Full-automatic loading and unloading system and method for flat flexible cloth

Abstract

The present application provides a kind of full-automatic loading and unloading system of flat flexible fabric, which is composed of loading and unloading device, alignment stitching device, buffer device, cloth falling device, cloth tearing device and the like. The system can realize full-automatic loading, alignment and stitching process of flat flexible fabric before continuous production line process section, and realize full-automatic cloth falling and tearing process after the process section. The system avoids the adverse factors caused by manual operation in efficiency, stability and quality during the production process of fabric, thereby improving production efficiency, production quality and automation degree, greatly reducing labor cost, and improving production working environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of open-width flexible fabric dyeing and finishing equipment, in particular to an open-width flexible fabric full-automatic feeding and discharging system and method. BACKGROUND

[0002] The open-width flexible fabric is still in a labor-intensive industry in the whole dyeing and finishing industry, especially the feeding, sewing, discharging, segmentation and logistics circulation before and after the production process section. Since the open-width flexible fabric has a large range of material properties such as width, thickness and elasticity, and many types, and the flexible fabric itself has poor rigidity, it is difficult to realize the automation of feeding and discharging. In the prior art, two pieces of fabric are sewn by manual operation to make the fabric continuously and uninterruptedly enter the process section for dyeing, finishing and over-feeding treatment. After the fabric completes the process section processing, the sewing position of the two pieces of fabric needs to be cut off manually to store different fabrics in different material frames. The above process relies on manual operation, resulting in low production efficiency and high labor cost. SUMMARY

[0003] Therefore, the present application discloses an open-width flexible fabric full-automatic feeding and discharging system and method, and the specific scheme is as follows:

[0004] An open-width flexible fabric full-automatic feeding and discharging system comprises:

[0005] A fabric discharging device comprises a fabric storage frame, a reciprocating material trolley, a material trolley track, a first material head positioning sensor, a second material head positioning sensor, a third material head positioning sensor, a fourth material head positioning sensor, a tail material head traction chuck, a head material head traction chuck and a fabric storage frame sensor.

[0006] The fabric storage frame is arranged on the reciprocating material trolley and comprises a frame body, a damping brush, a hook, a positioning sleeve, a discharging buffer support leg and a positioning support rod. The damping brush is arranged at the upper edge position of the rear side frame body and the front side frame body of the frame body, the hook is arranged on the side wall of the frame body, the positioning sleeve is arranged at the four corner positions on the lower bottom surface of the frame body, the discharging buffer support leg is arranged on the positioning sleeve and located at one side of the positioning sleeve, and the positioning support rod is further arranged on the lower bottom surface of the frame body.

[0007] The first material head positioning sensor and the second material head positioning sensor are arranged on the outer side wall of the rear side frame body of the frame body, the first material head positioning sensor is located above the second material head positioning sensor, the third material head positioning sensor and the fourth material head positioning sensor are arranged on the outer side wall of the front side frame body of the frame body, and the third material head positioning sensor is arranged above the fourth material head positioning sensor.

[0008] The reciprocating trolley is arranged on the trolley track and can move laterally on the trolley track, the tail end traction clamp and the head end traction clamp are arranged on the reciprocating trolley, the tail end traction clamp is located at the front side of the cloth storage frame, the head end traction clamp is arranged at the rear side of the cloth storage frame, the head end traction clamp and the tail end traction clamp are the same in structure, and each includes a lifting driving mechanism and a clamping jaw arranged on the lifting driving mechanism; the reciprocating trolley is provided with a frame positioning pin used in cooperation with a positioning sleeve of the cloth storage frame, when the cloth storage frame is placed on the reciprocating trolley, the frame positioning pin is inserted into the positioning sleeve; and a cloth storage frame sensor is arranged on the reciprocating trolley.

[0009] As a supplement to the technical scheme of the present application, the cloth falling device further comprises a frame conveying mechanism, the frame conveying mechanism comprises a conveying frame and a cloth storage frame lifting platform;

[0010] The conveying frame is arranged above the trolley track, the cloth storage frame lifting platform is arranged on the conveying frame and comprises a lifting support arm capable of lifting a cloth storage frame lower discharging buffer leg to move in a vertical direction, the cloth storage frame lifting platform is provided with two groups of first and second cloth storage frame lifting platforms, and the first cloth storage frame lifting platform is arranged at the front side of the second cloth storage frame lifting platform.

[0011] As a supplement to the technical scheme of the present application, the present application further comprises a feeding supplementary position device and an alignment sewing device, and the feeding supplementary position device and the alignment sewing device are arranged at the rear side of the cloth falling device.

[0012] The feeding supplementary position device comprises a front sewing position frame, a rear sewing position frame, a truss mechanical arm and a positioning base, the front sewing position frame and the rear sewing position frame are the same in structure as the cloth storage frame, the positioning base is provided with a first positioning pin group and a second positioning pin group used in cooperation with positioning sleeves on the lower bottom surface of the frame body of the front sewing position frame and the rear sewing position frame, the front sewing position frame is arranged on the first positioning pin group, and the rear sewing position frame is arranged on the second positioning pin group; and the truss mechanical arm is arranged above the front sewing position frame and the rear sewing position frame.

[0013] The front sewing position frame is located at the front side of the rear sewing position frame, the head end of cloth in the front sewing position frame is arranged on the rear side frame body of the front sewing position frame, and the end of the head end is located below the upper edge of the rear side frame body of the front sewing position frame; and the tail end of cloth in the rear sewing position frame is arranged on the front side frame body of the rear sewing position frame, and the end of the tail end is located below the upper edge of the front side frame body of the rear sewing position frame.

[0014] The alignment sewing device is arranged between the front sewing position frame and the rear sewing position frame and comprises a sewing tensioning device, a sewing machine support, a sewing machine assembly, a clamping alignment mechanism, a tensioning rod and a cloth positioning sensor group.

[0015] The clamping alignment mechanism comprises a clamping alignment frame, a tail material head cloth feeding guide rail arranged on the clamping alignment frame, a head material head clamping mechanism, and a tail material head clamping mechanism; the head material head clamping mechanism is located on the front side of the tail material head cloth feeding guide rail; the tail material head clamping mechanism is arranged on the tail material head cloth feeding guide rail and can slide on the tail material head cloth feeding guide rail towards or away from the head material head clamping mechanism; the tail material head clamping mechanism and the head material head clamping mechanism are structurally identical, and each comprises a chuck driving device, a clamping support, a first chuck, and a first edge searching sensor; the chuck driving device is arranged on the clamping support; the first chuck comprises an upper chuck I, an upper chuck II, a lower chuck I, and a lower chuck II; each chuck is connected with the clamping support through the chuck driving device; the chuck driving device comprises a lifting mechanism and a longitudinal moving mechanism; the chuck is arranged on the longitudinal moving mechanism; the longitudinal moving mechanism is used to drive the chuck to move in the longitudinal direction; the longitudinal moving mechanism is arranged on the lifting mechanism; the lifting mechanism is used to drive the longitudinal moving mechanism to lift in the vertical direction; the lifting mechanism is arranged on the clamping support; each chuck is provided with a group of first edge searching sensors;

[0016] The cloth positioning sensor group is provided with two groups; a first cloth positioning sensor group is arranged below the head material head; and a second cloth positioning sensor group is arranged below the tail material head; the cloth positioning sensor group comprises two photoelectric sensors at the same height;

[0017] The tensioning rod is in a rod-shaped structure and is arranged between the front sewing position material frame and the rear sewing position material frame;

[0018] The sewing tensioning device is arranged between the front sewing position material frame and the rear sewing position material frame and comprises a third chuck used for clamping the head material head and the tail material head, so that the head material head and the tail material head are attached to form a combined material head; the sewing machine support comprises a sewing machine guide rail; the sewing machine assembly comprises a sewing machine; the sewing machine is arranged on the sewing machine guide rail and slides on the sewing machine guide rail to sew the combined material head to form a combined material head sewing head;

[0019] As a supplement to the technical scheme of the present application, the sewing tensioning device further comprises a chuck base, a horizontal moving slider, a horizontal moving platform, a fixed platform, a first lifting cylinder, and a combined material head clamping mechanism; the chuck base is arranged below the tensioning rod; the horizontal moving slider is arranged on the chuck base; the fixed platform is arranged on the horizontal moving platform; the first lifting cylinder is arranged on the fixed platform and is arranged in at least two groups in the longitudinal direction; the end of the piston rod of each group of first lifting cylinders is provided with a group of combined material head clamping mechanisms; the combined material head clamping mechanism comprises a lifting platform, a third chuck, a proximity switch, and a metal protrusion; the third chuck and the proximity switch are arranged on the lifting platform; and the metal protrusion is arranged on the sewing machine assembly;

[0020] The sewing machine support is located at the rear side of the tensioning rod, and the sewing machine support further comprises a support body, a longitudinal moving rack, the sewing machine guide rail and the longitudinal moving rack are arranged on the support body;

[0021] The sewing machine assembly further comprises a support platform, a fabric guiding platform, a sewing machine driving motor, a cutter, the support platform is arranged on the sewing machine guide rail, the sewing machine driving motor, the sewing machine, the fabric guiding platform and the metal protrusion of the material head clamping mechanism are arranged on the support platform, and the sewing machine driving motor is provided with a gear wheel engaged with the longitudinal moving rack; the fabric guiding platform is located at the front side of the presser foot of the sewing machine, the fabric guiding platform is in a plate structure, the front end of the fabric guiding platform is provided with an oblique inclination angle, the cutter is arranged on the sewing machine and located at one side of the presser foot of the sewing machine.

[0022] As a supplement to the technical scheme of the present application, the aligning and sewing device further comprises a door width aligning assembly arranged below the first material head of the fabric in the front sewing position material frame, which comprises a door width aligning support, a counter synchronous lead screw, a lead screw motor, a first base, a second base, a base sliding rail, a left pull rod, a right pull rod, a left pull rod cylinder, a right pull rod cylinder, a third lifting cylinder; the door width aligning support is arranged on the third lifting cylinder, the lead screw motor, the counter synchronous lead screw and the base sliding rail are arranged on the door width aligning support, the first base and the second base are arranged on the base sliding rail, the counter synchronous lead screw is located above the base sliding rail, and the counter synchronous lead screw is screwed with the first base and the second base, and the lead screw motor is connected with the counter synchronous lead screw; the left pull rod cylinder is arranged on the first base, and the left pull rod is arranged on the piston rod of the left pull rod cylinder; the right pull rod cylinder is arranged on the second base, and the right pull rod is arranged on the piston rod of the right pull rod cylinder, the left pull rod comprises a right extension part and a first rod-shaped part, the right extension part is a plate structure extending to the right side, and the first rod-shaped part is a rod-shaped structure vertically arranged at the right end of the right extension part; the right pull rod comprises a left extension part and a second rod-shaped part, the left extension part is a plate structure extending to the left side, and the second rod-shaped part is a rod-shaped structure vertically arranged at the right end of the left extension part.

[0023] The sewing machine assembly further comprises a fabric guiding wheel device, a lifting supporting plate and a second lifting cylinder, which are arranged on the support platform of the sewing machine assembly and located above the fabric guiding platform, the fabric guiding wheel device comprises a fabric guiding wheel driving motor, a supporting plate, a fabric guiding wheel, a rotating shaft and a ratchet wheel, the supporting plate is provided with two groups and arranged in parallel, the rotating shaft is arranged between the two groups of supporting plates and connected with the supporting plates through bearings, the fabric guiding wheel is arranged on the rotating shaft, and the fabric guiding wheel driving motor is connected with the rotating shaft; the ratchet wheel is arranged on the rotating shaft, the ratchet wheel is provided with two groups and located on the two sides of the fabric guiding wheel, the outer surface of the ratchet wheel is provided with a plurality of sharp protrusions, and the diameter of the ratchet wheel is greater than that of the fabric guiding wheel.

[0024] The second lifting cylinder is arranged on a support platform of the sewing machine assembly, the lifting plate is arranged at the end of the piston rod of the second lifting cylinder, and the fabric guiding wheel device and the fabric guiding wheel driving motor are arranged on the lifting plate.

[0025] As a supplement to the technical scheme of the present application, the application further comprises a buffer device and a fabric tearing device.

[0026] The buffer device is arranged on the front side of the front sewing position material frame, and the fabric in the front sewing position material frame is conveyed to the buffer device through the conveying roller.

[0027] The fabric tearing device is arranged on the front side of the buffer device and above the fabric falling device, and comprises a rotating fabric tearing device and a main support.

[0028] The rotating fabric tearing device comprises a first chuck assembly, a second chuck assembly, a cutter assembly, a rotating fabric tearing chuck and a linear walking support.

[0029] The linear walking support is arranged on the main support, and comprises a fabric tearing assembly track, and the rotating fabric tearing chuck is slidably arranged on the fabric tearing assembly track.

[0030] The first chuck assembly and the second chuck assembly are both arranged on the main support, and the first chuck assembly is above the second chuck assembly.

[0031] The cutter assembly comprises a cutter support, a first cutter, a second cutter, a cutter track, a cutter rack and a cutter assembly driving motor.

[0032]

[0033] In the above formula, L is the distance between the first cutter and the second cutter, and H is the maximum weft inclination height of the fabric.

[0034] The tearing device further comprises a linear walking driving mechanism; the linear walking support is arranged on the main body support and comprises a tearing assembly track and a tearing assembly rack; the linear walking driving mechanism comprises a tearing driving motor and a chuck support, the chuck support is arranged on the tearing assembly track, the tearing driving motor is arranged on the chuck support, and the tearing driving motor is engaged with the tearing assembly rack through a gear; The second chuck of the rotary tearing chuck comprises a chuck fixed part, a chuck moving part, a chuck cylinder, a fixed jaw, a moving jaw, and a chuck guide rod; the chuck fixed part is arranged on the chuck support, the chuck cylinder is fixedly arranged on the chuck fixed part, the chuck moving part is located on one side of the chuck fixed part, and the end of the piston rod of the chuck cylinder is connected with the chuck moving part; the chuck fixed part and the chuck moving part are located between the first cutter assembly and the second cutter assembly of the cutter assembly; the fixed jaw is arranged on the chuck fixed part, the moving jaw is arranged on the chuck moving part, the moving jaw is located on one side of the fixed jaw, one end of the chuck guide rod is arranged on the chuck fixed part, and a guide sleeve for the chuck guide rod to pass through is arranged on the chuck moving part, so that the lower part of the chuck guide rod is located in the guide sleeve on the chuck moving part.

[0035] As a supplement to the technical scheme of the present application, the rotary tearing chuck further comprises a hollow rotary platform, a chuck rotary driving mechanism, and a tearing chuck flange; the hollow rotary platform and the chuck rotary driving mechanism are arranged on the chuck support;

[0036] The hollow rotary platform is connected with the chuck fixed part through the tearing chuck flange; the chuck rotary driving mechanism comprises a rotary motor, the rotary motor is connected with the hollow rotary platform, drives the tearing chuck flange to rotate, and drives the chuck fixed part to rotate;

[0037] The upper edge of the chuck fixed part is in an arc structure, the lower edge of the chuck moving part is in an arc structure, when the piston rod of the chuck cylinder is retracted to make the fixed jaw and the moving jaw in a cloth clamping state, the chuck fixed part and the chuck moving part are combined, the outer periphery of the second chuck of the rotary tearing chuck is in a circular structure, when the chuck fixed part and the chuck moving part are in the combined state, the diameter of the second chuck of the rotary tearing chuck and the width of the joint head seam head satisfy the following relationship:

[0038]

[0039] In the above formula, D is the diameter of the second chuck, and B is the width of the joint head seam head;

[0040] The second chuck rotation speed and the second chuck longitudinal movement speed satisfy the following relationship:

[0041]

[0042] In the above formula, is a linear velocity of the second chuck, is a longitudinal moving speed of the second chuck on the rail of the tearing assembly;

[0043] The rotating tearing device further comprises a second edge-finding sensor, which is arranged on the flange of the tearing chuck.

[0044] The tearing device further comprises a second sensor, which is arranged on the support of the linear walking support.

[0045] As a supplement to the technical scheme of the present application, the tearing device further comprises a belt walking traction assembly, a web centering assembly, and a belt walking deviation rectifying assembly.

[0046] The web centering assembly is arranged at the rear of the main support and comprises a transition roller, a first deviation rectifying cylinder, a transition roller support, a transition roller slide rail, and a first light curtain sensor. The transition roller is arranged on the transition roller support, the transition roller slide rail is arranged on the main support, and the transition roller support is arranged on the transition roller slide rail. The piston rod of the first deviation rectifying cylinder is connected with the transition roller support. The first light curtain sensor is arranged on the main support and located at one side of the transition roller. The first light curtain sensor comprises a light projector and a light receiver, and the cloth passes between the light projector and the light receiver.

[0047] The belt walking deviation rectifying assembly is arranged on the main support and located at the front side of the web centering assembly and comprises a deviation rectifying shaft, a deviation rectifying support, a deviation rectifying motor, a second light curtain sensor, a deviation rectifying slide rail, and a second deviation rectifying cylinder. The deviation rectifying shaft and the deviation rectifying motor are arranged on the deviation rectifying support, and the deviation rectifying motor is connected with the deviation rectifying shaft. The deviation rectifying slide rail is arranged on the main support. The deviation rectifying support is arranged on the deviation rectifying slide rail. The second deviation rectifying cylinder is arranged on the main support, and the end of the piston rod of the second deviation rectifying cylinder is connected with the deviation rectifying support. The second light curtain sensor is arranged on the main support and located at one side of the belt walking deviation rectifying assembly. The second light curtain sensor has the same structure as the first light curtain sensor, and the cloth passes between the light projector and the light receiver of the second light curtain sensor.

[0048] The belt walking traction assembly comprises a traction motor, a traction rotating roller, a traction cylinder, a lifting pedestal, and a pressure rotating roller. The traction rotating roller is arranged on the main support and connected with the main support through a bearing. The traction motor is connected with the traction rotating roller. The traction cylinder is arranged on the main support. The lifting pedestal is arranged at the end of the piston rod of the traction cylinder. The pressure rotating roller is arranged on the lifting pedestal and located above the traction rotating roller. The pressure rotating roller is connected with the lifting pedestal through a bearing.

