of each wire-gathering drive assembly facing the middle of the third linear drive assembly 334, that is, the inner side of the wire-gathering drive assemblies facing each other at both ends. A heating component 360 is provided on this inner side of each wire-gathering drive assembly at both ends; therefore, there are two heating components 360 in total, corresponding to the wire-gathering drive assemblies at both ends.

[0080] The heating component 360 is used to heat and press the bonding area between the braided yarn and the base fabric after the braided yarn is laid on the base fabric surface. This heats and activates the adhesive on the surface of the braided yarn, allowing it to bond tightly to the base fabric under pressure, thereby achieving initial heat-pressing fixation of the braided yarn on the base fabric surface.

[0081] Each heating component 360 includes a first push-pull cylinder 361 and a heating part 362 disposed at the output end of the first push-pull cylinder 361.

[0082] The first push-pull cylinder 361 is fixedly installed on the opposite side of the corresponding yarn gathering drive assembly. The output end of the first push-pull cylinder 361 is vertically oriented towards the template 120 located at the weaving station S2, that is, the output end of the first push-pull cylinder 361 is set downward, so that the heating part 362 can move downward under the drive of the first push-pull cylinder 361 and approach the bottom fabric surface on the template 120.

[0083] The heating element 362 is located at the output end of the first push-pull cylinder 361. The heating element 362 has a built-in heating element (such as a heating rod or heating wire) that can generate high temperature after being energized. The lower surface of the heating element 362 is a heating contact surface, which is used to directly contact the braided yarn laid on the surface of the base fabric to heat the adhesive attached to the braided yarn.

[0084] An elastic support member 363 is provided between the output end of the first push-pull cylinder 361 and the heating part 362. The elastic support member 363 is located between the output end of the first push-pull cylinder 361 and the heating part 362, with one end connected to the output end of the first push-pull cylinder 361 and the other end connected to the heating part 362. The elastic support member 363 can be a spring or other component with elastic deformation capability.

[0085] The function of the elastic support member 363 is as follows: When the first push-pull cylinder 361 drives the heating part 362 downward to contact the braided yarn and the base fabric on the lower surface of the heating part 362, the elastic support member 363 undergoes elastic compression deformation under the thrust of the first push-pull cylinder 361, converting the rigid thrust of the first push-pull cylinder 361 into flexible elastic pressure applied to the heating part 362, so that the heating part 362 is pressed against the surface of the braided yarn and the base fabric in a flexible contact manner. Thus, on the one hand, it avoids damage to the braided yarn or indentations in the base fabric that might be caused by the rigid output force of the first push-pull cylinder 361 acting directly on the braided yarn and the base fabric; on the other hand, the elastic deformation of the elastic support member 363 can adaptively compensate for minor unevenness on the surface of the base fabric, ensuring uniform contact between the heating contact surface of the heating part 362 and the braided yarn and the base fabric, and ensuring uniform heating and tight pressing of the adhesive.

[0086] The working process of the heating component 360 is as follows: When the multi-axis drive mechanism drives the wire pulling assembly 350 to pull the braided thread to the target position on the surface of the base fabric, the first push-pull cylinder 361 is activated, driving the heating part 362 to move downwards in the vertical direction until the heating contact surface of the heating part 362 is elastically pressed onto the braided thread on the surface of the base fabric by the elastic support member 363. The heating element of the heating part 362 is energized and heats up, heating the adhesive attached to the braided thread, causing the adhesive to melt or activate. Under the combined action of the downward pressure of the heating part 362 and the flexible elastic force provided by the elastic support member 363, the adhesive tightly bonds the braided thread to the base fabric. After the heating and pressing continues for a preset time, the first push-pull cylinder 361 drives the heating part 362 to retract upwards in the vertical direction to reset, completing one hot-pressing and fixing action of the braided thread.

[0087] Since each of the two ends of the wire-gathering drive assembly is provided with a heating component 360 on the opposite side, after the multi-axis drive mechanism drives the wire-pulling assembly 350 to complete one wire-pulling layout, the heating components 360 at both ends can respectively heat-press and fix the bonding position of the braided wire at both ends of the base fabric surface, ensuring that the braided wire is firmly bonded and fixed at both ends of the base fabric surface.

[0088] Furthermore, since the heating component 360 is mounted on the wire gathering drive component, and the wire gathering drive component is mounted on the third linear drive component 334 via the fixing plate 335, the heating component 360 moves as a whole with the multi-axis drive mechanism. When the multi-axis drive mechanism drives the wire gathering component 340 to move along the preset braiding path to each wiring position, the heating component 360 also reaches the corresponding position. There is no need to set up an additional independent drive mechanism to adjust the horizontal position of the heating component 360, which simplifies the equipment structure and also facilitates the hot pressing and fixing of the braided wires on the surface of the template 120 at any position.

[0089] In one embodiment, the wire gathering drive assembly includes a rotary drive member 3431 and a rotary actuator 3432 connected to the rotary drive member 3431. The first wire gathering member 341 and the second wire gathering member 342 are respectively connected to the rotary actuator 3432. The rotary drive member 3431 is used to drive the rotary actuator 3432 to rotate, so as to drive the first wire gathering member 341 and the second wire gathering member 342 to move closer to each other or further away from each other. The ends of the first wire gathering member 341 and the second wire gathering member 342 are each provided with a lever 344, which is used to gather multiple braided wires towards the middle when they move closer to each other.

[0090] In this embodiment, the wire gathering drive assembly includes a rotary drive member 3431 and a rotary actuator 3432 connected to the rotary drive member 3431. The first wire gathering member 341 and the second wire gathering member 342 are respectively connected to the rotary actuator 3432.

[0091] The rotary drive component 3431 is fixedly mounted on the corresponding mounting plate 335. The rotary drive component 3431 can be a servo motor or a stepper motor. The output shaft of the rotary drive component 3431 is connected to the rotary actuator 3432 and is used to drive the rotary actuator 3432 to rotate around its own axis.

[0092] The rotary actuator 3432 is a ball screw, extending horizontally, with one end connected to the output shaft of the rotary drive 3431 via a coupling. The rotary actuator 3432 has two sections of threads with opposite directions of rotation; one section is a forward-rotating thread, and the other is a reverse-rotating thread. The first wire-gathering member 341 and the second wire-gathering member 342 are respectively connected to the rotary actuator 3432 via their respective nut seats. The first wire-gathering member 341 is mounted on the forward-rotating thread section of the rotary actuator 3432 via its nut seat, and the second wire-gathering member 342 is mounted on the reverse-rotating thread section of the rotary actuator 3432 via its nut seat.

[0093] The rotary drive 3431 drives the rotary actuator 3432 to rotate, thereby causing the first wire-gathering member 341 and the second wire-gathering member 342 to move closer together or further apart. Specifically, since the two threads on the rotary actuator 3432 rotate in opposite directions, when the rotary drive 3431 drives the rotary actuator 3432 to rotate along the first direction of rotation, the nut seats of the first wire-gathering member 341 and the second wire-gathering member 342 move towards each other along the axial direction of the rotary actuator 3432 under the action of their respective thread segments, that is, the first wire-gathering member 341 and the second wire-gathering member 342 move closer together; when the rotary drive 3431 drives the rotary actuator 3432 to rotate along the second direction of rotation opposite to the first direction of rotation, the nut seats of the first wire-gathering member 341 and the second wire-gathering member 342 move away from each other along the axial direction of the rotary actuator 3432. Therefore, by controlling the rotation direction of the rotary actuator 3432 through the rotary drive 3431, the first wire gathering member 341 and the second wire gathering member 342 can be brought closer or moved further apart. Using a ball screw drive system allows for smoother and more precise movement of the first wire gathering member 341 and the second wire gathering member 342, and the distance between them can be precisely adjusted by controlling the number of rotations of the rotary actuator 3432, thereby precisely controlling the degree of wire gathering.

[0094] Both the first yarn gathering member 341 and the second yarn gathering member 342 are provided with levers 344 at their ends. The levers 344 extend horizontally from the ends of their respective yarn gathering members. Specifically, the first yarn gathering member 341 has a lever 344 at its end, and the second yarn gathering member 342 also has a lever 344 at its end, with each lever 344 extending horizontally towards the other from the ends of its corresponding yarn gathering member. The extension direction of the levers 344 allows them to reach into the area where the braided yarn is located, so that when the first yarn gathering member 341 and the second yarn gathering member 342 come close together, the levers 344 on both sides can contact and move the braided yarn from both sides.

[0095] The lever 344 is used to gather multiple braided threads towards the center when the first thread-gathering member 341 and the second thread-gathering member 342 approach each other. Specifically, the thread-gathering process of the lever 344 is as follows: When multiple braided threads are pulled from one side of the template 120 to the other side by the thread-pulling assembly 350 and laid parallel above the base fabric, the multiple braided threads are arranged parallel to each other along the driving direction of the third linear drive assembly 334. At this time, the lever 344 at the end of the first thread-gathering member 341 is located on one side of the multiple braided threads, and the lever 344 at the end of the second thread-gathering member 342 is located on the other side of the multiple braided threads. The rotary drive member 3431 drives the rotary actuator 3432 to rotate along the first direction, and the nut seats of the first thread-gathering member 341 and the second thread-gathering member 342 move towards each other along the axial direction of the rotary actuator 3432, thereby driving the levers 344 at the ends of the first thread-gathering member 341 and the second thread-gathering member 342 to move from both sides of the braided threads towards the center. As the two levers 344 move horizontally, they respectively pull the braided threads on their respective sides toward the center, causing the originally parallel braided threads to gradually converge and be gathered together. When the two levers 344 come together to the preset position, the multiple braided threads are gathered and gathered into a bundle or V-shape, thus forming V-shaped, fan-shaped, or other gathering patterns on the surface of the base fabric.

