Automatic hemming machine and hemming method thereof

Abstract

The present application relates to an automated hemming machine and hemming method thereof, comprising a workbench provided with multiple work areas, including a calibration area, a sewing area, and a discharge area. The workbench is provided with a loading device, a transfer device for transferring hemmed pieces in the loading device to the calibration area, a calibration device for adjusting the posture of the hemmed pieces in the calibration area, a multi-axis robotic arm for horizontally moving the hemmed pieces and driving them to rotate, a sewing machine for hemming the hemmed pieces in the sewing area and extracting thread ends, and a thread cutting device for cutting thread ends from the hemmed pieces in the sewing area. The sewing machine comprises a body provided on the workbench and a sewing head provided on the body. The multi-axis robotic arm rotates the hemmed pieces in the sewing area so that the sewing head moves relative to the edge of the hemmed pieces. The present application has the effect of improving processing efficiency and processing quality.

Description

Technical Field

[0001] The present application relates to the field of automation, and in particular to an automated hemming machine and an hemming method thereof. Background Art

[0002] At present, when producing pieces such as insoles, the pieces are often hemmed to cover the roughness or unevenness of the edges of the pieces. When using a sewing machine for hemming, it is necessary to use the sewing machine to sew dense stitches on the edges of the pieces.

[0003] In actual operation, workers are required to sew manually, and the steps include: taking the pieces from the basket, placing the pieces on the sewing machine, pushing the edge of the pieces under the sewing head of the sewing machine by visual inspection until a circle is completed → cutting the hemming thread of the pieces → placing the hemmed pieces into the collection basket.

[0004] It is often necessary to fold it in half and push it at the same time, which can easily cause confusion and make it difficult to ensure the quality of sewing. It also wastes a lot of time and makes production efficiency relatively low.

[0005] Regarding the above-mentioned related technologies, the inventor believes that this solution relies on manual labor, has low processing efficiency and is difficult to guarantee processing quality. Summary of the Invention

[0006] In order to improve processing efficiency and quality, the present application provides an automated hemming machine and a hemming method thereof.

[0007] In the first aspect, the present application provides an automated hemming machine, which adopts the following technical solution:

[0008] The machine is provided with a plurality of working areas, the working areas including a calibration area, a sewing area and a discharge area, the working area including a loading device for storing pieces to be edged, a transfer device for transferring the pieces to be edged in the loading device to the calibration area, a calibration device for adjusting the posture of the pieces to be edged in the calibration area, a multi-axis robotic arm for horizontally moving the pieces to be edged and driving the pieces to be edged to rotate, a sewing machine for edge-binding the pieces to be edged in the sewing area, and a thread cutting device for cutting the thread ends of the pieces to be edged in the sewing area, the multi-axis robotic arm is used to move the pieces to be edged in the calibration area to the sewing area; the sewing machine includes a body arranged on the workbench and a sewing head arranged on the body, the multi-axis robotic arm rotates the pieces to be edged in the sewing area so that the sewing head moves relative to the edge of the pieces to be edged; the multi-axis robotic arm is also used to move the edged pieces in the sewing area to the discharge area.

[0009] By adopting the above technical solution, the pieces to be edged are stacked on the loading device, and the loading device provides one piece to be edged to the transfer device each time to achieve continuous loading. The transfer device transfers the pieces to be edged in the loading device to the calibration area and puts them down. The calibration device adjusts the uncertain posture of the pieces to be edged in the calibration area to the standard posture, so that the multi-axis robotic arm is driven by the program and is fixed with the determined relative posture of the pieces to be edged. The multi-axis robotic arm moves the pieces to be edged to the sewing area, aligns the sewing head with the edge of the pieces to be edged and starts sewing. The multi-axis robotic arm drives the pieces to be edged to rotate so that the sewing head moves relative to the edge of the pieces to be edged until it moves a complete circle and the edge is completed. At this time, the multi-axis robotic arm controls the pieces to be edged to move away from the sewing head, leads out the thread ends, and the thread cutting device cuts the thread ends of the edged pieces. Finally, the multi-axis robotic arm moves the edged pieces in the sewing area to the discharge area, and then starts the next process. In summary, the device realizes the automated hemming process of the workpiece to be hemmed, which is beneficial to saving labor and maintaining the hemming quality of the product.