[0049] As a supplement to the technical scheme of the present application, the tearing device further comprises a joint head recognition system and an overfeeding device.

[0050] The overfeeding device is arranged between the front jointing position material frame and the buffer device.

[0051] The seam head recognition system comprises a pre-overfeeding conveying roller, a post-overfeeding conveying roller, a material head seam head detection switch, a cloth tearing seam head recognizer, a cloth tearing belt running encoder, a lower computer, an overfeeding belt running encoder, and an overfeeding seam head recognizer.

[0052] The material head seam head detection switch is arranged on the outer wall of the front seam position material frame.

[0053] The pre-overfeeding conveying roller is arranged between the front seam position material frame and the overfeeding device, the cloth in the front seam position material frame is conveyed to the overfeeding device by the pre-overfeeding conveying roller, and the overfeeding belt running encoder is arranged on the pre-overfeeding conveying roller; the post-overfeeding conveying roller is located between the overfeeding device and the cloth tearing device, and the cloth in the overfeeding device is conveyed to the cloth tearing device by the post-overfeeding conveying roller.

[0054] The cloth tearing seam head recognizer is arranged on the main support of the cloth tearing device and located at the rear side of the belt running traction assembly.

[0055] The overfeeding seam head recognizer is arranged on the overfeeding device and located within a range of not more than 10 cm from the front side of the differential roller of the overfeeding device.

[0056] The belt running guide roller is further arranged on the cloth tearing device, the belt running guide roller is arranged between the belt running traction assembly and the cloth tearing seam head recognizer, and the cloth tearing belt running encoder is arranged on the belt running guide roller.

[0057] The material head seam head detection switch, the cloth tearing seam head recognizer, the cloth tearing belt running encoder, the overfeeding belt running encoder, and the overfeeding seam head recognizer are electrically connected with the lower computer.

[0058] The application further discloses a use method of the full-automatic flat flexible cloth feeding and discharging system, which comprises the following steps:

[0059] S1. The upper chuck I and the upper chuck II of the first material head clamping mechanism of the clamping and aligning mechanism are used to search edges and measure widths of the first material head of the cloth in the front seam position material frame, so that first material head width data are obtained, then the upper part of the first material head is clamped, meanwhile, the upper chuck I and the upper chuck II of the tail material head clamping mechanism are used to search edges and measure widths of the tail material head of the cloth in the rear seam position material frame, so that tail material head width data are obtained, then the upper part of the tail material head is clamped.

[0060] S2. Adjust the lower end edges of the first and tail material heads. Take the first material head as an example. The upper clamping head I and the upper clamping head II of the first material head clamping mechanism clamp the first material head. In this state, the first material head is below the first and second photoelectric sensors and can block the light source. The upper clamping head I rises and slowly lifts the left part of the first material head until the first photoelectric sensor detects the light source. Then the upper clamping head II rises and slowly lifts the right part of the first material head until the second photoelectric sensor detects the light source.

[0061] S3. The first material head clamping mechanism of the clamping alignment mechanism adjusts the position of the first material head through each clamping head, and the tail material head clamping mechanism adjusts the position of the tail material head through each clamping head, so that the vertical center lines of the first and tail material heads are aligned. According to the width data of the first and tail material heads, if the difference between them is within a certain range, for example, within 5 mm, the width alignment assembly does not need to fold the cloth.

[0062] When the width of the first material head is too large, the width alignment assembly folds the first material head. First, the left pull rod cylinder retracts and the right pull rod cylinder extends. Then the third lifting cylinder drives the width alignment bracket to rise, so that the lower end of the cloth is located between the left and right pull rods. Then the left pull rod cylinder extends and the right pull rod cylinder retracts, so that the left pull rod drives the cloth at the position of the left pull rod to move forward, and the right pull rod drives the cloth at the position of the right pull rod to move backward. Finally, the lead screw motor is driven to move the left pull rod to the right along the base slide rail and the right pull rod to the left along the base slide rail, so as to fold the cloth into an "S" shape. At the same time, the upper clamping head I, the upper clamping head II, the lower clamping head I and the lower clamping head II of the first material head clamping mechanism move in cooperation with the width alignment assembly, so as to reduce the width of the first material head and make the width of the tail material head consistent with that of the first material head and the side edges aligned. After the cloth folding is completed, the tail material head clamping mechanism clamps the tail material head and moves towards the first material head clamping mechanism, so that the first material head and the tail material head are in a lapped state.

[0063] When the width of the tail material head is too large, the tail material head clamping mechanism clamps the tail material head and moves horizontally above the width alignment assembly, and the width alignment assembly folds the tail material head.

[0064] Then the piston rod of the first lifting cylinder of the sewing tensioning device is raised to clamp the lower bottom end of the lapped material head.

[0065] Then the lower clamping head I and the lower clamping head II of the tail material head clamping mechanism and the lower clamping head I and the lower clamping head II of the first material head clamping mechanism are released and reset. At this time, if the width alignment assembly participates in the cloth folding process, the third lifting cylinder of the width alignment assembly is retracted and reset.

[0066] S4. The cross-moving platform of the tensioning device drives the material head clamping mechanism to move to the rear side of the tensioning rod, the piston rod of the first lifting cylinder is synchronously lifted, the material head clamping mechanism is lifted to the same height as the tensioning rod, the material head between the material head clamping mechanism and the tensioning rod is in a tensioning state, and the material head clamping mechanism cooperates with the tensioning rod to exert a transverse tensioning force on the material head;

[0067] S5. The sewing machine driving motor of the sewing machine assembly works to drive the support platform to slide along the sewing machine guide rail, so that the sewing machine moves towards the material head, when the metal protrusion is recognized by the proximity switch, the second lifting cylinder is retracted to drive the fabric guiding wheel device to press down and press the material head on the fabric guiding platform, then the piston rod of the double-acting cylinder on the material head clamping mechanism extends to separate the first clamping piece and the second clamping piece, loosen the clamping of the material head, and then the piston rod of the first lifting cylinder for supporting the material head clamping mechanism is retracted to lower the material head clamping mechanism; then the first rotating shaft is driven to rotate by the fabric guiding wheel driving motor, the second rotating shaft and the third rotating shaft are driven to rotate by the first synchronous belt and the second synchronous belt of the fabric guiding wheel device, and the material head is clamped by the fabric guiding platform, in this process, the first fabric guiding wheel, the second fabric guiding wheel and the third fabric guiding wheel roll the material head, and the transverse and longitudinal tensioning forces of the material head are provided by the fabric guiding platform and the fabric guiding wheel device, the material head is sewn during the forward sliding of the sewing machine, the cutter cuts the material head of the completed sewing part, and the piston rods of the plurality of first lifting cylinders are sequentially retracted during the continuous forward movement of the sewing machine;

[0068] S6. After the sewing of the material head is completed, the clamping alignment mechanism, the left pull rod cylinder and the sewing machine assembly are all reset; the fabric in the front sewing position fabric frame enters the process section for dyeing and finishing / overfeeding process, the fabric treated in the process section is guided to the buffer device, and then enters the door width centering assembly, the door width centering assembly adjusts and positions the fabric, the first light curtain sensor cooperates with the first deviation correcting cylinder to realize the door width centering of the fabric;

[0069] Then the fabric enters the guided deviation assembly, the second light curtain sensor cooperates with the second deviation correcting cylinder to realize the accurate guided deviation of the fabric;

[0070] Then the fabric enters the guided traction assembly, and the guided traction assembly delivers the fabric to the rotating fabric tearing device position;

[0071] When the material head sewing head is guided to the position between the first cutter and the second cutter through the sewing head recognition system, the deviation motor of the guided deviation assembly and the traction motor of the guided traction assembly are turned off, and the fabric treated in the process section is guided to the buffer device for buffering;

[0072] The sewing head recognition system specifically includes the following steps during the recognition of the material head sewing head:

[0073] S6.1. When the cloth in the front sewing position magazine is emptied, remove the front sewing position magazine, and the truss manipulator hoists the rear sewing position magazine through the hooks on the magazine body to the position of the front sewing position magazine to maintain continuous production, so that the rear sewing position magazine becomes the front sewing position magazine, and then places a new rear sewing position magazine on the second set of positioning pins on the positioning base; due to the thread on the sewing head, the sewing head is separated from the monitoring position of the sewing head detection switch, and the sewing head detection switch outputs a sewing head loss signal to the lower computer, and the lower computer starts the overfeed running encoder to measure the running distance of the cloth on the overfeed front conveying roller;

[0074] Because there are several cloth threads in the magazine during production, the cloth thread has no difference with the shape of the material head, so the overfeed thread recognizer cannot distinguish between the material head thread and the cloth thread;

[0075] S6.2. The overfeed running encoder starts to measure the cloth running distance S1 from the time when the sewing head detection switch loses the signal; when the overfeed running encoder measures the cloth running distance S1 from the time when the sewing head detection switch loses the material head thread signal, the sewing head thread recognized by the overfeed thread recognizer is the material head thread;

[0076] S1 should satisfy the following formula:

[0077]

[0078] In the above formula, is the actual distance between the sewing head detection switch and the overfeed thread recognizer, specifically, assuming that the length of the cloth does not change, the actual distance of the material head thread running to the overfeed thread recognizer between the two magazines; is the positive overfeed rate, is the negative overfeed rate;

[0079] S6.3. After the overfeed thread recognizer recognizes the material head thread, the recognition signal is transmitted to the cloth tearing running encoder, and when the cloth tearing running encoder starts to measure the cloth running distance , the thread recognized by the cloth tearing thread recognizer is the material head thread;

[0080] is expressed as follows:

[0081]

[0082] In the above formula, is the actual distance between the overfeed thread recognizer and the cloth tearing thread recognizer;

[0083] S6.4. After the fabric head seam is identified by the fabric head seam identifier, the identification signal is transmitted to the fabric tearing walking belt encoder, the fabric tearing walking belt encoder re-measures the fabric walking belt path, and the traction motor of the walking belt traction assembly is decelerated. When the fabric tearing walking belt encoder starts to measure the fabric walking belt path, the fabric head seam can be accurately stopped at the fabric head seam positioning point, and then the fabric tearing device is driven to tear off the fabric head seam;

[0084] is expressed as follows:

[0085]

[0086] In the above formula, is the actual distance between the fabric head seam identifier and the fabric head seam positioning point;

[0087] S6.5. When the fabric head seam to be torn walks to the fabric head seam positioning point, the fabric tearing device tears off the fabric head seam;

[0088] S7. The first clamp assembly clamps the upper part of the fabric, the second clamp assembly clamps the lower part of the fabric, the fabric tearing drive motor of the rotary fabric tearing device is started, the clamp fixed part and the clamp moving part move towards the fabric direction until the fabric edge is located between the fixed jaw and the moving jaw, the fixed jaw and the moving jaw are clamped by the clamp cylinder, then the first cutter of the cutter assembly cuts the fabric edge between the first clamp assembly and the rotary fabric tearing device, and the second cutter cuts the fabric edge between the second clamp assembly and the rotary fabric tearing device, so that two cuts are formed on one side edge of the fabric; then the fabric tearing drive motor of the rotary fabric tearing device drives the rotary fabric tearing clamp to move along the tearing assembly track, and the clamp rotary drive mechanism drives the rotary fabric tearing clamp to rotate, so that the rotary speed of the rotary fabric tearing clamp and the longitudinal moving speed of the rotary fabric tearing clamp satisfy the following relationship:

[0089]

[0090] In the above formula, is the linear speed of the outer periphery of the rotary fabric tearing clamp, is the longitudinal moving speed of the rotary fabric tearing clamp on the tearing assembly track;

[0091] ​S8. After the tearing of the cloth is completed, the chuck cylinder drives its piston rod to extend, so that the moving jaw moves away from the fixed jaw, and the torn joint head of the splicing head is free to fall. The rotating drive mechanism of the chuck works together with the linear walking drive to reset the rotating cloth tearing chuck. At this time, the reciprocating carriage moves to the fourth working position, and the tail material head traction chuck is opened. The second chuck assembly releases the clamping of the cloth located below the joint head of the splicing head, so that the tail material head falls freely into the clamping jaw of the tail material head traction chuck under the action of gravity after the tearing of the cloth is completed. When the third material head positioning sensor recognizes the material head signal, the clamping jaw of the tail material head traction chuck is retracted and clamps the tail material head. Then the lifting drive mechanism of the tail material head traction chuck drives the first material head to descend until the light signal of the fourth material head positioning sensor is blocked, so that the lower end of the tail material head is lowered to the set position;

[0092] S9. The reciprocating carriage transports the cloth storage frame to the first cloth storage frame lifting platform position. The lifting arm of the first cloth storage frame lifting platform lifts the lower material storage leg of the cloth storage frame upward to above the conveying frame. When the cloth storage frame sensor detects that the material frame has been completely separated from the reciprocating carriage, the reciprocating carriage can move to the second cloth storage frame lifting platform position. When the lifting arm of the first cloth storage frame lifting platform rises, the lifting arm of the second cloth storage frame lifting platform synchronously descends, and the empty cloth storage frame is placed on the reciprocating carriage. When the cloth storage frame sensor detects that the new cloth storage frame is located on the reciprocating carriage, the reciprocating carriage walks to the first working position to pull the first material head of the new section of cloth;

[0093] S10. The reciprocating carriage re-moves to the first working position, the first chuck assembly releases the clamping of the first material head, and the deviation correction motor of the walking traction assembly and the traction motor of the walking traction assembly are started again. First, the traction motor of the walking traction assembly and the deviation correction motor rotate, so that the cloth walking speed is lower than the cloth walking speed in the process section, and the first material head is guided to fall by the first material head traction chuck. When the lower end of the first material head falls through the clamping jaw of the first material head traction chuck, the light signal of the first material head positioning sensor is blocked. At this time, the clamping jaw of the first material head traction chuck is retracted and clamps the first material head. Then the lifting drive mechanism of the first material head traction chuck drives the first material head to descend until the light signal of the second material head positioning sensor is blocked, so that the lower end of the first material head is lowered to the set position. Then the reciprocating carriage moves to the second working position, so that the continuous cloth can smoothly fall into the cloth storage frame. Then the traction motor of the walking traction assembly and the deviation correction motor rotate, so that the cloth walking speed is higher than the cloth walking speed in the process section. The cloth falls into the cloth storage frame to stack and store, and at the same time, the cloth accumulated in the buffer device when it stops is consumed. In this process, the reciprocating carriage reciprocates between the third working position and the second working position, so that the cloth is stored in the cloth storage frame in an "S" shape;

[0094] When the temporary storage of cloth in the cache device is finished, the traction motor and the deviation correction motor of the belt traction assembly rotate, so that the cloth belt speed is equal to the cloth belt speed in the process section, and the cloth enters the frame stack and storage through the cloth falling center.

[0095] Beneficial effects: The present application can realize full-automatic feeding, alignment and sewing process of flat flexible cloth before the continuous production line process section through the feeding and discharging system, and realize full-automatic cloth falling and tearing process after the process section, which avoids the adverse factors caused by manual operation in efficiency, stability and quality in the cloth production process, thereby improving the production efficiency, production quality and automation degree, greatly reducing the labor cost, and improving the production operation environment. BRIEF DESCRIPTION OF DRAWINGS

[0096] Figure 1 It is a front view structural schematic diagram of the present application.

[0097] Figure 2 It is a front view structural schematic diagram of the alignment and sewing device.

[0098] Figure 3 It is a structural schematic diagram of the clamping alignment mechanism.

[0099] Figure 4 It is a structural schematic diagram of the clamping alignment mechanism.

[0100] Figure 5 It is a structural schematic diagram of the clamping alignment mechanism.

[0101] Figure 6 It is a structural schematic diagram of the door width alignment assembly.

[0102] Figure 7 It is a structural schematic diagram of the door width alignment assembly.

[0103] Figure 8 It is a structural schematic diagram of the sewing tension device.

[0104] Figure 9 It is a structural schematic diagram of the sewing machine support and sewing machine assembly.

[0105] Figure 10 It is a structural schematic diagram of the sewing machine assembly.

[0106] Figure 11 It is a structural schematic diagram of the cloth guide wheel device.

[0107] Figure 12 It is a structural schematic diagram of the cloth guide wheel device.

[0108] Figure 13 It is a schematic diagram of cloth under transverse and longitudinal tension.

[0109] Figure 14 It is a front view structural schematic diagram of the cloth falling and tearing device.

[0110] Figure 15 The main structure of the falling cloth tearing device is shown in the figure.

[0111] Figure 16 The structure of the rotating cloth tearing device is shown in the figure.

[0112] Figure 17 The structure of the rotating cloth tearing device is shown in the figure.

[0113] Figure 18 The sewing head is shown in the figure.

[0114] Figure 19 The first clamp head assembly structure of the application is shown in the figure.

[0115] Figure 20 The structure of the belt running traction assembly is shown in the figure.

[0116] Figure 21 The structure of the belt running deviation correction assembly and the width centering assembly is shown in the figure.

[0117] Figure 22 The structure of the sewing head recognition control system is shown in the figure.

[0118] Figure 23 The structure of the cloth storage frame is shown in the figure.

[0119] Figure 24 The structure of the cloth storage frame is shown in the figure.

[0120] Figure 25 The structure of the reciprocating material car is shown in the figure.