[0096] When the preset weaving pattern only requires parallel straight lines, the rotary drive 3431 does not drive the rotary actuator 3432 to rotate. The first wire gathering member 341 and the second wire gathering member 342 remain in an open state, far apart from each other. The levers 344 on both sides are located on the outside of the two sides of the multiple weaving lines and do not contact the weaving lines. The multiple weaving lines are laid directly on the surface of the base fabric in a parallel arrangement.

[0097] When it is necessary to re-unwind the multiple braided threads that have been gathered, the rotary drive 3431 drives the rotary actuator 3432 to rotate along the second direction. The nut seats of the first thread gathering member 341 and the second thread gathering member 342 move in opposite directions along the axial direction of the rotary actuator 3432, causing the levers 344 on both sides to open to both sides and release the braided threads. Under their own tension, the multiple braided threads return to the parallel unfolded state.

[0098] Since the multi-axis drive mechanism has wire-gathering assemblies 340 at both ends, and the wire-gathering drive components in the wire-gathering assemblies 340 at both ends have the aforementioned structure of rotary drive 3431, rotary actuator 3432, first wire-gathering member 341, second wire-gathering member 342, and lever 344, both ends of the braided thread can be independently gathered. During the braiding process, the wire-gathering assemblies 340 at both ends can move closer together, so that the braided thread is gathered at both ends simultaneously; or only one end of the wire-gathering assembly 340 can move closer while the other end remains open, forming an asymmetrical fan-shaped pattern with one end gathered and the other end unfolded.

[0099] In one embodiment, the wire pulling assembly 350 is fixed to the corresponding fixing plate 335. The wire pulling assembly 350 includes a linear drive member 351 and a gripper cylinder 352 connected to the linear drive member 351. The output end of the gripper cylinder 352 is connected to a wire clamping member 353. The wire clamping member 353 is located below the wire gathering drive assembly and the corresponding heating assembly 360.

[0100] In this embodiment, the cable pull assembly 350 is fixed to its corresponding fixing plate 335. As mentioned earlier, one end of the multi-axis drive mechanism is simultaneously provided with a cable gathering assembly 340 and a cable pull assembly 350. The upper end of the fixing plate 335 at this end is fixedly connected to this end of the third linear drive assembly 334, and the lower end is fixedly connected to the cable gathering drive assembly at this end. The cable pull assembly 350 is thus fixedly installed on the fixing plate 335, thereby forming a fixed connection between the cable pull assembly 350 and the third linear drive assembly 334 through the fixing plate 335. When the multi-axis drive mechanism drives the third linear drive assembly 334 to move, the fixing plate 335, the cable gathering drive assembly, and the cable pull assembly 350 move synchronously.

[0101] The cable pull assembly 350 includes a linear drive 351 and a gripper cylinder 352 connected to the linear drive 351.

[0102] The linear drive component 351 is fixedly mounted on the corresponding fixing plate 335. The linear drive component 351 is arranged in the horizontal direction, that is, the driving direction of the linear drive component 351 is horizontal. The linear drive component 351 can be a cylinder or an electric push rod. The linear drive component 351 is used to drive the gripper cylinder 352 to extend or retract in the horizontal direction, thereby adjusting the position of the gripper cylinder 352 and the wire clamping component 353 below it in the horizontal direction.

[0103] A gripper cylinder 352 is connected to the output end of a linear drive unit 351, and moves synchronously in the horizontal direction with the output end of the linear drive unit 351. A wire clamping member 353 is connected to the output end of the gripper cylinder 352. The gripper cylinder 352 drives the wire clamping member 353 to perform clamping or releasing actions, thereby achieving the gripping and releasing of the braided wire.

[0104] The wire clamping member 353 is located below the wire gathering drive assembly and the corresponding heating assembly 360. Specifically, the wire clamping member 353 is located below the wire gathering drive assembly and the heating assembly 360 in the vertical direction, that is, the height of the wire clamping member 353 is lower than the height of the wire gathering drive assembly and the heating assembly 360, so that the wire clamping member 353 is closer to the bottom fabric surface on the template 120 located at the weaving station S2.

[0105] The clamping member 353 clamps the braided thread at a height close to the surface of the base fabric, so that the braided thread is as close as possible to the surface of the base fabric when it is pulled and laid by the pulling member 350, which is conducive to the flat laying of the braided thread. At the same time, the thread gathering drive member located above the clamping member 353 can gather the braided thread from both sides through the lever 344 at the end of the first thread gathering member 341 and the second thread gathering member 342. The heating member 360 can press the braided thread from above to fix it with heat. The layered layout of the three in the vertical direction ensures that their respective operating spaces do not interfere with each other.

[0106] The working process of the wire pulling assembly 350 is as follows: Before the braiding process begins, the wire pulling assembly 350 is located at one end of the third linear drive assembly 334, and the wire feeding module 310 is located at the other end of the third linear drive assembly 334 (i.e., the end opposite to the wire pulling assembly 350).

[0107] When a wire pulling action is required, the third linear drive component 334 first drives one end of the wire pulling component 350 to move towards the other end, bringing the wire pulling component 350 closer to the outlet side of the wire inlet module 310. After the wire pulling component 350 reaches the vicinity of the outlet side of the wire inlet module 310, the gripper cylinder 352 drives the wire clamping component 353 to perform a clamping action, clamping and fixing the multiple braided wires output from the wire inlet module 310.

[0108] After the clamping member 353 clamps the braided thread, the third linear drive assembly 334 drives the end of the pull assembly 350 to return in the opposite direction, that is, to move away from the end of the infeed module 310. During this return process, the clamping member 353 pulls the braided thread from the infeed module 310 side to the pull assembly 350 side, so that the braided thread crosses the surface of the base fabric. Since the braided thread has been sprayed with adhesive by the second adhesive spraying module 320 when it is output from the infeed module 310, the braided thread can achieve initial adhesion to the base fabric through the adhesive when it is laid on the surface of the base fabric.

[0109] During the wire pulling process, if it is necessary to adjust the extension position of the wire clamping component 353 in the horizontal direction, the linear drive component 351 drives the gripper cylinder 352 and the wire clamping component 353 to extend or retract in the horizontal direction to adapt to the clamping position requirements of different braiding path segments.

[0110] After the braided thread is pulled to the target position, the thread-gathering assembly 340, located above the thread-clamping member 353, can gather or unfold the braided thread according to the preset braiding pattern. The first push-pull cylinder 361 of the heating assembly 360 drives the heating part 362 to press downwards onto the braided thread, heating the adhesive attached to the braided thread to bond and fix the braided thread to the base fabric. After the heat-pressing is completed, the gripper cylinder 352 drives the thread-clamping member 353 to perform a releasing action, releasing the braided thread. Subsequently, the third linear drive assembly 334 again drives the end of the thread-pulling assembly 350 to move towards the end of the thread-inlet module 310, bringing the thread-pulling assembly 350 closer to the thread-out side of the thread-inlet module 310, ready to clamp the braided thread for the next thread-pulling and laying. This process is repeated, completing the laying of the braided thread on the surface of the base fabric segment by segment according to the preset braiding path.

[0111] In one embodiment, the wire pulling assembly 350 is disposed at one end of the third linear drive assembly 334, and the wire feeding module 310 includes a wire feeding control assembly disposed at the other end of the third linear drive assembly 334. The wire feeding control assembly includes a wire guide member 3111, a wire pressing assembly 3112, and a second push-pull cylinder 3113. The wire pressing assembly 3112 includes a wire pressing drive member 31121 and two clamping plates 31122 disposed at the output end of the wire pressing drive member 31121. The two clamping plates 31122 are configured as follows: Driven by the wire pressing drive 31121, the components move closer together to clamp the braided wire passing through the conductor member 3111; the second push-pull cylinder 3113 is located above the wire pressing assembly 3112, the output shaft of the second push-pull cylinder 3113 is arranged downward, and the output shaft is connected to a tangential resistance wire 3114. The second push-pull cylinder 3113 is configured to drive the tangential resistance wire 3114 to move downward to the side of the wire pressing assembly 3112 away from the conductor member 3111, so as to energize and heat up to melt the braided wire.

[0112] In this embodiment, the drawer assembly 350 is located at one end of the third linear drive assembly 334, and the feed module 310 includes a feed control assembly located at the other end of the third linear drive assembly 334. That is, the drawer assembly 350 and the feed control assembly are located at opposite ends of the third linear drive assembly 334, both mounted on the third linear drive assembly 334 and moving synchronously with it. The braided thread is output from one side of the feed control assembly, gripped and pulled by the drawer assembly 350 located at the other end, thereby completing the braided thread layout across the base fabric surface.

[0113] The incoming line control assembly includes a wire member 3111, a wire pressing assembly 3112, and a second push-pull cylinder 3113.

[0114] The conductor member 3111 guides the braided wires through the infeed control assembly, guiding and positioning the braided wires. After exiting from the upstream supply section of the infeed module 310, the braided wires pass through the conductor member 3111 and are guided along a predetermined path to the area where the wire clamping assembly 3112 is located, for clamping by the wire pull assembly 350. The conductor member 3111 may include guide structures such as conductor holes or conductor posts to separate and position multiple braided wires, ensuring that the multiple braided wires maintain a predetermined spacing and arrangement when exiting the conductor member 3111.