[0010] Preferably, the loading device includes a loading bracket located on the workbench, a plurality of limit rods installed on the loading bracket, a supporting member installed between the limit rods, and a loading drive mechanism for driving the supporting member to move up and down, each of the limit rods encloses a receiving cavity for accommodating stacked pieces to be edged, the cross-section of the receiving cavity in the horizontal direction is adapted to the outer contour of the pieces to be edged, and the supporting member extends into the receiving cavity.

[0011] By adopting this technical solution, the loading bracket supports the limiting rod, which can be adjusted on the loading bracket to form cavities of different shapes to accommodate pieces of different sizes to be edged. A holding member extends into the cavities, and the pieces to be edged are stacked on the holding member. The loading drive mechanism drives the holding member up and down so that the top layer of pieces to be edged contacts the transfer device, allowing the transfer device to grab a single piece to be edged and transfer it.

[0012] Preferably, the feeding drive mechanism includes a connecting member connected to the end of the supporting member away from the accommodating cavity, a screw rod passing through the connecting member, and a feeding motor whose output shaft is coaxially connected to the screw rod. The connecting member is slidingly connected to the frame in the axial direction of the screw rod, and the connecting member is fixed to the frame in the circumferential direction of the screw rod. The screw rod is arranged along the axial direction of the limiting rod and is threadedly connected to the connecting member.

[0013] By adopting the above technical solution, when the feeding motor drives the screw to rotate, since the connecting piece is fixed to the frame in the circumferential direction of the screw, the screw will push or pull the connecting piece, thereby causing the supporting piece to rise and fall in the accommodating cavity.

[0014] Preferably, the transfer device includes a transfer bracket arranged on the workbench, a rotating mechanism arranged on the transfer bracket, and a grabbing mechanism located at the rotating end of the rotating mechanism, the grabbing mechanism includes a vertical grabbing cylinder, and an adsorption part connected to the end of the piston rod of the vertical grabbing cylinder, and the piston rod of the vertical grabbing cylinder is arranged toward the workbench.

[0015] Preferably, the rotating mechanism includes a rotating cylinder arranged on the transfer bracket, and a rotary arm connected to the output shaft of the rotating cylinder, the arm length direction of the rotary arm is perpendicular to the output shaft axis of the rotating cylinder, the vertical grabbing cylinder is arranged at the end of the rotary arm away from the rotating cylinder, and the end of the rotary arm away from the rotating cylinder moves between the calibration area and the accommodating cavity.

[0016] By adopting this technical solution, the transfer bracket is equipped with a rotation mechanism. The rotary cylinder drives the rotary arm, which in turn drives the gripping mechanism to rotate around the rotation center. When the adsorption member adsorbs the topmost piece to be edged in the accommodating chamber, the position of the piece to be edged is unstable. The rotation mechanism drives the gripping mechanism to rotate from the accommodating chamber to the calibration area, then releases the piece to be edged, thereby adjusting its position.

[0017] Preferably, the surface of the workbench is smoothly arranged, and the multi-axis robotic arm is provided with an execution end for pressing the piece to be edged, and the contact surface of the execution end for pressing the piece to be edged is roughened.

[0018] By adopting the above-mentioned technical solution, when the executing end of the multi-axis robotic arm abuts and presses on the piece to be edged, the piece to be edged and the executing end are relatively fixed. Since the surface of the workbench is smooth, the multi-axis robotic arm can easily press the piece to be edged to slide on the surface of the workbench without causing relative displacement between the executing end and the piece to be edged.

[0019] Preferably, the calibration device includes a calibration pushing cylinder arranged on the workbench, and a calibration plate slidably connected to the workbench. A calibration groove for embedding the edging piece is provided on the side of the calibration plate away from the calibration pushing cylinder. The calibration pushing cylinder pushes or pulls the calibration plate to make the calibration groove enter or exit the calibration area.

