Methods and equipment for joining cut pieces

Abstract

This invention discloses a method and device for joining cut pieces. The method for joining cut pieces includes: based on the correspondence between multiple first preset positions on the edge of a first cut piece and multiple second preset positions on the edge of a second cut piece, controlling a joining gripping mechanism to position the first cut piece at a deflation position above the second cut piece through the multiple first preset positions; the second cut piece is fixedly laid flat on a table, the gripping outer perimeter of the first cut piece is the same as the flat outer perimeter of the second cut piece, and the flat outer perimeter of the first cut piece is larger than the flat outer perimeter of the second cut piece; controlling the joining gripping mechanism to lift the first cut piece located at the deflation position to a lifting target position; controlling the joining gripping mechanism to lower the first cut piece located at the lifting target position to the table to join the first and second cut pieces. The above joining method can eliminate wrinkles in the sewing area during the joining process and improve the sewing effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of garment manufacturing, in particular to a piece combining method and a piece combining device. BACKGROUND

[0002] In garment manufacturing, two pieces are often combined and sewn together. The pieces are made of cloth, which is a flexible material. The flexible material is prone to deformation under the influence of gravity during the piece combining process. Direct piece combining may cause wrinkles in the edge sewing area, which affects the final sewing effect. SUMMARY

[0003] The piece combining method and the piece combining device provided by the embodiments of the present application can solve at least one of the above technical problems.

[0004] The piece combining method provided by an embodiment of the present application comprises the following steps.

[0005] According to the correspondence between the plurality of first preset positions of the first piece edge and the plurality of second preset positions of the second piece edge, the piece combining grabbing mechanism is controlled to position the first piece above the wrinkle-removing position of the second piece through the plurality of first preset positions. The second piece is fixed and laid flat on the table top. The grabbing outer circumferential dimension of the first piece is the same as the laid flat outer circumferential dimension of the second piece. The laid flat outer circumferential dimension of the first piece is greater than the laid flat outer circumferential dimension of the second piece.

[0006] The piece combining grabbing mechanism is controlled to lift the first piece located at the wrinkle-removing position to a lifting target position.

[0007] The piece combining grabbing mechanism is controlled to drop the first piece located at the lifting target position to the table top, so that the first piece and the second piece are combined.

[0008] In the piece combining method, after the first piece and the second piece are positioned, the first piece is lifted and then dropped. The inertia during the dropping causes the middle region of the first piece to arch. After the piece combining grabbing mechanism drops to the table top, the arched middle region finally drops. Wrinkles are generally formed in the finally dropped region. The sewing region is located in the edge region of the piece. Therefore, the wrinkles in the sewing region can be eliminated during the piece combining process, and the sewing effect is improved.

[0009] In some embodiments, according to the correspondence between the plurality of first preset positions of the first piece edge and the plurality of second preset positions of the second piece edge, the piece combining grabbing mechanism is controlled to position the first piece above the wrinkle-removing position of the second piece through the plurality of first preset positions, which comprises the following steps.

[0010] controlling the patch grabbing mechanism to grab the first patch through the plurality of first preset positions;

[0011] controlling the patch grabbing mechanism to adjust the grabbed periphery size of the first patch to be the same as the lying periphery size of the second patch according to the lying periphery size of the second patch;

[0012] controlling the patch grabbing mechanism to position the size-adjusted first patch to a tucking position above the second patch according to the correspondence between the plurality of second preset positions and the plurality of first preset positions;

[0013] the controlling the patch grabbing mechanism to lift the first patch at the tucking position to a lifting target position comprises:

[0014] lifting the first patch at the tucking position to the lifting target position at a preset lifting speed so that the middle region of the first patch is in an upwardly arched state when the first patch reaches the lifting target position.

[0015] In some embodiments, the second patch is laid on a table surface of a suction device, and the patching method of the patch comprises:

[0016] controlling the suction device to be turned on so that the suction device adsorbs and fixes the second patch on the table surface.

[0017] In some embodiments, the patching method of the patch comprises:

[0018] controlling the suction device to be turned off before the first patch is dropped.

[0019] In some embodiments, the controlling the patch grabbing mechanism to drop the first patch at the lifting target position to the table surface to patch the first patch and the second patch comprises:

[0020] controlling the patch grabbing mechanism to drop the first patch at the lifting target position to a dropping target position at a first preset speed, the dropping target position being above the second patch and being spaced apart from the second patch;

[0021] controlling the patch grabbing mechanism to drop the first patch at the dropping target position to the table surface to patch the first patch and the second patch at a second preset speed, the second preset speed being smaller than the first preset speed.

[0022] In some embodiments, the splicing grabbing mechanism comprises a plurality of grabbing members and a plurality of first blowing members, each of the grabbing members is configured to grab a corresponding one of the first preset positions, and each of the grabbing members is provided with one of the first blowing members, and the splicing method of the cutting piece comprises:

[0023] During the falling of the first cutting piece to the table, the plurality of first blowing members are controlled to blow air to the middle region of the first cutting piece;

[0024] After the falling of the first cutting piece to the table, the plurality of first blowing members are controlled to stop blowing air.

[0025] In some embodiments, the splicing grabbing mechanism comprises a plurality of grabbing members and a plurality of second blowing members, each of the grabbing members is configured to grab a corresponding one of the first preset positions, and each of the grabbing members is provided with one of the second blowing members, and the splicing method of the cutting piece comprises:

[0026] After the falling of the first cutting piece to the table, the plurality of second blowing members are controlled to blow air from the edge region to the middle region of the first cutting piece, and then the second blowing members are controlled to stop blowing air and the splicing grabbing mechanism is controlled to release the first cutting piece.