[0121] Fig. 1. Front suture position material frame, 2. Back suture position material frame, 3. Clamping alignment mechanism, 4. Suture tensioning device, 5. Tensioning rod, 6. Sewing machine support, 7. Sewing machine assembly, 8. Clamping alignment frame, 9. Tail material head cloth feeding guide rail, 10. Head material head clamping mechanism, 11. Tail material head clamping mechanism, 12. Chuck base, 13. Transverse sliding block, 14. Transverse sliding rail, 15. Transverse platform, 16. Transverse cylinder, 17. Fixed platform, 18. First lifting cylinder, 19. Lifting platform, 20. First double-action cylinder, 21. First clamping piece, 22. Second clamping piece, 23. Support platform, 24. Sewing machine, 25. Cloth feeding platform, 26. Suture line channel support, 27. Suture line roll, 28. Sewing machine drive motor, 29. Upper chuck I, 30. Upper chuck II, 31. Lower chuck I, 32. Lower chuck II, 33. Door width alignment assembly, 34. Door width alignment support, 35. Opposite synchronous lead screw, 36. Screw motor, 37. First base, 38. Second base, 39. Base sliding rail, 40. Left pull rod cylinder, 41. Right extension, 42. First rod-shaped part, 43. Left extension, 44. Second rod-shaped part, 45. Third lifting cylinder, 46. Support body, 47. Sewing machine guide rail, 48. Longitudinal movement rack, 49. Cloth feeding wheel device, 50. Cloth feeding wheel drive motor, 51. Support plate, 52. Lifting support plate, 53. Second lifting cylinder, 54. First synchronous belt, 55. Second synchronous belt, 56. First pulley, 57. Second pulley, 58. Third pulley, 59. First cloth feeding wheel, 60. Second cloth feeding wheel, 61. Third cloth feeding wheel, 62. First ratchet wheel, 63. Second ratchet wheel, 64. Third ratchet wheel, 65. First rotation shaft, 66. Second rotation shaft, 67. Third rotation shaft, 68. Rotary cloth tearing device, 69. Rotary cloth tearing chuck, 70. Straight line walking support, 71. Straight line walking drive mechanism, 72. Main body support, 73. Cloth tearing assembly rack, 74. Cloth tearing assembly track, 75. Cloth tearing drive motor, 76. Chuck support, 77. Chuck fixed part, 78. Chuck moving part, 79. Chuck cylinder, 80. Fixed jaw, 81. Moving jaw, 82. Chuck guide rod, 83. Hollow rotary platform, 84. Chuck rotary drive mechanism, 85. Cloth tearing chuck flange, 86. Second sensor, 87. First chuck assembly, 88. Second chuck assembly, 89. Cutter support, 90. First cutter, 91. Second cutter, 92. First clamping jaw, 93. Second clamping jaw, 94. Second double-action cylinder, 95. Cylinder support, 96. Cutter track, 97. Cutter rack, 98. Cutter assembly drive motor, 99. Tape walking traction assembly, 100. Traction motor, 101. Traction rotating roller, 102. Traction cylinder, 103. Lifting support, 104. Pressure rotating roller, 105. Door width centering assembly, 106. Transition roller, 107. First deviation correction cylinder, 108. Transition roller support, 109. Transition roller sliding rail, 110. First light curtain sensor, 111.Correction assembly, 112. Correction shaft, 113. Correction bracket, 114. Correction motor, 115. Second light curtain sensor, 116. Correction slide rail, 117. Second correction cylinder, 118. Buffer device, 119. Pre-overfeeding conveying roller, 120. Post-overfeeding conveying roller, 121. Joint head detection switch, 122. Cloth tearing joint head identifier, 123. Overfeeding joint head identifier, 124. Alignment stitching device, 125. Cloth falling and tearing device, 126. Running track guide roller, 127. Tail end, 128. Head end, 129. Cloth falling device, 130. Cloth storage frame, 131. Reciprocating material cart, 132. Material cart track, 133. Damping brush, 134. Tail end traction chuck, 135. Cloth frame positioning pin, 136. Head end traction chuck, 137. Hook, 138. Positioning sleeve, 139. Discharging buffer leg, 140. Positioning support rod. DETAILED DESCRIPTION

[0122] In the description of the present application, it should be understood that the terms "first", "second" are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0123] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and other terms should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0124] As Figures 1 to 25 shown, the present application discloses a kind of full-automatic loading and unloading system of flat flexible cloth, comprising:

[0125] Cloth falling device 129, including cloth storage frame 130, reciprocating material cart 133, material cart track 132, first head positioning sensor, second head positioning sensor, third head positioning sensor, fourth head positioning sensor, tail end traction chuck 134, head end traction chuck 136, cloth storage frame sensor.

[0126] The cloth storage frame 130 is arranged on the reciprocating trolley 133 and comprises a frame body, a damping brush 131, a hook 137, a positioning sleeve 138, a discharging buffer leg 139 and a positioning support rod 140. The damping brush 131 is arranged at the upper edge of the rear frame body and the front frame body of the frame body, for increasing the friction with the material head and preventing the material head from losing positioning during transportation. The hook 137 is arranged on the side wall of the frame body, the positioning sleeve 138 is arranged at the four corners of the lower bottom surface of the frame body, the discharging buffer leg 139 is arranged on the positioning sleeve 138 and located at one side of the positioning sleeve 138, and the positioning support rod 140 is arranged on the lower bottom surface of the frame body.

[0127] The reciprocating trolley 133 is arranged on the trolley rail 132 and can move laterally on the trolley rail 132, and the cloth storage frame 130 is arranged on the reciprocating trolley 133. During cloth storage, the cloth falls vertically into the reciprocating trolley 133, and the reciprocating trolley 133 drives the cloth storage frame 130 to move reciprocally on the trolley rail 132, so that the cloth can be stacked in an "S" shape in the cloth storage frame 130. The tail material head traction chuck 134 and the head material head traction chuck 136 are arranged on the reciprocating trolley 133, the tail material head traction chuck 134 is located at the front side of the cloth storage frame 130, the head material head traction chuck 136 is arranged at the rear side of the cloth storage frame 130, the head material head traction chuck 136 and the tail material head traction chuck 134 are the same in structure, and both comprise a lifting driving mechanism and a clamping jaw arranged on the lifting driving mechanism. The reciprocating trolley 133 is provided with a frame positioning pin 135 for cooperating with the positioning sleeve 138 of the cloth storage frame 130, when the cloth storage frame 130 is placed on the reciprocating trolley 133, the frame positioning pin 135 is inserted into the positioning sleeve 138; the cloth storage frame sensor is arranged on the reciprocating trolley 133, since the reciprocating trolley 133 moves at a high speed on the trolley rail 132, through the cooperation of the positioning sleeve 138 on the cloth storage frame and the frame positioning pin 135 on the reciprocating trolley 133, the cloth storage frame 130 can be stably seated on the reciprocating trolley 133.

[0128] The cloth storage frame sensor is arranged on the reciprocating trolley 133 and can detect the positioning support rod 140 on the cloth storage frame 130. The cloth storage frame sensor can be a signal emitter and a signal receiver. When the positioning support rod 140 is located between the signal emitter and the signal receiver, the signal transmission can be blocked, so as to automatically judge whether the cloth storage frame 130 is located on the reciprocating trolley 133.

[0129] The first material head positioning sensor, the second material head positioning sensor, the third material head positioning sensor and the fourth material head positioning sensor are all photoelectric sensors.

[0130] When the cloth is dropped, the reciprocating trolley 133 has four working positions in total. The first working position is located at a position where the dropping center of the cloth is directly above the first material head traction clamp 136. The second working position is located at a position where the reciprocating trolley 133 is laterally moved backward so that the dropping center of the cloth is directly above the rear end of the storage space in the cloth storage frame 130. The third working position is located at a position where the reciprocating trolley 133 is continuously laterally moved backward so that the dropping center of the cloth is directly above the front end of the storage space in the cloth storage frame 130. The fourth working position is located at a position where the reciprocating trolley 133 is continuously laterally moved backward so that the dropping center of the cloth is directly above the tail material head traction clamp 134.

[0131] The specific cloth dropping process is as follows. First, the reciprocating trolley 133 moves to the first working position. When the lower end of the first material head falls through the clamping jaw of the first material head traction clamp 136, the light signal of the first material head positioning sensor is blocked. At this time, the clamping jaw of the first material head traction clamp 136 is retracted and clamps the first material head. Then, the lifting driving mechanism of the first material head traction clamp 136 drives the first material head to descend until the light signal of the second material head positioning sensor is blocked, so that the lower end of the first material head descends to the set position. Then, the reciprocating trolley 133 moves to the second working position, so that the continuous cloth can be smoothly dropped into the cloth storage frame 130. Then, the reciprocating trolley 133 reciprocates between the third working position and the second working position, so that the cloth is stored in the cloth storage frame 130 in an “S” shape. When the cloth is torn, the reciprocating trolley 133 moves to the fourth working position, and the clamping jaw of the tail material head traction clamp 134 is opened. After the tearing of the cloth is completed, the tail material head is driven by gravity to freely fall into the clamping jaw of the tail material head traction clamp 134, and the light signal of the third material head positioning sensor is blocked. At this time, the clamping jaw of the tail material head traction clamp 134 is retracted and clamps the tail material head. Then, the lifting driving mechanism of the tail material head traction clamp 134 drives the first material head to descend until the light signal of the fourth material head positioning sensor is blocked, so that the lower end of the tail material head descends to the set position. The lifting driving mechanism drives the tail material head traction clamp 134 to descend, so that the tail material head descends to an appropriate height.

[0132] As a supplement to the above technical solution, the cloth dropping device 129 further comprises a cloth frame conveying mechanism, and the cloth frame conveying mechanism comprises a conveying frame and a cloth storage frame lifting platform.

[0133] The conveying frame is arranged above the trolley track 132, the cloth storage frame lifting platform is arranged on the conveying frame, and the lifting support arm can lift the vertical movement of the cloth storage frame 130 The unloading buffer leg 139 is lifted to the upper side of the conveying frame, and then the forklift is used to transport the cloth storage frame to the storage center for storage. The cloth storage frame lifting platform can be a motor chain wheel structure cooperating with the lifting support arm to realize the lifting function, or an oil cylinder sliding rail structure, a motor rack mechanism cooperating with the lifting support arm to realize the lifting function.

[0134] The cloth storage frame lifting platform is provided with two groups, namely the first cloth storage frame lifting platform and the second cloth storage frame lifting platform, and the first cloth storage frame lifting platform is arranged on the front side of the second cloth storage frame lifting platform.

[0135] When the cloth storage frame 130 is full of cloth, the reciprocating trolley 133 transports the cloth storage frame 130 to the position of the first cloth storage frame lifting platform, and the lifting support arm of the first cloth storage frame lifting platform lifts the upward movement of the unloading buffer leg 139 of the cloth storage frame 130 to the upper side of the conveying frame. When the cloth storage frame sensor detects that the cloth storage frame has been completely separated from the reciprocating trolley 133, the reciprocating trolley 133 can move to the position of the second cloth storage frame lifting platform. When the lifting support arm of the first cloth storage frame lifting platform rises, the lifting support arm of the second cloth storage frame lifting platform synchronously descends, and the empty cloth storage frame 130 is placed on the reciprocating trolley 133. The reciprocating trolley 133 walks to the first working position to pull the first head of the new section of cloth.

[0136] As a preferred technical scheme of the present application, the full-automatic flat flexible cloth feeding and discharging system further comprises:

[0137] The loading position supplementing device comprises a front sewing position material frame 1, a rear sewing position material frame 2, a truss mechanical hand, and a positioning base. The front sewing position material frame 1 and the rear sewing position material frame 2 have the same structure as the cloth storage frame 130. The positioning base is provided with a first positioning pin group and a second positioning pin group for cooperating with a positioning sleeve 138 on the lower bottom surface of the material frame body of the front sewing position material frame 1 and the rear sewing position material frame 2. The front sewing position material frame 1 is arranged on the first positioning pin group, and the rear sewing position material frame 2 is arranged on the second positioning pin group. The truss mechanical hand is arranged above the front sewing position material frame 1 and the rear sewing position material frame 2. The truss mechanical hand can hoist and transport the rear sewing position material frame 2 to the position of the front sewing position material frame 1 through the hook 137 on the material frame body. The stacking and storage mode of the cloth in the front sewing position material frame 1 and the rear sewing position material frame 2 is the same as that of the cloth in the cloth storage frame, and the cloth storage stacking standardization can be realized. The front sewing position material frame 1 is located at the front side of the rear sewing position material frame 2. The first material head of the cloth in the front sewing position material frame 1 is arranged on the rear side frame of the front sewing position material frame 1. The end of the first material head naturally falls by gravity and is located below the front sewing position material frame 1. The tail material head of the cloth in the rear sewing position material frame 2 is arranged on the front side frame of the rear sewing position material frame 2. The end of the tail material head naturally falls by gravity and is located below the front side frame of the rear sewing position material frame 2. Through the above arrangement, the first material head of the cloth in the front sewing position material frame 1 and the tail material head of the cloth in the rear sewing position material frame 2 can be arranged adjacent to each other, which is convenient for the subsequent sewing process.

[0138] The alignment sewing device 124 is arranged between the front sewing position material frame 1 and the rear sewing position material frame 2 and comprises a sewing tensioning device 4, a sewing machine support 6, a sewing machine assembly 7, a clamping alignment mechanism 3, a tensioning rod 5, and a cloth positioning sensor group.

[0139] The clamping alignment mechanism 3 is used for clamping the tail material head of the front sewing position material frame 1 and the first material head of the rear sewing position material frame 2 and is arranged between the front sewing position material frame 1 and the rear sewing position material frame 2. The clamping alignment mechanism 3 comprises a clamping alignment frame 8, a tail material head cloth feeding guide rail 9, a first material head clamping mechanism 10, and a tail material head clamping mechanism 11.

[0140] The tail material head cloth feeding guide rail 9 and the tail material head clamping mechanism 11 are arranged on the clamping alignment frame 8, and the tail material head clamping mechanism 11 is located at the front side of the tail material head cloth feeding guide rail 9. The first material head clamping mechanism 10 is arranged on the tail material head cloth feeding guide rail 9 and can slide on the tail material head cloth feeding guide rail 9 towards or away from the first material head clamping mechanism 10 through a motor rack structure.

[0141] The tail head clamping mechanism 11 and the head clamping mechanism 10 each include a first clamp for clamping the cloth, the head clamping mechanism 10 clamps the head of the cloth through the first clamp, and the tail head clamping mechanism 11 clamps the tail of the cloth through the first clamp and can slide on the tail head cloth feeding guide 9 towards the head clamping mechanism 10, so that the head of the cloth in the front seaming position cloth frame 1 is attached to the tail of the cloth in the rear seaming position cloth frame 2.

[0142] The head clamping mechanism 10 and the tail head clamping mechanism 11 of the clamping alignment mechanism 3 are the same in structure, each including a clamp driving device, a clamping support, a first clamp, and a first edge finding sensor, and the clamp driving device is arranged on the clamping support.

[0143] The first clamp includes an upper clamp I 29, an upper clamp II 30, a lower clamp I 31, and a lower clamp II 32, each of which is connected to the clamping support through the clamp driving device, and the clamp driving device includes a lifting mechanism and a longitudinal movement mechanism, the clamp is arranged on the longitudinal movement mechanism, the longitudinal movement mechanism is used to drive the clamp to move in the longitudinal direction, the longitudinal movement mechanism is arranged on the lifting mechanism, the lifting mechanism is used to drive the longitudinal movement mechanism to lift in the vertical direction, and the lifting mechanism is arranged on the clamping support. The lifting mechanism and the longitudinal movement mechanism can be the same or different in structure, can adopt a lead screw and a motor structure, or can adopt a cylinder and a sliding rail structure to achieve the technical effect of horizontal movement or lifting.

[0144] A set of first edge finding sensors are arranged on each clamp, and the first edge finding sensors can be photoelectric sensors, when the upper clamp I 29 and the upper clamp II 30 move longitudinally, the first edge finding sensors find the edge of the cloth, then the upper clamp I 29 and the upper clamp II 30 clamp the cloth, and the longitudinal movement mechanism calculates the longitudinal movement distance of the upper clamp I 29 and the upper clamp II 30 to calculate the width of the cloth. Specifically, the longitudinal movement distance of the upper clamp I 29 and the upper clamp II 30 of the head clamping mechanism 10 is calculated to calculate the width of the head, and the longitudinal movement distance of the upper clamp I 29 and the upper clamp II 30 of the tail head clamping mechanism 11 is calculated to calculate the width of the head.

[0145] Due to the production process of cloth, the weft is easy to be skewed, so that the end of the head or tail of the cloth is not flush, that is, the straight line where the bottom edge of the cloth is located is not perpendicular to the straight line where the two sides of the cloth are located. In order to reduce the waste of cloth, it is necessary to ensure that the lower edge of the tail head and the head of the cloth is aligned and sewn. The present application also comprises a cloth positioning sensor group, which comprises two groups of photoelectric sensors at the same height, and the two groups of photoelectric sensors of the cloth positioning sensor group are respectively first photoelectric sensor and second photoelectric sensor. The cloth positioning sensor group is provided with two groups, the first cloth positioning sensor group is arranged below the tail head, which is used for monitoring whether the lower edge of the tail head is flush with the horizontal reference line; the second cloth positioning sensor group is arranged below the head, which is used for monitoring whether the lower edge of the head is flush with the horizontal reference line, so that the bottom edges of the two heads are flush.

[0146] When adjusting the position of the lower edge of the head and tail, the clamping alignment mechanism 3 is needed to cooperate, taking the adjustment of the position of the head as an example, first, the upper clamping head I 29 and the upper clamping head II 30 of the head clamping mechanism 10 clamp the head, in this state, the head is located on one side of the first photoelectric sensor and the second photoelectric sensor, which can block the light source. The upper clamping head I 29 rises, driving the left part of the head to slowly rise, until the first photoelectric sensor monitors the light source, then the upper clamping head II 30 rises, driving the right part of the head to slowly rise, until the second photoelectric sensor monitors the light source, so that the first photoelectric sensor and the second photoelectric sensor are located at the same horizontal height. Through the above process, the lower edge of the head can be leveled with the height of the first photoelectric sensor and the second photoelectric sensor, and the lower edge of the head can be flush with the horizontal reference line.

[0147] The tensioning rod 5 is a rod-shaped structure with the length direction parallel to the horizontal plane, which is arranged between the front sewing position frame 1 and the rear sewing position frame 2, and located in front of the head clamping mechanism 10.

[0148] The sewing tensioning device 4 is arranged between the front sewing position frame 1 and the rear sewing position frame 2, which is used for clamping the head of the cloth in the front sewing position frame 1 and the tail of the cloth in the rear sewing position frame 2, so that the heads of the two pieces of cloth are attached to form a joint head. The sewing tensioning device 4 comprises a third clamping head for clamping the head and the tail; the sewing machine support 6 comprises a sewing machine guide rail 47, and the sewing machine assembly 7 comprises a sewing machine 24, which is arranged on the sewing machine guide rail 47. When it is necessary to sew the joint head, the sewing machine 24 slides on the sewing machine guide rail 47 and sews the joint head to form a seam head.