[0115] The wire clamping assembly 3112 is located on the wire exit side of the conductor member 3111 and is used to clamp the braided wire passing through the conductor member 3111 when needed, so that the braided wire is fixed at the wire inlet control assembly and prevents the braided wire from loosening or retracting when not pulled.

[0116] The wire clamping assembly 3112 includes a wire clamping drive 31121 and two clamping plates 31122 disposed at the output end of the wire clamping drive 31121. The wire clamping drive 31121 may be a clamping cylinder. The two clamping plates 31122 are arranged opposite each other, located on the upper and lower sides of the braided wire, respectively. The two clamping plates 31122 are configured to move closer together under the drive of the wire clamping drive 31121 to clamp the braided wire passing through the conductor member 3111. Specifically, when the wire clamping drive 31121 drives the two clamping plates 31122 to move closer together, the two clamping plates 31122 close from both sides of the braided wire towards the middle, clamping and fixing the braided wire passing through the conductor member 3111 between the two clamping plates 31122, so that the braided wire is reliably fixed at the wire inlet control assembly and will not retract or loosen due to its own tension or external force. When the wire pressing drive 31121 drives the two clamping plates 31122 to move away from each other, the two clamping plates 31122 loosen the braided wire, and the braided wire returns to a state where it can move freely, so that the wire pulling assembly 350 can clamp and pull it.

[0117] The second push-pull cylinder 3113 is located above the wire pressing assembly 3112. The output shaft of the second push-pull cylinder 3113 is arranged downwards, and the output shaft is connected to the tangential resistance wire 3114. The second push-pull cylinder 3113 is configured to drive the tangential resistance wire 3114 downwards to the side of the wire pressing assembly 3112 away from the conductor member 3111, so as to energize and heat up to melt and break the braided wire.

[0118] Specifically, the second push-pull cylinder 3113 is fixedly mounted on the bracket of the wire inlet control assembly, located above the wire pressing assembly 3112. The tangential resistance wire 3114 is connected to the lower end of the output shaft of the second push-pull cylinder 3113. In the initial state, the output shaft of the second push-pull cylinder 3113 is in the retracted position, and the tangential resistance wire 3114 is located above the wire pressing assembly 3112, not in contact with the braided wire.

[0119] When the braided wire needs to be cut, the wire clamping assembly 3112 first drives the two clamping plates 31122 to move closer together via the wire clamping drive 31121, clamping and fixing the braided wire to prevent it from retracting or shifting during the cutting process. Then, the second push-pull cylinder 3113 drives its output shaft to extend downwards, causing the cutting resistance wire 3114 to move downwards. The cutting resistance wire 3114 descends through the side of the wire clamping assembly 3112 away from the conductor member 3111, that is, it descends to the area between the wire clamping assembly 3112 and the pull assembly 350, reaching the height of the braided wire. At this point, the cutting resistance wire 3114 is energized and heats up, cutting the braided wire by thermal melting. The cutting position is located on the side of the wire clamping assembly 3112 away from the conductor member 3111, that is, the portion of the braided wire that passes through the conductor member 3111 and the wire clamping assembly 3112 is cut. Since the wire clamping assembly 3112 has clamped and fixed the braided wire on one side of the conductor member 3111, after cutting, the end of the braided wire on one side of the conductor member 3111 is reliably fixed by the wire clamping assembly 3112 and will not retract into the conductor member 3111, making it convenient for the wire pulling assembly 350 to directly clamp the end of the braided wire during the next braiding.

[0120] After the cutting is completed, the cutting resistance wire 3114 is de-energized and stops heating. The second push-pull cylinder 3113 drives the output shaft to retract upward and return to its original position, driving the cutting resistance wire 3114 back to its initial position above the wire pressing assembly 3112, waiting for the next cutting command.

[0121] The working process of the infeed control assembly and the pull assembly 350 during the weaving process is as follows: After the braided wire is output from the upstream supply section of the infeed module 310, it passes through the conductor member 3111, and the end of the braided wire that passes through the conductor member 3111 extends to the side of the pressing assembly 3112 away from the conductor member 3111. The third linear drive assembly 334 drives one end of the pull assembly 350 to move towards the end of the infeed control assembly. After the pull assembly 350 approaches the infeed control assembly, it clamps the end of the braided wire. At this time, the pressing assembly 3112 releases the braided wire, and the third linear drive assembly 334 drives one end of the pull assembly 350 to return in the opposite direction. The pull assembly 350 pulls the braided wire across the surface of the base fabric to complete the weaving. After the braided thread is fixed to the surface of the base fabric, the pressing assembly 3112 clamps the braided thread again. The second push-pull cylinder 3113 drives the cutting resistance wire 3114 to move downward and heats up, cutting the braided thread from the side of the pressing assembly 3112 away from the conductor member 3111, completing one cycle of braided thread laying and cutting. This process is repeated to achieve segmented laying of the braided thread.

[0122] In one embodiment, the wire feeding module 310 further includes a bobbin 312, a tensioner 313, a conductor mechanism 314, and a buffer mechanism; the tensioner 313 is located on the braided wire output side of the bobbin 312; the conductor mechanism 314 is located downstream of the tensioner 313 and includes a plurality of guide rollers 3141 arranged sequentially along the output path of the braided wire; the buffer mechanism includes a gravity traction unit 3151, which is movably located between two adjacent guide rollers 3141 and configured to pull the braided wire downward by gravity to form a buffer segment between the two guide rollers 3141 for releasing or storing excess braided wire.

[0123] In this embodiment, the wire feeding module 310 further includes a spool 312, a tensioner 313, a wire guide mechanism 314, and a buffer mechanism. The spool 312 is used to hold the braided yarn spool, providing a source of raw materials for the braided yarn to the braiding device 300. The number of spools 312 can be set according to the number of braided yarns to be supplied simultaneously, for example, multiple spool 312 mounting positions can be provided to supply multiple braided yarns at the same time.

[0124] Tensioner 313 is located on the braided wire output side of spool 312. After the braided wire is drawn out from spool 312, it first passes through tensioner 313. Tensioner 313 applies adjustable resistance to the braided wire, so that the braided wire always maintains a certain basic tension, preventing the braided wire from tangling or knotting due to slack during the output process.

[0125] The wire guiding mechanism 314 is located downstream of the tensioner 313. The braided yarn enters the wire guiding mechanism 314 after passing through the tensioner 313. The wire guiding mechanism 314 includes multiple guide rollers 3141 arranged sequentially along the output path of the braided yarn. Each guide roller 3141 may be a ceramic guide roller 3141 to reduce wear on the surface of the braided yarn. The multiple guide rollers 3141 are arranged sequentially along the output path of the braided yarn. The braided yarn passes around each guide roller 3141 in sequence and is conveyed to the braiding execution end of the braiding device 300 along the predetermined output path under the guidance of each guide roller 3141.

[0126] The buffer mechanism provides extra allowance for the braided yarn during the braiding process, preventing the yarn from automatically tightening due to excessive momentary loosening. The buffer mechanism includes a gravity traction unit 3151. The gravity traction unit 3151 is movably positioned between two adjacent guide rollers 3141. Specifically, among the multiple guide rollers 3141 of the wire guide mechanism 314, two adjacent guide rollers 3141 are selected. The braided yarn is drawn from one guide roller 3141, passes through the gravity traction unit 3151, and is then introduced into the other guide roller 3141. The gravity traction unit 3151 is located between the two guide rollers 3141 and is free to move vertically; that is, the gravity traction unit 3151 can move downwards vertically under its own weight and can also be lifted upwards when the braided yarn is pulled.

[0127] The gravity traction unit 3151 is configured to pull the braided yarn downwards by gravity, forming a buffer segment between two adjacent guide rollers 3141 for releasing or storing excess braided yarn. Specifically, the braided yarn is drawn from the upstream guide roller 3141, winds downwards around the gravity traction unit 3151, and then upwards into the downstream guide roller 3141, thereby forming a downward buffer segment between the two guide rollers 3141. The gravity traction unit 3151 is suspended at the lowest point of this buffer segment and continuously applies a downward traction force to the buffer segment by its own weight. In this embodiment, the guide rollers 3141 are referred to as the guide roller assembly.

[0128] The working process of the gravity traction unit 3151 is as follows: When the pull assembly 350 clamps the braided wire and pulls it a long distance, the braided wire is quickly pulled out. At this time, the gravity traction unit 3151 is lifted upward under the drive of the braided wire, and the excess braided wire stored in the buffer section is released and supplied to the pull assembly 350, thereby buffering the instantaneous tension on the braided wire and preventing the braided wire from breaking due to poor wire supply on the wire spool 312 side. When the pull assembly 350 retracts after completing one pull action and moves closer to the wire inlet module 310 side again to prepare for the next clamping, the braided wire to be clamped may become loose during the aforementioned pull process. At this time, the gravity traction unit 3151 moves downward in the vertical direction under its own gravity, pulling the loose braided wire downward, thereby collecting and storing the loose excess braided wire in the buffer section, so that the braided wire is restored to a taut state. Thus, the gravity traction unit 3151 automatically achieves tensioning and buffering of the braided thread by its own gravity, without the need for additional drive mechanisms or sensors for control.

[0129] Through the coordinated operation of tensioner 313 and buffer mechanism, tensioner 313 provides constant basic tension at the output source of braided yarn, while the gravity traction part 3151 of buffer mechanism provides transient margin compensation and slack recovery in the conveying path of braided yarn. The two work together to ensure that during the entire braiding process, including the long-stroke pulling of the pulling assembly 350, retraction, re-extension of the clamping wire, and rotation of the multi-axis drive mechanism, the multiple braided yarns always maintain uniform tension and do not loosen or knot.