[0027] An embodiment of the splicing device of the cutting piece comprises a table, a splicing grabbing mechanism and a control assembly, the control assembly is electrically connected to the splicing grabbing mechanism, the splicing grabbing mechanism is configured to grab a first cutting piece, the table is configured to fix a second cutting piece in a flat manner, and a flat outer circumferential dimension of the first cutting piece is greater than a flat outer circumferential dimension of the second cutting piece;

[0028] The control assembly is configured to:

[0029] According to a corresponding relationship between a plurality of first preset positions of an edge of the first cutting piece and a plurality of second preset positions of an edge of the second cutting piece, the splicing grabbing mechanism is controlled to position the first cutting piece to a tuck position above the second cutting piece through the plurality of first preset positions, and a grabbing outer circumferential dimension of the first cutting piece is the same as the flat outer circumferential dimension of the second cutting piece;

[0030] The splicing grabbing mechanism is controlled to lift the first cutting piece located at the tuck position to a lifting target position;

[0031] The splicing grabbing mechanism is controlled to fall the first cutting piece located at the lifting target position to the table so as to splice the first cutting piece and the second cutting piece.

[0032] In some embodiments, the control assembly is configured to:

[0033] The piece-grabbing mechanism is controlled to drop the first piece located at the lifting target position to the dropping target position at a first preset speed. The dropping target position is located above the second piece and is separated from the second piece.

[0034] The piece-joining gripping mechanism is controlled to drop the first piece of fabric located at the target position onto the table at a second preset speed so that the first piece of fabric and the second piece of fabric are joined together, wherein the second preset speed is less than the first preset speed.

[0035] In some embodiments, the assembly gripping mechanism includes multiple gripping members and multiple first blowing members, each gripping member gripping a corresponding first preset position, and each gripping member being provided with a first blowing member; the control component is used for:

[0036] During the process of the first cut piece falling onto the table surface, the plurality of first air blowers are controlled to blow air towards the middle area of ​​the first cut piece;

[0037] After the first cut piece falls onto the table surface, control the plurality of first blower components to stop blowing air, and / or;

[0038] The assembly gripping mechanism includes multiple gripping components and multiple second blowing components. Each gripping component grips a corresponding first preset position, and each gripping component is provided with a second blowing component. The control component is used for:

[0039] After the first piece of fabric falls onto the table, the plurality of second blowers are controlled to blow air from the edge area of ​​the first piece of fabric towards the middle area. Then, the second blowers are controlled to stop blowing air and the piece-jointing gripping mechanism is controlled to release the first piece of fabric.

[0040] An assembly device for cut pieces according to an embodiment of the present invention includes a processor and a memory. The memory stores a computer program, which, when executed by the processor, implements the steps of the assembly method for cut pieces according to any of the above embodiments.

[0041] In the above-mentioned piece joining device, after positioning the first and second pieces, the first piece is lifted and then lowered. The inertia during the fall causes the middle area of ​​the first piece to arch up, ensuring that this arched middle area is the last to fall after the joining gripping mechanism lands on the table. Since wrinkles are generally formed in the last falling area, and the sewing area is located at the edge of the piece, wrinkles in the sewing area can be eliminated during the joining process, thus improving the sewing effect.

[0042] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0043] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0044] Figure 1 This is a flowchart illustrating the method for assembling cut pieces according to an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of the assembly equipment for cut pieces according to an embodiment of the present invention;

[0046] Figures 3 to 6 This is a schematic diagram of the structure of the piece-assembly device according to an embodiment of the present invention;

[0047] Figure 7 This is a schematic diagram showing the distribution of the preset positions of the cut pieces according to an embodiment of the present invention;

[0048] Figure 8 This is a schematic diagram of the sheet-grabbing mechanism according to an embodiment of the present invention;

[0049] Figure 9 This is a schematic diagram of the joining process of the first and second cut pieces according to an embodiment of the present invention;

[0050] Figures 10 to 11 This is a flowchart illustrating the method for assembling cut pieces according to an embodiment of the present invention.

[0051] Explanation of key component symbols:

[0052] The equipment includes: a piece-assembly device 100, a piece-assembly gripping mechanism 12, a table 14, a control component 16, a suction device 18, a drive mechanism 20, a first area 22, a second area 24, a ventilation hole 26, a bracket 28, a first drive component 30, a second drive component 32, a third drive component 34, a connecting frame 36, an adjustment mechanism 38, a gripper 40, a left lower hem 42, a left armpit 44, a left shoulder 46, a left collar 48, a right collar 50, a right shoulder 52, a right armpit 54, a right lower hem 56, a processor 58, a memory 60, a first piece 200, and a second piece 300. Detailed Implementation

[0053] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present invention, and should not be construed as limiting the embodiments of the present invention.

[0054] Please refer to Figures 1 to 3The method for splicing pieces provided by the embodiment of the present application comprises the following steps:

[0055] In step 101, according to the corresponding relationship between the plurality of first preset positions of the edge of the first piece 200 and the plurality of second preset positions of the edge of the second piece 300, the splicing grabbing mechanism 12 is controlled to position the first piece 200 above the second piece 300 at the crease-removing position through the plurality of first preset positions, the second piece 300 is fixedly laid on the table 14, the grabbing peripheral size of the first piece 200 is the same as the laying peripheral size of the second piece 300, and the laying peripheral size of the first piece 200 is larger than the laying peripheral size of the second piece 300.

[0056] In step 103, the splicing grabbing mechanism 12 is controlled to lift the first piece 200 at the crease-removing position to the lifting target position.

[0057] In step 105, the splicing grabbing mechanism 12 is controlled to drop the first piece 200 at the lifting target position to the table 14 so as to splice the first piece 200 and the second piece 300.

