An automated sewing machine

Abstract

This application discloses an automated sewing device, including a conveying mechanism, a sewing machine, a workpiece moving assembly, and a robotic arm. In this application, the workpiece moving assembly, the sewing machine, the robotic arm, and the conveying mechanism are combined to form an automated system. This system can automate workpiece sewing without human intervention, solve the difficulties of manual sewing, and save labor and time costs. At the same time, the taking off of the first workpiece and the insertion of the second workpiece can be closely combined. The mechanical device replaces the manual zipper movement process, saving labor and ensuring reliable results.

Description

Technical Field

[0001] This application relates to the field of sewing, and more particularly to an automated sewing device. Background Technology

[0002] In bag sewing, zippers need to be sewn together with the bag. However, the existing sewing structure has some problems. For example, the existing mechanism requires manual intervention and has a low degree of automation. Summary of the Invention

[0003] This application provides an automated sewing device that can automate workpiece sewing with high efficiency.

[0004] This application discloses an automated sewing device, comprising:

[0005] A conveying mechanism is used to convey workpieces, including a first workpiece and a second workpiece to be sewn together.

[0006] A sewing machine, located on one side of the conveying mechanism, is used to sew together the first and second workpieces;

[0007] The workpiece moving assembly includes a main frame, a moving device, and a snatching mechanism. The main frame is located on one side of the conveying mechanism, and the moving device is located on the main frame to drive the snatching mechanism to rotate circumferentially. The snatching mechanism includes a snatching block, a top support block, a third telescopic drive member, and multiple support plates. The snatching block is connected to the moving device. The snatching block has a top support channel facing the sewing machine. The top support block is movably located within the top support channel. Multiple support plates are located at the outlet of the top support channel. The two ends of the third telescopic drive member are respectively connected to the top support block and the snatching block. The top support block can expand the multiple support plates to the four sides. A first workpiece is snatched on the outer periphery of the multiple support plates, and a second workpiece is located within the inner periphery of the multiple support plates.

[0008] A robotic arm is positioned between the conveying mechanism and the workpiece moving assembly to transfer the workpiece from the conveying mechanism to the assembly mechanism.

[0009] The automated sewing equipment of this application has at least the following beneficial effects:

[0010] The automated sewing equipment of this application includes a conveying mechanism, a sewing machine, a workpiece moving assembly, and a robotic arm. In this application, the conveying mechanism transports workpieces to be sewn in real time. The robotic arm first places the first workpiece onto the outer periphery of multiple support plates. Then, a third telescopic drive component moves the top support block toward the outlet position of the top support channel. The inner periphery of the multiple support plates abuts against the outer periphery of the top support block, thereby pushing the multiple support plates outward and expanding them. The first workpiece (zipper) placed on the support plates is thus opened, and at the same time, the expansion of the multiple support plates allows the second workpiece (bag) to be inserted into the multiple support plates. Space is provided between the support pieces, allowing the robotic arm to smoothly insert the bag into the inner circumference of the multiple support pieces. Then, the third telescopic drive drives the top support block to retract inward, resetting the support pieces and clamping the second workpiece. At this time, the first workpiece is fitted onto the outer circumference of the multiple support pieces, while the second workpiece is clamped between the inner circumferences of the multiple support pieces. The sewing machine can then sew the first and second workpieces together. During the sewing process, the moving device drives the taking-up mechanism to rotate circumferentially, allowing the sewing machine to circumferentially sew the workpieces together. After sewing, the robotic arm unloads the workpiece to the designated position again. In other words, the workpiece moving assembly, sewing machine, robotic arm, and conveying mechanism in this application combine to form an automated system. This system requires no manual intervention, automating workpiece sewing, solving the difficulties of manual sewing, and saving labor and time costs. At the same time, the taking-up of the first workpiece (zipper) and the insertion of the second workpiece (bag) can be tightly combined, using a mechanical device to replace the manual zipper-fitting process, saving labor and ensuring reliable results. Attached Figure Description

[0011] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0012] Figure 1 This is a schematic diagram of the structure of the automated sewing equipment in the embodiments of this application;

[0013] Figure 2 This is a view of the workpiece placement assembly from the first angle in an embodiment of this application;

[0014] Figure 3 This is a second-angle view of the workpiece placement assembly in the embodiments of this application;

[0015] Figure 4 This is a side view of the workpiece moving assembly and the sewing machine in the embodiments of this application;

[0016] Figure 5 yes Figure 4 AA view;

[0017] Figure 6 This is a schematic diagram of the workpiece moving assembly and the sewing machine in the embodiments of this application;

[0018] Figure 7 yes Figure 6 Enlarged view of point A in the middle;

