Full-automatic tensioning sewing system and method

Abstract

The invention provides a full-automatic tensioning sewing system and method, and belongs to the field of industrial automatic sewing. The system comprises a feeding station, a robot transfer station, at least one lifting tensioning station, at least one sewing station and a discharging station, the feeding station is used for placing materials which are not sewed; the lifting tensioning station is used for tensioning materials which are not sewn to obtain tensioned materials; the sewing station is used for sewing the tensioned material to obtain a sewn material; the discharging station is used for placing sewn materials; the robot transfer station is used for transferring the materials which are not sewn, the materials which are tensioned and the materials which are sewn. According to the full-automatic sewing machine, a series of operation of grabbing, placing, tensioning, sewing and discharging of materials can be completed, full-automatic sewing of the materials needed by the automobile seat can be achieved, the full-automatic sewing machine is rapid and accurate, labor is saved, the production efficiency is improved, and the problem that force is possibly different when each point is tensioned manually is solved.

Description

Technical Field

[0001] The invention belongs to the field of industrial automated sewing, and in particular relates to a full-automatic tension sewing system and method. Background Art

[0002] In the automobile manufacturing workshop, the existing process of sewing automobile seats is: manually loading materials, manually placing unsewn materials (including overlapping cotton materials and leather materials) on the tensioning jig bottom plate. The tensioning jig bottom plate is a plate-like structure with one or more large holes on it, placing the materials above the large holes, and slightly stretching the materials outwards, while using multiple clips or thumbtacks to fix the edges of the materials on the periphery of the large holes, so that the materials are fixed on the tensioning jig bottom plate, and then the tensioned materials are obtained, and then the tensioning jig bottom plate with the tensioned materials is placed on the sewing machine, and the sewing machine automatically sews the tensioned materials to obtain the sewn materials, and then the sewn materials are manually removed from the tensioning jig bottom plate, and the sewn materials are taken away and placed in order to complete the unloading. After the sewing process is completed, multiple pieces of materials are formed, and then other processes are used to splice the multiple pieces of materials into automobile seats.

[0003] The existing sewing process requires a lot of manual work and has low production efficiency. In addition, due to manual tensioning, the tensioning force at each point may be different, making it impossible to ensure uniform quality. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art and to provide a fully automatic tensioning sewing system and method, which can complete a series of operations including grabbing, placing, tensioning, sewing and discharging of materials, and can realize the fully automatic sewing of materials required for automobile seats, and is fast and accurate, thereby improving production efficiency.

[0005] The present invention is achieved through the following technical solutions:

[0006] The present invention provides a fully automatic tension sewing system, the system comprising: a feeding station, a robot transfer station, at least one lifting and tensioning station, at least one sewing station, and a discharging station;

[0007] The feeding station is used to place unsewn materials;

[0008] The lifting and tensioning station is used to tension the unsewn material to obtain the tensioned material;

[0009] The sewing station is used to sew the tensioned material to obtain the sewn material;

[0010] The material discharging station is used to place the sewn materials;

[0011] The robot transfer station is used to transfer unsewn materials, tensioned materials and sewn materials.

[0012] Preferably, the system comprises a lifting and tensioning station and two sewing stations;

[0013] The lifting and tensioning station is located on one long side of the rectangle, and the feeding station and the discharging station are located on the other long side of the rectangle;

[0014] One sewing station is located on one short side of the rectangle, and the other sewing station is located on the other short side of the rectangle;

[0015] The robot transfer station is arranged at the center of the rectangle;

[0016] Preferably, the system further comprises a fence;

[0017] The fence surrounds the periphery of the feeding station, the lifting and tensioning station, the sewing station and the discharging station.