[0058] In the above method for splicing pieces, after the first piece 200 and the second piece 300 (not shown in the figure) are positioned, the first piece 200 is lifted, and then the first piece 200 is dropped, so that the middle region of the first piece 200 is arched by inertia when it is dropped, and thus, after the splicing grabbing mechanism 12 is dropped to the table 14, the arched middle region is finally dropped, and the creases are generally formed in the finally dropped region, and the sewing region is located in the edge region of the piece, so that the creases in the sewing region can be eliminated or reduced during the splicing process, and the sewing effect is improved.

[0059] Specifically, in one example, for manufacturing a shirt, the first piece 200 is a back piece, and the second piece 300 is a front piece, and the laying peripheral size of the front piece is smaller than the laying peripheral size of the back piece.

[0060] The method for splicing pieces of the embodiment of the present application can be performed by the splicing device 100 for splicing pieces of the embodiment of the present application. Please refer to the description of the splicing device 100 for splicing pieces of the embodiment of the present application. Figures 3 to 6 The splicing device 100 for splicing pieces can comprise a control assembly 16, a suction device 18, a driving mechanism 20 and a splicing grabbing mechanism 12, the suction device 18 has a table 14, the table 14 has a first region 22 and a second region 24, the first region 22 is used for laying the first piece 200, the second region 24 is used for laying the second piece 300, the first region 22 and the second region 24 are both provided with air holes 26, and when the suction device 18 is started, negative pressure can be formed at the air holes 26 of the first region 22 and the air holes 26 of the second region 24, so that the first piece 200 placed on the first region 22 is adsorbed and fixed, and the second piece 300 placed on the second region 24 is adsorbed and fixed.

[0061] The driving mechanism 20 comprises a support 28 and a driving module, which is installed above the table top 14 through the support 28. The driving module comprises a first driving assembly 30, a second driving assembly 32 and a third driving assembly 34, the first driving assembly 30 is installed on the support 28, the second driving assembly 32 is installed on the first driving assembly 30, the third driving assembly 34 is installed on the second driving assembly 32, and the sheet grabbing mechanism 12 is installed on the third driving assembly 34. The first driving assembly 30 can drive the second driving assembly 32, the third driving assembly 34 and the sheet grabbing mechanism 12 to move back and forth along the first direction X, the second driving assembly 32 can drive the third driving assembly 34 and the sheet grabbing mechanism 12 to move back and forth along the second direction Y, and the third driving assembly 34 can drive the sheet grabbing mechanism 12 to move back and forth along the third direction Z. The first direction X, the second direction Y and the third direction Z are perpendicular to each other.

[0062] Please refer to Figure 8 The sheet grabbing mechanism 12 can comprise a connecting frame 36, an adjusting mechanism 38 and a plurality of grabbing pieces 40, the connecting frame 36 is installed on the third driving assembly 34, the adjusting mechanism 38 is arranged on the connecting frame 36, and the plurality of grabbing pieces 40 are movably arranged on the adjusting mechanism 38.

[0063] The positions of the plurality of grabbing pieces 40 on the adjusting mechanism 38 correspond to a plurality of grabbing points of the circumferential edge of the sheet. The grabbing points can serve as preset positions when grabbing the sheet. The adjusting mechanism 38 is driven by electricity or other power, such as hydraulic or pneumatic power, which is not specifically limited here.

[0064] The laying outer circumferential dimension can refer to the outer circumferential dimension of the sheet when it is laid on the table top 14, and the grabbing outer circumferential dimension can refer to the area dimension enclosed by all the grabbing pieces 40 of the sheet grabbing mechanism 12. By driving at least one of the plurality of grabbing pieces 40 to move, the grabbing outer circumferential dimension of the sheet can be adjusted. Specifically, the adjusting mechanism 38 can drive the grabbing pieces 40 to move and / or rotate relative to the connecting frame 36, for example, the adjusting mechanism 38 drives the grabbing pieces 40 to extend out of the connecting frame 36 or retract into the connecting frame 36, so as to adjust the area dimension enclosed by all the grabbing pieces 40, and further adjust the grabbing outer circumferential dimension of the grabbed sheet.

[0065] The control assembly 16 can be electrically connected to the air suction device 18, the driving mechanism 20 and the sheet grabbing mechanism 12, and is used to control the operation of the air suction device 18, the driving mechanism 20 and the sheet grabbing mechanism 12. The control assembly 16 can comprise a PLC or a single-chip microcomputer.

[0066] The first region 22 and the second region 24 of the table 14 are arranged along a first direction. When the first panel 200 is laid on the first region 22, the control assembly 16 can control the driving module to drive the panel grabbing mechanism 12 to move over the first panel 200 along at least one of the first direction and the second direction, control the adjusting mechanism 38 to drive the plurality of grabbing members 40 to move and / or rotate to adjust the positions of the plurality of grabbing members 40 relative to the connecting frame 36, so that each grabbing member 40 corresponds to each first preset position of the first panel 200, and then control the driving module to drive the panel grabbing mechanism 12 to fall on the first panel 200 along a third direction, so that each grabbing member 40 grabs a corresponding first preset position. In this process, the control assembly 16 can control the grabbing members 40 to grab the first preset positions of the first panel 200 by using relevant visual positioning technology, which will not be described in detail herein.

[0067] In an embodiment, the number of preset positions of the panel is the same as the number of grabbing members 40. Please refer to Figure 7 and Figure 8 In an example, the number of preset positions of the panel and the number of grabbing members 40 are both 8, and the 8 preset positions of the panel include a left hem 42, a left underarm 44, a left shoulder 46, a left collar 48, a right collar 50, a right shoulder 52, a right underarm 54, and a right hem 56. The 8 grabbing members 40 respectively grab the 8 preset positions to grab the panel. In an embodiment, the grabbing members 40 can include needle suction cups, flexible tentacles, needle-like clamps, etc.

