Hanging feeding system with cutting piece overturning function

Abstract

The present application relates to the technical field of garment sewing, and particularly relates to a hanging feeding system with a pattern piece turning function, comprising a mechanical hand, an X-direction moving mechanism, two grabbing mechanisms oppositely arranged along the X-direction and a pattern piece turning mechanism arranged on one side of the grabbing mechanism, the two grabbing mechanisms respectively grab and lift a corner of the uppermost pattern piece in the two pattern piece stacks, the X-direction moving mechanism drives the two grabbing mechanisms to move oppositely along the X-direction, the mechanical hand clamps the pattern piece and drags and hangs the pattern piece on a clothes hanger, the pattern piece turning mechanism comprises a dragging plate and a moving assembly, the dragging plate is arranged on one side of the dragging path of the mechanical hand and is arranged upwardly inclined along the dragging direction of the mechanical hand, and the moving assembly drives the dragging plate to move close to or away from the grabbing mechanism; when the mechanical hand drags the pattern piece, the side of the dragging plate close to the grabbing mechanism is arranged below one side of the pattern piece, one pattern piece in the pattern piece contacts the dragging plate and turns to the other pattern piece through the dragging plate. The pattern piece can be completely turned over in the process of dragging the pattern piece.

Description

Technical Field

[0001] This invention relates to the field of garment sewing technology, and in particular to a hanging feeding system with a fabric flipping function. Background Technology

[0002] In garment sewing, a hanging system is used to distribute the cut pieces to various workstations. The structure of the hanging system includes a ring track, along which several workstations are spaced apart. Drive chains are installed on the ring track, which drive the hangers holding the cut pieces to move forward, so that the hangers enter the corresponding workstations. At each workstation, one or more sewing processes are performed on the cut pieces. The cut pieces move sequentially through the workstations for sewing to complete the garment processing.

[0003] A hanging feeding system is used to hang fabric pieces, including long and short pieces, onto hangers. Existing hanging feeding systems can grasp and assemble fabric pieces placed on a worktable, then a robotic arm picks up the assembled pieces and hangs them on hangers. However, due to the flexibility of the fabric, the assembled fabric pieces, especially long pieces, grasped by the robotic arm often collapse and encase the gripping area. This prevents the fabric pieces from being fully flipped during the loading process onto the hanger to achieve right-to-right or wrong-to-wrong assembly. Workers must manually flip the fabric pieces during subsequent sewing to achieve this, impacting sewing efficiency. Summary of the Invention

[0004] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a hanging feeding system with a piece flipping function, which can realize the complete flipping of the piece during the piece joining and dragging process.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a hanging feeding system with a piece flipping function, comprising a robot arm, an X-axis moving mechanism, two gripping mechanisms arranged opposite each other along the X-axis, and a piece flipping mechanism located on one side of the gripping mechanisms. The two gripping mechanisms respectively grip and lift a corner of the uppermost piece in two piles of pieces. The X-axis moving mechanism drives the two gripping mechanisms to move relative to each other along the X-axis, so that the corners of the pieces gripped by the two gripping mechanisms merge into a combined piece. The robot arm holds the combined piece and drags and hangs it on a hanger. The piece flipping mechanism includes a slide plate and a moving component. The slide plate is located on one side of the robot arm's dragging path and is inclined upward along the robot arm's dragging direction. The moving component drives the slide plate to move closer to or away from the gripping mechanism. When the robot arm drags the combined piece, the side of the slide plate closer to the gripping mechanism is located below one side of the combined piece. One piece in the combined piece contacts the slide plate and flips to another piece through the slide plate.

[0006] Preferably, the slide is provided with a support member on the side near the gripping mechanism, and the end of the support member near the assembly piece is provided with a first rubber-coated roller for contacting one of the cut pieces of the assembly piece.

[0007] Preferably, a baffle is connected below the support member, and there is a gap between the baffle and the support member. The baffle is provided with a second rubber-coated roller at one end near the assembly piece for contacting one of the cut pieces of the assembly piece.

[0008] Preferably, the slide has an arc-shaped segment extending along the dragging direction of the robot and protruding upward, and straight segments located at both ends of the arc-shaped segment.

[0009] Preferably, the tray is made of plastic and using 3D printing technology.

[0010] Preferably, the fabric piece flipping mechanism is connected to the gripping mechanism, and the gripping mechanism moves synchronously with the fabric piece flipping mechanism when it moves along the X direction.

[0011] Preferably, the moving component of the fabric piece flipping mechanism includes a Y-direction telescopic member connected to the gripping mechanism, an X-direction telescopic member connected to the telescopic end of the Y-direction telescopic member, and a mounting plate connected to the telescopic end of the X-direction telescopic member, with the side of the slide away from the gripping mechanism connected to the mounting plate.

[0012] Preferably, the X-axis moving mechanism includes a fixed frame, an X-axis driving assembly, and two X-axis guide rails extending along the X-axis. The two X-axis guide rails are arranged opposite to each other and can be movably mounted on the fixed frame along the X-axis. Two gripping mechanisms are respectively located at one end of the two X-axis guide rails and on both sides of the fixed frame. The X-axis driving assembly drives the two X-axis guide rails to move relative to each other along the X-axis.