[0019] Figure 8 This is a schematic diagram of the guide rail block and the traveling wheel assembly;

[0020] Figure 9 This is a schematic diagram of the locking mechanism and the wheel assembly;

[0021] Figure 10 This is a partial schematic diagram of the workpiece moving assembly in an embodiment of this application;

[0022] Figure 11 This is a schematic diagram of the workpiece moving assembly in this application embodiment after some parts have been hidden;

[0023] Figure 12 yes Figure 11 Enlarged view of point B in the middle;

[0024] Figure 13 This is a side view of the second moving mechanism and the retrieval mechanism;

[0025] Figure 14 yes Figure 13 BB view;

[0026] Figure 15 yes Figure 4 Top view;

[0027] Figure 16 This is a schematic diagram of the workpieces to be sewn together;

[0028] Figure 17 This is a schematic diagram of the retrieval mechanism;

[0029] Figure 18 This is a schematic diagram of the structure of the retrieval mechanism after the retrieval block is hidden;

[0030] Figure 19 This is a schematic diagram of the support plate structure;

[0031] Figure 20 yes Figure 14 Enlarged view of point C in the middle;

[0032] Figure 21 This is a diagram showing the process of the movable cam moving on the track.

[0033] The annotations in the attached figures are explained as follows:

[0034] 1. Main frame;

[0035] 2. First moving mechanism; 21. Guide rail block; 211. Traveling track; 211a. First section of track; 211b. Second section of track; 212. Mounting support; 22. Traveling wheel assembly; 221. Traveling wheel; 222. Connecting rod; 223. First locking part; 23. Position sensor; 23a. First position sensor; 23b. Second position sensor; 24. Sliding bearing;

[0036] 3. Locking mechanism; 31. First telescopic drive component; 32. Second locking part; 32a. Locking hole; 33. Guide plate; 33a. Guide groove;

[0037] 4. Second moving mechanism; 41. Moving cam; 411. Sliding guide groove; 42. Second telescopic drive component; 5. Snatching mechanism; 5a. Top support channel; 5b. Exit position; 51. Snatching block; 52. Top support block; 53. Third telescopic drive component; 54. Support plate; 541. Mounting part; 542. Arc-shaped transition part; 543. Contact part; 55. Spring; 56. Sliding column; 57. Friction plate; 58. Mounting plate; 59. Guide cylinder; 6. Linkage mechanism; 61. First drive shaft; 62. Second drive shaft; 63. Drive gear; 64. First pulley; 65. Second pulley; 66. Transmission belt; 67. Third drive shaft; 68. Ratchet; 69. Ratchet tooth;

[0038] 7. First workpiece;

[0039] 8. Second workpiece;

[0040] 9. Sewing machine; 9a. Working range of a sewing machine;

[0041] 10. Conveying mechanism; 101. Workpiece placement assembly; 1011. Vertical plate; 1012. First L-shaped positioning block; 1013. Second L-shaped positioning block;

[0042] 11. Robotic arm. Detailed Implementation

[0043] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0045] like Figure 1 As shown, this application discloses an automated sewing device, which includes a conveying mechanism 10, a sewing machine 9, a workpiece moving assembly, and a robot arm 11. First, let's define the directions of this application embodiment: the first horizontal direction refers to the horizontal longitudinal direction, and the second horizontal direction is specified as the horizontal transverse direction. The first horizontal direction and the second horizontal direction intersect perpendicularly in the horizontal plane.

[0046] The conveying mechanism 10 can transport workpieces to a designated location on-site. The conveying mechanism 10 can be based on existing belt conveyors, roller conveyors, guide rail conveyors, etc. In this embodiment, the conveying mechanism 10 refers to an existing belt conveyor mechanism. The conveying mechanism 10 can transport the required workpieces in real time. The workpieces include a first workpiece 7 and a second workpiece 8. The first workpiece 7 and the second workpiece 8 need to be sewn together by a sewing machine 9. Figure 16 As shown, the first workpiece 7 is configured as a zipper, and the second workpiece 8 is configured as a bag. The zipper and the bag are sewn together by a sewing machine 9.

[0047] Preferred, such as Figure 2 and Figure 3 As shown, the conveying mechanism 10 is provided with a plurality of workpiece placement assemblies 101, which are used to place workpieces for easy picking up by the robot arm 11; the workpiece placement assembly 101 includes a vertical plate 1011, a first L-shaped positioning block 1012 and a second L-shaped positioning block 1013.