[0130] In one specific embodiment, the buffer mechanism further includes a vertically arranged frame 3152, which extends vertically. A plurality of lifting rings 3153 are fixedly installed on the upper part of the frame 3152. These lifting rings 3153 are spaced apart horizontally, and their installation positions on the frame 3152 remain fixed, meaning that the vertical height of each lifting ring 3153 remains constant.

[0131] The gravity traction unit 3151 includes multiple traction ropes 3154 and multiple rollers 3155 arranged side by side. Each roller 3155 corresponds to a lifting ring 3153, and each roller 3155 is connected to a corresponding lifting ring 3153 via a corresponding traction rope 3154. Specifically, the upper end of each traction rope 3154 is attached to the corresponding lifting ring 3153 on the upper part of the frame 3152, and the lower end of each traction rope 3154 is connected to the corresponding roller 3155, so that each roller 3155 is suspended below the corresponding lifting ring 3153. Each roller 3155 hangs naturally under its own weight and can freely rise and fall in the vertical direction under the constraint of the traction rope 3154.

[0132] Each roller 3155 is arranged side-by-side horizontally, with its axis extending horizontally. Each roller 3155 can rotate freely around its own axis. Each roller 3155 corresponds one-to-one with multiple braided threads, meaning each roller 3155 guides one braided thread. After being output from the upstream conductor mechanism 314, the braided threads are guided to the buffer mechanism, where each braided thread winds around its corresponding roller 3155. Specifically, the braided thread is introduced from above, winds downwards around its corresponding roller 3155, and then leads upwards again, forming a buffer segment at the roller 3155. Each roller 3155 continuously applies a downward traction force to its corresponding braided thread under its own weight, keeping the braided thread taut within the buffer segment area.

[0133] In one embodiment, the fabric laying module includes a fabric pulling gripper 211, a fabric pulling drive 212, and a pressure plate mechanism; the fabric feeding device 200 also includes a fabric cutting module; the fabric pulling gripper 211 is connected to the output end of the fabric pulling drive 212, and the fabric pulling drive 212 is used to drive the fabric pulling gripper 211 to translate, so as to pull the base fabric above the template 120 located at the fabric feeding station; the pressure plate mechanism includes a pressure plate drive 2131 and a pressure plate drive mechanism connected to the pressure plate drive 2131. The pressure plate 2132 at the output end of component 2131 is driven by the pressure plate drive 2131 to move downward so that the positioning pin 121 at the edge of the template 120 punctures and fixes the base fabric; the fabric cutting module is located on the feeding side of the base fabric, and the fabric cutting module includes a fabric cutting drive 231 and a fabric cutting resistance wire 232. The fabric cutting drive 231 is used to drive the fabric cutting resistance wire 232 to move to a preset position and then cut the fixed base fabric.

[0134] In this embodiment, the fabric laying module includes a fabric pulling gripper 211, a fabric pulling drive component 212, and a pressure plate mechanism. The fabric feeding device 200 also includes a fabric cutting module.

[0135] The fabric gripper 211 is used to grip the end of the base fabric and, driven by the fabric puller 212, pulls the base fabric above the template 120. The fabric gripper 211 has an opening and closing action; in the open state, it can be aligned with the end of the base fabric, and in the closed state, it can clamp and fix the end of the base fabric.

[0136] The fabric pulling drive 212 drives the fabric pulling gripper 211 to move horizontally. The fabric pulling gripper 211 is connected to the output end of the fabric pulling drive 212, which can be a linear motor module. The driving direction of the fabric pulling drive 212 extends horizontally, enabling the fabric pulling gripper 211 to perform horizontal reciprocating motion between the feeding position of the base fabric and the top of the template 120.

[0137] The working process of the fabric-pulling gripper 211 and the fabric-pulling drive 212 is as follows: The base fabric material is placed on the feeding side of the upper fabric station S1 in the form of a roll. After the template 120 is driven to the upper fabric station S1 and positioned by the conveying drive mechanism 110, the fabric-pulling gripper 211 closes and clamps the end of the base fabric on the feeding side. The fabric-pulling drive 212 drives the fabric-pulling gripper 211 to move horizontally towards the template 120. The fabric-pulling gripper 211 pulls the base fabric out from the roll and lays the base fabric horizontally above the template 120 located at the upper fabric station S1. After the base fabric is laid in place, it covers the central weaving area and the edge area of ​​the template 120. At this time, the fabric-pulling gripper 211 releases the base fabric.

[0138] The pressure plate mechanism is used to press the bottom fabric spread above the template 120 downwards, so that the positioning pins 121 at the edge of the template 120 pierce and fix the bottom fabric.

[0139] The pressure plate mechanism includes a pressure plate drive component 2131 and a pressure plate 2132 connected to the output end of the pressure plate drive component 2131. The pressure plate drive component 2131 can be a cylinder, with its output end facing downwards. The pressure plate 2132 is connected below the output end of the pressure plate drive component 2131, and is horizontally positioned so that its area matches the distribution area of ​​the positioning pins 121 at the edge of the template 120.

[0140] The pressure plate drive component 2131 drives the pressure plate 2132 to move downwards. After the base fabric is spread above the template 120 by the fabric clamp 211, the pressure plate drive component 2131 drives the pressure plate 2132 to move downwards vertically. The pressure plate 2132 presses the entire base fabric, which is suspended above the template 120, downwards, so that the base fabric adheres to the upper surface of the template 120. At the same time, the positioning pins 121, which are vertically positioned upwards at the edge of the template 120, pierce the base fabric from below, fixing the base fabric to the template 120. After the positioning pins 121 pass through the base fabric, the base fabric is limited by the pin body of the positioning pins 121 and will not move horizontally. After the pressure plate 2132 is pressed down to the position, the pressure plate drive component 2131 drives the pressure plate 2132 to retract upwards and reset, completing the pressing and fixing action of the base fabric.

[0141] The fabric cutting module is located on the feeding side of the base fabric, that is, on the side where the base fabric is drawn out from the roll. The fabric cutting module is used to cut the base fabric from the roll side after the base fabric is fixed on the template 120 by the positioning pin 121, so that a piece of cut base fabric remains on the template 120 and is separated from the base fabric roll on the roll side.

[0142] The fabric cutting module includes a fabric cutting drive 231 and a fabric cutting resistance wire 232. The fabric cutting drive 231 can be a cylinder, used to drive the fabric cutting resistance wire 232 to move to a preset position. The fabric cutting resistance wire 232 is connected to the output terminal of the fabric cutting drive 231. When energized, the fabric cutting resistance wire 232 heats up and can cut the base fabric by thermal melting.

[0143] The working process of the fabric cutting module is as follows: After the base fabric is pressed by the pressure plate mechanism and pierced and fixed onto the template 120 by the positioning needle 121, the fabric cutting drive 231 drives the fabric cutting resistance wire 232 to move to the preset cutting position on the feed side of the base fabric, that is, the area outside the edge of the template 120 after the base fabric is drawn out from the roll. After the fabric cutting resistance wire 232 reaches the preset position, it is energized and heats up, cutting the base fabric by thermal melting. After cutting, the base fabric fixed on the template 120 is separated from the base fabric roll on the roll side, leaving a complete piece of base fabric on the template 120 for subsequent weaving. After the fabric cutting resistance wire 232 completes the cutting, the power is turned off and the heating stops. The fabric cutting drive 231 drives the fabric cutting resistance wire 232 to retract and reset, waiting for the next fabric cutting command.

[0144] The complete working process of the fabric feeding device 200 at the fabric feeding station S1 is as follows: The conveying drive mechanism 110 drives an empty template 120 to the fabric feeding station S1 and positions it. The fabric pulling gripper 211 grips the end of the bottom fabric on the feeding side, and the fabric pulling drive component 212 drives the fabric pulling gripper 211 to move horizontally, pulling and spreading the bottom fabric above the template 120. The pressure plate drive component 2131 drives the pressure plate 2132 to move downward, pressing the bottom fabric onto the template 120, causing the positioning needle 121 to pierce and fix the bottom fabric. After the pressure plate 2132 retracts and resets, the fabric cutting drive component 231 drives the fabric cutting resistance wire 232 to move to the preset position, and the fabric cutting resistance wire 232 is energized and heated to cut the bottom fabric from the feeding side. After cutting, the first adhesive spraying module sprays adhesive on the surface of the bottom fabric located around the positioning needle 121 to further reinforce the bottom fabric. At this point, all processes at the upper fabric station S1 are completed, the bottom fabric is firmly fixed to the template 120, and the conveying drive mechanism 110 drives the template 120 to the next station.

[0145] In one embodiment, the first adhesive spraying module includes an X-axis drive assembly 221, a Y-axis drive assembly 222, a Z-axis drive assembly 223, and an adhesive spraying head 224. The Y-axis drive assembly 222 is located at the output end of the X-axis drive assembly 221, the Z-axis drive assembly 223 is located at the output end of the Y-axis drive assembly 222, and the adhesive spraying head 224 is located at the output end of the Z-axis drive assembly 223. The X-axis drive assembly 221, the Y-axis drive assembly 222, and the Z-axis drive assembly 223 are used to collaboratively drive the adhesive spraying head 224 to move along a preset adhesive spraying path to spray adhesive onto the surface of the base fabric located around the positioning pin 121.

[0146] In this embodiment, the first adhesive spraying module includes an X-axis drive assembly 221, a Y-axis drive assembly 222, a Z-axis drive assembly 223, and an adhesive spraying head 224.