[0149] The sewing tensioning device 4 comprises a clamping head base 12, a horizontal moving sliding block 13, a horizontal moving sliding rail 14, a horizontal moving platform 15, a horizontal moving cylinder 16, a fixed platform 17, a first lifting cylinder 18, and a joint head clamping mechanism.

[0150] The chuck base 12 is located below the tensioning rod 5. The chuck base 12 is provided with a transverse slider 13 and a transverse slide rail 14. The transverse slide rail 14 is located on the chuck base 12, the transverse slider 13 is located on the transverse slide rail 14, the transverse platform 15 is located on the transverse slider 13, and the transverse cylinder 16 is located on the chuck base 12, so that the transverse cylinder 16 drives the transverse platform 15 to slide on the transverse slide rail 14.

[0151] The fixed platform 17 is mounted on the transverse platform 15, and the fixed platform 17 is provided with a first lifting cylinder 18. The first lifting cylinder 18 is provided in at least two sets and arranged in an array along the longitudinal direction. The piston rod end of each set of the first lifting cylinder 18 is provided with a combined material head clamping mechanism. The first lifting cylinder 18 can drive the combined material head clamping mechanism to lift and lower independently.

[0152] The material clamping mechanism has at least two sets arranged in an array along the longitudinal direction, capable of fully covering the width of the material clamping head. For example... Figure 8 As shown, the material-combining head clamping mechanism disclosed in this invention comprises five sets: a first material-combining head clamping mechanism, a second material-combining head clamping mechanism, a third material-combining head clamping mechanism, a fourth material-combining head clamping mechanism, and a fifth material-combining head clamping mechanism. Correspondingly, the first lifting cylinder 18 also comprises five sets: a first cylinder I, a first cylinder II, a first cylinder III, a first cylinder IV, and a first cylinder V. The first material-combining head clamping mechanism is mounted on the first cylinder I, the second material-combining head clamping mechanism is mounted on the first cylinder II, the third material-combining head clamping mechanism is mounted on the first cylinder III, the fourth material-combining head clamping mechanism is mounted on the first cylinder IV, and the fifth material-combining head clamping mechanism is mounted on the first cylinder V.

[0153] The fabric clamping mechanism includes a lifting platform 19, a third clamp, and a proximity switch. The third clamp includes a first bidirectional cylinder 20, a first clamping plate 21, and a second clamping plate 22. The first bidirectional cylinder 20 is mounted on the lifting platform 19 and has two piston rods that can move in opposite directions. The first clamping plate 21 is mounted on the first piston rod, and the second clamping plate 22 is mounted on the second piston rod, allowing the two clamping plates to move relative to each other to clamp the fabric. Through the above structural design, the lifting platform 19 can perform lifting and lateral movements.

[0154] The bottom clamping device of the material gathering head holds the material gathering head, first moving horizontally to the left from below the tensioning rod 5, and then making an upward movement, so that the clamping head of the bottom clamping head rises to the same height as the tensioning rod 5, so that the two sections of fabric between the tensioning rod 5 and the clamping head are in a tight fit, which makes it easier for the sewing machine assembly 7 to sew the two sections of fabric together.

[0155] The sewing machine support 6 is located at the rear side of the tensioning rod 5. The sewing machine support 6 comprises a support body 46, a sewing machine guide rail 47 and a longitudinal moving rack 48, which are all arranged on the support body 46.

[0156] The sewing machine assembly 7 further comprises a support platform 23, a fabric guiding platform 25, a suture channel support 26, a suture roll 27, a cutter, and a sewing machine driving motor 28. The support platform 23 is arranged on the sewing machine guide rail 47 and is provided with a sliding block matched with the sewing machine guide rail 47, so that the support platform 23 can slide on the sewing machine guide rail 47. The sewing machine driving motor 28 is arranged on the support platform 23 and is provided with a gear on the rotating shaft. The gear arranged on the sewing machine driving motor 28 is engaged with the longitudinal moving rack 48, so that the sewing machine driving motor 28 can drive the support platform 23 to slide along the sewing machine guide rail 47.

[0157] The sewing machine 24, the suture channel support 26 and the suture roll 27 are all arranged on the support platform 23. The suture channel support 26 and the suture roll 27 are arranged on one side of the sewing machine 24. The thread on the suture roll 27 enters the sewing machine 24 through the suture channel support 26. The fabric guiding platform 25 is arranged on the support platform 23 and is located at the front side of the presser foot of the sewing machine 24. The fabric guiding platform 25 is a plate-shaped structure and is provided with an oblique angle at the front end for guiding the fabric.

[0158] During the process of sewing the fabric into the sewing machine 24, the fabric guiding head located at one side of the presser foot will interfere with the sewing machine 24 during the longitudinal movement of the sewing machine 24. The sewing machine assembly 7 is further provided with a cutter for cutting the fabric guiding head. The cutter is arranged on the sewing machine 24 and is located at one side of the presser foot of the sewing machine 24. The cutter cuts the fabric guiding head of the completed sewing part, and the cut fabric guiding head falls into the fabric collecting frame located below the sewing machine assembly 7.

[0159] During the actual work process, the first fabric head clamping mechanism 10 of the clamping and aligning mechanism 3 clamps the first fabric head of the fabric in the front sewing position fabric frame 1, and the tail fabric head clamping mechanism 11 clamps the first fabric head of the fabric in the rear sewing position fabric frame 2. Then, the tail fabric head clamping mechanism 11 is driven to move on the tail fabric head fabric guiding rail 9 by the motor rack mechanism, so that the tail fabric head clamping mechanism 11 moves to the first fabric head position with the clamped tail fabric head, and the first fabric head is attached to the tail fabric head.

[0160] The suture tensioning device 4 works, and the first lifting cylinder 18 drives the material head clamping mechanism to rise, the third clamp of the material head clamping mechanism clamps the tail material head and the head material head to form a material head, and then moves to the rear side of the tensioning rod 5 to the same height as the tensioning rod 5. At this time, the sewing machine assembly 7 works, and the sewing machine driving motor 28 works to drive the support platform 23 to move along the sewing machine guide rail 47 to sew the material head to form a material head seam.

[0161] In the process of moving the sewing machine 24 along the sewing machine guide rail 47, in order to avoid the space position interference between the material head clamping mechanism and the sewing machine 24, during the actual sewing of the cloth, a plurality of material head clamping mechanisms located in front of the sewing machine 24 need to be loosened to clamp the material head and be driven to descend in turn by the first lifting cylinder 18. In order to meet the above function, a proximity switch is arranged on each material head clamping mechanism, and the proximity switch is arranged on the lifting platform 19. Correspondingly, a metal protrusion matched with the proximity switch is arranged on the support platform 23 of the sewing machine assembly 7. When the proximity switch on the material head clamping mechanism located in front of the sewing machine 24 detects the metal protrusion, the double-acting cylinder 20 of the material head clamping mechanism drives the first clamping piece 21 and the second clamping piece 22 to separate, loosening the clamping of the material head, and then the piston rod of the first lifting cylinder 18 is retracted to drive the material head clamping mechanism to descend. Through the above setting, the first cylinder I, the first cylinder II, the first cylinder III, the first cylinder IV, and the first cylinder V descend in turn to prevent position interference with the sewing machine assembly 7.

[0162] In the actual production process, the cloth in the front sewing position material frame 1 and the cloth in the rear sewing position material frame 2 may have different technical problems in width, resulting in non-alignment of the head material head and the tail material head in the width direction, affecting the subsequent sewing effect. As a supplement to the technical scheme of the present application, it also includes a width alignment assembly 33 arranged below the head material head of the cloth in the front sewing position material frame 1. The width alignment assembly 33 is used to adjust the width of the cloth, and includes a width alignment bracket 34, an opposite synchronous lead screw 35, a lead screw motor 36, a first base 37, a second base 38, a base slide rail 39, a left pull rod, a right pull rod, a left pull rod cylinder 40, a right pull rod cylinder, and a third lifting cylinder 45.

[0163] The third lifting cylinder 45 is vertically arranged on the ground, the door width alignment support 34 is connected with the piston rod of the third lifting cylinder 45, so that the third lifting cylinder 45 can drive the door width alignment support 34 to lift. The lead screw motor 36, the opposite synchronous lead screw 35 and the base slide rail 39 are arranged on the door width alignment support 34, the first base 37 and the second base 38 are arranged on the base slide rail 39, so that the first base 37 and the second base 38 can slide on the base slide rail 39. The opposite synchronous lead screw 35 is located above the base slide rail 39, and the opposite synchronous lead screw 35 is screwed with the first base 37 and the second base 38, the lead screw motor 36 is connected with the opposite synchronous lead screw 35, so as to drive the opposite synchronous lead screw 35 to rotate, so that the sliding directions of the first base 37 and the second base 38 on the base slide rail 39 are opposite. Specifically, the screw directions of the threads of the screwing parts of the first base 37, the second base 38 and the opposite synchronous lead screw 35 are different, and the opposite synchronous lead screw can also be provided with two different threads.

[0164] The left pull rod cylinder 40 is arranged on the first base 37, and the left pull rod is arranged on the piston rod of the left pull rod cylinder 40; the right pull rod cylinder is arranged on the second base 38, and the right pull rod is arranged on the piston rod of the right pull rod cylinder.

[0165] The left pull rod includes a right extension part 41 and a first rod-shaped part 42, the right extension part 41 is a plate-shaped structure extending to the right, and the first rod-shaped part 42 is a rod-shaped structure vertically arranged at the right end of the right extension part 41. The right pull rod is symmetrically arranged with the left pull rod, and includes a left extension part 43 and a second rod-shaped part 44, the left extension part 43 is a plate-shaped structure extending to the left, and the second rod-shaped part 44 is a rod-shaped structure vertically arranged at the right end of the left extension part 43. The front and back positions of the left pull rod and the right pull rod can be adjusted by the left pull rod cylinder 40 and the right pull rod cylinder, so that the movement tracks of the left pull rod and the right pull rod can be staggered when the first base 37 and the second base 38 move relatively, and the technical problem that the first pull rod and the second pull rod interfere with each other in space when the first base 37 and the second base 38 slide on the base slide rail 39 can be avoided.

[0166] As shown in Figure 5 When it is necessary to reduce the width of the cloth, first, the left pull rod cylinder 40 is retracted, the right pull rod cylinder is extended, then the third lifting cylinder 45 is driven to drive the door width alignment support 34 to rise, so that the left pull rod and the right pull rod are located on the front and back sides of the cloth. Then the left pull rod cylinder 40 is extended, the right pull rod cylinder is retracted, so that the left pull rod drives the cloth at the position of the left pull rod to move forward, and the right pull rod drives the cloth at the position of the right pull rod to move backward. Finally, the lead screw motor 36 works, so that the left pull rod moves rightward along the base slide rail 39, and the right pull rod moves leftward along the base slide rail 39, so as to fold the cloth to form an "S" shape, thereby reducing the width of the cloth.

[0167] In actual processing, the width of the first material head in the front sewing position material frame 1 and the tail material head in the rear sewing position material frame 2 need to be calculated. If the width of the first material head in the front sewing position material frame 1 is larger, the door width alignment assembly 33 processes the first material head in the front sewing position material frame 1 to shorten the width of the cloth. When the width of the tail material head in the rear sewing position material frame 2 is larger, the clamping alignment mechanism 3 clamps the tail material head in the rear sewing position material frame 2 to move to the direction of the first material head in the front sewing position material frame 1, until it moves above the door width alignment assembly 33, and then the door width alignment assembly 33 is used to adjust the width of the tail material head.

[0168] As a preferred technical solution of the present application, the sewing machine assembly 7 further comprises a cloth guiding wheel device 49, which is arranged on the support platform 23 of the sewing machine assembly 7 and above the cloth guiding platform 25, and is used to clamp the cloth with the cloth guiding platform 25 to stabilize the input of the material head into the sewing machine 24 and improve the sewing quality of the sewing machine 24.

[0169] The cloth guiding wheel device 49 comprises a cloth guiding wheel driving motor 50, a support plate 51, a cloth guiding wheel, and a rotating shaft. The support plate 51 is provided with two groups and is arranged in parallel. The rotating shaft is arranged between the two groups of support plates 51 and is connected with the support plates 51 through bearings, so that the rotating shaft can rotate freely. The cloth guiding wheel is arranged on the rotating shaft.

[0170] The cloth guiding wheel driving motor 50 is arranged on the support platform 23 and is connected with the rotating shaft, and is used to drive the cloth guiding wheel to rotate.

[0171] Through the design of the cloth guiding wheel, the material head can be clamped and vertical pressure can be applied to ensure the sewing quality.

[0172] In the above working state, the material head bottom chuck device can provide stable horizontal tension to the cloth, but in actual working process, as the multiple groups of material head clamping mechanisms are loosened one by one, the cloth about to enter the sewing machine 24 for sewing lacks the horizontal force applied by the chuck, and the outer surface of the cloth guiding wheel is mostly smooth joint, and the longitudinal force applied to the cloth is limited, so there is a risk that the cloth will retract and rebound before entering the sewing range of the sewing machine 24, which will affect the sewing quality. In order to ensure that the cloth has stable tension in the horizontal and vertical directions when entering the sewing machine 24, as a preferred technical solution of the present application, the cloth guiding wheel device 49 further comprises a ratchet wheel, which is arranged on the rotating shaft and is provided with two groups on both sides of the cloth guiding wheel. The outer surface of the ratchet wheel is provided with a sharp protrusion for penetrating into the inside of the cloth, which can cooperate with the cloth guiding platform 25 to clamp the cloth and apply tension in the horizontal and vertical directions to the cloth. The diameter of the ratchet wheel is larger than that of the cloth guiding wheel.

[0173] The metal protrusion matched with the proximity switch is located on one side of the thread guide wheel device 49, so that when the to-be-sewn fabric is located between the thread guide wheel device 49 and the thread guide platform 25, the proximity switch can monitor the metal protrusion to drive the piston rod of the first lifting cylinder 18 to retract.

[0174] Through the above setting, the thread guide platform 25 can press the material head together with the thread guide wheel device 49 before the material head clamping mechanism located on the front side of the sewing machine assembly 7 is driven to descend by the first lifting cylinder 18, so as to exert the transverse and longitudinal tension on the to-be-sewn fabric between the material head and the tensioning rod 5. After the thread guide platform 25 and the thread guide wheel device 49 are matched to press the to-be-sewn fabric, the transverse and longitudinal tension of the to-be-sewn fabric is provided by the thread guide platform 25 and the thread guide wheel device 49, the piston rod of the double-acting cylinder on the material head clamping mechanism is extended to separate the first clamping piece 21 and the second clamping piece 22, and the material head is released. The clamping of the material head, and then the piston rod of the first lifting cylinder 18 used for supporting the material head clamping mechanism is retracted to make the material head clamping mechanism descend, so as to avoid spatial interference in the working process of the sewing machine.

[0175] As a preferred technical solution of the present application, the diameter D of the ratchet wheel 棘 The diameter D of the thread guide wheel 引 , and the thickness A of the material head are related as:

[0176]

[0177] Through the above setting, the ratchet wheel can exert longitudinal tension on the material head while ensuring that the outer periphery of the thread guide wheel can roll the material head, thereby further improving the sewing quality.

[0178] As a preferred technical solution of the present application, the sewing machine assembly 7 further comprises a lifting supporting plate 52 and a second lifting cylinder 53. The second lifting cylinder 53 is arranged on the supporting platform 23 of the sewing machine assembly 7, the lifting supporting plate 52 is arranged at the end of the piston rod of the second lifting cylinder 53, and the lifting supporting plate 52 is driven to move up and down by the second lifting cylinder 53. The thread guide wheel device 49 and the thread guide wheel driving motor 50 are arranged on the lifting supporting plate 52. When the sewing machine moves forward until the material head is located between the thread guide wheel device 49 and the thread guide platform 25, the second lifting cylinder 53 retracts to drive the thread guide wheel device 49 to press down and press the material head on the thread guide platform 25.

[0179] As a preferred technical solution of the present application, the thread guide wheel device 49 further comprises a first synchronous belt 54, a second synchronous belt 55, a first belt wheel 56, a second belt wheel 57, and a third belt wheel 58.

[0180] The rotating shafts are provided with three groups, respectively, the first rotating shaft 65, the second rotating shaft 66, and the third rotating shaft 67.

[0181] The cloth guide wheels are provided with three groups, respectively, the first cloth guide wheel 59, the second cloth guide wheel 60, and the third cloth guide wheel 61.

[0182] The ratchets are provided with three groups, respectively, the first ratchet 62, the second ratchet 63, and the third ratchet 64.

[0183] The diameters of the three groups of cloth guide wheels are the same, and the diameters of the three groups of ratchets are the same.

[0184] The first rotating shaft 65, the second rotating shaft 66, and the third rotating shaft 67 are sequentially arranged between the two groups of support plates 51 from back to front. The first cloth guide wheel 59, the first belt wheel 56, and the first ratchet 62 are arranged on the first rotating shaft 65, the second cloth guide wheel 60, the second belt wheel 57, and the second ratchet 63 are arranged on the second rotating shaft 66, and the third cloth guide wheel 61, the third belt wheel 58, and the third ratchet 64 are arranged on the third rotating shaft 67.

[0185] The first belt wheel 56 and the second belt wheel 57 are connected by the first synchronous belt 54, and the second belt wheel 57 and the third belt wheel 58 are connected by the second synchronous belt 55. The cloth guide wheel driving motor 50 is connected with the first rotating shaft 65 to drive the first rotating shaft 65 to rotate.

[0186] The diameters of the first belt wheel 56, the second belt wheel 57, and the third belt wheel 58 are in the following relationship:

[0187] D1≤D2≤D3

[0188] D1 is the diameter of the first belt wheel 56, D2 is the diameter of the second belt wheel 57, and D3 is the diameter of the third belt wheel 58.