[0013] Preferably, the gripping mechanism includes a support plate connected to the X-axis moving mechanism, a lifting block located below the support plate, a separator suspended on the lifting block, and a lifting drive unit located on the support plate. The separator is used to grip or release a corner of the uppermost layer of the cut pieces in the stack of cut pieces, and the lifting drive unit is connected to the lifting block and drives the lifting block to rise and fall.

[0014] Preferably, it also includes a Y-axis moving mechanism, which drives the two gripping mechanisms to move synchronously along the Y-axis.

[0015] Compared with the prior art, the present invention has significant progress:

[0016] By setting a piece flipping mechanism on one side of the gripping mechanism to assist in the flipping of the pieces, during the process of the robotic arm dragging and assembling the pieces, the head of one piece of the piece held by the robotic arm first contacts the slide of the piece flipping mechanism. Since the slide has an upward inclination in the dragging direction of the robotic arm, the head of the piece begins to flip towards the other piece of the piece under the action of the slide when it passes the slide. During the subsequent dragging process, the middle and tail of the piece are also driven to pass the slide and flip towards the other piece of the piece until the piece is completely detached from the slide. Thus, the entire piece of the piece is completely flipped during the dragging process of the piece assembly. This ensures that the pieces hung on the hanger are assembled with the front facing the front or the back facing the back, which meets the sewing requirements. This saves the amount of manual flipping work and significantly improves the degree of automation and sewing efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the operation of the hanging feeding system with cut piece flipping function according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the hanging material feeding system with cut piece flipping function from one perspective, according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the hanging feeding system with cut piece flipping function according to an embodiment of the present invention, after removing the Y-axis moving mechanism.

[0020] Figure 4 yes Figure 3 A schematic diagram showing the two gripping mechanisms moving closer to each other and the fabric flipping mechanism moving closer to the gripping mechanisms.

[0021] Figure 5 This is a structural schematic diagram of the hanging material feeding system with cut piece flipping function from another perspective, according to an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the hanging feeding system with cut piece flipping function according to an embodiment of the present invention, after removing the Y-axis moving mechanism, from another perspective.

[0023] Figure 7 This is a schematic diagram of the gripping mechanism and the cutting piece flipping mechanism in the hanging feeding system with cutting piece flipping function according to an embodiment of the present invention.

[0024] The reference numerals in the attached figures are explained as follows:

[0025] 1. Robotic arm

[0026] 2 X-axis moving mechanism

[0027] 21 Fixture

[0028] 22 X-guide rails

[0029] 23 X-axis motor

[0030] 24 X-axis gears

[0031] 25 X-axis rack

[0032] 3. Grabbing mechanism

[0033] 31 support plates

[0034] 32 lifting blocks

[0035] 33 Separator

[0036] 34. Improve the driving components

[0037] 35 Guide rod

[0038] 36 guide rods

[0039] 37 Springs

[0040] 4. Fabric piece flipping mechanism

[0041] 41. Trailer

[0042] 411 Arc segment

[0043] 412 Straight Section

[0044] 42 Support components

[0045] 43 First Pack of Rubber Rollers

[0046] 44 baffles

[0047] 45 Second Pack of Rubber Rollers

[0048] 46 Y-direction telescopic component

[0049] 47 X-direction telescopic component

[0050] 48 Mounting Plate

[0051] 491 First fixing plate

[0052] 492 Second fixing plate

[0053] 493 First Connector

[0054] 494 Second Connector

[0055] 5. Pile of cut pieces

[0056] 6 Y-axis moving mechanism

[0057] 61 support

[0058] 62 Y-guide rail

[0059] 63 Y-axis motor

[0060] 64 Y-axis gear

[0061] 65 Y-axis rack

[0062] 66 Connecting plate

[0063] 7 sensors

[0064] 8. Feeding plate frame

[0065] 81 Feeding Platform Detailed Implementation

[0066] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. These embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.

[0067] In the description of this invention, it should be noted that "X direction", "Y direction" and "Z direction" refer to, for example, Figure 1 and Figure 2 The coordinates shown indicate the directions. Terms such as "center," "longitudinal," "lateral," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0068] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0069] Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0070] like Figures 1 to 7 As shown, this invention provides an embodiment of a hanging feeding system with a cut piece flipping function.