[0048] like Figure 2 As shown, the lower end of the upright plate 1011 (the lower end of the upright plate 1011 has a base plate) is fixedly installed on the conveying mechanism 10. Two first L-shaped positioning blocks 1012 are arranged side by side on the horizontal side of the upright plate 1011. A first positioning space is formed between the first L-shaped positioning blocks 1012 and the side wall of the upright plate 1011. The first workpiece 7 is placed in the first positioning space, and the position of the first workpiece 7 is restricted by the first L-shaped positioning blocks 1012.

[0049] like Figure 3 As shown, two second L-shaped positioning blocks 1013 are arranged side by side on the other side of the vertical plate 1011. A second positioning space is formed between the second L-shaped positioning blocks 1013 and the side wall of the vertical plate 1011. The second workpiece 8 is placed in the second positioning space, and the position of the second workpiece 8 is restricted by the second L-shaped positioning blocks 1013.

[0050] The sewing machine 9 can refer to the structure in the prior art. The sewing machine 9 is set on one side of the robot arm 11 and is used to sew the first workpiece 7 and the second workpiece 8 together.

[0051] The workpiece moving assembly includes a main frame 1, a moving device, and a snatching mechanism 5; the moving device includes a first moving mechanism 2, a locking mechanism 3, a second moving mechanism 4, and a linkage mechanism 6; it should be noted that, in addition to the structural form adopted in the embodiment of this application, the moving device can also adopt, for example, some existing rotary drive mechanisms, to drive the snatching mechanism 5 to rotate circumferentially. The following is a detailed description of the workpiece moving assembly in the embodiment of this application.

[0052] like Figures 4 to 7 As shown, the main frame 1 is located on one side of the sewing machine 9. The main frame 1 is used for supporting and installing various components. In some embodiments, the main frame 1 is made of multiple plates welded together.

[0053] The first moving mechanism 2 includes a guide rail block 21 and two walking wheel assemblies 22;

[0054] like Figure 8 As shown, the guide block 21 is a closed semi-circular ring. The lower end of the guide block 21 is fixedly installed on the main frame 1 by a vertical support column. The guide block 21 has recessed walking tracks 211 on both sides in the second horizontal direction. The trajectory of the walking track 211 is set along the length direction of the guide block 21. That is, the walking track 211 includes a first track 211a and a second track 211b. The length direction of the first track 211a is a semi-circular arc (that is, the trajectory of the first track 211a is a semi-circular arc). The length direction of the second track 211b is the first horizontal direction. The first track 211a and the second track 211b are smoothly connected.

[0055] Among them, such as Figure 8 As shown, the upper end of the guide rail block 21 is provided with a mounting bracket 212 for mounting the second drive shaft 62, and the second drive shaft 62 passes through the mounting bracket 212 along the second horizontal direction.

[0056] like Figure 8As shown, there are two traveling wheel assemblies 22, both mounted on the guide rail block 21, capable of moving along the trajectory of the traveling track 211. Each traveling wheel assembly 22 includes a traveling wheel 221, a connecting rod 222, and a first locking part 223. The traveling wheel 221 is rotatably disposed within the traveling track 211, and the connecting rod 222 is rotatably connected to the end face of the traveling wheel 221. The first locking part 223 is connected to the traveling rod and is located on one side of the guide rail cabinet (along the second horizontal direction). The distance between the two traveling wheel assemblies 22 (specifically, the center distance between the two connecting rods 222) is equal to the radius of the second track segment 211b (arc track).

[0057] Preferred, such as Figure 9 As shown, the walking wheel assembly 22 includes two walking wheels 221, both of which are rotatably connected to the connecting rod 222. The two walking wheels 221 are respectively located within two walking tracks 211 on both sides of the guide block 21, with the guide block 21 positioned between the end faces of the two walking wheels 221. In this embodiment, by providing walking tracks 211 on both sides of the guide block 21 to cooperate with each walking wheel 221, the stability of the structure can be increased, and the walking wheel assembly 22 can be prevented from detaching from the guide block 21.

[0058] Preferred, such as Figure 8 As shown, multiple position sensors 23 (e.g., laser sensors) are provided on one side of the guide rail block 21. The position sensors 23 are used to sense the positions of the connecting rod 222 and the moving cam 41 on the guide rail block 21. In this embodiment, at least two position sensors 23 are provided. The first position sensor 23a is disposed opposite to the locking mechanism 3 in the second horizontal direction, and the second position sensor 23b is disposed at the lower right of the guide rail block 21 (specifically, the lower right of the second horizontal direction view).