[0068] It can be understood that in other examples, the specific preset positions of the panel and the number of preset positions can be determined according to the outer peripheral shape of the panel and the required sewing area positions, which will not be specifically limited herein.

[0069] In the panel joining process, the plurality of first preset positions of the first panel 200 need to be aligned with the plurality of second preset positions of the second panel 300. In an embodiment, the panel joining device 100 includes a camera, and the control assembly 16 is electrically connected to the camera. The camera is used to capture an image of the second panel 300 on the table 14. The control assembly 16 can perform image recognition processing on the image of the second panel 300 to obtain the plurality of second preset positions of the second panel 300. Then, the control assembly 16 controls the driving module and the adjusting mechanism 38 to align the plurality of first preset positions of the first panel 200 on the panel grabbing mechanism 12 with the plurality of second preset positions of the second panel 300 on the table 14 one by one, so as to position the first panel 200 to the tacking position above the second panel 300. In this process, the control assembly 16 can realize the alignment of the plurality of first preset positions of the first panel 200 with the plurality of second preset positions of the second panel 300 by using relevant visual positioning technology, which will not be described in detail herein.

[0070] The distance between the de-wrinkling position and the second cutting piece 300 is positively correlated with the size of the manufactured clothes. The larger the size of the clothes, the greater the distance between the de-wrinkling position and the second cutting piece 300, and the higher the de-wrinkling position is from the second cutting piece 300.

[0071] The distance between the de-wrinkling position and the second cutting piece 300 is positively correlated with the size of the manufactured clothes. The larger the size of the clothes, the greater the distance between the de-wrinkling position and the second cutting piece 300, and the higher the de-wrinkling position is from the second cutting piece 300.

[0072] After positioning the first cutting piece 200 above the second cutting piece 300, the control assembly 16 can control the driving module to drive the splicing grabbing mechanism 12 to lift the first cutting piece 200 at the de-wrinkling position to the lifting target position at a certain speed, and then control the driving module to drive the splicing grabbing mechanism 12 to lower the first cutting piece 200 to the table top 14 at a certain speed, so that the first cutting piece 200 and the second cutting piece 300 are spliced.

[0073] In some embodiments, referring to Figure 10 Step 101 includes:

[0074] Step 1011, controlling the splicing grabbing mechanism 12 to grab the first cutting piece 200 through a plurality of first preset positions;

[0075] Step 1013, according to the flat-lying outer circumferential dimension of the second cutting piece 300, controlling the splicing grabbing mechanism 12 to adjust the grabbing outer circumferential dimension of the first cutting piece 200 so that the grabbing outer circumferential dimension of the first cutting piece 200 is the same as the flat-lying outer circumferential dimension of the second cutting piece 300;

[0076] Step 1015, according to the correspondence between the plurality of second preset positions and the plurality of first preset positions, controlling the splicing grabbing mechanism 12 to position the first cutting piece 200 of which the size is adjusted to the de-wrinkling position above the second cutting piece 300.

[0077] In this way, the grabbing outer circumferential dimension of the first cutting piece 200 can be adjusted to be the same as the flat-lying outer circumferential dimension of the second cutting piece 300.

[0078] Specifically, the control assembly 16 can control the splicing grabbing mechanism 12 to grab the first cutting piece 200 through a plurality of first preset positions by the driving module. For example, the control assembly 16 can control the splicing grabbing mechanism 12 to move above the first cutting piece 200 by the driving module through a visual positioning technology, then adjust the positions of the plurality of grabbing pieces 40 so that the plurality of grabbing pieces 40 correspond to the plurality of first preset positions one by one, and then control the splicing grabbing mechanism 12 to lower by the driving module so that the plurality of grabbing pieces 40 respectively grab the plurality of first preset positions, thereby making the splicing grabbing mechanism 12 grab the first cutting piece 200.

[0079] The control assembly 16 can adjust the grabbing peripheral size of the first cutting piece 200 according to the lying peripheral size of the second cutting piece 300. Specifically, the control assembly 16 can control at least one of the plurality of grabbing pieces 40 to move relative to the connecting frame 36 by adjusting the adjusting mechanism 38 according to the lying peripheral size of the second cutting piece 300, so as to adjust the size of the area surrounded by the plurality of grabbing pieces 40, and thus adjust the grabbing peripheral size of the first cutting piece 200, so that the grabbing peripheral size of the first cutting piece 200 is the same as the lying peripheral size of the second cutting piece 300.

[0080] After the size adjustment of the first cutting piece 200 is completed, the control assembly 16 can position the first cutting piece 200 at the de-wrinkling position by the driving module, and the plurality of first preset positions of the first cutting piece 200 are aligned with the plurality of second preset positions of the second cutting piece 300 one by one.

[0081] In some embodiments, the control assembly 16 can lift the first cutting piece 200 at the de-wrinkling position to the lifting target position includes:

[0082] The first cutting piece 200 at the de-wrinkling position is lifted to the lifting target position at a preset lifting speed, so that when the first cutting piece 200 reaches the lifting target position, the middle region of the first cutting piece 200 is in an upward arch shape.

[0083] In this way, the de-wrinkling effect can be further improved.

[0084] Specifically, the preset lifting speed can be preset and stored in the control assembly 16. The preset lifting speed is related to the lying peripheral size of the first cutting piece 200. After the control assembly 16 lifts the first cutting piece to the lifting target position at the preset lifting speed, the middle region of the first cutting piece 200 that is downward due to gravity can be in an upward arch shape. In cooperation with the subsequent falling, the upward arch of the middle region of the first cutting piece 200 finally falls, and the de-wrinkling effect is further improved.