[0147] The X-axis drive assembly 221 is fixedly mounted on the frame corresponding to the upper fabrication station S1, and its driving direction extends along the X-axis. The Y-axis drive assembly 222 is located at the output end of the X-axis drive assembly 221, meaning the Y-axis drive assembly 222 is entirely mounted on the motion output end of the X-axis drive assembly 221, and is driven by the X-axis drive assembly 221 to translate along the X-axis. The driving direction of the Y-axis drive assembly 222 extends along the Y-axis, and the Y-axis and X-axis are perpendicular to each other in the horizontal plane. Both the X-axis drive assembly 221 and the Y-axis drive assembly 222 can be synchronous belt linear modules.

[0148] The Z-axis drive assembly 223 is located at the output end of the Y-axis drive assembly 222, meaning that the Z-axis drive assembly 223 is entirely mounted on the motion output end of the Y-axis drive assembly 222 and is driven by the Y-axis drive assembly 222 to translate along the Y-axis direction. The driving direction of the Z-axis drive assembly 223 extends along the Z-axis direction, which is vertical and perpendicular to both the X-axis and Y-axis directions. The Z-axis drive assembly 223 can be a cylinder.

[0149] The adhesive spray head 224 is located at the output end of the Z-axis drive assembly 223, meaning it is mounted on the motion output end of the Z-axis drive assembly 223 and is driven by the Z-axis drive assembly 223 to move up and down along the Z-axis. The spray nozzle of the adhesive spray head 224 is positioned downwards, facing the surface of the base fabric on the template 120 located at the upper fabric station S1. The adhesive spray head 224 can be a spiral spray gun, used to spray adhesive onto the surface of the base fabric.

[0150] The X-axis drive assembly 221, Y-axis drive assembly 222, and Z-axis drive assembly 223 constitute a three-axis orthogonal series drive structure. The X-axis drive assembly 221, Y-axis drive assembly 222, and Z-axis drive assembly 223 are used to collaboratively drive the glue spray head 224 to move along a preset glue spraying path to spray adhesive on the surface of the base fabric located around the positioning pin 121.

[0151] Specifically, the coordinated motion relationship of the three drive components is as follows: When the X-axis drive component 221 drives its output end to move along the X-axis direction, it causes the Y-axis drive component 222, the Z-axis drive component 223, and the glue spray head 224 to translate along the X-axis direction as a whole; when the Y-axis drive component 222 drives its output end to move along the Y-axis direction, it causes the Z-axis drive component 223 and the glue spray head 224 to translate along the Y-axis direction as a whole; when the Z-axis drive component 223 drives its output end to move along the Z-axis direction, it causes the glue spray head 224 to rise and fall along the Z-axis direction. Through the coordinated linkage of the three drive components, the glue spray head 224 can move along any preset glue spraying path in three-dimensional space.

[0152] The working process of the first adhesive spraying module is as follows: After the base fabric is laid onto the template 120 by the fabric laying module and pierced and fixed by the positioning pin 121, and the fabric cutting module cuts the base fabric, the X-axis drive assembly 221, Y-axis drive assembly 222, and Z-axis drive assembly 223 work together to drive the adhesive spraying head 224 to move to the starting position above the area surrounding the positioning pin 121. The Z-axis drive assembly 223 drives the adhesive spraying head 224 to descend along the Z-axis to a preset spraying height, so that the spraying nozzle of the adhesive spraying head 224 maintains an appropriate spraying distance from the surface of the base fabric. Subsequently, the X-axis drive assembly 221 and Y-axis drive assembly 222 work together to drive the adhesive spraying head 224 to move in the horizontal plane along the preset adhesive spraying path. During the movement, the adhesive spraying head 224 continuously sprays adhesive onto the surface of the base fabric, spraying a ring of adhesive along the area surrounding the positioning pin 121. The preset adhesive spraying path is set along the outer contour of the positioning pins 121 at the edge of the template 120, so that the adhesive is sprayed onto the outer area of ​​the base fabric where the positioning pins 121 are pierced and fixed, thereby adhering the edge area of ​​the base fabric to the template 120. During the spraying process, the Z-axis drive assembly 223 can adjust the height of the spray head 224 in real time according to the height change of the base fabric surface to maintain a constant spraying distance and ensure that the adhesive spraying thickness is uniform.

[0153] After the coating is completed, the X-axis drive assembly 221, the Y-axis drive assembly 222 and the Z-axis drive assembly 223 work together to drive the glue spray head 224 to retract to the initial position, and wait for the next template 120 to arrive at the upper fabric station S1 to perform the next glue spraying operation.

[0154] In one embodiment, the weaving station includes a first weaving station and a second weaving station arranged sequentially along the conveying direction of the template 120. Both the first weaving station and the second weaving station are equipped with the weaving device 300. After the second weaving station, a hot pressing station and a unloading station are arranged sequentially. The hot pressing station is equipped with a hot pressing device 400, and the unloading station is equipped with an unloading device 500. The conveying drive mechanism 110 is also used to drive the template 120 to pass through the hot pressing station and the unloading station sequentially.

[0155] In this embodiment, the weaving station includes a first weaving station S2a and a second weaving station S2b arranged sequentially along the conveying direction of the template 120. Both the first weaving station S2a and the second weaving station S2b are equipped with a weaving device 300, that is, the first weaving station S2a is equipped with a set of weaving devices 300, and the second weaving station S2b is also equipped with a set of weaving devices 300, and the two sets of weaving devices 300 have the same structure.

[0156] The weaving process of a complete weaving pattern is divided into two weaving stations for step-by-step completion. For example, the weaving device 300 at the first weaving station S2a completes the laying of a portion of the weaving threads in the preset weaving pattern. After the template 120 is transferred to the second weaving station S2b, the weaving device 300 at the second weaving station S2b continues to lay the remaining weaving threads in the preset weaving pattern, building upon the work already done at the first weaving station S2a. This distributes the total weaving time across the two stations, preventing a single weaving station from becoming a bottleneck in the production line due to excessive weaving time, thus improving the overall production efficiency of the machine. Furthermore, the weaving devices 300 at the two weaving stations can be flexibly configured with different weaving paths or different specifications of weaving threads according to product requirements, enabling multi-layered, multi-material composite weaving effects on the same base fabric.

[0157] Following the second weaving station S2b, there are a hot pressing station S3 and a blanking station S4. The hot pressing station S3 is equipped with a hot pressing device 400, and the blanking station S4 is equipped with a blanking device 500. The conveying drive mechanism 110 is also used to drive the template 120 to pass through the hot pressing station S3 and the blanking station S4 in sequence.

[0158] Thus, under the drive of the conveying drive mechanism 110, the template 120 passes sequentially through the upper fabric station S1, the first weaving station S2a, the second weaving station S2b, the hot pressing station S3, and the unloading station S4 along the conveying direction, and completes the corresponding processing steps at each station, forming a complete multi-station straight-line production line operation, realizing the continuous production of lace shoe uppers.

[0159] The hot pressing device 400 is located at the hot pressing station S3 and is used to perform hot pressing curing treatment on the base fabric with braided threads already laid in the braiding station, so that the braided threads are firmly fixed to the surface of the base fabric by adhesive.

[0160] The hot pressing device 400 includes a hot pressing drive 410 and a hot pressing head 420 connected to the output end of the hot pressing drive 410. The hot pressing drive 410 may be a cylinder, with its output end vertically downward, used to drive the hot pressing head 420 to move downward in the vertical direction to approach the bottom fabric surface on the template 120, or to retract upward in the vertical direction to move away from the bottom fabric surface.

[0161] The working process of the hot pressing device 400 is as follows: After the template 120 carrying the braided yarn is transferred from the second braiding station S2b to the hot pressing station S3 and positioned, the hot pressing drive 410 drives the hot pressing head 420 to move vertically downward to contact the surface of the braided yarn and the base fabric and continue to press down. After the hot pressing continues for a preset time, the adhesive cures and the braided yarn is firmly fixed to the surface of the base fabric. The hot pressing drive 410 drives the hot pressing head 420 to retract vertically upward to reset, and the template 120 is transferred to the next station under the drive of the conveying drive mechanism 110.

[0162] The unloading device 500 is located at the unloading station S4 and is used to remove the finished product from the template 120 after hot pressing and curing.

[0163] The unloading device 500 includes a pushing assembly 510. The pushing assembly 510 is configured to separate and eject the finished product, which has undergone thermosetting and curing, from the template 120. Specifically, after the template 120 flows to the unloading station S4 and is positioned, the pushing assembly 510 actuates, detaching the finished product from the positioning pins 121 of the template 120 and pushing it into the collection area. The empty template 120 after the finished product is detached continues to flow with the conveying drive mechanism 110, cycling back to the fabric loading station S1 to begin the next weaving cycle.

[0164] Specifically, when the template 120 is driven by the conveying drive mechanism 110 to the unloading station S4, the template 120 is in a flipped state, that is, the bearing surface of the template 120 is set downwards, so that the finished product fixed on the template 120 (i.e., the composite of the base fabric and the braided thread that has been woven and heat-pressed) is suspended below the template 120, with the finished product facing downwards.

[0165] The material pusher assembly 510 is located at the unloading station S4, above the template 120. The material pusher assembly 510 includes a material pusher drive 520 and a pusher plate 530 connected to the output end of the material pusher drive 520.

[0166] The pusher drive unit 520 is fixedly installed on the frame corresponding to the unloading station S4. The pusher drive unit 520 can be a cylinder with its output end facing vertically downward, used to drive the pusher plate 530 to move downward in the vertical direction.