[0059] like Figure 9As shown, the locking mechanism 3 includes a first telescopic drive member 31 and a second locking part 32. The first telescopic drive member 31 can be an electric push rod, a telescopic cylinder, etc. One axial end of the first telescopic drive member 31 is mounted on the main frame 1, and the other axial end is connected to the second locking part 32. The telescopic direction of the first telescopic drive member 31 is configured as a second horizontal direction. The first telescopic drive member 31 can drive the second locking part 32 to lock together with the first locking part 223, or drive the second locking part 32 to lock together with the first locking part 223. 3. Disengagement from the locked state: The second locking part 32 is provided with a locking hole 32a (through hole). Under the extension and retraction of the first telescopic drive member 31, the second locking part 32 can move and be sleeved on the outer periphery of the first locking part 223. The inner peripheral wall of the locking hole 32a can restrict the movement of the first locking part 223 in the first horizontal direction. When the first telescopic drive member 31 retracts, the locking hole 32a disengages from the first locking part 223. At this time, the first locking part 223 can move along the length direction of the travel track 211.

[0060] In this embodiment of the application, the locking mechanism 3 is designed to cooperate with the first locking part 223 of a walking wheel assembly 22, so as to fix one end of the moving cam 41, so that the moving cam 41 can swing along the trajectory of the walking track 211 with the fixed point as the rotation point.

[0061] Preferred, such as Figure 10 As shown, the locking mechanism 3 also includes a guide plate 33, which is fixedly mounted on the main frame 1. The guide plate 33 has a guide groove 33a, the length of which is aligned with the extension / retraction direction of the first telescopic drive member 31. At least a portion of the second locking part 32 is disposed within the guide groove 33a. This embodiment of the application guides the second locking part 32 via the guide groove 33a, ensuring the movement accuracy of the second locking part 32.

[0062] like Figures 11 to 14 As shown, the second moving mechanism 4 includes a moving cam 41 and a second telescopic drive member 42; the moving cam 41 is disposed on one side of the guide block 21 along the second horizontal direction, the outer periphery of the moving cam 41 is square (the four corners of the square are provided with rounded chamfers), the outer periphery of the moving cam 41 is provided with a tooth structure (not shown), the drive gear 63 meshes with the tooth structure of the moving cam 41, and the drive gear 63 can drive the moving cam 41 to swing.

[0063] like Figure 12As shown, the back side of the movable cam 41 is provided with a sliding guide groove 411, and the connecting rod 222 of the traveling wheel assembly 22 has an extension section along the second horizontal direction. The end of the extension section is disposed in the sliding guide groove 411. In some embodiments, the outer diameter of the extension section matches the inner width of the sliding guide groove 411 (for example, the inner width is 1.05-1.2 times the outer diameter). The length direction of the sliding guide groove 411 intersects perpendicularly with the axial direction of the connecting rod 222.

[0064] In this embodiment, the back side of the movable cam 41 is provided with two sliding guide grooves 411, and the two sliding guide grooves 411 are respectively matched with the connecting rods 222 of the two walking wheel assemblies 22.

[0065] Please refer to it again. Figure 9 A sliding bearing 24 is coaxially mounted at the end of the extension of the connecting rod 222. The sliding bearing 24 is located within the sliding guide groove 411, and its outer circumference can roll in contact with the inner circumferential wall of the sliding guide groove 411. It should be noted that the outer diameter of the sliding bearing 24 matches the inner width of the sliding guide groove 411 (for example, the inner width is 1.05-1.2 times the outer diameter of the sliding bearing).

[0066] In this embodiment, the sliding bearing 24 enables the connecting rod 222 and the moving cam 41 to roll into contact. The sliding bearing 24 can also slide within the sliding guide groove 411 (sliding along the length of the sliding guide groove 411), which facilitates the circumferential swing of the moving cam 41 and prevents the mechanism from jamming.

[0067] like Figure 14 As shown, the second telescopic drive member 42 is located on the side of the moving cam 41 away from the guide block 21, and one end of the second telescopic drive member 42 is connected to the end face of the moving cam 41, and the other end (telescopic end) is connected to the sleeve mechanism 5 (specifically the sleeve block 51). The telescopic direction of the second telescopic drive member 42 is configured as a second horizontal direction. There are two second telescopic drive members 42, and both second telescopic drive members 42 are arranged between the moving cam 41 and the sleeve mechanism 5. The second telescopic drive member 42 can be an electric push rod, a telescopic cylinder, etc. In this embodiment, the second telescopic drive member 42 can drive the sleeve mechanism 5 and the workpiece on the sleeve mechanism 5 to move toward the sewing machine 9, thereby transporting the workpiece into the working range 9a of the sewing machine for sewing. After the sewing is completed, the second telescopic drive member 42 drives the sleeve mechanism 5 to retract, so that there is a certain working space between the sleeve mechanism 5 and the sewing machine 9, which makes it convenient for the robot arm 11 to remove the sewn workpiece and insert a new workpiece.