[0189] Through the above arrangement, when the cloth guide wheel driving motor 50 rotates to drive the first rotating shaft 65 to rotate, the second belt wheel 57 and the third belt wheel 58 simultaneously rotate. Since the diameters of the first belt wheel 56, the second belt wheel 57, and the third belt wheel 58 gradually increase, the rotating speeds of the first rotating shaft 65, the second rotating shaft 66, and the third rotating shaft 67 gradually decrease. Since the diameters of the three groups of ratchets are equal, the peripheral rotating linear speeds of the first ratchet 62, the second ratchet 63, and the third ratchet 64 gradually decrease, so that the tension applied to the cloth between the first ratchet 62 and the second ratchet 63 is greater than the tension applied to the cloth between the second ratchet 63 and the third ratchet 64. The longitudinal tension gradually increases when the sewing head enters the sewing machine, which ensures the sewing quality. At the same time, the tension is stably applied by cooperating with the material head bottom chuck device, so that the horizontal tension and the longitudinal tension of the material head can be maintained to be conveyed into the sewing machine for sewing.

[0190] As a preferred technical scheme of the present application, the distance between the two adjacent threader head clamping mechanisms is greater than the total length of the threader wheel device 49, so that during the straight-line movement of the sewing machine 24 during sewing, the threader head clamping mechanisms sequentially lower and release the threader heads during the process, so that the fabric to be sewn maintains stable horizontal and vertical tension during the entire sewing process, thereby achieving high-quality and high-efficiency automatic thread guiding and sewing.

[0191] As a preferred technical scheme of the present application, the flat flexible fabric full-automatic feeding and discharging system further comprises:

[0192] The buffer device 118 is arranged on the front side of the front sewing position fabric frame 1, and the fabric in the front sewing position fabric frame 1 is conveyed to the buffer device 118 through the conveying roller. The buffer device 118 is used to buffer the fabric, and when the fabric tearing device 125 is tearing the fabric, the fabric is stored in the buffer device 118. The buffer device 118 is provided with a containing space for containing the fabric, which is used to buffer the fabric. A process section for dyeing and finishing and overfeeding of the fabric can be arranged between the buffer device 118 and the alignment sewing device 124.

[0193] The fabric tearing device 125 is arranged on the front side of the buffer device 118 and comprises a rotating fabric tearing device 68, a main body support 72, and a belt walking traction assembly 99. The rotating fabric tearing device 68 and the belt walking traction assembly 99 are both arranged on the main body support 72, and the belt walking traction assembly 99 is located above the rotating fabric tearing device 68. The belt walking traction assembly 99 comprises a traction roller 101, which serves as a power source to convey the fabric in the buffer device 118 to the position of the rotating fabric tearing device 68. The rotating fabric tearing device 68 comprises a rotating fabric tearing clamp 69 and a linear walking support 70. The linear walking support 70 is arranged on the main body support 72 and comprises a fabric tearing assembly track 74. The rotating fabric tearing clamp 69 is slidably arranged on the fabric tearing assembly track 74. The rotating fabric tearing clamp 69 comprises a second clamp for clamping the threader head stitches. When it is necessary to remove the threader head stitches, the second clamp of the rotating fabric tearing clamp 69 clamps the threader head stitches, and then moves longitudinally along the fabric tearing assembly track 74 to remove the threader head stitches.

[0194] As a preferred technical scheme of the present application, the fabric tearing device 125 further comprises a first clamp assembly 87, a second clamp assembly 88, and a cutter assembly.

[0195] The first chuck assembly 87 and the second chuck assembly 88 are arranged on the main body support 72, the first chuck assembly 87 is arranged above the second chuck assembly 88, the first chuck assembly 87 is used for clamping the upper part of the cloth, and the second chuck assembly 88 is used for clamping the lower part of the cloth. The length direction of the cloth between the first chuck assembly 87 and the second chuck assembly 88 is perpendicular to the horizontal direction. The first chuck assembly 87 and the second chuck assembly 88 are the same structure, both including two groups of clamping jaws with opposite movement directions, which can clamp the cloth.

[0196] The cutter assembly includes a cutter support 89, a first cutter 90, a second cutter 91, and a first sensor. The cutter support 89 is arranged on the main body support and located between the first chuck assembly 87 and the second chuck assembly 88. The first cutter 90 and the second cutter 91 are arranged on the cutter support 89, and the first cutter 90 is located above the second cutter 91. The first cutter 90 is used for cutting the upper edge of the cloth, and the second cutter 91 is used for cutting the lower edge of the cloth, so that the cloth edge forms a cut of 50mm to 100mm in length. The first cutter 90 and the second cutter 91 are both provided with a first sensor for monitoring the position of the cloth edge to ensure the cutting effect.

[0197] During the cloth tearing process, the cloth fracture will extend along the length direction of the weft. In order to avoid the fracture extending to the cloth seam, the clamping jaws of the first chuck assembly and the second chuck assembly, and to ensure the seam edge of the cloth being located at the midpoint between the first cutter 90 and the second cutter 91, the following formula must be satisfied:

[0198]

[0199] In the above formula, L is the distance between the first cutter 90 and the second cutter 91, and H is the maximum weft inclination height of the cloth. Through the above design, even if the weft of the cloth is inclined, the cloth fracture will not extend to the cloth seam during the tearing process.

[0200] The cloth tearing device 125 further includes a linear walking driving mechanism 71. The linear walking support 70 is arranged on the main body support 72 and includes a cloth tearing assembly rail 74 and a cloth tearing assembly rack 73 arranged on the cloth tearing assembly rail 74. The linear walking driving mechanism 71 includes a driving motor and a chuck support 76. The chuck support 76 is arranged on the cloth tearing assembly rail 74 and is provided with a sliding block matched with the cloth tearing assembly rail 74, so that the chuck support 76 can slide freely on the cloth tearing assembly rail 74. The driving motor is arranged on the chuck support 76 and is engaged with the cloth tearing assembly rack 73 through a gear, so that the driving motor can drive the chuck support 76 to slide along the cloth tearing assembly rail 74 in cooperation with the cloth tearing assembly rack 73.

[0201] The second chuck of the rotary tearing chuck 69 comprises a chuck fixing part 77, a chuck moving part 78, a chuck cylinder 79, a fixing jaw 80, a moving jaw 81, and a chuck guide rod 82. The chuck fixing part 77 is arranged on the chuck support 76 and can move on the walking support together with the chuck support 76. The chuck fixing part 77 and the chuck moving part 78 are both located between the first cutter 90 and the second cutter 91 of the cutter assembly. The chuck cylinder 79 is fixedly arranged on the chuck fixing part 77.

[0202] The chuck moving part 78 is located below the chuck fixing part 77, and the end of the piston rod of the chuck cylinder 79 is connected with the chuck moving part 78. The chuck moving part 78 is driven to move away from or close to the chuck fixing part 77 by the extension or retraction of the piston rod of the chuck cylinder 79. The fixing jaw 80 is arranged on the chuck fixing part 77, and the moving jaw 81 is arranged on the chuck moving part 78, which is located on one side of the fixing jaw 80. One end of the chuck guide rod 82 is arranged on the chuck fixing part 77, and a guide sleeve for the chuck guide rod 82 to pass through is arranged on the chuck moving part 78. The lower part of the chuck guide rod 82 is located in the guide sleeve on the chuck moving part 78, and the chuck guide rod 82 is used to provide movement guidance for the movement of the chuck moving part 78. When the piston rod of the chuck cylinder 79 is retracted, the chuck moving part 78 is driven to move the moving jaw 81 towards the fixing jaw 80, so as to clamp the fabric located between the two jaws. When the clamping is completed, the walking driving mechanism drives the rotary tearing chuck 69 to move on the walking support, so as to tear the fabric joint.

[0203] When the tearing process of the fabric is needed, first, the first chuck assembly 87 clamps the upper fabric of the joint, and the second chuck assembly 88 clamps the lower fabric of the joint. Then, the tearing driving motor 75 of the tearing device 125 is started, so that the chuck fixing part 77 and the chuck moving part 78 of the second chuck move towards the joint, until the edge of the fabric is located between the fixing jaw 80 and the moving jaw 81. The piston rod of the chuck cylinder 79 is retracted, so that the chuck moving part 78 moves towards the chuck fixing part 77, and the fixing jaw 80 and the moving jaw 81 clamp the fabric. After the clamping of the fabric is completed, the first cutter 90 of the cutter assembly cuts the edge of the fabric located between the first chuck and the rotary tearing device 68, and the second cutter 91 cuts the edge of the fabric located between the second chuck and the rotary tearing device 68, so that two cuts are formed on one side edge of the fabric.

[0204] Subsequently, the tearing of cloth begins, the driving motor of the rotating tearing device 68 drives the rotating tearing chuck 69 to move along the tearing assembly track 74, realizing the tearing process of the joint head seam head, at this time, the cloth clamped by the second chuck assembly is the tail head of the last section of cloth, the cloth clamped by the first chuck assembly is the tail head of the next section of cloth, the tail head clamped by the second chuck assembly is stored by the cloth storage frame, and then a new cloth storage frame is replaced, and the head clamped by the first chuck assembly is stored by the new cloth storage frame.

[0205] As a supplement to the above technical scheme, the first chuck assembly 87 and the second chuck assembly 88 are the same in structure, comprising a first clamping jaw 92, a second clamping jaw 93, a second double-acting cylinder 94, and a cylinder bracket 95, the second double-acting cylinder 94 is arranged on the main body bracket 72 through the cylinder bracket 95, the second double-acting cylinder 94 is a double-piston rod cylinder, comprising two groups of piston rods that can move in opposite directions, the first clamping jaw 92 is arranged at the end of the first piston rod, and the second clamping jaw 93 is arranged at the end of the second piston rod, and the first clamping jaw 92 and the second clamping jaw 93 clamp the cloth through the second double-acting cylinder 94.

[0206] As a preferred technical scheme of the present application, the cutter assembly further comprises a cutter track 96, a cutter rack 97, and a cutter assembly driving motor 98, and the cutter track 96 and the cutter rack 97 are arranged on the main body bracket.

[0207] The cutter bracket 89 is arranged on the cutter track 96 and can slide on the cutter track 96, the cutter assembly driving motor 98 is arranged on the cutter bracket 89 and connected with the cutter rack 97 through a gear, the cutter bracket 89 can slide on the cutter track 96 through the cutter assembly driving motor 98, and the length of the cloth cut by the first cutter 90 and the second cutter 91 is adjusted.

[0208] As a preferred technical scheme of the present application, the rotating tearing chuck 69 further comprises a hollow rotating platform 83, a chuck rotating driving mechanism 84, and a tearing chuck flange 85.

[0209] The hollow rotating platform 83 and the chuck rotating driving mechanism 84 are arranged on the chuck bracket 76, the hollow rotating platform 83 is connected with the chuck fixed part 77 through the tearing chuck flange 85, and the hollow rotating platform 83 rotates to drive the chuck fixed part 77 to rotate.

[0210] The chuck rotating driving mechanism comprises a rotating motor, and the rotating motor drives the hollow rotating platform 19 to rotate.

[0211] The hollow rotating platform 83 and the chuck rotating driving mechanism 84 are arranged, the rotating tearing chuck 69 can rotate, under the condition of the fixed width of the cloth, the rotating tearing chuck 69 can rotate and move longitudinally, and the cloth joint can be wound on the rotating tearing chuck 69 during the rotating tearing process of the rotating tearing chuck 69.

[0212] The rotating tearing chuck 69 can tear the cloth only by rotating, when the cloth is torn only by rotating, the rotating tearing chuck 69 does not need to slide along the tearing assembly track 74 of the linear walking support 70, under the condition, the rotating tearing chuck can complete the tearing process without longitudinal movement.

[0213] As the preferred technical scheme of the application, the upper edge of the chuck fixing part 77 is an arc structure, the lower edge of the chuck moving part 78 is an arc structure, when the piston rod of the chuck cylinder 79 is retracted to make the fixing jaw 80 and the moving jaw 81 in the cloth clamping state, the chuck fixing part 77 and the chuck moving part 78 are combined, and the outer periphery of the second chuck is in a circular structure.

[0214] Under the structure design, the rotating tearing chuck 69 adopts the combination of rotation and longitudinal movement during the tearing process, when the fixing jaw 80 and the moving jaw 81 complete the cloth clamping state, the rotating tearing chuck 69 rotates and moves longitudinally at the same time, and the cloth joint is torn.

[0215] As the supplement of the above technical scheme, when the chuck fixing part 77 and the chuck moving part 78 are in the combined state, the diameter D of the rotating tearing chuck 69 and the cloth width B satisfy the following relationship:

[0216]

[0217] After the tearing is completed, the cloth wound on the rotating tearing chuck 69 is less than one week, the jaw can be opened smoothly, and when the moving jaw 81 is loosened, the cloth can be freely separated from the rotating tearing chuck 69.

[0218] The second chuck rotating speed and the second chuck longitudinal movement speed satisfy the following relationship:

[0219]

[0220] In the formula, is the linear speed of the outer periphery of the second chuck, is the longitudinal movement speed of the second chuck on the tearing assembly track 74;

[0221] In the process, the second chuck outer periphery rotating linear speed V 转 and the second chuck longitudinal movement speed V 横The same, the longitudinal moving distance of the rotating tearing gripper head 69 is the same as the cloth width B. During the tearing process, the cloth is wound on the outer surface of the rotating tearing gripper head 69. Through the above setting, the tearing is completed at a constant angle α during the tearing process, which ensures the stability of the tearing, reduces the longitudinal moving distance of the rotating tearing gripper head 69, saves the production cost of the equipment, and improves the space utilization. Compared with the rotating tearing gripper head 69 only moving longitudinally to tear, the longitudinal moving distance is 2B, that is, the length of the guide rail on the linear walking support 70 needs to be greater than 2B, and the tearing angle is constantly decreasing during the longitudinal moving process, which seriously affects the tearing stability.

[0222] As a preferred technical solution of the present application, the rotating tearing device 68 further comprises a second sensor 86 arranged on the support of the linear walking support 70, which is used to monitor the position of the gripper support 76 on the linear walking support 70.

[0223] As a preferred technical solution of the present application, the rotating tearing device 68 further comprises a second edge finding sensor arranged on the tearing gripper head flange 85 of the rotating tearing device 68. When the rotating tearing gripper head 69 moves towards the cloth joint, the second edge finding sensor is used to detect whether the edge of the cloth joint reaches between the fixed jaw 80 and the moving jaw 81 on the rotating tearing gripper head 69. When the second edge finding sensor detects the edge of the cloth joint, the gripper cylinder 79 retracts to make the fixed jaw 80 and the moving jaw 81 clamp the cloth joint.

[0224] As a preferred technical solution of the present application, in order to realize the flat and wrinkle-free and skew-free conveying of the cloth to the position of the rotating tearing device 68, and realize the accurate clamping of the cloth by the first gripper assembly 87 and the second gripper assembly 88, the tearing device 125 further comprises a width centering assembly 105 and a belt walking deviation correcting assembly 111.

[0225] The door width centering assembly 105 is arranged at the rear of the main support 72, and comprises a transition roller 106, a first deviation correction air cylinder 107, a transition roller support 108, a transition roller sliding rail 109, and a first light curtain sensor 110. The transition roller 106 is arranged on the transition roller support 108, the transition roller sliding rail 109 is arranged on the main support 72, the transition roller support 108 is arranged on the transition roller sliding rail 109 and can slide on the transition roller sliding rail 109, the piston rod of the first deviation correction air cylinder 107 is connected with the transition roller support 108, and the transition roller support 108 is driven to slide on the transition roller sliding rail 109. The first light curtain sensor 110 is arranged on the main support 72 and located at one side of the transition roller 106. The first light curtain sensor 110 comprises a light projector and a light receiver. The cloth passes between the light projector and the light receiver of the first light curtain sensor 110. Since the widths of different kinds of processed cloth can be different, the cloth can be offset in the width direction. Through the arrangement of the first light curtain sensor 110, the cloth offset state can be monitored, and a signal can be transmitted to the first deviation correction air cylinder 107. The position of the transition roller support 108 is adjusted, the cloth is moved by the transition roller 106, the cloth position is adjusted, the cloth passing through the transition roller 106 is corrected, the center of the cloth width is always on the center line of the cloth running, and the cloth is prevented from being wrinkled during the cloth running.

[0226] The running deviation correction assembly 111 is arranged on the main support 72 and located between the door width centering assembly 105 and the running traction assembly 99, and is used for further correcting the cloth offset during the cloth movement to the running traction assembly 99.

[0227] The running deviation correction assembly 111 comprises a deviation correction shaft 112, a deviation correction support 113, a deviation correction motor 114, a second light curtain sensor 115, a deviation correction sliding rail 116, and a second deviation correction air cylinder 117.

[0228] The deviation correction shaft 112 and the deviation correction motor 114 are arranged on the deviation correction support 113. The deviation correction shaft 112 is connected with the deviation correction support 113 through a bearing, so that the deviation correction shaft 112 can rotate freely. The deviation correction motor 114 is connected with the deviation correction shaft 112. The deviation correction sliding rail 116 is arranged on the main support 72. The deviation correction support 113 is arranged on the deviation correction sliding rail 116 and can slide on the deviation correction sliding rail 116. The second deviation correction air cylinder 117 is arranged on the main support 72. The end of the piston rod of the second deviation correction air cylinder 117 is connected with the deviation correction support 113, and the deviation correction support 113 is driven to slide on the deviation correction sliding rail 116.

[0229] The second light curtain sensor 115 is arranged on the main support 72 and located on one side of the walking track deviation correction assembly 111. The second light curtain sensor 115 has the same structure as the first light curtain sensor 110. The cloth passes between the light projector and the light receiver of the second light curtain sensor 115. The second deviation correction cylinder 117 drives the deviation correction bracket 113 to adjust the position and correct the deviation of the cloth when the deviation occurs.

[0230] Specifically, the deviation correction shaft 112 is provided with three groups, namely the first deviation correction shaft, the second deviation correction shaft and the third deviation correction shaft.

[0231] The walking path of the cloth on the walking track deviation correction assembly 111 is: sequentially passing through the first deviation correction shaft, the second deviation correction shaft and the third deviation correction shaft, and then entering the walking track traction assembly 99.