[0071] See Figure 1 , Figure 2 , Figure 3 and Figure 4The hanging feeding system with piece flipping function in this embodiment includes a robot arm 1, an X-axis moving mechanism 2, a gripping mechanism 3, and a piece flipping mechanism 4. Two gripping mechanisms 3 are provided, arranged opposite each other along the X-axis. The piece flipping mechanism 4 is located on one side of the gripping mechanism 3. The pieces to be hung are stacked on the feeding platform 81 of the feeding plate frame 8, forming multiple piece stacks 5. The robot arm 1 is fixed to the feeding plate frame 8 and located on one side of the feeding platform 81. The X-axis moving mechanism 2, the two gripping mechanisms 3, and the piece flipping mechanism 4 are located above the feeding plate frame 8. The two gripping mechanisms 3 are located directly above the edge of the feeding platform 81 closest to the robot arm 1. The robot arm 1 and the feeding platform 81 are arranged along the Y-axis, and the two gripping mechanisms 3 are arranged above the feeding platform 81 along the X-axis, thereby avoiding interference between the two gripping mechanisms 3 and the robot arm 1. The piece flipping mechanism 4 and the gripping mechanism 3 are arranged along the Y-axis and located on the side of the gripping mechanism 3 closer to the robot arm 1. The piece flipping mechanism 4 and the robot arm 1 are arranged along the X-axis, thereby avoiding interference between the piece flipping mechanism 4 and the two gripping mechanisms 3 and the robot arm 1. Preferably, the X-axis moving mechanism 2, the two gripping mechanisms 3 and the piece flipping mechanism 4 can be installed in a hanging system. The two gripping mechanisms 3 respectively grip one corner of the uppermost piece in the two piece stacks 5 and lift the gripped corner of the piece along the Z-axis. The gripped corner of the piece leaves the loading platform 81, while the other corner remains on the loading platform 81, thereby realizing automatic separation of the pieces. The X-axis moving mechanism 2 drives the two gripping mechanisms 3 to move relative to each other along the X-axis, which can cause the two gripped corners of the pieces to move towards each other, so that the corners of the pieces gripped by the two gripping mechanisms 3 come together, thus merging the corners of the pieces gripped by the two gripping mechanisms 3 into a single piece. Robotic arm 1 grips the fabric piece and drags it to hang it on the hanger of the hanging system. After robotic arm 1 grips the fabric piece, gripping mechanism 3 releases it. The gripped fabric piece is then dragged away from fabric piece stack 5 and gripping mechanism 3 by robotic arm 1 and passes through fabric piece flipping mechanism 4 before finally being hung on the hanger. Fabric piece flipping mechanism 4 includes a slide plate 41 and a moving component. The slide plate 41 is located on one side of the dragging path of robotic arm 1, and it extends upward at an angle along the dragging direction of robotic arm 1 (also the direction away from gripping mechanism 3). The moving component drives the slide plate 41 to move closer to or away from gripping mechanism 3. When robotic arm 1 drags the fabric piece, the side of slide plate 41 closer to gripping mechanism 3 is located below one side of the fabric piece. One fabric piece of the fabric piece contacts slide plate 41 and is flipped to the other fabric piece of the fabric piece by slide plate 41.During the process of the robotic arm 1 dragging and assembling the pieces, the head of one of the pieces held by the robotic arm 1 first contacts the slide plate 41. Since the slide plate 41 has an upward inclination in the dragging direction of the robotic arm 1, when the head of the piece passes the slide plate 41, it begins to flip towards the other piece of the piece under the action of the slide plate 41. In the subsequent dragging process, the middle and tail of the piece are driven to pass the slide plate 41 and flip towards the other piece of the piece until the piece is completely separated from the slide plate 41. Thus, the piece is completely flipped during the dragging process of the piece assembly, and the piece that is transferred to the hanger is a piece that meets the sewing requirements with the front facing the front or the back facing the back. This saves the amount of manual flipping work and significantly improves the degree of automation and sewing efficiency.

[0072] Therefore, the hanging feeding system with cut piece flipping function in this embodiment can realize the automated operation of cut piece separation, joining, complete flipping and hanging, without the need for manual cut piece separation, flipping, joining and hanging, which greatly saves labor, significantly improves the degree of automation, and makes the hanging process more convenient and reliable.

[0073] In this embodiment, the two gripping mechanisms 3 can grip one corner of the topmost piece of any two designated stacks of cut pieces 5 on the feeding platform 81 according to the sewing process requirements, so as to realize the joining of any two types of cut pieces. The cut pieces can be long or short pieces of fabric. By gripping one corner of the topmost piece of the two stacks of cut pieces 5 that is far apart or one corner of the topmost piece of the two stacks of cut pieces 5 that is adjacent, the two pieces of cut pieces can be joined face to face or back to back.

[0074] In this embodiment, the form of the robotic arm 1 is not limited, and any existing robotic arm capable of rotation, translation, and lifting can be used. After the pieces are assembled, the gripping part of the robotic arm 1 can extend into the assembly position to grip the assembled pieces through its own translational movement. Then, it takes the assembled pieces out of the assembly position and moves the gripped assembled pieces to the hanger of the hanging system through its own rotation and lifting movements, and hangs the assembled pieces on the hanger.

[0075] See Figure 3 and Figure 4In this embodiment, preferably, the X-axis moving mechanism 2 includes a fixed frame 21, an X-axis driving assembly, and two X-axis guide rails 22 extending along the X-axis. The two X-axis guide rails 22 are arranged opposite to each other and are movably mounted on the fixed frame 21 along the X-axis. Preferably, two X-axis guide rail grooves are provided on the lower surface of the fixed frame 21, and the two X-axis guide rails 22 are respectively movably inserted into the two X-axis guide rail grooves. Two gripping mechanisms 3 are respectively located at one end of the two X-axis guide rails 22 and on both sides of the fixed frame 21. The X-axis driving assembly drives the two X-axis guide rails 22 to move relative to each other along the X-axis, thereby driving the two gripping mechanisms 3 to move relative to each other along the X-axis, realizing the relative movement of the two gripping mechanisms 3 merging or separating.