[0068] The linkage mechanism 6 includes a first drive shaft 61, a second drive shaft 62, a drive gear 63, and a transmission mechanism.

[0069] like Figure 15 As shown, the first drive shaft 61 and the second drive shaft 62 are connected by a transmission mechanism; the first drive shaft 61 is rotatably mounted on the main frame 1 along the second horizontal direction, and the first drive shaft 61 is connected to the main shaft of the sewing machine 9 (transmission connection). When the sewing machine 9 is working, the sewing machine 9 can synchronously drive the first drive shaft 61 to rotate; the second drive shaft 62 is rotatably mounted on the mounting support 212 at the upper end of the guide rail block 21, and the drive gear 63 is coaxially fixed to the end of the second drive shaft 62, and the drive gear 63 is meshed with the moving cam 41.

[0070] The transmission mechanism includes a first pulley 64, a second pulley 65, a transmission belt 66, a third drive shaft 67, a ratchet 68, and a ratchet tooth 69. The first pulley 64 is coaxially fixed to the first drive shaft 61, and the second pulley 65 is coaxially fixed to the third drive shaft 67. The third drive shaft 67 is rotatably mounted on the main frame 1. The first pulley 64 and the second pulley 65 are connected by the transmission belt 66. The ratchet 68 is coaxially fixed to the second drive shaft 62, and the ratchet tooth 69 is fixed to the third drive shaft 67, with the ratchet 68 meshing with the ratchet tooth 69. In this embodiment, the cooperation between the ratchet tooth 69 and the ratchet 68 enables efficient transmission and also has a self-locking function.

[0071] The sleeve-mounting mechanism 5 is used to mount the workpiece to be processed, such as... Figure 16 As shown in the embodiment of this application, the workpiece to be processed includes a first workpiece 7 and a second workpiece 8. The first workpiece 7 is configured as a zipper, and the second workpiece 8 is configured as a bag. The zipper and the bag are sewn together by a sewing machine 9.

[0072] like Figure 14 , Figure 17 and Figure 18 As shown, the retrieval mechanism 5 includes a retrieval block 51, a top support block 52, a third telescopic drive member 53, and multiple support plates 54;

[0073] like Figure 14 As shown, the take-up block 51 is disposed between the sewing machine 9 and the moving cam 41. The side of the take-up block 51 facing away from the sewing machine 9 is connected to the telescopic end of the second telescopic drive member 42. The side of the take-up block 51 facing the sewing machine 9 has a recessed top support channel 5a, and the depth direction of the top support channel 5a is configured as the second horizontal direction.

[0074] The top support block 52 is movably disposed within the top support channel 5a, and the top support block 52 can move within the top support channel 5a (moving along the second horizontal direction).

[0075] like Figure 14As shown, one end of the third telescopic drive member 53 is disposed on the inner wall of the top support channel 5a, and the other end (telescopic end) is connected to the top support block 52. The telescopic direction of the third telescopic drive member 53 is configured as the second horizontal direction. The third telescopic drive member 53 can drive the top support block 52 to move within the top support channel 5a. The third telescopic drive member 53 can be an electric push rod, a telescopic cylinder, etc.

[0076] like Figure 17 and Figure 18 As shown, there are multiple support pieces 54, one end of each support piece 54 is disposed on the sleeve block 51, and multiple support pieces 54 are arranged around the outlet position 5b of the top support channel 5a.

[0077] When the first workpiece 7 and the second workpiece 8 need to be installed, the first workpiece 7 is first placed on the outer periphery of the multiple support pieces 54. Then, the third telescopic drive 53 drives the top support block 52 to move toward the outlet position 5b of the top support channel 5a. The inner periphery of the multiple support pieces 54 abuts against the outer periphery of the top support block 52. The top support block 52 pushes the multiple support pieces 54 outward and expands the multiple support pieces 54 outward, thereby opening the first workpiece 7 (zipper). At the same time, the expansion of the multiple support pieces 54 provides space for the second workpiece 8 (bag) to be inserted between the multiple support pieces 54. The bag can be easily inserted between the inner peripheries of the multiple support pieces 54. Then, the third telescopic drive 53 drives the top support block 52 to move inward, the support pieces 54 reset, and clamp the second workpiece 8. At this time, the first workpiece 7 is placed on the outer periphery of the multiple support pieces 54, while the second workpiece 8 is clamped between the inner peripheries of the multiple support pieces 54.

[0078] Preferably, the material of the support plate 54 is a material with a certain elastic deformation capability, such as elastic metal or non-metal materials, such as spring steel, alloys, etc.

[0079] like Figure 18 As shown, there are at least four support plates 54 (four support plates 54 are shown in this embodiment of the application), and the four support plates 54 are respectively arranged at the outlet position 5b of the top support channel 5a, specifically at the four corners of the outlet position 5b.