[0232] The first deviation correction shaft, the second deviation correction shaft and the third deviation correction shaft are arranged on the deviation correction bracket 113 in the following manner: the first deviation correction shaft and the third deviation correction shaft are arranged in parallel and spaced apart, the second deviation correction shaft is located between the first deviation correction shaft and the third deviation correction shaft and is located below the first deviation correction shaft and the third deviation correction shaft. The upper surfaces of the first deviation correction shaft and the third deviation correction shaft are in contact with the cloth, and the lower surface of the second deviation correction shaft is in contact with the cloth. Through the above arrangement, the contact between the deviation correction shaft 112 and the cloth is strengthened, the deviation correction effect is improved, the center of the cloth width is always on the walking track center line, and the cloth is prevented from being wrinkled during walking.

[0233] The walking track traction assembly 99 is arranged on the front of the main support 72 and above the rotary cloth tearing device 68. The walking track traction assembly 99 is used for conveying the cloth to the cloth tearing device 125, so that the cloth can be walked in a vertical direction to the position of the rotary cloth tearing device 68. The walking track traction assembly 99 comprises a traction motor 100, a traction rotating roller 101, a traction cylinder 102, a lifting pedestal 103 and a pressure rotating roller 104. The traction rotating roller 101 is arranged on the main support 72 and connected to the main support 72 through a bearing, so that the traction rotating roller 101 can rotate freely. The traction motor 100 is connected to the traction rotating roller 101 and drives the traction rotating roller 101 to rotate.

[0234] The traction cylinder 102 is arranged on the main support 72, and the lifting pedestal 103 is arranged on the end of the piston rod of the traction cylinder 102. The pressure rotating roller 104 is arranged on the lifting pedestal 103 and located above the traction rotating roller 101. The pressure rotating roller 104 is connected to the lifting pedestal 103 through a bearing, so that the pressure rotating roller 104 can rotate freely.

[0235] The distance between the pressure rotating roller 104 and the traction rotating roller 101 is adjusted by the traction cylinder 102, so that sufficient traction force can be applied to the cloth.

[0236] In the above technical solution, the alignment stitching device 124 needs to stitch the two frame cloth material heads to form a combined material head seam, and the cloth tearing device 118 needs to tear off the combined material head seam. Since the cloth stored in the frame is continuously stitched from multiple pieces of cloth, there may be multiple cloth seams in the cloth in the frame. The cloth seams in the frame and the combined material head seam between the frames are indistinguishable in appearance. In order to accurately identify and tear off the combined material head seam at the cloth tearing device position, the present application also discloses a seam identification system, and the cloth process section includes an overfeed device. The overfeed device is arranged between the front stitching position frame 1 and the buffer device 118.

[0237] The seam identification system includes an overfeed front conveying roller 119, an overfeed rear conveying roller 120, a combined material head seam detection switch 121, a cloth tearing seam identifier 122, a cloth tearing belt encoder, a lower computer, an overfeed belt encoder, and an overfeed seam identifier 123.

[0238] The combined material head seam detection switch 121 is arranged on the outer wall of the front stitching position frame 1, and the combined material head seam detection switch 121 is located on one side of the combined material head seam. After the combined material head is stitched by the sewing machine 24, a combined material head seam is formed, which naturally falls between the front stitching position frame 1 and the rear stitching position frame 2, and can block the natural light source directed at the combined material head seam detection switch 121. The combined material head seam detection switch 121 is a photoelectric sensor. When the combined material head seam is out of the monitoring range of the photoelectric sensor, the photoelectric sensor can receive a light signal and convert it into an electrical signal, and transmit the electrical signal to the lower computer.

[0239] The overfeed front conveying roller 119 is arranged between the front stitching position frame 1 and the overfeed device, and the cloth is conveyed to the overfeed device by the overfeed front conveying roller 119. When the cloth in the front stitching position frame 1 is empty, the combined material head seam will move upward under the pulling action of the overfeed front conveying roller 119, so that the combined material head seam detection switch 121 can receive the light signal.

[0240] The overfeed belt encoder is arranged on the overfeed front conveying roller 119 and is used to measure the cloth belt travel distance.

[0241] The working principle of the overfeed device is to adjust the length of the cloth by two groups of differential rollers, so as to adjust the gram weight of the cloth to meet the process requirements. The overfeed device 43 is used for positive overfeed / counter overfeed of the cloth, and then enters the setting machine. The positive overfeed is that the cloth feeding speed is greater than the speed of the setting machine, which can make the cloth shrink, the weft density increase, and the gram weight increase. The counter overfeed is that the cloth feeding speed is less than the speed of the setting machine, which can make the cloth elongate, the weft density decrease, and the gram weight decrease.

[0242] The overfeed rear conveying roller 120 is located between the overfeed device and the cloth tearing device, and can convey the cloth after overfeeding to the cloth tearing device.

[0243] The overfeed seam head recognizer 123 is arranged in the overfeed device and is located within 10 cm of the front side of the differential roller of the overfeed device 43, which can reduce errors. The overfeed seam head recognizer 123 is a CCD camera that captures light signals and converts them into digital signals, can recognize the fabric seam head and the combined fabric seam head, and transmits the digital signals to the lower computer.

[0244] The fabric tearing seam head recognizer 122 is arranged on the main support 72 of the fabric tearing device 125 and is located below the fabric width centering assembly 105.

[0245] The fabric tearing device 125 is also provided with a running guide roller 126, which is arranged between the running deviation correction assembly 111 and the running traction assembly 99.

[0246] The above technical solution can realize automatic feeding and discharging of fabric, automatic alignment and sewing, automatic seam head recognition, automatic fabric falling and stacking, and automatic seam head tearing, which can completely replace manual work and achieve the technical purpose of improving work efficiency and reducing labor costs.

[0247] The application also discloses a use method of the flat flexible fabric full-automatic feeding and discharging system, which comprises the following steps:

[0248] S1. The upper clamping head I 29 and the upper clamping head II 30 of the first fabric head clamping mechanism 10 of the clamping and alignment mechanism 3 are used to find the edge and measure the width of the first fabric head in the front sewing position fabric frame 1 to obtain the first fabric head width data, and then the upper part of the first fabric head is clamped, and the upper clamping head I 29 and the upper clamping head II 30 of the tail fabric head clamping mechanism 11 are used to find the edge and measure the width of the tail fabric head in the rear sewing position fabric frame 2 to obtain the tail fabric head width data, and then the upper part of the tail fabric head is clamped.

[0249] S2. The lower end edges of the first fabric head and the tail fabric head are adjusted, and the first fabric head is taken as an example. The upper clamping head I 29 and the upper clamping head II 30 of the first fabric head clamping mechanism 10 clamp the first fabric head, and in this state, the first fabric head is located below the first photoelectric sensor and the second photoelectric sensor, which can block the light source. The upper clamping head I 29 is raised to slowly raise the left part of the first fabric head until the first photoelectric sensor detects the light source, and then the upper clamping head II 30 is raised to slowly raise the right part of the first fabric head until the second photoelectric sensor detects the light source.

[0250] S3. The first material head clamping mechanism 10 of the clamping alignment mechanism 3 adjusts the position of the first material head through each clamp, and the tail material head clamping mechanism 11 adjusts the position of the tail material head through each clamp, so that the vertical center lines of the first material head and the tail material head are aligned. According to the width data of the first material head and the tail material head, if the difference between them is within a set range, for example, within 5 mm, then the width alignment assembly 33 does not need to fold the cloth;

[0251] When the width of the first material head is too large, the width alignment assembly 33 folds the first material head. First, the left pull rod cylinder 40 retracts, and the right pull rod cylinder extends. Then, the third lifting cylinder 45 drives the width alignment bracket 34 to rise, so that the lower end of the cloth is located between the left pull rod and the right pull rod. Then, the left pull rod cylinder 40 extends, and the right pull rod cylinder retracts, so that the left pull rod drives the cloth at the position of the left pull rod to move forward, and the right pull rod drives the cloth at the position of the right pull rod to move backward. Finally, the lead screw motor 36 is driven to move the left pull rod to the right along the base slide rail 39, and the right pull rod to the left along the base slide rail 39, so as to fold the cloth to form an "S" shape. At the same time, the upper clamp I 29, the upper clamp II 30, the lower clamp I 31, and the lower clamp II 32 of the first material head clamping mechanism 10 move in cooperation with the width alignment assembly 33, so as to reduce the width of the first material head, and make the width of the tail material head consistent with that of the first material head and the side edges aligned. After the cloth folding is completed, the tail material head clamping mechanism 11 clamps the tail material head to move horizontally to the first material head clamping mechanism 10, so that the first material head and the tail material head are in a state of adhesion.

[0252] When the width of the tail material head is too large, the tail material head clamping mechanism 11 clamps the tail material head to move horizontally above the width alignment assembly 33, and the width alignment assembly 33 folds the tail material head;

[0253] Then, the piston rod of the first lifting cylinder 18 of the sewing tensioning device 4 is used to rise and clamp the lower end of the joint material head.

[0254] Then, the lower clamp I 31 and the lower clamp II 32 of the tail material head clamping mechanism 11 and the lower clamp I 31 and the lower clamp II 32 of the first material head clamping mechanism 10 are released to clamp the joint material head and reset. At this time, if the width alignment assembly 33 participates in the cloth folding process, the third lifting cylinder 45 of the width alignment assembly 33 is retracted and reset.

[0255] S4. The joint material head clamping mechanism is driven by the horizontal moving platform 15 of the sewing tensioning device 4 to move to the rear side of the tensioning rod 5, and the piston rod of the first lifting cylinder 18 is synchronously raised. The joint material head clamping mechanism is raised to the same height as the tensioning rod 5, so that the joint material head located between the joint material head clamping mechanism and the tensioning rod 5 is in a tensioning state. The joint material head clamping mechanism cooperates with the tensioning rod 5 to apply a transverse tensioning force to the joint material head;

[0256] S5. The sewing machine drive motor 28 of the sewing machine assembly 7 works to drive the support platform 23 to slide along the sewing machine guide rail 47, so that the sewing machine 24 moves towards the material head direction. When the metal protrusion is recognized by the proximity switch, the second lifting cylinder 53 retracts, driving the fabric guide wheel device 49 to press down, so that the material head is pressed tightly on the fabric guide platform 25. Then the piston rod of the two-way cylinder 20 on the material head clamping mechanism extends, so that the first clamping piece 21 and the second clamping piece 22 are separated, releasing the clamping of the material head. Then the piston rod of the first lifting cylinder 18 used to support the material head clamping mechanism retracts, so that the material head clamping mechanism descends. Then the first rotating shaft is driven to rotate by the fabric guide wheel drive motor 50, and the second rotating shaft 66 and the third rotating shaft 67 are driven to rotate by the first synchronous belt and the second synchronous belt of the fabric guide wheel device 49, cooperating with the fabric guide platform 25 to clamp the material head. In this process, the first fabric guide wheel 59, the second fabric guide wheel 60 and the third fabric guide wheel 61 roll the material head, and the transverse and longitudinal tension of the material head is provided by the fabric guide platform and the fabric guide wheel device. During the forward sliding process of the sewing machine 24, the material head is sewn, and the cutter cuts the material head that has completed the sewing. With the continuous forward movement of the sewing machine 24, the piston rods of the multiple first lifting cylinders 18 retract in turn.

[0257] S6. After the sewing of the material head is completed, the clamping alignment mechanism 3, the left pull rod cylinder 4 and the sewing machine assembly 7 are all reset. The sewed fabric enters the process section for dyeing and finishing / overfeeding process, and then enters the storage device 118. Then the fabric enters the width centering assembly 105, which adjusts and positions the fabric for width centering. The first light curtain sensor 110 cooperates with the first deviation correction cylinder to realize the width centering of the fabric.

[0258] Then the fabric enters the walking deviation correction assembly 111, and the second light curtain sensor 115 cooperates with the second deviation correction cylinder to realize the accurate walking deviation correction of the fabric.

[0259] Then the fabric enters the walking traction assembly 99, which transports the fabric to the position of the rotary fabric tearing device 68.

[0260] When the sewing head of the material head walks to the position between the first cutter 90 and the second cutter 91, the deviation correction motor of the walking deviation correction assembly 111 and the traction motor of the walking traction assembly 99 are turned off, and the fabric processed in the process section is walked to the storage device 118 for storage.

[0261] The sewing head recognition system specifically includes the following steps in the process of recognizing the sewing head of the material head:

[0262] S6.1. When the cloth in the front sewing position material frame 1 is empty, remove the front sewing position material frame 1, and the truss manipulator hoists the rear sewing position material frame 2 through the hook 137 on the material frame body to the position of the front sewing position material frame 1 to maintain continuous production, so that the rear sewing position material frame 2 becomes the front sewing position material frame 1, and then a new rear sewing position material frame 2 is placed on the second positioning pin group on the positioning base; due to the sewing head thread on the cloth, the sewing head thread is separated from the monitoring position of the sewing head thread detection switch 121, and the sewing head thread detection switch 121 outputs a sewing head thread loss signal to the lower computer, and the lower computer starts the overfeed running encoder to measure the running distance of the cloth on the overfeed front conveying roller 119.

[0263] Because there are several cloth threads in the material frame during production, the cloth thread has no difference with the material head shape, so the overfeed thread recognizer 123 cannot distinguish the material head thread from the cloth thread;

[0264] S6.2. The cloth running distance S1 is measured by the overfeed running encoder from the time when the sewing head thread detection switch 121 loses the signal. When the cloth running distance S1 is measured by the overfeed running encoder from the time when the sewing head thread detection switch 121 loses the signal of the material head thread, the thread recognized by the overfeed thread recognizer 123 is the material head thread.

[0265] S1 should satisfy the following formula:

[0266]

[0267] In the above formula, is the actual distance between the sewing head thread detection switch 121 and the overfeed thread recognizer, specifically, assuming that the length of the cloth does not change, the actual distance of the material head thread running between the two material frames to the overfeed thread recognizer 123; is the positive overfeed rate, is the negative overfeed rate.

[0268] S6.3. After the overfeed thread recognizer 123 recognizes the material head thread, the recognition signal is transmitted to the cloth tearing running encoder. When the cloth tearing running distance is , the thread recognized by the cloth tearing thread recognizer 122 is the material head thread.

[0269] is expressed as:

[0270]

[0271] In the above formula, The actual distance between the overfeed seam head recognizer 123 and the tear-off seam head recognizer 122. Specifically, the length of the fabric does not change after the fabric head seam head passes through the overfeed device and the overfeed seam head recognizer. The actual distance is the distance from the overfeed seam head recognizer 123 to the tear-off seam head recognizer 122.

[0272] S6.4. After the tear-off seam head recognizer 122 recognizes the fabric head seam head, the tear-off seam head recognizer 122 transmits a recognition signal to the tear-off running track encoder. The tear-off running track encoder re-measures the running track distance of the fabric, and the traction motor of the tear-off running track traction assembly is decelerated. When the tear-off running track encoder starts to measure the running track distance of the fabric, the running track distance of the fabric is , the fabric head seam head can be accurately stopped at the tear-off seam head positioning point, and then the tear-off device is driven to tear off the fabric head seam head.

[0273] is expressed as follows:

[0274]

[0275] In the above formula, is the actual distance between the tear-off seam head recognizer 122 and the tear-off seam head positioning point. The actual distance is specifically the distance from the tear-off seam head recognizer 122 to the tear-off seam head positioning point. The tear-off seam head positioning point is the midpoint between the first cutter 90 and the second cutter 91.

[0276] S6.5. When the fabric head seam head to be torn off is running to the tear-off seam head positioning point, the tear-off device 125 tears off the fabric head seam head.

[0277] S7. The first clamp head assembly 87 clamps the upper part of the fabric, the second clamp head assembly 88 clamps the lower part of the fabric, the tear-off driving motor 75 of the rotary tear-off device 68 is started, the clamp fixed part 77 and the clamp moving part 78 move towards the fabric, until the edge of the fabric is located between the fixed jaw 80 and the moving jaw 81, the fixed jaw 80 and the moving jaw 81 clamp the fabric by the work of the clamp cylinder 79, then the first cutter 90 of the cutter assembly cuts the edge of the fabric between the first clamp head assembly 87 and the rotary tear-off device 68, and the second cutter 91 cuts the edge of the fabric between the second clamp head assembly 88 and the rotary tear-off device 68, so that the edge of the fabric on one side forms two cuts; then the tear-off driving motor 75 of the rotary tear-off device 68 drives the rotary tear-off clamp 69 to move along the running track of the tear-off assembly, and the clamp rotary driving mechanism drives the rotary tear-off clamp 69 to rotate, so that the rotary speed of the rotary tear-off clamp 69 and the longitudinal movement speed of the rotary tear-off clamp 69 satisfy the following relationship:

[0278]

[0279] In the above formula, is the linear speed of the rotating tearing gripper head 69 on the tearing assembly track, is the linear speed of the rotating tearing gripper head 69 on the tearing assembly track;

[0280] S8. After tearing, the gripper cylinder 79 drives its piston rod to extend, so that the moving jaw 81 moves away from the fixed jaw 80, and the torn seam head is free to fall. The rotating driving mechanism of the gripper head and the linear walking drive jointly reset the rotating tearing gripper head 69. At this time, the reciprocating carriage 133 moves to the fourth working position, and the clamping jaws of the tail seam head traction gripper 134 are opened. The second gripper assembly 88 releases the clamping of the cloth located below the seam head, so that the tail seam head is driven by gravity to freely fall into the clamping jaws of the tail seam head traction gripper 134. When the third seam head positioning sensor recognizes the seam head signal, the clamping jaws of the tail seam head traction gripper 134 are closed and the tail seam head is clamped. Then the lifting driving mechanism of the tail seam head traction gripper 134 drives the first seam head to descend until the light signal of the fourth seam head positioning sensor is blocked, and the lower end of the tail seam head is lowered to the set position.

[0281] S9. The reciprocating carriage 133 transports the storage cloth frame 130 to the first storage cloth frame lifting platform position, and the lifting arms of the first storage cloth frame lifting platform lift the lower cloth storage legs 139 of the storage cloth frame 130 upward to the upper side of the transport frame. When the storage cloth frame sensor detects that the cloth frame has been completely separated from the reciprocating carriage 133, the reciprocating carriage 133 can move to the second storage cloth frame lifting platform position. When the lifting arms of the first storage cloth frame lifting platform rise, the lifting arms of the second storage cloth frame lifting platform descend synchronously, and the empty storage cloth frame 130 is placed on the reciprocating carriage 133. When the storage cloth frame sensor detects that the new storage cloth frame 130 has been located on the reciprocating carriage 133, the reciprocating carriage 133 walks to the first working position to pull the first seam head of the new cloth.