[0076] Combination Figure 5 and Figure 6 In this embodiment, preferably, the X-axis drive assembly includes an X-axis motor 23 mounted on a fixed frame 21, an X-axis gear 24 mounted on the output shaft of the X-axis motor 23, and two X-axis racks 25 meshing with the X-axis gear 24. The two X-axis racks 25 are respectively located on opposite sides of the two X-axis guide rails 22, and therefore both X-axis racks 25 extend along the X-axis. Preferably, the X-axis racks 25 and their corresponding X-axis guide rails 22 can be fixedly connected by a connecting plate (not shown in the figure). By driving the X-axis gear 24 to rotate via the X-axis motor 23, the two X-axis racks 25 can be moved relative to each other simultaneously along the X-axis, thereby causing the two X-axis guide rails 22 to move relative to each other along the X-axis.

[0077] Combination Figure 6 and Figure 7In this embodiment, preferably, the gripping mechanism 3 includes a support plate 31 connected to the X-axis moving mechanism 2, a lifting block 32 disposed below the support plate 31, a separator 33 suspended on the lifting block 32, and a lifting drive member 34 disposed on the support plate 31. The support plate 31 is fixedly connected to the X-axis guide rail 22 in the X-axis moving mechanism 2. Preferably, one end of the X-axis rack 25 in the X-axis moving mechanism 2 is also fixedly connected to the support plate 31. The lower end of the separator 33 is positioned opposite to the stack of cut pieces 5 on the feeding platform 81. The separator 33 is used to grab or release a corner of the uppermost cut piece in the stack of cut pieces 5. The lifting drive 34 is connected to the lifting block 32 and drives the lifting block 32 to move up and down in the Z direction, thereby driving the separator 33 to move up and down. When the separator 33 descends to contact a corner of the uppermost cut piece in the stack of cut pieces 5, it can grab that corner of the uppermost cut piece. When the separator 33 rises, it can take the corner of the uppermost cut piece it has grabbed with it, so that one corner of the grabbed cut piece leaves the feeding platform 81, while the other corner remains on the feeding platform 81, thus achieving the separation of cut pieces. In this embodiment, the form in which the separator 33 grabs the cut pieces is not limited. For example, the separator 33 can be a needle-punched suction cup or an electrostatic adsorption cup, which grabs and releases the cut pieces by adsorption; the separator 33 can also use an adhesive separation method to grab and release the cut pieces. In this embodiment, the form of the lifting drive 34 is not limited, and any power component capable of driving the lifting block 32 to perform lifting and lowering movements can be used, such as a cylinder, hydraulic cylinder, electric push rod, or linear motor.

[0078] In this embodiment, see Figure 7 Preferably, the gripping mechanism 3 may also include a guide rod 35 that is vertically mounted through the support plate 31. The lower end of the guide rod 35 is connected to the lifting block 32. When the lifting drive 34 drives the lifting block 32 to rise and fall in the Z direction, the lifting block 32 drives the guide rod 35 to rise and fall synchronously. The rise and fall of the guide rod 35 relative to the support plate 31 can guide the rise and fall of the lifting block 32, ensuring that the lifting block 32 rises and falls smoothly, thereby ensuring that the separator 33 rises and falls smoothly.

[0079] In this embodiment, see Figure 7 Preferably, the gripping mechanism 3 may further include a guide rod 36 and a spring 37. The upper end of the guide rod 36 is suspended vertically on the lifting block 32, and the lower end of the guide rod 36 is connected to the separator 33. The spring 37 is sleeved on the guide rod 36 and located between the lifting block 32 and the separator 33. When the separator 33 descends to contact a corner of the uppermost piece of fabric in the stack of fabric pieces 5, the guide rod 36 and the spring 37 can buffer the contact between the separator 33 and the fabric piece, thus protecting the fabric piece.

[0080] In this embodiment, see Figure 3Preferably, the slide plate 41 in the piece flipping mechanism 4 is provided with a support member 42 on the side near the gripping mechanism 3, and the end of the support member 42 near the assembled piece is provided with a first rubber-coated roller 43 for contacting one of the pieces of the assembled piece. When the robot arm 1 drags the assembled piece, the side of the slide plate 41 with the support member 42 extends into the underside of one side of the assembled piece, and the first rubber-coated roller 43 directly contacts the piece, playing a guiding and conveying role in the process of the piece being dragged through the slide plate 41, which helps to reduce friction, and at the same time, the rubber-coated roller can effectively protect the surface of the piece.