[0080] like Figure 19 As shown, the support plate 54 includes a mounting part 541, an arc-shaped transition part 542, and a contact part 543 connected sequentially along the second horizontal direction. The mounting part 541 is connected to the inner wall of the outlet position 5b of the top support channel 5a. The arc-shaped transition part 542 is used for the transition connection between the mounting part 541 and the contact part 543. The contact part 543 is located on the outside of the top support channel 5a. Under the support action of the top support block 52, the contact part 543 can expand outward to facilitate the installation of the first workpiece 7 and the second workpiece 8.

[0081] Along the second horizontal direction, the projection of the mounting part 541 does not overlap with the projection of the top support block 52; the projection of the contact part 543 at least partially overlaps with the projection of the top support block 52. The purpose of this design is that when the top support block 52 moves, the mounting part 541 will not obstruct the movement of the top support block 52, and it can ensure that the top support block 52 can abut against the contact part 543, thereby expanding the contact parts 543 at the four corners outwards.

[0082] Preferred, such as Figure 18 As shown, the sleeve mechanism 5 also includes springs 55 corresponding to the support plates 54 one-to-one. A sliding post 56 is provided on the mounting portion 541 of the support plate 54. Mounting pieces 58 are provided at each of the four corners of the top support channel 5a, and guide cylinders 59 are provided on the mounting pieces 58. The sliding post 56 is coaxially and slidably disposed within the guide cylinder 59. The axial ends of the spring 55 are respectively connected to the end face of the sliding post 56 and the inner wall of the sleeve block 51. The spring 55 can provide a force to the support plate 54 to move towards the axis of the top support channel 5a. In this embodiment, the axial direction of the spring 55 and the sliding direction of the sliding post 56 are both perpendicular to the axis of the top support channel 5a.

[0083] Preferred, such as Figure 18 and Figure 20 As shown, the sleeve mechanism 5 also includes friction plates 57 corresponding one-to-one with the support plates 54. The friction plates 57 are disposed on the inner periphery of the contact portion 543. When installing the second workpiece 8, the friction plates 57 can be installed in the space between the contact portion 543 and the friction plates 57. In the embodiment of this application, the distance from the friction plate 57 to the end face of the contact portion 543 along the second horizontal direction (e.g., Figure 20 As shown in D1, the width of the second workpiece 8 is smaller than that shown in D1. Figure 20 As shown in D2), this makes the edge of the second workpiece 8 extend beyond the front end of the support piece 54, which facilitates sewing by the sewing machine 9 and prevents the support piece 54 from colliding with the sewing needle.

[0084] One working mode of the automated sewing equipment according to an embodiment of this application is as follows:

[0085] I. For example Figure 1 As shown, the conveying mechanism 10 conveys the first workpiece 7 (zipper) and the second workpiece 8 (bag) to one side of the robot arm 11;

[0086] Second, the second telescopic drive 42 drives the looping mechanism 5 to move away from the sewing machine 9 by a certain distance along the second horizontal direction. Then, the robot arm 11 uses the zipper on the conveying mechanism 10 to loop onto the contact part 543 of the four support pieces 54. Then, the third telescopic drive 53 drives the top support block 52 to move toward the support piece 54. After the outer periphery of the top support block 52 abuts against the contact part 543 of the support piece 54, due to the continuous extension of the third telescopic drive 53, the support pieces 54 (specifically the contact part 543) at the four corners of the top support channel 5a are pushed and expanded by the top support block 52 to the surrounding areas, thereby causing the zipper to be opened.

[0087] Third, the robotic arm 11 inserts the bag from the conveyor mechanism 10 into the inner circumference of the four support plates 54. Then, the third telescopic drive 53 retracts. When the top support block 52 moves backward, due to the elastic force of the spring 55 and the support plates 54 themselves, the support plates 54 retract inward and reset, so that the zipper can finally be stacked on the outer side of the bag surface. Figure 17 As shown;

[0088] IV. Figure 15 As shown, the second telescopic drive member 42 drives the looping mechanism 5 to move toward the sewing machine 9, so that the overlapping part of the bag and the zipper is within the working range 9a of the sewing machine. Then the sewing machine 9 begins to sew the overlapping part of the bag and the zipper. At the same time as the sewing machine 9 is working, it synchronously drives the first drive shaft 61 of the linkage mechanism 6 to rotate.

[0089] 5. The first drive shaft 61 drives the first pulley 64 to rotate, the first pulley 64 and the second pulley 65 drive the third drive shaft 67 to rotate, the ratchet 69 on the third drive shaft 67 pushes the ratchet 68 on the second drive shaft 62 to rotate, thereby causing the drive gear 63 on the end of the second drive shaft 62 to drive the moving cam 41 to rotate.