[0020] By adopting the above technical solution, when the piece to be edged is placed in the calibration area by the gripping mechanism, the calibration push cylinder pushes the calibration plate to move toward the piece to be edged, and the side wall of the calibration groove collides with the edge of the piece to be edged until the piece to be edged is embedded in the calibration groove, that is, the edge of the piece to be edged is fitted with the groove wall of the calibration groove, and at this time the piece to be edged is adjusted to a standard posture.

[0021] Preferably, the workbench is provided with an avoidance groove in the sewing area, and the thread cutting device includes a thread cutting shear arranged in and along the avoidance groove, an opening and closing cylinder for driving the thread cutting shear to open and close, and a thread cutting pushing cylinder for driving the thread cutting shear to move in the avoidance groove, and the thread cutting pushing cylinder pushes or pulls the thread cutting shear to make the thread cutting shear enter or exit the sewing area.

[0022] By adopting the above technical solution, when the sewing machine completes hemming the workpiece to be hemmed and draws out the thread, the workpiece becomes hemmed. At this time, the thread passes the top of the avoidance groove, and the opening and closing cylinder drives the thread cutter to open. The thread push cylinder then pushes the thread cutter along the avoidance groove until the thread enters the shearing edge of the thread cutter. The opening and closing cylinder drives the thread cutter to close and cut the thread, thus completing the separation of the hemmed workpiece from the sewing machine.

[0023] Preferably, the adsorption component is a vacuum suction cup.

[0024] In a second aspect, the present application provides an automatic hemming machine hemming method, which adopts the following technical solution:

[0025] A hemming method for an automated hemming machine comprises the following steps:

[0026] Stack the pieces to be edged in the loading device;

[0027] The transfer device transfers the parts to be edged in the loading device to the calibration area of ​​the workbench;

[0028] The calibration device adjusts the posture of the workpiece to be edged in the calibration area to the standard posture;

[0029] The multi-axis robotic arm moves the pieces to be hemmed in the calibration area to the sewing area;

[0030] The sewing machine sews and hems the pieces to be hemmed in the sewing area until the hemming is completed and the thread ends are led out;

[0031] The thread cutting device cuts the thread ends of the hemmed pieces in the sewing area;

[0032] The multi-axis robot moves the hemmed parts from the sewing area to the outfeed area.

[0033] By adopting the above technical solution, the pieces to be edged are stacked on the loading device, and the loading device provides one piece to be edged to the transfer device each time to achieve continuous loading. The transfer device transfers the pieces to be edged in the loading device to the calibration area and puts them down. The calibration device adjusts the uncertain posture of the pieces to be edged in the calibration area to the standard posture, so that the multi-axis robotic arm is driven by the program and is fixed with the determined relative posture of the pieces to be edged. The multi-axis robotic arm moves the pieces to be edged to the sewing area, aligns the sewing head with the edge of the pieces to be edged and starts sewing. The multi-axis robotic arm drives the pieces to be edged to rotate so that the sewing head moves relative to the edge of the pieces to be edged until it moves a complete circle and the edge is completed. At this time, the multi-axis robotic arm controls the pieces to be edged to move away from the sewing head, leads out the thread ends, and the thread cutting device cuts the thread ends of the edged pieces. Finally, the multi-axis robotic arm moves the edged pieces in the sewing area to the discharge area, and then starts the next process. In summary, the device realizes the automated hemming process of the workpiece to be hemmed, which is beneficial to saving labor and maintaining the hemming quality of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is an overall schematic diagram of an automated hemming machine in the embodiment of the present application. Figure 1 .

[0035] Figure 2 This is an overall schematic diagram of an automated hemming machine in the embodiment of the present application. Figure 2 .

[0036] Figure 3 yes Figure 1 Enlarged view of point A in the middle.