[0018] A further improvement of the present invention is:

[0019] A lifting and tensioning device is provided at the lifting and tensioning station;

[0020] The lifting and tensioning device comprises: a fixed bracket, a lifting and clamping mechanism and a tensioning fixture;

[0021] A tensioning workbench is arranged at the lower front part of the fixed bracket, and a longitudinal guide rail is arranged on the front side of the fixed bracket;

[0022] The lifting and clamping mechanism can clamp the tensioning fixture and can drive the tensioning fixture to move up and down along the guide rail;

[0023] The tensioning fixture bottom plate is placed on the upper end surface of the tensioning workbench.

[0024] Preferably, two first fixing blocks are provided at the rear end of the tensioning workbench, and each first fixing block is a U-shaped structure with an opening facing forward;

[0025] An L-shaped second fixing block is arranged above each first fixing block, and a clamping cylinder is arranged above each second fixing block, a telescopic rod of the clamping cylinder is connected with a positioning pin, and a telescopic direction of the telescopic rod is perpendicular to the tensioning workbench;

[0026] Two tensioning jig positioning blocks are arranged at the rear edge of the tensioning jig bottom plate; the tensioning jig positioning blocks correspond to the first fixing blocks one by one;

[0027] A plurality of positioning pins and a plurality of moving pins are arranged on the upper end surface of the tensioning fixture bottom plate.

[0028] Preferably, the lifting and clamping mechanism comprises: a lifting bracket, and a self-locking gripping mechanism and a pressing mechanism arranged on the lifting bracket;

[0029] The lifting bracket includes a transverse bracket and a longitudinal bracket;

[0030] The self-locking gripping mechanism comprises a first connecting block, a second connecting block, a first cylinder and a self-locking gripping hook, wherein the self-locking gripping hook is hinged to the first connecting block and the second connecting block, and the first cylinder drives the self-locking gripping hook to rotate through the first connecting block;

[0031] The pressing mechanism comprises: a second cylinder, a button pressing block fixing plate and a button pressing block;

[0032] The button pressing block is arranged on the lower end surface of the button pressing block fixing plate;

[0033] The second cylinder can drive the button pressing block fixing plate to move up and down;

[0034] Preferably, the pressing mechanism comprises a pressing plate capable of moving up and down;

[0035] The pressing plate is located below the button pressing block fixing plate.

[0036] A further improvement of the present invention is:

[0037] The tensioning fixture comprises: a tensioning base plate, on which at least one large hole is opened, and a plurality of tensioning units are arranged around the periphery of each large hole, and the tensioning units can tension the material;

[0038] Preferably, a plurality of flange sleeves are further provided on the upper end surface of the tensioning base plate, and the flange sleeves correspond one-to-one to the positioning pins on the tensioning fixture base plate.

[0039] Preferably, each of the tensioning units comprises an electromagnet, a telescopic shaft, a connecting piece and a piercing device;

[0040] The piercing device is connected to a connecting piece, and the connecting piece is connected to a telescopic shaft;

[0041] The electromagnet enables the telescopic shaft to move;

[0042] Preferably, the connecting member comprises: a transverse plate and a longitudinal plate;

[0043] A slide rail is arranged on the upper end surface of the tensioning bottom plate, and a tensioning slider is arranged on the slide rail; the lower part of the transverse plate is connected to the tensioning slider; the axial direction of the telescopic shaft is parallel to the axial direction of the slide rail;

[0044] The upper part of the longitudinal plate is connected with the telescopic shaft, and the lower part is connected with the transverse plate, and the transverse plate is connected with the piercing device.

[0045] Preferably, the piercing device comprises: a tablet moving part and a pointed pin moving part;

[0046] The pressing piece moving component comprises: a first button, a support plate, a sliding assembly shell, and a pressing piece moving block; the first button is located above the sliding assembly shell, one end of the pressing piece moving block is located in the inner cavity of the sliding assembly shell, and the other end of the pressing piece moving block is located outside the sliding assembly shell and connected to the pressing piece; the rear side of the sliding assembly shell is connected to the transverse plate; the first button can drive the pressing piece moving block to move in the inner cavity of the sliding assembly shell;

[0047] The pointed pin moving component includes: a step, a guide block, and a second button arranged at the front part of the transverse plate; a sleeve mounting hole is opened on the step, the guide block passes through the sleeve mounting hole, and the upper end of the guide block is located above the step and connected to the second button; the lower end of the guide block is located below the step and connected to the pointed pin; the second button can drive the guide block to move.