[0090] 6. When the movable cam 41 rotates, it will drive the looping mechanism 5 and the bag and zipper on the looping mechanism 5 to rotate, so as to achieve circumferential sewing;

[0091] The circumferential suturing process is as follows: Figure 21 As shown:

[0092] First, the moving cam 41 translates along the first horizontal direction. When the first position sensor 23a on the guide block 21 senses the connecting rod 222 of a left-side traveling wheel assembly 22, the first telescopic drive member 31 drives the second locking part 32 to move along the second horizontal direction, causing the second locking part 32 to be fitted onto the outer periphery of the first locking part 223, thereby restricting the movement of the traveling wheel assembly 22. Figure 21 As shown in (a) to (b), the dashed box in (b) indicates the locking position;

[0093] Because the traveling wheel assembly 22 is restricted, and the drive gear 63 continuously drives the moving cam 41, the moving cam 41 swings around the traveling wheel assembly 22 (i.e., the traveling wheel assembly locked by the second locking part) as its swing center. The other traveling wheel assembly 22 drives the moving cam 41 to swing (circularly) along the trajectory of the traveling track 211. Figure 21 As shown in (b) to (c);

[0094] Next, when the moving cam 41 swings to a vertical or near-vertical position, the second position sensor 23b can sense the position of the moving cam 41. After the second position sensor 23b senses the boundary of the moving cam 41, the moving cam 41 moves a certain distance (to the right) along the first horizontal direction. Then, the first telescopic drive member 31 drives the second locking part 32 to retract, causing the second locking part 32 to release its locking effect on the first locking part 223. Figure 21 As shown in (c) to (d) in the text;

[0095] Then, the drive gear 63 continuously drives the moving cam 41, causing the lower traveling wheel assembly 22 to continue traveling along the first section 211a of the traveling track 211 until the moving cam 41 is aligned to a horizontal state and travels a certain distance along the first horizontal direction within the second section 211b, such as... Figure 21 As shown in (d) to (e);

[0096] At this point, the moving cam 41 completes one full rotation, and the circumferential stitching of the workpiece is finished. The second telescopic drive 42 drives the sleeve block 51 to retract, and the robot arm 11 removes the stitched workpiece.

[0097] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. An automated sewing apparatus, characterized by, include: A conveying mechanism (10) is used to convey workpieces, the workpieces including a first workpiece (7) to be sewn and a second workpiece (8). A sewing machine (9) is disposed on one side of the conveying mechanism (10) for sewing the first workpiece (7) and the second workpiece (8); The workpiece moving assembly includes a main frame (1), a moving device, and a snatching mechanism (5); the main frame (1) is located on one side of the conveying mechanism (10), and the moving device is located on the main frame (1) to drive the snatching mechanism (5) to rotate circumferentially; the snatching mechanism (5) includes a snatching block (51), a top support block (52), a third telescopic drive member (53), and multiple support plates (54); the snatching block (51) is connected to the moving device; the snatching block (51) is provided with a top support channel (5a) facing the sewing machine (9); the top support block (52) is movably disposed in the top support channel (5a); multiple support plates (54) are disposed at the outlet position (5b) of the top support channel (5a); the two ends of the third telescopic drive member (53) are respectively connected to the top support block (52) and the snatching mechanism (54). Take block (51); top support block (52) can spread the multiple support pieces (54) outwards; the first workpiece (7) is sleeved on the outer periphery of the multiple support pieces (54), and the second workpiece (8) is set in the inner periphery of the multiple support pieces (54); the moving device includes a first moving mechanism (2), a locking mechanism (3) and a second moving mechanism (4); the first moving mechanism (2) includes a guide rail block (21) and two walking wheel assemblies (22); the guide rail block (21) is set on the main frame (1), and a walking track (211) is set on the guide rail block (21). The walking track (211) includes a first section track (211a) and a second section track (211b) along its length direction. The length direction of the first section track (211a) is arc-shaped, and the length direction of the second section track (211b) is a first horizontal direction; The walking wheel assembly (22) includes a walking wheel (221), a connecting rod (222), and a first locking part (223); the walking wheel (221) is disposed in the walking track (211); the connecting rod (222) is connected to the walking wheel (221); the first locking part (223) is disposed on the connecting rod (222); The locking mechanism (3) includes a first telescopic drive member (31) and a second locking part (32). One end of the first telescopic drive member (31) is disposed on the main frame (1), and the other end is connected to the second locking part (32). The second locking part (32) can lock and cooperate with the first locking part (223) under the drive of the first telescopic drive member (31). The second moving mechanism (4) includes a moving cam (41) and a second telescopic drive member (42); one side of the moving cam (41) is provided with a sliding guide groove (411) corresponding to the connecting rod (222), and the length direction of the sliding guide groove (411) is perpendicular to the axis of the connecting rod (222); one end of the connecting rod (222) is provided in the sliding guide groove (411); one end of the second telescopic drive member (42) is provided on the moving cam (41), and the other end of the second telescopic drive member (42) is connected to the sleeve block (51) of the sleeve mechanism (5); The mobile device also includes a linkage mechanism (6); the linkage mechanism (6) includes a first drive shaft (61), a second drive shaft (62), a drive gear (63), and a transmission mechanism; the first drive shaft (61) is connected to the sewing machine (9); the second drive shaft (62) is connected to the first drive shaft (61) through the transmission mechanism; the drive gear (63) is disposed on the second drive shaft (62), and the drive gear (63) is meshed with the moving cam (41); A robotic arm (11) is disposed between the conveying mechanism (10) and the workpiece moving assembly for transferring the workpiece on the conveying mechanism (10) to the retrieval mechanism (5).