[0167] The push plate 530 is connected below the output end of the pusher drive 520. The push plate 530 is set horizontally, and its outline is smaller than the outline of the central hollow area of ​​the template 120. This allows the push plate 530 to move downward from above the template 120 through the central hollow area of ​​the template 120 under the drive of the pusher drive 520, directly contacting and pressing the finished product suspended below the template 120.

[0168] The conveyor belt 540 is located below the template 120 at the unloading station S4. The conveying surface of the conveyor belt 540 is horizontal and directly below the finished product hanging downwards. The conveyor belt 540 is used to catch the finished product that falls from the template 120 and transport the finished product to the collection area in a preset direction.

[0169] Through the cooperation of the pusher assembly 510 and the conveyor belt 540, utilizing the hollow structure in the center of the template 120 and the downward-hanging posture of the finished product, the pusher plate 530 passes through the hollow area in the center of the template 120 and presses the finished product downwards, causing the edge of the finished product to detach from the positioning pin 121 and fall directly onto the conveyor belt 540 for immediate transport. This achieves automatic separation and output of the finished product from the template 120. The entire unloading process requires no manual intervention, avoiding the accumulation or jamming of finished products on the template 120, ensuring the rapid and smooth operation of the unloading station S4, and forming an efficient production line rhythm coordination with the fabric feeding station S1, the weaving station S2, and the hot pressing station S3.

[0170] In a specific embodiment where the weaving station includes a first weaving station S2a and a second weaving station S2b, and a hot pressing station S3 and a blanking station S4 are sequentially arranged after the second weaving station S2b, the working process of the multi-axis linkage weaving machine is as follows:

[0171] Step 1, Base Fabric Preloading (Cloth Loading Station S1): The conveyor drive mechanism 110 drives an empty template 120 to the cloth loading station S1 and positions it. The cloth laying module lays the base fabric onto the template 120, so that the base fabric is pierced and fixed by the positioning pins 121. The first adhesive spraying module sprays adhesive on the surface of the base fabric located around the positioning pins 121, achieving double fixation of the base fabric in conjunction with the positioning pins 121.

[0172] Step 2, First Weaving and Laying (First Weaving Station S2a): Template 120 is transferred to the first weaving station S2a and positioned. The weaving device 300 of the first weaving station S2a supplies weaving thread according to the first part of the weaving path in the preset weaving pattern. The thread feeding module 310 supplies weaving thread, the second adhesive spraying module 320 sprays adhesive onto the weaving thread, and the multi-axis drive mechanism drives the thread pulling assembly 350 and the thread gathering assembly 340 to move in coordination, laying the weaving thread on the surface of the base fabric and initially bonding it.

[0173] Step 3, Second Weaving and Fabrication (Second Weaving Station S2b): Template 120 is transferred to the second weaving station S2b and positioned. The weaving device 300 of the second weaving station S2b continues to lay and initially bond the remaining weaving threads according to the second part of the weaving path in the preset weaving pattern, based on the layout already completed in the first weaving station S2a.

[0174] Step 4, Hot Pressing and Curing (Hot Pressing Station S3): Template 120 is transferred to hot pressing station S3 and positioned. The hot pressing drive component 410 of the hot pressing device 400 drives the hot pressing head 420 downward to press down, using high temperature and pressure to press the braided threads into the adhesive layer, so that the braided threads are tightly and firmly bonded to the base fabric. After hot pressing is completed, the hot pressing head 420 retracts and resets.

[0175] Step 5, Finished Product Unloading (Unloading Station S4): Template 120 is transferred to unloading station S4 and positioned. The pushing component 510 of the unloading device 500 pushes the finished product off the template 120 and separates it. The finished product is conveyed to the collection area. The empty template 120 is circulated back to the fabric feeding station S1 by the conveying drive mechanism 110 to start the next weaving cycle.

[0176] With the above-mentioned multi-station direct-flow production line layout, each process is completed step by step at its own independent station. The templates 120 on adjacent stations can simultaneously perform their respective processing processes, realizing parallel operation of each station, greatly improving the overall production efficiency of the machine, and realizing continuous production of lace shoe uppers based on roll fabric.

[0177] In one embodiment, combined with Figures 1 to 14 This embodiment also provides a processing technology based on a multi-axis linkage continuous production device for woven shoe uppers (hereinafter also referred to as "weaving method"). This processing technology can be executed by the aforementioned multi-axis linkage weaving machine, which is used to lay out the weaving thread according to the preset weaving pattern and fix it on the surface of the base fabric to continuously produce finished woven shoe uppers.

[0178] Specifically, the weaving method includes the following steps S01 to S07:

[0179] Step S01: Drive the template 120 with positioning pins 121 at the edge to move to the upper fabric station S1.

[0180] This step is initiated by the conveyor drive mechanism 110 upon receiving the system's loading command. The conveyor drive mechanism 110 can be a sprocket chain conveyor or other linear conveyor, with several templates 120 pre-installed on its chain. Multiple positioning pins 121 are vertically arranged at equal intervals around the edge of each template 120 to pierce and secure the subsequently laid base fabric. The central weaving area of ​​the template 120 does not have positioning nails for hanging and winding threads to avoid spatial interference with the mechanical trajectory during subsequent weaving. The conveyor drive mechanism 110 drives the chain carrying an empty template 120 along a predetermined conveying path to the upper fabric placement station S1, and stops moving after the template 120 reaches its alignment position at the upper fabric placement station S1, thus positioning and stopping the template 120 at the upper fabric placement station S1, providing a stable bearing foundation for subsequent fabric laying, positioning, and adhesive spraying operations.

[0181] Step S02: At the upper fabric station S1, lay the bottom fabric onto the template 120, so that the positioning pin 121 pierces and fixes the bottom fabric, and spray adhesive onto the surface of the bottom fabric located around the positioning pin 121 to fix the bottom fabric to the template 120.

[0182] This step is performed by the fabric feeding device 200 at the fabric feeding station S1 after the template 120 is in place. It consists of two interconnected operation stages: fabric laying and outer adhesive spraying. In the fabric laying stage, the fabric laying module of the fabric feeding device 200 first clamps the end of the bottom fabric from the bottom fabric roll on one side of the template 120 and pulls the bottom fabric horizontally to the top of the template 120 at the fabric feeding station S1. The pressure plate mechanism then presses the bottom fabric downward, so that the bottom fabric is completely attached to the upper surface of the template 120. At the same time, the vertically upward positioning pins 121 at the edge of the template 120 pierce the bottom fabric from below, and initially fix the bottom fabric to the template 120 by physical piercing. After the bottom fabric is initially fixed by the positioning pins 121, the fabric cutting module in the fabric feeding device 200 further cuts the bottom fabric on the outer edge of the template 120 from the roll side by heat-melting the fabric cutting resistance wire, leaving a complete piece of bottom fabric on the template 120 for subsequent processing. In the outer adhesive spraying stage, the first adhesive spraying module of the fabric feeding device 200 drives the spraying head to move along the outer contour of the positioning pin 121 at the edge of the template 120, spraying adhesive around the positioning pin 121 on the upper surface of the base fabric, further adhering the edge area of ​​the base fabric around the positioning pin 121 to the upper surface of the template 120. The reason for applying an outer adhesive spraying in addition to the piercing of the positioning pin 121 is that the thread pulling assembly 350 will exert a continuous pulling force on the base fabric when dragging the weaving thread in the subsequent weaving process. The physical piercing of the positioning pin 121 alone is insufficient to ensure that the base fabric always remains flat and does not shift. The outer sprayed adhesive provides a larger area and a more evenly distributed adhesive force, which, together with the physical piercing of the positioning pin 121, forms a dual fixing method of "piercing + adhesion", so that the base fabric is firmly taut throughout the entire weaving cycle and does not loosen or shift due to the pulling of the weaving thread. The "periphery of the positioning pin 121" refers to the outer area of ​​the base fabric where the positioning pin 121 is pierced and fixed, rather than the area outside the outer edge of the template 120; the adhesive can be hot melt adhesive, solvent-based adhesive or reactive adhesive, etc., and this embodiment uses hot melt adhesive as an example.

[0183] Step S03: Drive the template 120 carrying the base fabric from the upper fabric station S1 to the weaving station S2.

[0184] This step is still performed by the conveying drive mechanism 110. After the double fixing of the base fabric is completed in step S02, the conveying drive mechanism 110 continues to drive the template 120 to move downstream to the weaving station S2 along the predetermined conveying path; when the template 120 reaches the corresponding alignment position of the weaving station S2, the conveying drive mechanism 110 stops moving again, so that the template 120 is positioned and stationary at the weaving station S2, providing a stable bearing foundation for subsequent weaving thread spraying, thread laying and thread gathering operations. It should be noted that the weaving station S2 can be set as one or more according to the rhythm of the entire production line - for example, it can be further divided into a first weaving station S2a and a second weaving station S2b along the conveying direction of the template 120, with the two weaving stations sharing the weaving time of a weaving pattern to balance the rhythm of the production line; regardless of the number of weaving stations S2, the conveying drive mechanism 110 can convey the template 120 to each weaving station in sequence in the aforementioned manner.

[0185] Step S04: At the braiding station S2, braided wire is output through the infeed module 310, and adhesive is sprayed onto the braided wire as it is output from the infeed module 310.