[0037] Description of reference numerals:

[0038] 1. Frame; 11. Workbench; 111. Avoidance groove;

[0039] 2. Work area; 21. Calibration area; 22. Sewing area; 23. Discharging area;

[0040] 3. Feeding device; 31. Feeding bracket; 32. Limiting rod; 321. Accommodating cavity; 33. Supporting member; 34. Feeding drive mechanism; 341. Connecting member; 342. Screw; 343. Feeding motor;

[0041] 4. Transfer device; 41. Transfer bracket; 42. Rotation mechanism; 421. Rotation cylinder; 422. Rotary arm; 43. Grasping mechanism; 431. Vertical grabbing cylinder; 432. Adsorption element;

[0042] 5. Positioning device; 51. Positioning push cylinder; 52. Positioning plate; 521. Positioning slot;

[0043] 6. Multi-axis robotic arm; 61. Execution end;

[0044] 7. Sewing machine; 71. Machine body; 72. Sewing head;

[0045] 8. Thread cutting device; 81. Thread cutting shears; 82. Opening and closing cylinder; 83. Thread cutting push cylinder. DETAILED DESCRIPTION

[0046] The following is combined with Figure 1-3 , further details of this application are given.

[0047] The embodiment of the present application discloses an automatic hemming machine. Figure 1 and Figure 2 The automated hemming machine includes a frame 1 and a workbench 11 disposed on the frame 1. The workbench 11 is provided with a plurality of work areas 2. In this embodiment, there are three work areas 2, which are arranged in sequence, namely, a calibration area 21, a sewing area 22, and a discharge area 23. A loading device 3 for storing pieces to be hemmed, a transfer device 4 for transferring the pieces to be hemmed in the loading device 3 to the calibration area 21, a calibration device 5 for adjusting the posture of the pieces to be hemmed in the calibration area 21, a multi-axis robotic arm 6 for horizontally moving pieces to be hemmed or already hemmed between adjacent work areas 2 and driving the pieces to be hemmed or already hemmed to rotate, a sewing machine 7 for hemming the pieces to be hemmed in the sewing area 22 and leading out the thread ends, and a thread cutting device 8 for cutting the thread ends of the pieces to be hemmed in the sewing area 22.

[0048] Reference Figure 1 and Figure 2 The loading device 3 includes a loading bracket 31 located on the side of the workbench 11, a plurality of limiting rods 32 mounted on the loading bracket 31, a support member 33 mounted between the limiting rods 32, and a loading drive mechanism 34 for driving the support member 33 up and down. The loading bracket 31 is plate-shaped, with a plurality of threaded holes arranged in an array on its top surface. The limiting rods 32 are threadedly connected to the loading bracket 31 through the threaded holes. Depending on the type of workpiece to be edged, the position of the limiting rods 32 on the loading bracket 31 can be adjusted to match the contour of the workpiece to be edged. The limiting rods 32 enclose a receiving cavity 321 for accommodating the stacked workpieces to be edged. The horizontal cross-section of the receiving cavity 321 matches the outer contour of the workpiece to be edged. The support member 33 can be square rod-shaped or plate-shaped. In this embodiment, the support member 33 is square plate-shaped, with one end extending into the receiving cavity 321.

[0049] The feeding drive mechanism 34 includes a connecting member 341, a screw 342, and a feeding motor 343 whose output shaft is coaxially connected to the screw 342. The connecting member 341 is integrally connected to the end of the supporting member 33 away from the accommodating chamber 321. In this embodiment, the connecting member 341 and the supporting member 33 are both made of stainless steel. The screw 342 is arranged along the axial direction of the limiting rod 32, penetrates the connecting member 341 and is threadedly connected to the connecting member 341. The connecting member 341 is arranged as a whole in the shape of a square, with one side abutting the side of the frame 1 and slidingly connected to the frame 1 in the axial direction of the screw 342. Since the connecting block is a square, the connecting member 341 is fixed to the frame 1 in the circumferential direction of the screw 342. When the loading motor 343 drives the screw 342 to rotate, the screw 342 will push or pull the connecting piece 341, so that the supporting piece 33 rises and falls in the accommodating cavity 321, so that the top layer of the piece to be edged will conflict with the transfer device 4, so that the transfer device 4 can grab a single piece to be edged and transfer it.