[0081] Furthermore, a baffle 44 is connected below the support member 42. The baffle 44 and the support member 42 are spaced apart along the Z-direction. A second rubber-coated roller 45 is provided at the end of the baffle 44 near the assembled piece for contacting one of the cut pieces of the assembled piece. The second rubber-coated roller 45 is located below the first rubber-coated roller 43. When the robot arm 1 grips the piece, the side of the slide plate 41 with the support member 42 extends below one side of the assembled piece, allowing both the first rubber-coated roller 43 on the support member 42 and the second rubber-coated roller 45 on the baffle 44 to directly contact the cut piece. The second rubber-coated roller 45, located below the first rubber-coated roller 43, allows the lower part of the cut piece in contact with it to move closer to the other cut piece of the assembled piece, reducing the distance between the two cut pieces. This prevents the robot arm 1 from failing to grasp the assembled piece due to excessive spacing between the two cut pieces near the assembled piece. Simultaneously, the rubber-coated roller effectively protects the surface of the cut piece.

[0082] See Figure 3 and Figure 7 In this embodiment, preferably, the slide plate 41 has an arc-shaped segment 411 extending along the dragging direction of the robot arm 1 and protruding upward, and two straight segments 412 located at both ends of the arc-shaped segment 411. The two straight segments 412 are smoothly connected to the two ends of the arc-shaped segment 411. The extension length of the arc-shaped segment 411 is greater than the extension length of the two straight segments 412. The curvature of the arc-shaped segment 411 is conducive to the flipping of the cut piece head when passing through the slide plate 41, thereby smoothly driving the cut piece to flip completely. The straight segments 412 at both ends are conducive to the insertion and removal of the cut piece from the slide plate 41.

[0083] Preferably, in this embodiment, the slide 41 is made of plastic material and 3D printing process.

[0084] See Figure 3In this embodiment, preferably, the piece flipping mechanism 4 is connected to the gripping mechanism 3. When the gripping mechanism 3 moves along the X direction, it drives the piece flipping mechanism 4 to move synchronously. Thus, after the gripping mechanism 3 grips a corner of the piece, lifts the gripped corner along the Z direction, and moves the gripped corner along the X direction a short distance (e.g., 50mm), the moving component of the piece flipping mechanism 4 drives the slide plate 41 to approach the gripping mechanism 3, so that the side of the slide plate 41 close to the gripping mechanism 3 extends into the side below the piece gripped by the gripping mechanism 3. At this time, the slide plate 41 can contact the piece through the first rubber-coated roller 43 and the second rubber-coated roller 45. When the gripping mechanism 3 moves the piece along the X direction through a corner of the piece, it assists in pushing the piece as a whole along the X direction until the piece merges with a corner of the piece gripped by another gripping mechanism 3 to form a combined piece, which helps to reduce the gap between the two pieces near the combined piece position.

[0085] Combination Figure 5 , Figure 6 and Figure 7 In this embodiment, preferably, the moving component of the fabric flipping mechanism 4 includes a Y-direction telescopic member 46 connected to the gripping mechanism 3, an X-direction telescopic member 47 connected to the telescopic end of the Y-direction telescopic member 46, and a mounting plate 48 connected to the telescopic end of the X-direction telescopic member 47. The side of the slide plate 41 away from the gripping mechanism 3 is connected to the mounting plate 48. The telescopic end of the Y-direction telescopic member 46 extends and retracts along the Y direction, driving the slide plate 41 to move closer to or away from the gripping mechanism 3 along the Y direction; the telescopic end of the X-direction telescopic member 47 extends and retracts along the X direction, driving the slide plate 41 to move closer to or away from the gripping mechanism 3 along the X direction. In the initial state, such as Figure 3 As shown, the telescopic end of the Y-direction telescopic member 46 extends, causing the sliding plate 41 to move away from the gripping mechanism 3 along the Y direction, and the telescopic end of the X-direction telescopic member 47 extends, causing the sliding plate 41 to move away from the gripping mechanism 3 along the X direction, thus moving the sliding plate 41 away from the gripping mechanism 3. During the lamination process, as... Figure 4 As shown, the retraction end of the Y-direction telescopic member 46 retracts, causing the slide plate 41 to approach the gripping mechanism 3 along the Y direction. The retraction end of the X-direction telescopic member 47 retracts, causing the slide plate 41 to approach the gripping mechanism 3 along the X direction. This brings the slide plate 41 closer to the gripping mechanism 3, and the side of the slide plate 41 closest to the gripping mechanism 3 extends into the lower part of the gripping mechanism 3 separator 33. As a result, the first rubber-coated roller 43 and the second rubber-coated roller 45 on the side of the slide plate 41 closest to the gripping mechanism 3 extend into the lower part of the cut piece gripped by the gripping mechanism 3 separator 33 and come into contact with the cut piece.

[0086] Preferably, in this embodiment, the Y-direction telescopic member 46 is fixedly installed below the support plate 31 of the gripping mechanism 3 via the first fixing plate 491, the telescopic end of the Y-direction telescopic member 46 is fixedly connected to the second fixing plate 492, the X-direction telescopic member 47 is fixedly installed on the second fixing plate 492, the telescopic end of the X-direction telescopic member 47 is fixedly connected to the mounting plate 48, the side of the drag plate 41 away from the gripping mechanism 3 is fixedly connected to the mounting plate 48 via the first connector 493, one side of the support member 42 is fixedly connected to the side of the drag plate 41 near the gripping mechanism 3, the other side of the support member 42 extends to be fixedly connected to the mounting plate 48, and the baffle 44 is fixedly connected to the side of the support member 42 near the gripping mechanism 3 via the second connector 494.