[0085] In some embodiments, the second cutting piece 300 is placed on the table 14 of the air suction device 18, and the method for joining the cutting pieces includes:

[0086] The control assembly 16 controls the air suction device 18 to be turned on, so that the air suction device 18 adsorbs and fixes the second cutting piece 300 on the table 14.

[0087] In this way, the second cutting piece 300 can be fixed on the table 14 by turning on the air suction device 18, so as to prevent the second cutting piece 300 from being blown up by the air flow generated when the first cutting piece 200 is lifted.

[0088] Specifically, the air suction device 18 can control the air pressure at the air vents 26 of the first area 22 and the air pressure at the air vents 26 of the second area 24 of the table top 14 separately. Before lifting the first patch 200, the control assembly 16 can start the air suction device 18 to generate negative pressure at the air vents 26 of the second area 24, and the negative pressure of the air vents 26 can suck and fix the second patch 300 on the second area 24, so that the second patch 300 is not blown up by the air flow generated when the first patch 200 is lifted, and the success rate of patching is ensured.

[0089] It can be understood that in other embodiments, other fixing methods can be used to fix the second patch 300 on the table top 14, for example, clamping or adhesive can be used for fixing.

[0090] In some embodiments, the patching method of the patch includes:

[0091] Before the first patch 200 falls, the control assembly 16 can control the air suction device 18 to be closed.

[0092] In this way, the power consumption and noise can be reduced, and an energy-saving and environmentally friendly patching process can be realized.

[0093] Specifically, when the air suction device 18 is started, power consumption is required, and noise is also generated. Before the first patch 200 falls from the lifting target position to the falling target position, the control assembly 16 can control the air suction device 18 to be closed, so that the power consumption and noise can be reduced, and an energy-saving and environmentally friendly patching process can be realized.

[0094] In some embodiments, please refer to Figure 11 Step 105 includes:

[0095] Step 1051, controlling the patching grabbing mechanism 12 to fall the first patch 200 located at the lifting target position to the falling target position at a first preset speed, the falling target position being located above the second patch 300 and being separated from the second patch 300;

[0096] Step 1053, controlling the patching grabbing mechanism 12 to fall the first patch 200 located at the falling target position to the table top 14 at a second preset speed to make the first patch 200 and the second patch 300 patch, the second preset speed being less than the first preset speed.

[0097] In this way, the impact vibration of the patching grabbing mechanism 12 and the table top 14 can be reduced or eliminated, the equipment loss can be reduced, and the success rate of patching can be improved.

[0098] Specifically, if the splicing gripper 12 is controlled to fall at a faster speed, when the splicing gripper 12 falls to the table 14, the splicing gripper 12 is prone to cause a larger impact vibration to the table 14, on one hand, the larger impact vibration can damage the splicing gripper 12 and the table 14, on the other hand, the larger impact vibration can cause the second cutting sheet 300 and / or the first cutting sheet 200 to be displaced to cause misalignment.

[0099] The control splicing gripper 12 to fall the first cutting sheet 200 located at the lifting target position to a falling target position at a first preset speed, the falling target position is located above the second cutting sheet 300 and is spaced apart from the second cutting sheet 300, and then control the splicing gripper 12 to fall the first cutting sheet 200 located at the falling target position to the table 14 at a second preset speed to splice the first cutting sheet 200 and the second cutting sheet 300, the second preset speed is smaller than the first preset speed, so that the splicing gripper 12 drives the first cutting sheet 200 to fall from the lifting target position to the falling target position at a larger speed and to fall from the falling target position to the table 14 at a smaller speed, which can reduce or eliminate the impact vibration between the splicing gripper 12 and the table 14, reduce equipment loss, and improve splicing success rate.

[0100] In some embodiments, the splicing gripper 12 includes a plurality of gripping pieces 40 and a plurality of first blowing pieces, each gripping piece 40 grips a corresponding first preset position, and each gripping piece 40 is provided with a first blowing piece (not shown in the figure), and the splicing method of the cutting sheet includes:

[0101] During the falling process of the first cutting sheet 200 to the table 14, the plurality of first blowing pieces are controlled to blow air to the middle region of the first cutting sheet 200;

[0102] After the first cutting sheet 200 falls to the table 14, the plurality of first blowing pieces are controlled to stop blowing air.

[0103] In this way, the wrinkle removal effect can be further improved.

[0104] Specifically, in one embodiment, the first blowing piece can include an air pipe, and the splicing equipment 100 of the cutting sheet can include a first air blower, the first air blower is connected to the air inlet end of the air pipe, the air outlet end of the air pipe can be fixed on the gripping piece 40, and the air outlet end of the air pipe is inclined upward from the gripping piece 40 and towards the middle region of the first cutting sheet 200. During the falling process of the first cutting sheet 200 to the table 14, the control assembly 16 can control the first air blower to start and deliver air flow into the air pipe, and the air flow is blown out from the air outlet end of the air pipe to keep the middle region of the first cutting sheet 200 in an upwardly arched state, increase the arched maintenance time, further reduce the wrinkles in the edge sewing region, and improve the sewing effect.

[0105] Optionally, the orientation of the air outlet end of the air pipe is adjustable to achieve adjustment of different inclination angles.

[0106] In some embodiments, the piece-grabbing mechanism 12 comprises a plurality of grabbing members 40 and a plurality of second air blowing members (not shown in the figure), each grabbing member 40 grabs a corresponding first preset position, and each grabbing member 40 is provided with a second air blowing member, and the piece-joining method of the pieces comprises:

[0107] After the first piece 200 falls onto the table top 14, the plurality of second air blowing members are controlled to blow air from the edge region to the middle region of the first piece 200, and then the second air blowing members are controlled to stop blowing air and the piece-grabbing mechanism 12 is controlled to release the first piece 200.