[0048] A further improvement of the present invention is:

[0049] A robot is arranged at the robot transfer station, and a transfer fixture is connected to the robot;

[0050] The transfer fixture comprises: a bracket, and at least one suction device, at least one sleeve device and a connecting device arranged on the bracket;

[0051] Each of the suction devices comprises a suction cup mounting plate and a plurality of suction cups, wherein the suction cup mounting plate is connected to the bracket, and the suction cups are connected to the suction cup mounting plate;

[0052] Each of the sleeve taking devices comprises a sleeve mounting plate and a plurality of sleeves, wherein the sleeve mounting plate is connected to the bracket, and the sleeves are connected to the sleeve mounting plate;

[0053] The connecting device adopts a flange.

[0054] A second aspect of the present invention provides a fully automatic tension sewing method, the method comprising:

[0055] The robot first places the unsewn material on the tensioning jig base;

[0056] The electromagnet is energized, and the tablet moving part and the tablet, the pointed pin moving part and the pointed pin move forward simultaneously;

[0057] The lifting and clamping mechanism clamps the tensioning jig and places the tensioning jig on the tensioning jig bottom plate;

[0058] The button press moves down, the pointed pin moves down and pierces into the material, and the press moves back at the same time;

[0059] When the electromagnet is powered off, the pressing piece moving part and the pressing piece, the pointed pin moving part and the pointed pin move backward at the same time; the pointed pin drives the material to move backward;

[0060] Release the button to press the block, the pointed pin drives the material to move upward, and at the same time the pressing block moves forward to obtain the tensioned material;

[0061] The lifting and clamping mechanism releases the tensioning fixture;

[0062] The robot moves the tensioning jig base plate, the tensioned material, and the tensioning jig to the sewing machine at the sewing station at the same time;

[0063] The sewing machine sews the tensioned material to obtain the sewn material;

[0064] The robot moves the tensioning jig base plate, the sewn material and the tensioning jig to the lifting and tensioning station at the same time, and the lifting and clamping mechanism grabs the tensioning jig and drives the tensioning jig to move upward and away from the sewn material;

[0065] The robot transfers the sewn materials to the outfeed station.

[0066] Compared with the prior art, the beneficial effects of the present invention are: the present invention can be used to complete a series of operations such as grabbing, placing, tensioning, sewing and discharging of materials, and can realize the fully automatic sewing of materials required for automobile seats, which is fast and accurate, saving labor and improving production efficiency, and avoiding the problem of different forces at each point of manual tensioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 A schematic diagram of the top view of the fully automatic tension sewing system of the present invention;

[0068] Figure 2 A schematic diagram of the three-dimensional structure of the fully automatic tension sewing system of the present invention;

[0069] Figure 3 A schematic diagram of the three-dimensional structure of the transfer fixture in the fully automatic tension sewing system of the present invention;

[0070] Figure 4 A schematic side view of the structure of the transfer fixture in the fully automatic tension sewing system of the present invention;

[0071] Figure 5-1 A schematic diagram of the three-dimensional structure of the lifting and tensioning device in the fully automatic tensioning sewing system of the present invention;

[0072] Figure 5-2 yes Figure 5-1 A partial enlarged view of

[0073] Figure 6A schematic diagram of the main structure of the lifting and tensioning device in the fully automatic tensioning sewing system of the present invention;

[0074] Figure 7 A schematic side view of the structure of the lifting and tensioning device in the fully automatic tensioning sewing system of the present invention;