[0087] In this embodiment, the form of the Y-axis telescopic member 46 and the X-axis telescopic member 47 is not limited, as long as they can provide linear motion driving force in the Y and X directions, such as cylinders, hydraulic cylinders, electric push rods, or linear motors. Preferably, both the Y-axis telescopic member 46 and the X-axis telescopic member 47 are cylinders. To avoid shaking due to excessive speed during the movement of the fabric flipping mechanism 4, the cylinder can be adjusted and controlled by installing a throttle valve.

[0088] See Figure 2 and Figure 5 Preferably, the hanging feeding system with piece flipping function in this embodiment may further include a Y-axis moving mechanism 6, which drives two gripping mechanisms 3 to move synchronously along the Y-axis. For multiple pieces stack 5 placed along the Y-axis on the feeding platform 81 of the feeding plate frame 8, the two gripping mechanisms 3 can be driven to move synchronously along the Y-axis by the Y-axis moving mechanism, so that the two gripping mechanisms 3 move directly above the piece stack 5 where the pieces to be separated are located, so as to grab the pieces. Thus, the two gripping mechanisms 3 can grab the topmost piece from any two designated piece stacks 5 stacked on the feeding platform 81 according to the sewing process requirements.

[0089] Specifically, in actual operation, based on the position of the stack of cut pieces 5 containing the cut pieces to be separated on the feeding platform 81, the Y-axis moving mechanism 6 drives the two gripping mechanisms 3 to move synchronously along the Y-axis, and the X-axis moving mechanism 2 drives the two gripping mechanisms 3 to move relative to each other along the X-axis, so that the two gripping mechanisms 3 move directly above the two stacks of cut pieces 5 containing the cut pieces to be separated. If the relative position of the two gripping mechanisms 3 can be adjusted to correspond exactly to the relative position of the two stacks of cut pieces 5 containing the cut pieces to be separated, then the two gripping mechanisms 3 can move into position simultaneously and grip the cut pieces simultaneously, and then the pieces can be joined together; otherwise, one gripping mechanism 3 can be moved directly above one stack of cut pieces 5 containing the cut pieces to be separated and grip the cut piece first, and then the other gripping mechanism 3 can be moved directly above the other stack of cut pieces 5 containing the cut pieces to be separated and grip the cut piece, and then the pieces can be joined together.

[0090] In this embodiment, preferably, the Y-direction moving mechanism 6 is connected to the X-direction moving mechanism 2. The Y-direction moving mechanism 6 drives the X-direction moving mechanism 2 to move along the Y direction, and the X-direction moving mechanism 2 drives the two gripping mechanisms 3 connected to the X-direction moving mechanism 2 to move synchronously, thereby realizing that the Y-direction moving mechanism 6 drives the two gripping mechanisms 3 to move synchronously along the Y direction.

[0091] See Figure 2 and Figure 5 In this embodiment, preferably, the Y-axis moving mechanism 6 includes a bracket 61, a Y-axis driving component, and a Y-axis guide rail 62 extending along the Y-axis. The bracket 61 is preferably connected to a suspension system. The Y-axis guide rail 62 is fixedly connected to the fixing frame 21 of the X-axis moving mechanism 2. Preferably, two Y-axis guide rails 62 can be provided, arranged parallel and spaced apart, and both are fixedly connected to the fixing frame 21. The Y-axis guide rail 62 is movably mounted on the bracket 61 along the Y-axis. Preferably, a Y-axis guide rail groove can be provided on the lower surface of the bracket 61, and the Y-axis guide rail 62 can be movably inserted into the Y-axis guide rail groove. The Y-axis driving component drives the Y-axis guide rail 62 to move along the Y-axis, thereby driving the X-axis moving mechanism 2 and the two gripping mechanisms 3 to move as a whole along the Y-axis.

[0092] Preferably, the Y-axis drive assembly includes a Y-axis motor 63 mounted on a bracket 61, a Y-axis gear 64 mounted on the output shaft of the Y-axis motor 63, and a Y-axis rack 65 meshing with the Y-axis gear 64. The Y-axis rack 65 is arranged parallel to the Y-axis guide rail 62 and is fixedly connected to it via a connecting plate 66. By driving the Y-axis gear 64 to rotate through the Y-axis motor 63, the Y-axis rack 65 can be moved along the Y-axis, thereby causing the Y-axis guide rail 62 to move along the Y-axis.