2. The automated sewing apparatus according to claim 1, wherein, The conveying mechanism (10) is provided with a plurality of workpiece placement components (101); the workpiece placement component (101) includes a vertical plate (1011), a first L-shaped positioning block (1012) and a second L-shaped positioning block (1013), the lower end of the vertical plate (1011) is disposed on the conveying mechanism (10); the first L-shaped positioning block (1012) is disposed on the first side of the vertical plate (1011), and a first positioning space for installing the first workpiece (7) is formed between the first L-shaped positioning block (1012) and the vertical plate (1011); the second L-shaped positioning block is disposed on the second side of the vertical plate (1011), and a second positioning space for installing the second workpiece (8) is formed between the second L-shaped positioning block (1013) and the vertical plate (1011).

3. The automated sewing apparatus according to claim 1, wherein, The guide rail block (21) is equipped with multiple position sensors (23) for sensing the position of the walking wheel assembly (22).

4. The automated sewing apparatus according to claim 1, wherein, The second locking part (32) of the locking mechanism (3) is provided with a locking hole (32a), which can be fitted onto the outer periphery of a certain first locking part (223).

5. The automated sewing apparatus according to claim 1, wherein, A sliding bearing (24) is provided on one end of the connecting rod (222); the sliding bearing (24) is disposed in the sliding guide groove (411), and the outer periphery of the sliding bearing (24) can roll contact with the inner peripheral wall of the sliding guide groove (411).

6. The automated sewing apparatus according to claim 1, wherein, The first drive shaft (61) is rotatably mounted on the main frame (1); The transmission mechanism includes a first pulley (64), a second pulley (65), a transmission belt (66), a third drive shaft (67), a ratchet (68), and a ratchet tooth (69); the first pulley (64) is mounted on the first drive shaft (61), and the second pulley (65) is mounted on the third drive shaft (67); the third drive shaft (67) is rotatably mounted on the main frame (1); the ratchet tooth (69) is mounted on the third drive shaft (67), and the ratchet tooth (69) meshes with the ratchet tooth (68); the ratchet tooth (68) is mounted on the second drive shaft (62).

7. The automated sewing apparatus according to claim 1, wherein, The number of the support plates (54) is at least four, and the four support plates (54) are respectively arranged at the four corners of the top support channel (5a); The support piece (54) includes a mounting part (541), an arc-shaped transition part (542), and a contact part (543) connected sequentially along a second horizontal direction; the mounting part (541) is disposed on the sleeve block (51); in the second horizontal direction, the projection of the mounting part (541) does not overlap with the projection of the top support block (52), and the projection of the contact part (543) overlaps at least partially with the projection of the top support block (52); the first workpiece (7) and the second workpiece (8) are respectively disposed on the outer periphery and inner periphery of the contact part (543).

8. The automated sewing apparatus according to claim 7, wherein, The retrieval mechanism (5) also includes a spring (55); the mounting part (541) is slidably mounted on the retrieval block (51) via a sliding column (56), and the two ends of the spring (55) are respectively connected to the sliding column (56) and the retrieval block (51), and the axial direction of the spring (55) and the sliding direction of the sliding column (56) are perpendicular to the axis of the top support channel (5a).

9. The automated sewing apparatus according to claim 8, wherein, The sleeve mechanism (5) further includes friction plates (57); the friction plates (57) are arranged one-to-one on the inner periphery of the contact portion (543), and along the second horizontal direction, the distance between the friction plates (57) and the end face of the contact portion (543) is less than the width of the second workpiece (8).

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