[0108] In this way, the wrinkles of the edge region of the first piece 200 can be further reduced, and the sewing effect can be improved.

[0109] Specifically, in one embodiment, the second air blowing member can comprise an air pipe, the piece-joining device 100 can comprise a second air blower, the second air blower is connected to the air inlet end of the air pipe, the air outlet end of the air pipe can be fixed on the grabbing member 40, and the air outlet end of the air pipe is inclined from the edge region to the middle region of the first piece 200. After the first piece 200 falls onto the table top 14, the control assembly 16 can control the second air blower to start, transport air flow into the air pipe, and the air flow is blown out from the air outlet end of the air pipe, so that the wrinkles of the edge region of the first piece 200 move to the middle region, further reducing the wrinkles in the edge sewing region, and improving the sewing effect.

[0110] Optionally, the orientation of the air outlet end of the air pipe is adjustable to achieve adjustment of different inclination angles.

[0111] The length of the blowing air can be determined according to experience, simulation or test, and is not specifically limited here. After the blowing air is completed, the control assembly 16 can control the second air blowing member to stop blowing air, and the control assembly 16 can control the piece-grabbing mechanism 12 to release the first piece 200, so that the first piece 200 is stacked on the second piece 300.

[0112] In one embodiment, each grabbing member 40 is provided with a first air blowing member and a second air blowing member. In one embodiment, each grabbing member 40 is provided with a first air blowing member or a second air blowing member.

[0113] In one example, please refer to Figure 9 , the manufactured clothes are shirts, the size is M, and the material of the pieces can be cotton or polyester. The specific parameters in the piece-joining process can be referred to the following description:

[0114] The distance from the wrinkle position to the second piece 300 is 20 mm, and the larger the size, the higher the distance;

[0115] Lifting target position: the lifting target position is 50 mm away from the wrinkle removing position, and the larger the size, the greater the distance;

[0116] Falling target position: the falling target position is 64 mm away from the lifting target position, and the larger the size, the greater the distance; the falling target position is 6 mm away from the second cutting piece 300, and falls at a second preset speed to prevent impact vibration or large impact vibration between the splicing grabbing mechanism 12 and the table 14, which can also be understood as slow falling.

[0117] Lifting maximum speed: 500 mm / s;

[0118] Lifting minimum speed: 200 mm / s;

[0119] Lifting acceleration: 1000 mm / s2;

[0120] Lifting deceleration: 1000000 mm / s2;

[0121] Falling maximum speed: 500 mm / s;

[0122] Falling minimum speed: 200 mm / s;

[0123] Falling acceleration: 800 mm / s2;

[0124] Falling deceleration: 1000000 mm / s2;

[0125] Air blowing wrinkle removing: the angle of the air pipe of the 8 grabbing pieces 40 is directed to the center of the cutting piece, and the wrinkles remaining around the grabbing pieces 40 are blown to the center of the cutting piece to avoid wrinkles appearing in the sewing area.

[0126] Among them, the speed and acceleration parameters are based on: the inertial force formed by immediately stopping and reversing after lifting with these parameters can make the part of the cutting piece that is downward due to gravity form an arch upward, and ensure that the arch-shaped area finally falls after the splicing grabbing mechanism 12 falls to the table 14. Wrinkles are generally formed in the last falling area. Too fast speed will cause mechanical shaking to form noise and affect the original arch shape.

[0127] Position parameters are based on: the distances between the above wrinkle removing position and the lifting target position and the second cutting piece 300 are obtained through experimental tests to adapt to the production of M-sized shirts. With the lifting and falling distance, the counterforce of gravity can be formed to form an arch that meets the requirements.

[0128] It should be noted that the above distance and speed are fixed for a certain size of the shirt. Since the first piece 200 (large piece) is to be joined with the second piece 300 (small piece), the first piece 200 needs to be retracted after the joining grabbing mechanism 12 grabs the cloth so that the eight feature points of the first piece 200 correspond to the eight feature points of the second piece 300. In this retracted state, the middle region of the first piece 200 will sag under the gravity. In this state, the resistance generated by the downward movement of the first piece 200 needs to be greater than the gravity of the sagging middle region of the first piece 200 so that the middle region of the first piece 200 forms an upward arch when falling. Therefore, for a certain size of the shirt, the above parameters are generally fixed, except for better pleat effect. In addition, the above examples are provided for the convenience of understanding and implementing the present application and should not be construed as limiting the present application.

[0129] Please refer to Figures 2 to 6 The joining device 100 of the present application includes a table 14, a joining grabbing mechanism 12, and a control assembly 16 electrically connected to the joining grabbing mechanism 12. The joining grabbing mechanism 12 is used to grab the first piece 200, and the table 14 is used to fix the second piece 300. The flat outer periphery size of the first piece 200 is greater than that of the second piece 300.

[0130] The control assembly 16 is used to:

[0131] According to the correspondence between the plurality of first preset positions of the edge of the first piece 200 and the plurality of second preset positions of the edge of the second piece 300, the control assembly 16 controls the joining grabbing mechanism 12 to position the first piece 200 above the second piece 300 at the pleat-removing position through the plurality of first preset positions. The grabbing outer periphery size of the first piece 200 is the same as the flat outer periphery size of the second piece 300.

[0132] The control assembly 16 controls the joining grabbing mechanism 12 to lift the first piece 200 at the pleat-removing position to the lifting target position.