[0093] See Figure 7Preferably, the hanging feeding system with piece flipping function in this embodiment further includes a sensor 7 for detecting whether the gripping mechanism 3 has picked up a corner of the topmost piece in the piece stack 5. The sensor 7, piece flipping mechanism 4, gripping mechanism 3, X-axis moving mechanism 2, Y-axis moving mechanism 6, and robot arm 1 are all connected to the controller. The controller controls the piece flipping mechanism 4, gripping mechanism 3, X-axis moving mechanism 2, Y-axis moving mechanism 6, and robot arm 1 to automatically operate according to the set program and the detection information of the sensor 7, thereby realizing the automatic control of the hanging feeding system with piece flipping function in this embodiment. In this embodiment, the Y-axis telescopic component 46 and X-axis telescopic component 47 in the piece flipping mechanism 4, the X-axis motor 23 in the X-axis moving mechanism 2, the Y-axis motor 63 in the Y-axis moving mechanism 6, and the lifting drive component 34 and separator 33 in the gripping mechanism 3 are all connected to the controller. The controller controls the Y-axis telescopic component 46, X-axis telescopic component 47, X-axis motor 23, Y-axis motor 63, lifting drive component 34, and separator 33 to automatically operate. The form of the controller is not limited; existing controllers such as PLC controllers or microcontrollers can be used.

[0094] The working principle of the hanging feeding system with piece flipping function in this embodiment is as follows: The user defines the pieces to be combined and stacks them on the feeding platform 81 of the feeding plate frame 8 as required, forming multiple piece stacks 5; the controller controls the X-axis motor 23 to drive the X-axis gear 24 to rotate, driving the two X-axis racks 25 and the X-axis guide rail 22 to move relative to each other along the X direction. At the same time, the controller controls the Y-axis motor 63 to drive the Y-axis gear 64 to rotate, driving the Y-axis rack 65 and the Y-axis guide rail 62 to move along the Y direction, so that the two gripping mechanisms 3 separate and move simultaneously or sequentially to the two corners of the edge of the piece stack 5 where the two pieces to be separated are located; after the gripping mechanism 3 moves into position, the controller... The control lift drive 34 drives the separator 33 to descend until it contacts a corner of the uppermost piece of fabric in the stack of fabric pieces 5. The controller then controls the separator 33 to grab the fabric piece. The controller then controls the lift drive 34 to drive the separator 33 to rise, taking the corner of the uppermost piece of fabric it has grabbed with it. This causes one corner of the grabbed fabric piece to leave the loading platform 81, while the other corner remains on the loading platform 81. At this point, the grabbed fabric piece is tilted at a certain angle. During this process, the sensor 7 detects whether the separator 33 has grabbed a corner of the uppermost piece of fabric in the stack of fabric pieces 5. If it has not, the controller controls the grabbing mechanism 3 to repeat the grabbing and lifting action based on the detection information from the sensor 7, until the sensor 7 detects... The separator 33 is detected to have picked up a corner of the topmost piece of fabric in the stack of fabric pieces 5. After both gripping mechanisms 3 have finished gripping the fabric pieces, the controller controls the X-axis motor 23 to drive the X-axis gear 24 to rotate in the opposite direction, causing the two X-axis racks 25 and the X-axis guide rail 22 to move relative to each other along the X-axis. This causes the two gripping mechanisms 3 to gradually approach each other with the corner of the gripped fabric piece. When the gripping mechanism 3 has moved a small distance (e.g., 50mm) along the X-axis, the controller controls the fabric piece flipping mechanism 4 to start operating. The controller first controls the retraction end of the Y-axis telescopic member 46 to retract, and then controls the retraction end of the X-axis telescopic member 47 to retract, causing the slide plate 41 to approach the gripping mechanism 3. The first... The rubber-coated roller 43 and the second rubber-coated roller 45 extend under the cut piece gripped by the separator 33 of the gripping mechanism 3 and come into contact with the cut piece. Then the two gripping mechanisms 3 continue to move relative to each other in the X direction until one corner of the gripped cut piece is joined together to form a piece. During this approach, the cut piece flipping mechanism 4 moves synchronously with the gripping mechanism 3 and keeps in contact with the cut piece. The other corner of the piece joined together remains on the loading platform 81. If the piece is far away from the robot 1 in the Y direction, the controller can control the Y direction motor 63 to drive the Y direction gear 64 to rotate in the opposite direction, which will drive the Y direction rack 65 and the Y direction guide rail 62 to move along the Y direction and approach the robot 1, so that the piece reaches the working area of ​​the robot 1.Then, the controller controls the robotic arm 1 to extend its gripping part into the joined piece position and clamp it through its own translational movement. The controller then controls the separator 33 to release the joined piece, and the controller controls the robotic arm 1 to move along the dragging path, disengaging it from the joined piece position. During the dragging process, the head of one piece held by the robotic arm 1 first contacts the slide plate 41 and, under the action of the slide plate 41, flips towards another piece in the joined piece. During the subsequent dragging process, the middle and tail of this piece pass through the slide plate 41 and flip towards another piece in the joined piece until the piece is completely detached from the slide plate 41. During the dragging of the joined pieces, the entire piece is completely flipped. Finally, the robotic arm 1, through its own rotation and lifting motion, moves the clamped joined piece to the hanger of the hanging system and hangs it on the hanger. This completes one fully automatic operation of separating, flipping, joining, and hanging the joined pieces.