[0050] The transfer device 4 includes a transfer bracket 41 disposed on the workbench 11 , a rotating mechanism 42 disposed on the transfer bracket 41 , and a gripping mechanism 43 located at a rotating end of the rotating mechanism 42 .

[0051] The rotating mechanism 42 includes a rotating cylinder 421 provided on the transfer bracket 41, and a rotary arm 422 connected to the output shaft of the rotating cylinder 421. The arm length direction of the rotary arm 422 is perpendicular to the output shaft axis of the rotating cylinder 421. The gripping mechanism 43 is provided at the end of the rotary arm 422 away from the rotating cylinder 421. The end of the rotary arm 422 away from the rotating cylinder 421 moves between the calibration area 21 and the accommodating chamber 321. The gripping mechanism 43 includes a vertical gripping cylinder 431 and an adsorption member 432 connected to the end of the piston rod of the vertical gripping cylinder 431. The vertical gripping cylinder 431 is fixed to the end of the rotary arm 422 away from the rotating cylinder 421. The piston rod of the vertical gripping cylinder 431 is arranged toward the workbench 11. In this embodiment, the adsorption member 432 is a vacuum suction cup. When the adsorption member 432 adsorbs the top layer of the edge-wrapped piece in the accommodating chamber 321, the posture of the edge-wrapped piece is uncertain. The rotating mechanism 42 drives the grasping mechanism 43 to rotate from the accommodating chamber 321 to the calibration area 21, and then releases the edge-wrapped piece to adjust its posture.

[0052] The multi-axis robotic arm 6 has multiple degrees of freedom and is provided with an actuator 61 for pressing the piece to be edged. The actuator 61 can be raised and lowered in a direction perpendicular to the top surface of the workbench 11, can move horizontally or vertically along the top surface of the workbench 11, and can rotate around the normal of the top surface of the workbench 11. During use, the multi-axis robotic arm 6 can move the piece to be edged in the calibration area 21 to the sewing area 22, and can also move the edged piece in the sewing area 22 to the discharge area 23. In this embodiment, the surface of the workbench 11 is smooth, and the contact surface of the actuator 61 for pressing the piece to be edged is rough. When the actuator 61 of the multi-axis robotic arm 6 abuts and presses on the piece to be edged, the piece to be edged and the actuator 61 are relatively fixed. Due to the smooth surface of the workbench 11, the multi-axis robotic arm 6 can easily press the piece to be edged to slide on the surface of the workbench 11 without causing relative displacement between the actuator 61 and the piece to be edged.

[0053] The positioning device 5 includes a positioning pushing cylinder 51 provided on the workbench 11, and a positioning plate 52 slidably connected to the workbench 11. A positioning groove 521 for the edge-wrapped piece to be embedded is provided on the side of the positioning plate 52 away from the positioning pushing cylinder 51. The positioning pushing cylinder 51 pushes or pulls the positioning plate 52 so that the positioning groove 521 enters or exits the positioning area 21. When the edge-wrapped piece is placed in the positioning area 21 by the grabbing mechanism 43, the positioning pushing cylinder 51 pushes the positioning plate 52 toward the edge-wrapped piece, and the side wall of the positioning groove 521 collides with the edge of the edge-wrapped piece until the edge-wrapped piece is embedded in the positioning groove 521, that is, the edge of the edge-wrapped piece fits against the groove wall of the positioning groove 521. At this time, the edge-wrapped piece is adjusted to a standard position.

[0054] Reference Figure 2 and Figure 3 The sewing machine 7 includes a body 71 mounted on a workbench 11 and a sewing head 72 mounted on the body 71. The multi-axis robotic arm 6 moves the piece to be hemmed to the sewing area 22. The sewing head 72 aligns with the edge of the piece to be hemmed and begins sewing. The multi-axis robotic arm 6 drives the piece to be hemmed to rotate, continuously adjusting the position of the piece to be hemmed so that the sewing head 72 moves relative to the edge of the piece to be hemmed until it completes a full circle, completing the hemming. At this point, the multi-axis robotic arm 6 controls the piece to be hemmed to move away from the sewing head 72, leading out the thread ends.