[0186] This step is initiated by the braiding device 300 at the braiding station S2 after the template 120 is positioned. Upstream of the infeed module 310 are several bobbins 312, each wound with braided thread for subsequent laying. After the braiding process begins, the braided thread is drawn out from the bobbins 312 under the traction of the pull assembly 350, passes sequentially through the tensioner 313 and the conductor mechanism 314, and then winds downwards between two adjacent guide rollers 3141 in the conductor mechanism 314, passing through the gravity traction part 3151 of the buffer mechanism, thus forming a downwardly suspended buffer segment between the two guide rollers 3141. The thread is then fed out from the outlet side of the infeed module 310. The outlet side of the infeed module 310 is also equipped with a pressing assembly 3112, which can clamp or release the braided thread passing through the conductor member 3111 to control the release and holding state of the braided thread at the infeed module 310. As the braided wire is fed out from the output side of the infeed module 310, the second adhesive spraying module 320, located on the output side of the infeed module 310, simultaneously sprays adhesive onto the output braided wire. The adhesive then adheres to the outer surface of the braided wire, forming a "coated" braided wire. This "output-on-adhesion" method, compared to the traditional approach of pre-applying adhesive to the entire surface of the base fabric, allows the adhesive to be precisely applied to the area where the braided wire and the base fabric will finally contact. This saves on adhesive consumption and avoids contamination of the central area of ​​the base fabric due to pre-applied adhesive. More importantly, since the braided wire is already coated with adhesive when it is fed out from the infeed module 310, it can be bonded to the base fabric by the adhesive on its own surface at any location on the base fabric surface. It no longer relies on any physical steel nails on the template 120 to fix the braided wire trajectory, thus laying the adhesive foundation for free path wiring in step S05 without the central steel nail.

[0187] Step S05: The braided thread with adhesive is clamped by the thread pulling assembly 350 located at one end of the multi-axis drive mechanism, and the thread pulling assembly 350 is driven by the multi-axis drive mechanism to move along the preset braiding path to lay the braided thread on the surface of the base fabric, so that the braided thread is bonded to the base fabric by the adhesive on its surface.

[0188] This step follows immediately after step S04, where the braided wire is output and adhesive is applied, and then unfolded. The multi-axis drive mechanism has wire-gathering assemblies 340 at both ends, and one end also has the aforementioned wire-pulling assembly 350. The wire-pulling assembly 350 includes a linear drive 351 and a gripper cylinder 352 connected to the output end of the linear drive 351. The output end of the gripper cylinder 352 is connected to a wire-clamping member 353 for clamping or releasing the braided wire. First, the multi-axis drive mechanism drives the end of the wire-pulling assembly 350 to approach the output side of the wire inlet module 310. The gripper cylinder 352 then drives the wire-clamping member 353 to close, clamping and fixing the end of the braided wire, which has adhesive on its surface, output from the output side of the wire inlet module 310. At this time, the wire-pressing assembly 3112 at the wire inlet module 310 releases its grip on the braided wire, and the braided wire is in a free state that can be pulled by the wire-pulling assembly 350. Subsequently, the multi-axis drive mechanism drives the thread-pulling assembly 350 to move along the preset weaving path according to the pre-stored weaving path in the control system. This causes the weaving thread held by the thread-clamping member 353 to be pulled from one side of the template 120 to the other side and across the base fabric surface. During the movement, the multi-axis drive mechanism can simultaneously perform a combination of multiple degrees of freedom, such as translation along the conveying direction of the template 120, translation along the width direction of the template 120, rotation around the vertical axis, and extension along the driving direction of the third linear drive assembly 334 itself. This allows the movement trajectory of the thread-pulling assembly 350 to freely adapt to any preset weaving path. When the weaving thread reaches the target end point of the preset weaving path, the thread-pulling assembly 350 stops moving. Since the outer surface of the weaving thread has been coated with adhesive in step S04, it is initially bonded to the base fabric through the adhesive after contact with the base fabric surface, so that the weaving thread is bonded and positioned on the base fabric according to the preset weaving path. The reason this invention adopts the "adhesive-coated thread pulling + initial bonding" method is that after eliminating the steel nail in the center of the traditional template, the weaving thread can no longer rely on the physical hanging of the nail to constrain its path. It must rely on the adhesive force between the adhesive and the base fabric to support the laying shape of the weaving thread—this is the fundamental difference between this step and the existing nailed template process. The preset weaving path can be directly generated and loaded by the pattern program in the control system. When it is necessary to change the pattern, only the path program in the control system needs to be modified, without the need to remake or replace the template 120. The flexible manufacturing capability of the weaving process is thus demonstrated.

[0189] Step S06: During the laying of the braided threads, the multi-axis drive mechanism drives the thread gathering components 340 located at their opposite ends to move along the preset braiding path. According to the preset braiding pattern, the thread gathering drive components corresponding to each thread gathering component 340 drive the corresponding first thread gathering member 341 and second thread gathering member 342 to move closer to each other or further away from each other, so as to gather or unfold the multiple braided threads.

[0190] This step overlaps with step S05 in time and coordinates with each other in execution. Each of the wire-gathering components 340 at opposite ends of the multi-axis drive mechanism includes a first wire-gathering member 341 and a second wire-gathering member 342 arranged opposite each other, and a wire-gathering drive component corresponding to that component 340. Each wire-gathering drive component independently drives its corresponding set of first wire-gathering members 341 and second wire-gathering members 342 to move closer or further apart, and the wire-gathering drive components at both ends are independently controlled. The ends of the first wire-gathering member 341 and the second wire-gathering member 342 are each provided with horizontally extending levers 344. When the wire-gathering members move towards each other, the levers 344 can contact and move the braided wire from both sides. When the multi-axis drive mechanism drives the wire-pulling component 350 to move along a preset braiding path, the wire-gathering components 340 at both ends move synchronously along the same preset braiding path as a whole, thereby enabling the wire-gathering components 340 at both ends to reach the corresponding wiring position with the multi-axis drive mechanism and to gather or unfold multiple braided wires. The control system determines the desired shape of the current wiring segment based on a preset braiding pattern and issues different control commands to the wire gathering drive components at both ends accordingly. When the preset braiding pattern requires the formation of a V-shape, fan-shaped, or other gathering pattern, the corresponding wire gathering drive component is driven, causing the first wire gathering member 341 and the second wire gathering member 342 below it to move towards each other along the axial direction. The levers 344 at the ends of the first wire gathering member 341 and the second wire gathering member 342 move from both sides of the multiple braided wires toward the center, bringing the originally parallel braided wires together and changing the state of the multiple braided wires from parallel unfolded to a state of gathering toward the center. Since the wire gathering drive components at both ends are independent of each other, the control system can either make both ends perform gathering simultaneously to form a symmetrical V-shaped gathering, or make one end perform gathering while the other end remains unfolded to form an asymmetrical single-end fan shape. When the preset weaving pattern requires the formation of a three-dimensional interwoven pattern, the rotary drive component 333 in the multi-axis drive mechanism can also drive the wire pulling component 350 and the wire gathering components 340 at both ends to rotate around the vertical axis by a preset angle, causing multiple weaving threads to cross on the upper surface of the template 120, thereby forming braided, grid-like, and other interwoven patterns. When the preset weaving pattern only requires parallel straight-line wiring, the wire gathering drive components at both ends are not driven, the first wire gathering component 341 and the second wire gathering component 342 remain in an open state away from each other, and the levers 344 on both sides are located outside the multiple weaving threads and do not contact the weaving threads, so the multiple weaving threads are laid on the surface of the base fabric in their original parallel arrangement. When a section of wiring is completed, if it is necessary to unfold the multiple weaving threads that have been gathered, the corresponding wire gathering drive component will move in the opposite direction, driving the first wire gathering component 341 and the second wire gathering component 342 to move in opposite directions along the axial direction, and the levers 344 will open to both sides to release the weaving threads. The multiple weaving threads will return to their parallel unfolded state under their own tension, so as to enter the next section of wiring.The reason for designing "thread gathering" and "thread pulling" as two independent motions is that relying solely on the overall motion of the multi-axis drive mechanism can only change the position of multiple braided threads on the template 120, making it difficult to simultaneously change the width and shape of multiple braided threads within the same wiring section. By assigning the motion of changing position to the multi-axis drive mechanism and the motion of changing width and shape to the thread gathering drive component, the two motions can be performed independently or in coordination, thereby achieving fully automatic weaving of various patterns such as V-shape, fan shape, braid shape, grid shape, and parallel straight lines through combination.

[0191] Step S07: Repeatedly perform the clamping, laying, and gathering or unfolding of the braided yarn until a preset braided pattern is formed on the surface of the base fabric.

[0192] This step is a cyclical process. After a section of braided thread is pulled to the target end point of the preset braiding path by the thread pulling assembly 350 and initially bonded to the base fabric with adhesive, the control system determines whether the section of braided thread has met all the requirements of the preset braiding pattern for the current braided section. If further heating and fixing of the section of braided thread is required, the heating assembly 360 located on the opposite side of the thread pulling drive assembly heat-presses the bonding area of ​​the braided thread. The heating part 362, under the flexible buffer of the elastic support member 363, presses the braided thread and the base fabric downwards, so that the adhesive is activated by heat and tightly bonded to the base fabric. When the braided thread needs to be separated from the next segment, the pressing assembly 3112 at the inlet module 310 first clamps the end of the braided thread passing through the conductor member 3111. The second push-pull cylinder 3113 then drives the cutting resistance wire 3114 to move downward to the side of the pressing assembly 3112 away from the conductor member 3111. The cutting resistance wire 3114 is energized and heats up to cut the braided thread by thermal melting. After cutting, the gripper cylinder 352 drives the clamping member 353 to release the dragged braided thread. The multi-axis drive mechanism then drives the pulling assembly 350 to approach the outlet side of the inlet module 310 to clamp the end of the next segment of braided thread, entering the next round of clamping, pulling, and gathering actions. Steps S04 to S06 are repeated until the control system determines that all the braided threads in the preset braided pattern have been laid on the surface of the base fabric. The preset weaving pattern can be formed by laying multiple segments of a continuous weaving line, or by laying multiple segments of weaving lines of different materials or specifications. When there are multiple weaving stations S2 (e.g., the first weaving station S2a and the second weaving station S2b arranged sequentially along the conveying direction), the cycle in this step can be further divided into steps performed by each weaving station S2. Each weaving station S2 undertakes a part of the weaving path in the preset weaving pattern, so as to shorten the operation time of a single weaving station S2 and balance the production rhythm of the entire production line.