[0282] S10. The reciprocating trolley 133 is repositioned to the first working position, the first chuck assembly releases the clamping of the first fabric head, and the deviation correction motor of the walking belt deviation correction assembly 111 and the traction motor of the walking belt traction assembly 99 are turned on again. First, the traction motor 100 of the walking belt traction assembly 99 and the deviation correction motor 114 are rotated, so that the walking speed of the fabric is lower than the walking speed of the fabric in the process section, and the first fabric head is guided to fall by the first fabric head traction chuck 136; when the lower end of the first fabric head falls and passes through the clamping jaw of the first fabric head traction chuck 136, the first fabric head positioning sensor light signal is blocked, at this time the clamping jaw of the first fabric head traction chuck 136 is retracted and clamps the first fabric head, then the first fabric head traction chuck 136 is lowered by the lifting drive mechanism, until the light signal of the second fabric head positioning sensor is blocked, so that the lower end of the first fabric head is lowered to the set position. Then the reciprocating trolley 133 moves to the second working position, so that the continuous fabric can smoothly fall into the fabric storage frame 130, then the traction motor 100 of the walking belt traction assembly 99 and the deviation correction motor 114 are rotated, so that the walking speed of the fabric is higher than the walking speed of the fabric in the process section, the fabric falls into the fabric storage frame 130 and is stacked and stored at a higher speed, while consuming the fabric accumulated in the buffer device 118 when it stops; During this process, the reciprocating trolley 133 reciprocates between the third working position and the second working position, so that the fabric is stored in the fabric storage frame 130 in an "S" shape.

[0283] When the temporary storage of fabric in the buffer device is consumed, the traction motor 100 of the walking belt traction assembly 99 and the deviation correction motor 114 are rotated, so that the walking speed of the fabric is equal to the walking speed of the fabric in the process section, and the fabric enters the fabric frame through the fabric falling center and is stacked and stored at the vehicle speed. The above-mentioned vehicle speed specifically refers to the actual production speed of the fabric. Then cycle to step S6.5.

[0284] The above is only a preferred embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art within the technical scope disclosed by the present application can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A full-automatic loading and unloading system for flat flexible material, characterized in that, The application relates to a cloth falling device (129) which comprises a cloth storage frame (130), a reciprocating trolley (133), a trolley track (132), a first cloth head positioning sensor, a second cloth head positioning sensor, a third cloth head positioning sensor, a fourth cloth head positioning sensor, a tail cloth head traction chuck (134), a head cloth head traction chuck (136) and a cloth storage frame sensor. The cloth storage frame (130) is arranged on the reciprocating trolley (133) and comprises a frame body, a damping brush (131), a hook (137), a positioning sleeve (138), a discharging buffer supporting leg (139) and a positioning supporting rod (140). The damping brush (131) is arranged at the upper edge position of the rear frame body and the front frame body of the frame body, the hook (137) is arranged on the side wall of the frame body, the positioning sleeve (138) is arranged at the four corner positions on the lower bottom surface of the frame body, the discharging buffer supporting leg (139) is arranged on the positioning sleeve (138) and located at one side of the positioning sleeve (138), and the positioning supporting rod (140) is further arranged on the lower bottom surface of the frame body. The first cloth head positioning sensor and the second cloth head positioning sensor are both arranged on the outer side wall of the rear frame body of the frame body, the first cloth head positioning sensor is located above the second cloth head positioning sensor, the third cloth head positioning sensor and the fourth cloth head positioning sensor are both arranged on the outer side wall of the front frame body of the frame body, and the third cloth head positioning sensor is arranged above the fourth cloth head positioning sensor. The reciprocating trolley (133) is arranged on the trolley track (132) and can move laterally on the trolley track (132), the tail cloth head traction chuck (134) and the head cloth head traction chuck (136) are both arranged on the reciprocating trolley (133), the tail cloth head traction chuck (134) is located at the front side of the cloth storage frame (130), the head cloth head traction chuck (136) is arranged at the rear side of the cloth storage frame (130), the head cloth head traction chuck (136) and the tail cloth head traction chuck (134) are the same in structure and both comprise a lifting driving mechanism and a clamping jaw arranged on the lifting driving mechanism, the reciprocating trolley (133) is provided with a frame positioning pin (135) used for cooperating with the positioning sleeve (138) of the cloth storage frame (130), when the cloth storage frame (130) is placed on the reciprocating trolley (133), the frame positioning pin (135) is inserted into the positioning sleeve (138), and the cloth storage frame sensor is arranged on the reciprocating trolley (133). The cloth falling device (129) further comprises a frame conveying mechanism, the frame conveying mechanism comprises a conveying frame and a cloth storage frame lifting platform.

2. The full-automatic loading and unloading system for flat flexible material according to claim 1, characterized in that, The conveying frame is arranged above the trolley track (132), the cloth storage frame lifting platform is arranged on the conveying frame and comprises a lifting supporting arm, the lifting supporting arm can lift the discharging buffer supporting leg (139) of the cloth storage frame (130) to move in the vertical direction, the cloth storage frame lifting platform is provided with two groups of first and second cloth storage frame lifting platforms, and the first cloth storage frame lifting platform is arranged at the front side of the second cloth storage frame lifting platform. ​ 3. The full-automatic loading and unloading system for flat flexible material according to claim 2, characterized in that, The feeding position supplementing device and the alignment and sewing device (124) are arranged on the rear side of the cloth falling device (129); The feeding position supplementing device comprises a front sewing position material frame (1), a rear sewing position material frame (2), a truss mechanical hand and a positioning base. The front sewing position material frame (1) and the rear sewing position material frame (2) have the same structure as the cloth storage material frame (130). The positioning base is provided with a first positioning pin group and a second positioning pin group for cooperating with a positioning sleeve (138) on the lower bottom surface of the body of the front sewing position material frame (1) and the rear sewing position material frame (2). The front sewing position material frame (1) is arranged on the first positioning pin group, and the rear sewing position material frame (2) is arranged on the second positioning pin group. The truss mechanical hand is arranged above the front sewing position material frame (1) and the rear sewing position material frame (2). The front sewing position material frame (1) is located on the front side of the rear sewing position material frame (2). The first material head of the cloth in the front sewing position material frame (1) is arranged on the rear side frame of the front sewing position material frame (1), and the end of the first material head is located below the lower edge of the rear side frame of the front sewing position material frame (1). The tail material head of the cloth in the rear sewing position material frame (2) is arranged on the front side frame of the rear sewing position material frame (2), and the end of the tail material head is located below the lower edge of the front side frame of the rear sewing position material frame (2). The alignment and sewing device (124) is arranged between the front sewing position material frame (1) and the rear sewing position material frame (2) and comprises a sewing tensioning device (4), a sewing machine support (6), a sewing machine assembly (7), a clamping alignment mechanism (3), a tensioning rod (5) and a cloth positioning sensor group. The clamping alignment mechanism (3) comprises a clamping alignment frame (8), a tail material head cloth feeding guide rail (9), a first material head clamping mechanism (10) and a tail material head clamping mechanism (11) arranged on the clamping alignment frame (8). The first material head clamping mechanism (10) is located on the front side of the tail material head cloth feeding guide rail (9). The tail material head clamping mechanism (11) is arranged on the tail material head cloth feeding guide rail (9) and can slide on the tail material head cloth feeding guide rail (9) towards or away from the first material head clamping mechanism (10). The tail material head clamping mechanism (11) has the same structure as the first material head clamping mechanism (10) and comprises a clamp driving device, a clamping support, a first clamp and a first edge finding sensor. The clamp driving device is arranged on the clamping support. The first clamp comprises an upper clamp I (29), an upper clamp II (30), a lower clamp I (31) and a lower clamp II (32). Each clamp is connected to the clamping support through the clamp driving device. The clamp driving device comprises a lifting mechanism and a longitudinal movement mechanism. The clamp is arranged on the longitudinal movement mechanism, and the longitudinal movement mechanism is used to drive the clamp to move in the longitudinal direction. The longitudinal movement mechanism is arranged on the lifting mechanism, and the lifting mechanism is used to drive the longitudinal movement mechanism to lift in the vertical direction. The lifting mechanism is arranged on the clamping support. Each clamp is provided with a group of first edge finding sensors. The cloth positioning sensor group is provided with two groups, the first cloth positioning sensor group is arranged below the leading end, and the second cloth positioning sensor group is arranged below the trailing end; the cloth positioning sensor group comprises two photoelectric sensors at the same height; The tensioning rod (5) is a rod-shaped structure, which is arranged between the front sewing position material frame (1) and the rear sewing position material frame (2); The sewing tensioning device (4) is arranged between the front sewing position material frame (1) and the rear sewing position material frame (2), and comprises a third chuck for clamping the leading end and the trailing end, so that the leading end and the trailing end are attached to form a combined end; the sewing machine support (6) comprises a sewing machine guide rail (47); the sewing machine assembly (7) comprises a sewing machine (24), the sewing machine (24) is arranged on the sewing machine guide rail (47), and the sewing machine (24) slides on the sewing machine guide rail (47) and sews the combined end to form a combined end seam.

4. The full-automatic loading and unloading system for flat flexible material according to claim 3, characterized in that, The sewing tensioning device (4) further comprises a chuck base (12), a horizontal sliding block (13), a horizontal sliding platform (15), a fixed platform (17), a first lifting cylinder (18), and a combined end clamping mechanism; the chuck base (12) is arranged below the tensioning rod (5), the horizontal sliding block (13) is arranged on the chuck base (12), the fixed platform (17) is arranged on the horizontal sliding platform (15), the first lifting cylinder (18) is arranged on the fixed platform (17), and the first lifting cylinder (18) is arranged in at least two groups and arranged in a longitudinal direction; the end of the piston rod of each group of the first lifting cylinder (18) is provided with a combined end clamping mechanism, the combined end clamping mechanism comprises a lifting platform (19), a third chuck, a proximity switch, and a metal protrusion, the third chuck and the proximity switch are arranged on the lifting platform (19), and the metal protrusion is arranged on the sewing machine assembly (7); The sewing machine support (6) is located at the rear side of the tensioning rod (5), and further comprises a support body (46) and a longitudinal rack (48); the sewing machine guide rail (47) and the longitudinal rack (48) are arranged on the support body (46); The sewing machine assembly (7) further comprises a support platform (23), a cloth guiding platform (25), a sewing machine driving motor (28), and a cutter; the support platform (23) is arranged on the sewing machine guide rail (47); the sewing machine driving motor (28), the sewing machine (24), the cloth guiding platform (25), and the metal protrusion of the combined end clamping mechanism are arranged on the support platform (23); the sewing machine driving motor (28) is provided with a gear wheel engaged with the longitudinal rack (48); the cloth guiding platform (25) is located at the front side of the presser foot of the sewing machine (24) and is a plate-shaped structure, the front end of the cloth guiding platform (25) is provided with an inclined angle; the cutter is arranged on the sewing machine (24) and located at one side of the presser foot of the sewing machine (24).

5. The full-automatic loading and unloading system for flat flexible material according to claim 4, characterized in that, The alignment sewing device (124) further comprises a fabric width alignment assembly (33) arranged below the leading end of the fabric in the front sewing position frame (1), comprising a fabric width alignment support (34), a counter synchronous lead screw (35), a lead screw motor (36), a first base (37), a second base (38), a base sliding rail (39), a left pull rod, a right pull rod, and a left pull rod cylinder (40), a right pull rod cylinder, a third lifting cylinder (45); the fabric width alignment support (34) is arranged on the third lifting cylinder (45), the lead screw motor (36), the counter synchronous lead screw (35), and the base sliding rail (39) are all arranged on the fabric width alignment support (34), the first base (37) and the second base (38) are arranged on the base sliding rail (39), the counter synchronous lead screw (35) is located above the base sliding rail (39), and the counter synchronous lead screw (35) is screwed with the first base (37) and the second base (38), and the lead screw motor (36) is connected with the counter synchronous lead screw (35); the left pull rod cylinder (40) is arranged on the first base (37), and the left pull rod is arranged on the piston rod of the left pull rod cylinder (40); the right pull rod cylinder is arranged on the second base (38), and the right pull rod is arranged on the piston rod of the right pull rod cylinder, the left pull rod comprises a right extension part (41) and a first rod-shaped part (42), the right extension part (41) is a plate-shaped structure extending to the right, and the first rod-shaped part (42) is a rod-shaped structure vertically arranged at the right end of the right extension part (41), the right pull rod comprises a left extension part (43) and a second rod-shaped part (44), the left extension part (43) is a plate-shaped structure extending to the left, and the second rod-shaped part (44) is a rod-shaped structure vertically arranged at the right end of the left extension part (43); The sewing machine assembly (7) further comprises a fabric guiding wheel device (49), a lifting supporting plate (52), and a second lifting cylinder (53), which are arranged on the supporting platform (23) of the sewing machine assembly (7) and above the fabric guiding platform (25), the fabric guiding wheel device (49) comprises a fabric guiding wheel driving motor (50), a supporting plate (51), a fabric guiding wheel, a rotating shaft, and a ratchet wheel, the supporting plate (51) is provided with two groups and is arranged in parallel, the rotating shaft is arranged between the two groups of supporting plates (51) and is connected with the supporting plates (51) through bearings, the fabric guiding wheel is arranged on the rotating shaft, and the fabric guiding wheel driving motor (50) is connected with the rotating shaft; the ratchet wheel is arranged on the rotating shaft, the ratchet wheel is provided with two groups and is located on the two sides of the fabric guiding wheel, the outer surface of the ratchet wheel is provided with a plurality of sharp protrusions, and the diameter of the ratchet wheel is greater than that of the fabric guiding wheel; The second lifting cylinder (53) is arranged on the supporting platform (23) of the sewing machine assembly (7), the lifting supporting plate (52) is arranged at the end of the piston rod of the second lifting cylinder (53), and the fabric guiding wheel device (49) and the fabric guiding wheel driving motor (50) are both arranged on the lifting supporting plate (52).

6. The full-automatic loading and unloading system for flat flexible material according to claim 5, characterized in that, Further comprising a buffer device (118) and a fabric tearing device (125); The buffer device (118) is arranged on the front side of the front sewing position material frame (1), and the fabric in the front sewing position material frame (1) is conveyed to the buffer device (118) through the conveying roller; The fabric tearing device (125) is arranged on the front side of the buffer device (118) and above the fabric falling device (129), and comprises a rotating fabric tearing device (68) and a main support (72); the rotating fabric tearing device (68) is arranged on the main support (72); The rotating fabric tearing device (68) comprises a first chuck assembly (87), a second chuck assembly (88), a cutter assembly, a rotating fabric tearing chuck (69) and a linear walking support (70); The linear walking support (70) is arranged on the main support (72) and comprises a fabric tearing component track (74), and the rotating fabric tearing chuck (69) is slidably arranged on the fabric tearing component track (74); the rotating fabric tearing chuck (69) comprises a second chuck for clamping the joint of the material head; The first chuck assembly (87) and the second chuck assembly (88) are both arranged on the main support (72), and the first chuck assembly (87) is above the second chuck assembly (88); The cutter assembly comprises a cutter support (89), a first cutter (90), a second cutter (91), a cutter track (96), a cutter rack (97) and a cutter assembly driving motor (98); the cutter support (89) is arranged on the main support (72) and between the first chuck assembly (87) and the second chuck assembly (88); the cutter track (96) and the cutter rack (97) are both arranged on the main support (72); the cutter support (89) is arranged on the cutter track (96); the cutter assembly driving motor (98) is arranged on the cutter support (89) and is provided with a gear engaged with the cutter rack (97); the first cutter (90) and the second cutter (91) are both arranged on the cutter support (89), and the first cutter (90) is above the second cutter (91); the first cutter (90) and the second cutter (91) are both provided with a first sensor; and the distance between the first cutter (90) and the second cutter (91) should satisfy the following relationship: In the formula, L is the distance between the first cutter (90) and the second cutter (91), and H is the maximum weft inclination height of the fabric; The tearing device (125) further comprises a linear walking driving mechanism (71); the linear walking support (70) is arranged on the main body support (72) and comprises a tearing assembly rail (74) and a tearing assembly rack (73), and the tearing assembly rack (73) is arranged on the tearing assembly rail (74); the linear walking driving mechanism (71) comprises a tearing driving motor (75) and a chuck support (76), the chuck support (76) is arranged on the tearing assembly rail (74), the tearing driving motor (75) is arranged on the chuck support (76), and the tearing driving motor (75) is engaged with the tearing assembly rack (73) through a gear.

7. The full-automatic loading and unloading system for flat flexible material according to claim 6, characterized in that, The second chuck of the rotary tearing chuck (69) further comprises a hollow rotary platform (83), a chuck rotary driving mechanism (84) and a tearing chuck flange (85); the hollow rotary platform (83) and the chuck rotary driving mechanism (84) are arranged on the chuck support (76); The hollow rotary platform (83) is connected with the chuck fixed part (77) through the tearing chuck flange (85); the chuck rotary driving mechanism (84) comprises a rotary motor, the rotary motor is connected with the hollow rotary platform (83), drives the tearing chuck flange (85) to rotate, and drives the chuck fixed part (77) to rotate; The upper edge of the chuck fixed part (77) is in an arc-shaped structure, the lower edge of the chuck moving part (78) is in an arc-shaped structure, when the piston rod of the chuck cylinder (79) is retracted, the fixed jaw (80) and the moving jaw (81) are in the cloth clamping state, the chuck fixed part (77) and the chuck moving part (78) are combined, the outer periphery of the second chuck of the rotary tearing chuck (69) is in a circular structure, when the chuck fixed part (77) and the chuck moving part (78) are in the combined state, the diameter of the second chuck of the rotary tearing chuck (69) and the width of the joint head seam meet the following relationship: In the formula, D is the diameter of the second chuck, and B is the width of the joint head; The rotation speed of the second chuck and the longitudinal movement speed of the second chuck satisfy the following relationship: In the above formula, is the linear speed of the outer periphery of the second chuck, is the longitudinal speed of the second chuck on the web-ripping assembly track (74); The rotating tearing device further comprises a second edge-finding sensor, which is arranged on the flange (85) of the tearing chuck. The tearing device (125) further comprises a second sensor (86), which is arranged on the support of the linear walking support (70).