[0055] The workbench 11 is provided with an avoidance groove 111 in the sewing area 22. The thread cutting device 8 includes a thread cutting shear 81 arranged in and along the avoidance groove 111, an opening and closing cylinder 82 for driving the thread cutting shear 81 to open and close, and a thread pushing cylinder 83 for driving the thread cutting shear 81 to move in the avoidance groove 111. The thread pushing cylinder 83 pushes or pulls the thread cutting shear 81 to make the thread cutting shear 81 enter or exit the sewing area 22. When the sewing machine 7 completes the hemming of the hemming piece and leads out the thread end, the hemming piece becomes an hemmed piece. At this time, the thread end passes through the top of the avoidance groove 111, and the opening and closing cylinder 82 drives the thread cutting shear 81 to open. Then, the thread pushing cylinder 83 pushes the thread cutting shear 81 to move along the avoidance groove 111 until the thread end enters the scissors of the thread cutting shear 81. The opening and closing cylinder 82 drives the thread cutting shears 81 to close and cut the thread ends, thus completing the separation of the hemmed parts from the sewing machine 7.

[0056] Finally, the multi-axis robot arm 6 presses the pieces to be edged and moves them from the sewing area 22 to the discharge area 23, thus completing the unloading process and preparing to start the next cycle.

[0057] The present application also discloses a method for hemming an automatic hemming machine. The hemming method includes the following steps:

[0058] S1. Place the edge pieces to be wrapped on the loading device 3;

[0059] S2. The transfer device 4 transfers the edge pieces to be packed within the loading device 3 to the calibration area 21 of the workbench 11;

[0060] S3. The calibration device 5 adjusts the posture of the edge piece to be edged in the calibration area 21 to a standard posture;

[0061] S4. The multi-axis robot arm 6 moves the edge piece to be hemmed in the calibration area 21 to the sewing area 22;

[0062] S5. The sewing machine 7 sews the edge pieces to be hemmed in the sewing area 22 until the end of the hemming thread ends;

[0063] S6. The thread cutting device 8 cuts the thread of the edge piece in the sewing area 22;

[0064] S7. The multi-axis robot arm 6 moves the edge-wrapped parts in the sewing area 22 to the discharge area 23.