[0193] The braided yarn and base fabric described in the embodiments of this invention can be made of polyester, nylon, spandex (polyurethane fiber), TPU (thermoplastic polyurethane elastomer), TPEE (thermoplastic polyester elastomer), etc. Specifically, the braided yarn can be monofilament, multifilament, or core-sheath structure yarn, and the cross-section of the braided yarn can be circular, elliptical, triangular, polygonal, etc. When specifically used, the braided yarn and base fabric can be made of the same or similar materials. The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this invention, and these modifications or substitutions should all be covered within the scope of protection of this invention. Therefore, the scope of protection of this invention should be determined by the scope of the claims.

Claims

1. A multi-axis linkage continuous production device for woven shoe uppers based on rolled material, characterized in that, include: A template conveying device includes a conveying drive mechanism and a template supported on the conveying drive mechanism. The template is provided with positioning pins for fixing the base fabric at its edge. The conveying drive mechanism is used to drive the template to pass sequentially through the fabric feeding station and the weaving station arranged in sequence. A fabric feeding device is provided at the fabric feeding station. The fabric feeding device includes a fabric laying module and a first adhesive spraying module. The first adhesive spraying module is configured to spray adhesive onto the surface of the base fabric located around the positioning pin when the fabric laying module lays the base fabric onto the template located at the fabric feeding station. A weaving device is provided at the weaving station. The weaving device includes a yarn inlet module, a second adhesive spraying module, and a multi-axis drive mechanism. The multi-axis drive mechanism has yarn gathering components at opposite ends and a yarn pulling component at one end. The multi-axis drive mechanism is configured to drive the yarn gathering components at both ends and the yarn pulling component at one end to move along a preset weaving path, so as to cooperate with the yarn inlet module to lay the weaving yarn on the surface of the base fabric located at the weaving station. Each yarn gathering component includes a first yarn gathering member and a second yarn gathering member arranged opposite to each other. The multi-axis drive mechanism also includes a yarn gathering drive component for driving the first and second yarn gathering members to move closer or further apart. The second adhesive spraying module is located on the yarn outlet side of the yarn inlet module and is configured to spray adhesive onto the weaving yarn output from the yarn inlet module.

2. The multi-axis linkage continuous production device for fabric roll weaving shoe uppers according to claim 1, characterized in that, The multi-axis drive mechanism includes a first linear drive assembly, a second linear drive assembly, a rotary drive assembly, and a third linear drive assembly; the second linear drive assembly is located at the output end of the first linear drive assembly, and the rotary drive assembly is connected between the output end of the second linear drive assembly and the third linear drive assembly; the wire gathering assembly and the wire pulling assembly are both located on the third linear drive assembly.

3. The multi-axis linkage continuous production device for woven shoe uppers based on roll fabric according to claim 2, characterized in that, A fixing plate is connected between the yarn gathering drive assembly and the third linear drive assembly. Each yarn gathering drive assembly has a heating assembly on one side facing each other. The heating assembly includes a first push-pull cylinder and a heating part located at the output end of the first push-pull cylinder. The output end of the first push-pull cylinder is vertically oriented towards the template located at the weaving station. An elastic support member is provided between the output end of the first push-pull cylinder and the heating part.

4. The multi-axis linkage continuous production device for fabric roll weaving shoe uppers according to claim 3, characterized in that, The wire gathering drive assembly includes a rotary drive and a rotary actuator connected to the rotary drive. The first wire gathering member and the second wire gathering member are respectively connected to the rotary actuator. The rotary drive is used to drive the rotary actuator to rotate, so as to cause the first wire gathering member and the second wire gathering member to move closer to each other or further away from each other. The ends of the first wire gathering member and the second wire gathering member are provided with levers, which are used to gather multiple braided wires towards the middle when they move closer to each other.

5. The multi-axis linkage continuous production device for woven shoe uppers based on roll fabric according to claim 2, characterized in that, The wire pulling assembly is located at one end of the third linear drive assembly. The wire feeding module includes a wire feeding control assembly located at the other end of the third linear drive assembly. The wire feeding control assembly includes a wire guide member, a wire pressing assembly, and a second push-pull cylinder. The wire pressing assembly includes a wire pressing drive member and two clamping plates located at the output end of the wire pressing drive member. The two clamping plates are configured to move closer together under the drive of the wire pressing drive member to clamp the braided wire passing through the wire guide member. The second push-pull cylinder is located above the wire pressing assembly. The output shaft of the second push-pull cylinder is downward and connected to a tangential resistance wire. The second push-pull cylinder is configured to drive the tangential resistance wire downward to the side of the wire pressing assembly away from the wire guide member, so as to energize and heat up to melt the braided wire.

6. The multi-axis linkage continuous production device for fabric roll weaving shoe uppers according to claim 1, characterized in that, The infeed module also includes a bobbin, a tensioner, a conductor mechanism, and a buffer mechanism; the tensioner is located on the braided wire output side of the bobbin; the conductor mechanism is located downstream of the tensioner and includes multiple guide rollers arranged sequentially along the output path of the braided wire; the buffer mechanism includes a gravity traction unit, which is movably located between two adjacent guide rollers and configured to pull the braided wire downward by gravity to form a buffer segment between the two guide rollers for releasing or storing excess braided wire.

7. The multi-axis linkage continuous production device for fabric roll weaving shoe uppers according to claim 1, characterized in that, The fabric laying module includes a fabric pulling gripper, a fabric pulling drive, and a pressure plate mechanism. The fabric feeding device also includes a fabric cutting module. The fabric pulling gripper is connected to the output end of the fabric pulling drive. The fabric pulling drive is used to drive the fabric pulling gripper to translate, so as to pull the base fabric above the template located at the fabric feeding station. The pressure plate mechanism includes a pressure plate drive and a pressure plate connected to the output end of the pressure plate drive. The pressure plate drive is used to drive the pressure plate to move downward, so that the positioning pin at the edge of the template pierces and fixes the base fabric. The fabric cutting module is located on the feeding side of the base fabric. The fabric cutting module includes a fabric cutting drive and a fabric cutting resistance wire. The fabric cutting drive is used to drive the fabric cutting resistance wire to move to a preset position and then cut the fixed base fabric.

8. The multi-axis linkage continuous production device for fabric roll weaving shoe uppers according to claim 7, characterized in that, The first glue spraying module includes an X-axis drive assembly, a Y-axis drive assembly, a Z-axis drive assembly, and a glue spraying head; the Y-axis drive assembly is located at the output end of the X-axis drive assembly, the Z-axis drive assembly is located at the output end of the Y-axis drive assembly, and the glue spraying head is located at the output end of the Z-axis drive assembly. The X-axis drive assembly, the Y-axis drive assembly, and the Z-axis drive assembly are used to collaboratively drive the spray head to move along a preset spray path to spray adhesive onto the surface of the base fabric located around the positioning pin.

9. The multi-axis linkage continuous production device for fabric roll weaving shoe uppers according to claim 1, characterized in that, The weaving station includes a first weaving station and a second weaving station arranged sequentially along the conveying direction of the template. Both the first weaving station and the second weaving station are equipped with the weaving device. After the second weaving station, a hot pressing station and a unloading station are arranged sequentially. The hot pressing station is equipped with a hot pressing device, and the unloading station is equipped with an unloading device. The conveying drive mechanism is also used to drive the template to pass through the hot pressing station and the unloading station sequentially.

10. A processing technology based on a multi-axis linkage continuous production device for roll fabric woven shoe uppers, characterized in that, Includes the following steps: The template with positioning pins at the drive edge moves to the upper fabric station; At the fabric feeding station, the base fabric is laid onto the template, the positioning pin pierces and fixes the base fabric, and adhesive is sprayed onto the surface of the base fabric located around the positioning pin to fix the base fabric to the template. Drive the template carrying the base fabric to move to the weaving station; At the braiding station, braided yarn is output through the infeed module, and adhesive is sprayed onto the braided yarn as it is output from the infeed module. The braided thread with the adhesive attached is clamped by a wire-pulling assembly located at one end of the multi-axis drive mechanism, and the wire-pulling assembly is driven by the multi-axis drive mechanism to move along a preset braiding path to lay the braided thread on the surface of the base fabric, so that the braided thread is bonded to the base fabric by the adhesive on its surface. During the laying of the braided threads, the multi-axis drive mechanism drives the thread gathering components located at their opposite ends to move along the preset braiding path, and drives the corresponding first thread gathering component and second thread gathering component to move closer to each other or further away from each other according to the preset braiding pattern through the thread gathering drive component corresponding to each thread gathering component, so as to gather or unfold the multiple braided threads. Repeatedly perform the clamping, laying, and gathering or unfolding operations of the braided thread until the preset braided pattern is formed on the surface of the base fabric.

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