[0133] The control assembly 16 controls the joining grabbing mechanism 12 to drop the first piece 200 at the lifting target position to the table 14 so as to join the first piece 200 and the second piece 300.

[0134] In the joining device 100 of the present application, after the first piece 200 and the second piece 300 are positioned, the first piece 200 is lifted, and then the first piece 200 is dropped. The middle region of the first piece 200 is arched by inertia when falling, which ensures that the arched middle region finally falls after the joining grabbing mechanism 12 drops to the table 14. The pleats are generally formed in the finally falling region, and the sewing region is located in the edge region of the piece. Therefore, the pleats in the sewing region can be eliminated or reduced during the joining process, and the sewing effect is improved.

[0135] In some embodiments, the control component 16 is configured to:

[0136] control the splicing gripper 12 to grip the first cutting piece 200 through a plurality of first preset positions;

[0137] control the splicing gripper 12 to adjust the gripped peripheral size of the first cutting piece 200 according to the lying peripheral size of the second cutting piece 300 so as to make the gripped peripheral size of the first cutting piece 200 the same as the lying peripheral size of the second cutting piece 300;

[0138] control the splicing gripper 12 to position the size-adjusted first cutting piece 200 to the folding position above the second cutting piece 300 according to the correspondence between the plurality of second preset positions and the plurality of first preset positions.

[0139] In some embodiments, the cutting piece splicing device 100 comprises an air suction device 18 having a table 14, and the control component 16 is configured to:

[0140] control the air suction device 18 to be turned on so as to make the air suction device 18 adsorb and fix the second cutting piece 300 on the table 14.

[0141] In some embodiments, the control component 16 is configured to:

[0142] control the air suction device 18 to be turned off before the falling first cutting piece 200.

[0143] In some embodiments, the control component 16 is configured to:

[0144] control the splicing gripper 12 to fall the first cutting piece 200 located at the lifting target position to the falling target position at a first preset speed, the falling target position being located above the second cutting piece 300 and being spaced apart from the second cutting piece 300;

[0145] control the splicing gripper 12 to fall the first cutting piece 200 located at the falling target position to the table 14 at a second preset speed so as to splice the first cutting piece 200 and the second cutting piece 300, the second preset speed being less than the first preset speed.

[0146] In some embodiments, the splicing gripper 12 comprises a plurality of gripping pieces 40 and a plurality of first air blowing pieces, each gripping piece 40 gripping a corresponding one of the first preset positions, and each gripping piece 40 is provided with a first air blowing piece, and the control component 16 is configured to:

[0147] control the plurality of first air blowing pieces to blow air to the middle area of the first cutting piece 200 during the falling of the first cutting piece 200 to the table 14;

[0148] control the plurality of first air blowing pieces to stop blowing air after the falling of the first cutting piece 200 to the table 14, and / or;

[0149] The piece combining gripping mechanism 12 comprises a plurality of gripping pieces 40 and a plurality of second air blowing pieces, each gripping piece 40 grips a corresponding first preset position, and each gripping piece 40 is provided with a second air blowing piece, and the control assembly 16 is used for:

[0150] After the first piece 200 falls to the table top 14, the plurality of second air blowing pieces are controlled to blow air from the edge area to the middle area of the first piece 200, and then the second air blowing pieces are controlled to stop blowing air and the piece combining gripping mechanism 12 is controlled to release the first piece 200.

[0151] Please refer to Figure 2 The piece combining device 100 of the present embodiment comprises a processor 58 and a memory 60, and the memory 60 stores a computer program, and the computer program is executed by the processor 58 to realize the steps of the piece combining method of any of the above-mentioned embodiments.

[0152] Specifically, in one embodiment, the piece combining device 100 comprises a control assembly 16, which can comprise a processor 58 and a memory 60. The control assembly 16 can control the overall operation of the piece combining device 100.

[0153] It should be noted that the above-mentioned explanations and advantages of the embodiments of the piece combining method are also applicable to the piece combining device 100 of the present embodiment, and to avoid redundancy, they will not be described in detail here.

[0154] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0155] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing one or more steps of a process or method, and the scope of the preferred embodiments of the present application includes additional processes or methods that can be performed in an alternative order, including simultaneous performance of the steps, or in reverse order, or in an order that is different from the order shown or discussed herein, and that can include additional steps not shown or discussed herein.

[0156] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that those skilled in the art can make changes, combinations, modifications, substitutions and variations to the above-described embodiments within the scope of the present application.

Claims

1. A method of splicing pieces of sheet material, characterized by, The method comprises: controlling the splicing grabbing mechanism to position the first cutting sheet above the second cutting sheet at a position for removing wrinkles according to a correspondence between a plurality of first preset positions of the first cutting sheet edge and a plurality of second preset positions of the second cutting sheet edge, the second cutting sheet being fixed flat on a table, the grabbing peripheral size of the first cutting sheet being the same as the flat peripheral size of the second cutting sheet, the flat peripheral size of the first cutting sheet being larger than the flat peripheral size of the second cutting sheet; controlling the splicing grabbing mechanism to lift the first cutting sheet at the position for removing wrinkles to a lifting target position; controlling the splicing grabbing mechanism to drop the first cutting sheet at the lifting target position to the table so as to splice the first cutting sheet and the second cutting sheet; the inertia force formed by stopping immediately after lifting the first cutting sheet and reversing the dropping can make the first cutting sheet form an arch region upward due to the gravity sagging part, and ensure that the arch region finally falls after the splicing grabbing mechanism drops to the table.