[0065] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. An automated hemming machine, characterized in that: The invention comprises a frame (1) and a workbench (11) arranged on the frame (1), wherein the workbench (11) is provided with a plurality of work areas (2), wherein the work areas (2) include a calibration area (21), a sewing area (22) and a discharge area (23), and the workbench (11) is provided with a loading device (3) for storing pieces to be edged, a transfer device (4) for transferring the pieces to be edged in the loading device (3) to the calibration area (21), a calibration device (5) for adjusting the posture of the pieces to be edged in the calibration area (21), a multi-axis robot arm (6) for horizontally moving the pieces to be edged and driving the pieces to be edged to rotate, and a transfer device (5) for transferring the pieces to be edged in the sewing area (22). A sewing machine (7) for hemming and leading out thread ends, and a thread cutting device (8) for cutting thread ends of pieces to be hemmed in a sewing area (22), wherein the multi-axis robotic arm (6) is used to move the pieces to be hemmed in a calibration area (21) to the sewing area (22); the sewing machine (7) comprises a body (71) arranged on a workbench (11) and a sewing head (72) arranged on the body (71); the multi-axis robotic arm (6) rotates the pieces to be hemmed in the sewing area (22) so that the sewing head (72) moves relative to the edge of the pieces to be hemmed; the multi-axis robotic arm (6) is also used to move the hemmed pieces in the sewing area (22) to the discharge area (23), The feeding device (3) comprises a feeding bracket (31) located on the workbench (11), a plurality of limiting rods (32) installed on the feeding bracket (31), a supporting member (33) installed between the limiting rods (32), and a feeding drive mechanism (34) for driving the supporting member (33) to move up and down, wherein the limiting rods (32) enclose a receiving cavity (321) for accommodating stacked pieces to be edged, the cross section of the receiving cavity (321) in the horizontal direction is adapted to the outer contour of the pieces to be edged, and the supporting member (33) extends into the receiving cavity (321); the feeding drive mechanism (34) comprises a connecting member (341) connected to one end of the supporting member (33) away from the receiving cavity (321), a screw (342) passing through the connecting member (341), and an output shaft coaxially connected to the screw (342). The feeding motor (343) is provided, the connecting member (341) is slidably connected to the frame (1) in the axial direction of the screw (342), the connecting member (341) is fixed to the frame (1) in the circumferential direction of the screw (342), the screw (342) is arranged along the axial direction of the limiting rod (32) and is threadedly connected to the connecting member (341); the transfer device (4) includes a transfer bracket (41) arranged on the workbench (11), a rotating mechanism (42) arranged on the transfer bracket (41), and a grabbing mechanism (43) located at the rotating end of the rotating mechanism (42), the grabbing mechanism (43) includes a vertical grabbing cylinder (431), and an adsorption member (432) connected to the end of the piston rod of the vertical grabbing cylinder (431), and the piston rod of the vertical grabbing cylinder (431) is arranged toward the workbench (11);The rotating mechanism (42) includes a rotating cylinder (421) arranged on the transfer bracket (41), and a rotary arm (422) connected to the output shaft of the rotating cylinder (421), the arm length direction of the rotary arm (422) is perpendicular to the output shaft axis of the rotating cylinder (421), the vertical grabbing cylinder (431) is arranged at one end of the rotary arm (422) away from the rotating cylinder (421), and the end of the rotary arm (422) away from the rotating cylinder (421) moves between the calibration area (21) and the accommodating chamber (321); the surface of the workbench (11) is smooth, and the multi-axis robot arm (6) is provided with a useful The execution end (61) is used to press the edge-wrapped piece, and the execution end (61) is used to press the rough contact surface of the edge-wrapped piece; the adsorption piece (432) is a vacuum suction cup; the calibration device (5) includes a calibration push cylinder (51) provided on the workbench (11), and a calibration plate (52) slidably connected to the workbench (11); a calibration groove (521) for the edge-wrapped piece to be embedded is provided on the calibration plate (52) on a side away from the calibration push cylinder (51); the calibration push cylinder (51) pushes or pulls the calibration plate (52) so that the calibration groove (521) enters or exits the calibration area (21); The hemming method of the automatic hemming machine comprises the following steps: Stacking the pieces to be edged in the loading device (3); The transfer device (4) transfers the pieces to be edged in the loading device (3) to the calibration area (21) of the workbench (11); The calibration device (5) adjusts the posture of the piece to be edged in the calibration area (21) to a standard posture; The multi-axis robot arm (6) moves the pieces to be hemmed in the calibration area (21) to the sewing area (22); The sewing machine (7) sews and hems the pieces to be hemmed in the sewing area (22) until the hemming is completed and the thread ends are drawn out; The thread cutting device (8) cuts the thread ends of the hemmed pieces in the sewing area (22); The multi-axis robot arm (6) moves the edged pieces in the sewing area (22) to the discharge area (23).

2. The automatic hemming machine according to claim 1, characterized in that: The workbench (11) is provided with an avoidance groove (111) in the sewing area (22), and the thread cutting device (8) comprises a thread cutting shear (81) arranged in and along the avoidance groove (111), an opening and closing cylinder (82) for driving the thread cutting shear (81) to open and close, and a thread cutting pushing cylinder (83) for driving the thread cutting shear (81) to move in the avoidance groove (111), wherein the thread cutting pushing cylinder (83) pushes or pulls the thread cutting shear (81) to enable the thread cutting shear (81) to enter or exit the sewing area (22).

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