[0095] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A hanging feeding system with a cutting piece turnover function, characterized in that, The mechanical arm (1), the X-direction moving mechanism (2), two opposite setting grabbing mechanisms (3) along X-direction and the cutting piece overturning mechanism (4) set on one side of the grabbing mechanism (3), the two grabbing mechanisms (3) respectively grab and lift one corner of the uppermost cutting piece in two cutting piece stacks (5), the X-direction moving mechanism (2) drives the two grabbing mechanisms (3) to move oppositely along X-direction, so that one corner of the cutting pieces grabbed by the two grabbing mechanisms (3) is combined into a combined piece, the mechanical arm (1) clamps the combined piece and drags and hangs the combined piece on a clothes hanger, the cutting piece overturning mechanism (4) comprises a dragging plate (41) and a moving assembly, the dragging plate (41) is located on one side of the dragging path of the mechanical arm (1) and is upwardly inclined along the dragging direction of the mechanical arm (1), and the moving assembly drives the dragging plate (41) to be close to or away from the grabbing mechanism (3); when the mechanical arm (1) drags the combined piece, one side of the dragging plate (41) close to the grabbing mechanism (3) is located below one side of the combined piece, one cutting piece in the combined piece contacts the dragging plate (41) and overturns to another cutting piece through the dragging plate (41), in the process of dragging the combined piece by the mechanical arm (1), the head of one cutting piece in the combined piece, where one corner clamped by the mechanical arm (1) is located, first contacts the dragging plate (41) of the cutting piece overturning mechanism (4), due to the upward inclination of the dragging plate (41) along the dragging direction of the mechanical arm (1), the head of the cutting piece contacts the dragging plate (41) and starts to overturn to another cutting piece in the combined piece under the action of the dragging plate (41), and in the subsequent dragging process, the middle and tail of the cutting piece pass through the dragging plate (41) and overturn to another cutting piece in the combined piece, until the cutting piece completely separates from the dragging plate (41), so that the whole cutting piece is completely overturned in the process of dragging the combined piece.

2. The hanging loading system with the cutting piece turnover function according to claim 1, characterized in that, One side of the dragging plate (41) close to the grabbing mechanism (3) is provided with a supporting piece (42), one end of the supporting piece (42) close to the combined piece is provided with a first rubber-coated roller (43) for contacting one cutting piece in the combined piece.

3. The hanging loading system with the cutting piece turnover function according to claim 2, characterized in that, A baffle (44) is connected below the supporting piece (42), the baffle (44) and the supporting piece (42) have a spacing distance, and one end of the baffle (44) close to the combined piece is provided with a second rubber-coated roller (45) for contacting one cutting piece in the combined piece.

4. The hanging loading system with the cutting piece turnover function according to claim 1, characterized in that, The dragging plate (41) has an arc segment (411) extending along the dragging direction of the mechanical arm (1) and upwardly protruding, and flat segments (412) located at both ends of the arc segment (411).

5. The hanging loading system with the cutting piece turnover function according to claim 1, characterized in that, The dragging plate (41) is made of plastic material and 3D printing process.

6. The hanging loading system with the cutting piece turnover function according to claim 1, characterized in that, The cutting piece overturning mechanism (4) is connected with the grabbing mechanism (3), and the grabbing mechanism (3) drives the cutting piece overturning mechanism (4) to move synchronously when moving along X-direction.

7. The hanging loading system with the cutting piece turnover function according to claim 6, characterized in that, The moving assembly of the cutting piece overturning mechanism (4) comprises a Y-direction telescopic piece (46) connected with the grabbing mechanism (3), an X-direction telescopic piece (47) connected with the telescopic end of the Y-direction telescopic piece (46), and a mounting plate (48) connected with the telescopic end of the X-direction telescopic piece (47), and the side of the dragging plate (41) away from the grabbing mechanism (3) is connected with the mounting plate (48).

8. The hanging loading system with the cutting piece turnover function according to claim 1, characterized in that, The X-direction moving mechanism (2) comprises a fixed frame (21), an X-direction driving assembly, and two X-direction guide rails (22) extending along the X direction, the two X-direction guide rails (22) are oppositely arranged and movably arranged on the fixed frame (21) along the X direction, the two grabbing mechanisms (3) are respectively arranged at one end of the two X-direction guide rails (22) and located on the two sides of the fixed frame (21), and the X-direction driving assembly drives the two X-direction guide rails (22) to relatively move along the X direction.

9. The hanging loading system with the cutting piece turnover function according to claim 1, characterized in that, The grabbing mechanism (3) comprises a support plate (31) connected with the X-direction moving mechanism (2), a lifting block (32) arranged below the support plate (31), a separator (33) hung on the lifting block (32), and a lifting driving piece (34) arranged on the support plate (31), the separator (33) is used for grabbing or releasing a corner of the uppermost layer of cutting pieces in the cutting piece stack (5), and the lifting driving piece (34) is connected with the lifting block (32) and drives the lifting block (32) to lift.

10. The hanging loading system with the cutting piece turnover function according to claim 1, characterized in that, The Y-direction moving mechanism (6) is further included, and the Y-direction moving mechanism (6) drives the two grabbing mechanisms (3) to synchronously move along the Y direction.

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