8. The full-automatic loading and unloading system for flat flexible material according to claim 7, characterized in that, The tearing device (125) further comprises a belt walking traction assembly (99), a width centering assembly (105), and a belt walking deviation rectifying assembly (111); The width centering assembly (105) is arranged at the rear of the main support (72) and comprises a transition roller (106), a first deviation rectifying cylinder (107), a transition roller support (108), a transition roller slide rail (109), and a first light curtain sensor (110). The transition roller (106) is arranged on the transition roller support (108), the transition roller slide rail (109) is arranged on the main support (72), and the transition roller support (108) is arranged on the transition roller slide rail (109). The piston rod of the first deviation rectifying cylinder (107) is connected with the transition roller support (108). The first light curtain sensor (110) is arranged on the main support (72) and located at one side of the transition roller (106). The first light curtain sensor (110) comprises a light projector and a light receiver, and the cloth passes between the light projector and the light receiver of the first light curtain sensor (110). The belt walking deviation rectifying assembly (111) is arranged on the main support (72) and located at the front side of the width centering assembly (105) and comprises a deviation rectifying shaft (112), a deviation rectifying support (113), a deviation rectifying motor (114), a second light curtain sensor (115), a deviation rectifying slide rail (116), and a second deviation rectifying cylinder (117). The deviation rectifying shaft (112) and the deviation rectifying motor (114) are arranged on the deviation rectifying support (113), and the deviation rectifying motor (114) is connected with the deviation rectifying shaft (112). The deviation rectifying slide rail (116) is arranged on the main support (72). The deviation rectifying support (113) is arranged on the deviation rectifying slide rail (116). The second deviation rectifying cylinder (117) is arranged on the main support (72), and the end of the piston rod of the second deviation rectifying cylinder (117) is connected with the deviation rectifying support (113). The second light curtain sensor (115) is arranged on the main support (72) and located at one side of the belt walking deviation rectifying assembly (111). The second light curtain sensor (115) has the same structure as the first light curtain sensor (110), and the cloth passes between the light projector and the light receiver of the second light curtain sensor (115). The tape traction assembly (99) comprises a traction motor (100), a traction roller (101), a traction cylinder (102), a lifting platform (103), and a pressure roller (104). The traction roller (101) is arranged on the main support (72) and connected with the main support (72) through a bearing. The traction motor (100) is connected with the traction roller (101). The traction cylinder (102) is arranged on the main support (72). The lifting platform (103) is arranged at the end of the piston rod of the traction cylinder (102). The pressure roller (104) is arranged on the lifting platform (103) and above the traction roller (101). The pressure roller (104) is connected with the lifting platform (103) through a bearing.

9. The full-automatic loading and unloading system for flat flexible material according to claim 8, characterized in that, Further comprising a joint end recognition system and an overfeeding device; The overfeeding device is arranged between the front joint position material frame (1) and the buffer device (118). The joint end recognition system comprises an overfeeding front conveying roller (119), an overfeeding rear conveying roller (120), a joint end detection switch (121), a cloth tearing joint end recognizer (122), a cloth tearing tape encoder, a lower computer, an overfeeding tape encoder, and an overfeeding joint end recognizer (123). The joint end detection switch (121) is arranged on the outer side wall of the front joint position material frame (1). The overfeeding front conveying roller (119) is arranged between the front joint position material frame (1) and the overfeeding device. The cloth in the front joint position material frame (1) is conveyed to the overfeeding device by the overfeeding front conveying roller (119). The overfeeding tape encoder is arranged on the overfeeding front conveying roller (119). The overfeeding rear conveying roller (120) is arranged between the overfeeding device and the cloth tearing device. The cloth in the overfeeding device is conveyed to the cloth tearing device (125) by the overfeeding rear conveying roller (120). The cloth tearing joint end recognizer (122) is arranged on the main support (72) of the cloth tearing device (125) and located at the rear side of the tape traction assembly (99). The overfeeding joint end recognizer (123) is arranged on the overfeeding device and located within 10 cm in front of the differential roller of the overfeeding device. The tape guide roller (126) is arranged between the tape traction assembly (99) and the cloth tearing joint end recognizer (122). The joint end detection switch (121), the cloth tearing joint end recognizer (122), the cloth tearing tape encoder, the overfeeding tape encoder, and the overfeeding joint end recognizer (123) are electrically connected with the lower computer.

10. The use of the full-automatic loading and unloading system for flat flexible material according to claim 9, characterized in that, The method comprises the following steps: S1. The upper clamping head I (29) and the upper clamping head II (30) of the first material head clamping mechanism (10) of the clamping alignment mechanism (3) are used to find the edge and measure the width of the first material head in the front sewing position material frame (1), and the first material head width data is obtained, then the upper part of the first material head is clamped, at the same time, the upper clamping head I (29) and the upper clamping head II (30) of the tail material head clamping mechanism (11) are used to find the edge and measure the width of the tail material head in the rear sewing position material frame (2), and the tail material head width data is obtained, then the upper part of the tail material head is clamped; S2. The lower end edge of the first material head and the tail material head is adjusted. When the first material head is adjusted, the upper clamping head I (29) and the upper clamping head II (30) of the first material head clamping mechanism (10) clamp the first material head. In this state, the first material head is located below the first photoelectric sensor and the second photoelectric sensor, which can block the light source. The upper clamping head I (29) rises and drives the left part of the first material head to slowly rise until the first photoelectric sensor detects the light source, then the upper clamping head II (30) rises and drives the right part of the first material head to slowly rise until the second photoelectric sensor detects the light source; S3. The first material head clamping mechanism (10) of the clamping alignment mechanism (3) adjusts the position of the first material head through each clamping head, and the tail material head clamping mechanism (11) adjusts the position of the tail material head through each clamping head, so that the vertical center lines of the first material head and the tail material head are aligned. According to the width data of the first material head and the tail material head, the difference between them is within the set range, within 5mm, and the door width alignment assembly (33) does not need to fold the cloth; When the width of the first material head is too large, the door width alignment assembly (33) folds the first material head. First, the left pull rod cylinder (40) retracts, and the right pull rod cylinder extends, then the third lifting cylinder (45) drives the door width alignment bracket (34) to rise, so that the lower end of the cloth is located between the left pull rod and the right pull rod; then the left pull rod cylinder (40) extends, and the right pull rod cylinder retracts, so that the left pull rod drives the cloth at the position of the left pull rod to move forward, and the right pull rod drives the cloth at the position of the right pull rod to move backward, finally drive the lead screw motor (36), so that the left pull rod moves right along the base slide rail (39), and the right pull rod moves left along the base slide rail (39), to fold the cloth to form a "S" shape, at the same time, the upper clamping head I (29), the upper clamping head II (30), the lower clamping head I (31), and the lower clamping head II (32) of the first material head clamping mechanism (10) move in cooperation with the door width alignment assembly (33), so as to reduce the width of the first material head, so that the width of the tail material head is consistent with that of the first material head, and the side edges are aligned; After folding the cloth, the tail material head clamping mechanism (11) clamps the tail material head to move to the first material head clamping mechanism (10), so that the first material head and the tail material head are in a state of adhesion; When the width of the tail material head is too large, the tail material head clamping mechanism (11) clamps the tail material head to move above the door width alignment assembly (33), and the door width alignment assembly (33) folds the tail material head; Then the piston rod of the first lifting cylinder (18) of the sewing tensioning device (4) is raised to clamp the lower bottom end of the joint material head; Then the lower clamp I (31), the lower clamp II (32) of the tail material head clamping mechanism (11) and the lower clamp I (31), the lower clamp II (32) of the head material head clamping mechanism (10) are loosened to clamp the material head, and all are reset; At this time, if the width alignment assembly (33) participates in the cloth folding process, the third lifting cylinder (45) is retracted and reset; S4. The horizontal moving platform (15) of the tensioning device (4) drives the material head clamping mechanism to move to the rear side of the tensioning rod (5), the piston rod of the first lifting cylinder (18) is synchronously lifted, the material head clamping mechanism is lifted to the same height as the tensioning rod (5), the material head between the material head clamping mechanism and the tensioning rod (5) is in a tensioning state, and the material head clamping mechanism cooperates with the tensioning rod (5) to apply a transverse tensioning force to the material head; S5. The sewing machine driving motor (28) of the sewing machine assembly (7) works to drive the support platform (23) to slide along the sewing machine guide rail (47), so that the sewing machine (24) moves to the material head direction, when the metal protrusion is recognized by the proximity switch, the second lifting cylinder (53) is retracted, the cloth guiding wheel device (49) is pressed down to press the material head on the cloth guiding platform (25), then the piston rod of the double-action cylinder (20) on the material head clamping mechanism is extended to separate the first clamping piece (21) and the second clamping piece (22), loosen the clamping of the material head, then the piston rod of the first lifting cylinder (18) used to support the material head clamping mechanism is retracted, so that the material head clamping mechanism is lowered; then the first rotating shaft is driven to rotate by the cloth guiding wheel driving motor (50), the second rotating shaft (66) and the third rotating shaft (67) are driven to rotate by the first synchronous belt and the second synchronous belt of the cloth guiding wheel device (49), and the material head is clamped by the cloth guiding platform (25), in this process, the first cloth guiding wheel (59), the second cloth guiding wheel (60) and the third cloth guiding wheel (61) roll the material head, the transverse and longitudinal tensioning force of the material head is provided by the cloth guiding platform and the cloth guiding wheel device, the material head is sewn during the forward sliding process of the sewing machine (24), and the cutter cuts the material head of the completed sewing part, and the piston rods of the first lifting cylinders (18) are retracted in turn during the continuous forward movement of the sewing machine (24); S6. After the material head is sewn, the clamping alignment mechanism (3), the left pull rod cylinder (40) and the sewing machine assembly (7) are all reset; The cloth in the front sewing position material frame (1) enters the process section for dyeing and finishing / overfeeding process, the cloth treated in the process section is taken to the buffer device (118), and then enters the width centering assembly (105), the width centering assembly (105) adjusts and positions the cloth for width centering, the first light curtain sensor (110) cooperates with the first deviation correcting cylinder to realize the width centering of the cloth; Then the cloth enters the walking deviation correcting assembly (111), and the second light curtain sensor (115) cooperates with the second deviation correcting cylinder to realize the accurate walking deviation correction of the cloth; Subsequently, the cloth enters into the walking belt traction assembly (99), and the walking belt traction assembly (99) delivers the cloth to the position of the rotary cloth tearing device (68); When the cloth head is identified by the cloth head identification system, the walking deviation correction motor of the walking deviation correction assembly (111) and the traction motor of the walking belt traction assembly (99) are turned off, and the cloth processed by the process section is delivered into the buffer device (118) for buffering; The cloth head identification system includes the following steps during the identification of the cloth head: S6.

1. When the cloth in the front sewing position frame (1) is emptied, the front sewing position frame (1) is removed, the gantry manipulator hoists the rear sewing position frame (2) to the position of the front sewing position frame (1) through the hooks (137) on the frame body to maintain continuous production, so that the rear sewing position frame (2) becomes the front sewing position frame (1), and then a new rear sewing position frame (2) is placed on the second positioning pin group on the positioning base; because the cloth head is online, the cloth head is separated from the cloth head detection switch (121) monitoring position, the cloth head detection switch (121) outputs a cloth head loss signal to the lower computer, and the lower computer starts the overfeed walking encoder to measure the walking distance of the cloth on the overfeed front conveying roller (119); Because there are several cloth heads in the frame during production, the cloth head has no difference with the cloth head, so the overfeed head recognizer (123) cannot distinguish the cloth head from the cloth head; S6.

2. The overfeed walking encoder starts to measure the cloth walking distance S1 from the time when the cloth head detection switch (121) loses the signal; when the cloth walking distance S1 is measured by the overfeed walking encoder from the time when the cloth head detection switch (121) loses the cloth head signal, the overfeed head recognizer (123) identifies the cloth head as the cloth head; S1 should satisfy the following formula: In the above formula, is the actual distance between the joint head joint detection switch (121) and the overfeed joint head recognizer (123), specifically, the actual distance from the joint head joint detection switch (121) to the overfeed joint head recognizer (123) when the length of the cloth does not change; is the positive overfeed rate, is the negative overfeed rate; S6.

3. After the super feeding seam head recognizer (123) recognizes the joint seam head, it transmits the recognition signal to the tearing belt walking track encoder. When the tearing belt walking track encoder starts to measure the walking track distance of the fabric as the joint seam head recognized by the tearing belt seam head recognizer (122) is the joint seam head. is represented as follows: In the above formula, is the actual distance between the overfeed seam head identifier (123) and the tear-off seam head identifier (122); S6.

4. After the fabric head seam is identified by the fabric head seam identifier (122), the identification signal is transmitted to the fabric walking belt encoder, the fabric walking belt encoder re-measures the fabric walking belt path, and the traction motor of the fabric walking belt traction assembly is decelerated. When the fabric walking belt encoder starts to measure the fabric walking belt path, the fabric head seam can be accurately stopped at the fabric head seam positioning point, and then the fabric head seam is removed by driving the fabric tearing device. ​ is represented as follows: In the above formula, is the actual distance between the tear-off seam recognition (122) and the tear-off seam positioning point; S6.

5. When the cloth head to be torn is delivered to the tearing cloth head positioning point, the tearing device (125) tears the cloth head. S7. Drive the first chuck assembly (87) to clamp the upper part of the cloth, the second chuck assembly (88) to clamp the lower part of the cloth, start the cloth tearing drive motor (75) of the rotary tearing device (68), make the chuck fixed part (77) and the chuck moving part (78) move to the cloth direction, until the cloth edge is located between the fixed jaw (80) and the moving jaw (81), the chuck cylinder (79) works to clamp the cloth with the fixed jaw (80) and the moving jaw (81), then the first cutter (90) of the cutter assembly cuts the cloth edge between the first chuck assembly (87) and the rotary tearing device (68), the second cutter (91) cuts the cloth edge between the second chuck assembly (88) and the rotary tearing device (68), so that the one side edge of the cloth forms two cuts; then the cloth tearing drive motor (75) of the rotary tearing device (68) drives the rotary tearing chuck (69) to move along the tearing assembly track, at the same time, the chuck rotating drive mechanism drives the rotary tearing chuck (69) to rotate, so that the rotary speed of the rotary tearing chuck (69) and the longitudinal moving speed of the rotary tearing chuck (69) satisfy the following relationship: In the above formula, is the linear speed of the outer periphery of the rotating tear-off chuck (69), is the longitudinal movement speed of the rotating tear-off chuck (69) on the tear-off assembly track; S8. After tearing the cloth, the chuck cylinder (79) drives its piston rod to extend, so that the moving jaw (81) moves away from the fixed jaw (80), so that the torn cloth head joint head falls freely, the chuck rotating drive mechanism and the linear walking drive jointly act on the rotary tearing chuck (69) to reset; at this time, the reciprocating trolley (133) moves to the fourth working position, and the clamping jaw of the tail material head traction chuck (134) is opened, the second chuck assembly (88) releases the clamping of the cloth located below the cloth head joint head, so that the tail material head falls freely into the clamping jaw of the tail material head traction chuck (134) by gravity after the tearing of the cloth, and the third material head positioning sensor recognizes the material head signal, the clamping jaw of the tail material head traction chuck (134) is contracted and clamped on the tail material head, and then the lifting drive mechanism of the tail material head traction chuck (134) drives the first material head to descend until the light signal of the fourth material head positioning sensor is blocked, so that the lower end of the tail material head descends to the set position; S9. The reciprocating trolley (133) transports the cloth storage frame (130) to the first cloth storage frame lifting platform position, the lifting arm of the first cloth storage frame lifting platform lifts the lower cloth storage leg (139) of the cloth storage frame (130) upward to the upper side of the conveying frame, during the lifting process, when the cloth storage frame sensor detects that the cloth frame has been completely separated from the reciprocating trolley (133), the reciprocating trolley (133) can move to the second cloth storage frame lifting platform position, when the lifting arm of the first cloth storage frame lifting platform rises, the lifting arm of the second cloth storage frame lifting platform descends synchronously, and the empty cloth storage frame (130) is placed on the reciprocating trolley (133), when the cloth storage frame sensor detects that the new cloth storage frame (130) is located on the reciprocating trolley (133), the reciprocating trolley (133) walks to the first working position to pull the first material head of the new cloth. S10. The reciprocating material car (133) is repositioned to the first working position, the first chuck assembly releases the clamping of the first material head, and the deviation correction motor of the walking belt deviation correction assembly (111) and the traction motor of the walking belt traction assembly (99) are started again. First, the traction motor (100) of the walking belt traction assembly (99) and the deviation correction motor (114) are rotated, so that the walking speed of the cloth is lower than the walking speed of the cloth in the process section, and the first material head is guided by the first material head traction chuck (136) to drop the cloth. When the lower end of the first material head falls and passes through the clamping jaw of the first material head traction chuck (136), the first material head positioning sensor light signal is blocked, at this time the clamping jaw of the first material head traction chuck (136) is retracted and clamped on the first material head, then the lifting drive mechanism of the first material head traction chuck (136) drives the first material head to drop until the light signal of the second material head positioning sensor is blocked, so that the lower end of the first material head drops to the set position. Then the reciprocating material car (133) moves to the second working position, so that the continuous cloth can smoothly fall into the cloth storage frame (130), then the traction motor (100) of the walking belt traction assembly (99) and the deviation correction motor (114) are rotated, so that the walking speed of the cloth is higher than the walking speed of the cloth in the process section, and the cloth falls into the cloth storage frame (130) to stack and store, while consuming the cloth accumulated in the buffer device (118) when it stops. During this process, the reciprocating material car (133) reciprocates between the third working position and the second working position, so that the cloth is stored in the "S" shape in the cloth storage frame (130). When the cloth temporarily stored in the buffer device is consumed, the traction motor (100) of the walking belt traction assembly (99) and the deviation correction motor (114) are rotated, so that the walking speed of the cloth is equal to the walking speed of the cloth in the process section, and the cloth enters the frame to stack and store through the cloth center.

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