2. The method of splicing pieces of claim 1, wherein, The method comprises: controlling the splicing grabbing mechanism to grab the first cutting sheet through the plurality of first preset positions; controlling the splicing grabbing mechanism to adjust the grabbing peripheral size of the first cutting sheet according to the flat peripheral size of the second cutting sheet so that the grabbing peripheral size of the first cutting sheet is the same as the flat peripheral size of the second cutting sheet; controlling the splicing grabbing mechanism to position the first cutting sheet with the adjusted size above the second cutting sheet at the position for removing wrinkles according to the correspondence between the plurality of second preset positions and the plurality of first preset positions; the controlling the splicing grabbing mechanism to lift the first cutting sheet at the position for removing wrinkles to the lifting target position comprises: lifting the first cutting sheet at the position for removing wrinkles to the lifting target position at a preset lifting speed so that the middle region of the first cutting sheet is in an upward arch state when the first cutting sheet reaches the lifting target position.

3. The method of claim 1, wherein, The method for splicing the cutting sheet comprises: controlling the air suction device to be turned on so that the air suction device adsorbs and fixes the second cutting sheet on the table.

4. The method of splicing pieces of claim 3, wherein, The method for splicing the cutting sheet comprises: controlling the air suction device to be turned off before dropping the first cutting sheet.

5. The method of claim 1, wherein, The controlling the splicing grabbing mechanism to drop the first cutting sheet at the lifting target position to the table so as to splice the first cutting sheet and the second cutting sheet comprises: controlling the splicing grabbing mechanism to drop the first cutting sheet at the lifting target position to a dropping target position at a first preset speed, the dropping target position being above the second cutting sheet and being separated from the second cutting sheet; The control component controls the splicing gripper mechanism to drop the first cutting sheet located at the dropping target position to the table surface at a second preset speed to splice the first cutting sheet and the second cutting sheet, the second preset speed being less than the first preset speed.

6. The method of claim 1, wherein, The splicing gripper mechanism comprises a plurality of grippers and a plurality of first blowers, each of the grippers gripping a corresponding one of the first preset positions, and each of the grippers being provided with one of the first blowers, and the method for splicing the cutting sheets comprises: During the process of dropping the first cutting sheet to the table surface, the control component controls the plurality of first blowers to blow air to the middle region of the first cutting sheet; After the first cutting sheet is dropped to the table surface, the control component controls the plurality of first blowers to stop blowing air.

7. The method of claim 1, wherein, The splicing gripper mechanism comprises a plurality of grippers and a plurality of second blowers, each of the grippers gripping a corresponding one of the first preset positions, and each of the grippers being provided with one of the second blowers, and the method for splicing the cutting sheets comprises: After the first cutting sheet is dropped to the table surface, the control component controls the plurality of second blowers to blow air from the edge region to the middle region of the first cutting sheet, and then controls the second blowers to stop blowing air and controls the splicing gripper mechanism to release the first cutting sheet.

8. A piece of equipment for joining pieces, characterized in that, The splicing gripper mechanism comprises a plurality of grippers and a plurality of second blowers, each of the grippers gripping a corresponding one of the first preset positions, and each of the grippers being provided with one of the second blowers, and the method for splicing the cutting sheets comprises: After the first cutting sheet is dropped to the table surface, the control component controls the plurality of second blowers to blow air from the edge region to the middle region of the first cutting sheet, and then controls the second blowers to stop blowing air and controls the splicing gripper mechanism to release the first cutting sheet. The splicing gripper mechanism comprises a plurality of grippers and a plurality of second blowers, each of the grippers gripping a corresponding one of the first preset positions, and each of the grippers being provided with one of the second blowers, and the method for splicing the cutting sheets comprises: After the first cutting sheet is dropped to the table surface, the control component controls the plurality of second blowers to blow air from the edge region to the middle region of the first cutting sheet, and then controls the second blowers to stop blowing air and controls the splicing gripper mechanism to release the first cutting sheet. The splicing gripper mechanism comprises a plurality of grippers and a plurality of second blowers, each of the grippers gripping a corresponding one of the first preset positions, and each of the grippers being provided with one of the second blowers, and the method for splicing the cutting sheets comprises: The control component controls the splicing gripper mechanism to drop the first cutting sheet located at the dropping target position to the table surface at a second preset speed to splice the first cutting sheet and the second cutting sheet, the second preset speed being less than the first preset speed.

9. The piece of a joint device according to claim 8, characterized in that, The control component controls the splicing gripper mechanism to drop the first cutting sheet located at the dropping target position to the table surface at a second preset speed to splice the first cutting sheet and the second cutting sheet, the second preset speed being less than the first preset speed. ​ ​ 10. The piece of the splicing apparatus according to claim 8, wherein The joint piece grabbing mechanism comprises a plurality of grabbing pieces and a plurality of first blowing pieces, each of the grabbing pieces grabs a corresponding one of the first preset positions, each of the grabbing pieces is provided with one of the first blowing pieces, and the control assembly is configured to: control the plurality of first blowing pieces to blow air to the middle region of the first cutting piece during the process that the first cutting piece falls to the table top; control the plurality of first blowing pieces to stop blowing air after the first cutting piece falls to the table top, and / or; The joint piece grabbing mechanism comprises a plurality of grabbing pieces and a plurality of second blowing pieces, each of the grabbing pieces grabs a corresponding one of the first preset positions, each of the grabbing pieces is provided with one of the second blowing pieces, and the control assembly is configured to: control the plurality of second blowing pieces to blow air from the edge region to the middle region of the first cutting piece after the first cutting piece falls to the table top, then control the second blowing pieces to stop blowing air and control the joint piece grabbing mechanism to release the first cutting piece.

11. A panel joining apparatus for joining panels, characterized by A computer device comprises a processor and a memory, the memory stores a computer program, and the computer program is executed by the processor to realize the steps of the joint piece method of any one of claims 1-7.

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