[0075] Figure 8 A schematic top view of the structure of the lifting and clamping mechanism in the fully automatic tensioning sewing system of the present invention;

[0076] FIG9 is a bottom view of the structure of the lifting and clamping mechanism in the fully automatic tension sewing system of the present invention;

[0077] Fig.10 A schematic diagram of the three-dimensional structure of a tensioning jig in the fully automatic tensioning sewing system of the present invention;

[0078] Fig.11 A schematic diagram of the three-dimensional structure of the tensioning unit in the fully automatic tensioning sewing system of the present invention;

[0079] Fig.12 A schematic side view of the structure of a tensioning unit in the fully automatic tensioning sewing system of the present invention;

[0080] Fig.13 A schematic cross-sectional view of the tensioning unit in the fully automatic tensioning sewing system of the present invention; DETAILED DESCRIPTION

[0081] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0082] like Figure 1 and Figure 2 As shown, the present invention provides a fully automatic tensioning sewing system, which includes: a feeding station 1, a robot transfer station 2, at least one lifting and tensioning station 3, at least one sewing station 4, and a discharging station 5.

[0083] The feeding station 1 is used for placing unsewn materials (including leather and cotton); the lifting and tensioning station 3 is used for tensioning the unsewn materials to obtain tensioned materials; the sewing station 4 is used for sewing the tensioned materials to obtain sewn materials; the discharging station 5 is used for placing sewn materials; the robot transfer station 2 is used for transferring unsewn materials, tensioned materials and sewn materials.

[0084] One lifting and tensioning station 3 and one sewing station 4 can complete the sewing work. It is also possible to set multiple lifting and tensioning stations 3 and multiple sewing stations 4 according to actual needs. The number of lifting and tensioning stations 3 and sewing stations 4 can be equal, that is, one lifting and tensioning station 3 is equipped with one sewing station 4, or one lifting and tensioning station 3 is equipped with multiple sewing stations 4. According to the working time of each station, a reasonable arrangement method that can better utilize the rhythm of the robot transfer station 2 and save more labor is determined, which can improve work efficiency and reduce the space occupied by the system.

[0085] Figure 1 and Figure 2 In the embodiment shown, the system includes a lifting and tensioning station 3 and two sewing stations 4. The feeding station 1 and the discharging station 5 are arranged side by side, the lifting and tensioning station 3 is arranged opposite to the feeding station 1 and the discharging station 5, and the two sewing stations 4 are arranged opposite to each other and are located on both sides of the lifting and tensioning station 3, so that the lifting and tensioning station 3 is located on one long side of the rectangle, the feeding station 1 and the discharging station 5 are located on the other long side of the rectangle, one sewing station 4 is located on one short side of the rectangle, and the other sewing station 4 is located on the other short side of the rectangle. The robot transfer station 2 is arranged at the center of the rectangle, and the robot at the robot transfer station 2 can transfer the material from the feeding station 1 to the lifting and tensioning station 3, the sewing station 4 and the discharging station 5. The unsewn material is placed manually at the feeding station 1, and after sewing is completed, the sewn material is taken away from the discharging station 5 manually.

[0086] Furthermore, in order to ensure safe production, the system further includes a fence 6, which surrounds the feeding station 1, the lifting and tensioning station 3, the sewing station 4, and the discharging station 5. Preferably, the fence 6 is provided with openings at the feeding station 1 and the discharging station 5, so that workers can place unsewn materials at the feeding station 1 and take away sewn materials from the discharging station 5. At the same time, an electric control cabinet 8 is also provided in a corner of the fence 6. Furthermore, in order to facilitate the placement of objects, a buffer station 7 is provided at the lifting and tensioning station.

[0087] The working principle and workflow of the system are as follows:

[0088] The function of the system is to sew leather and cotton together. Unsewn materials are placed in advance at the feeding station 1, and the robot transfer station 2 first transfers the cotton to the lifting and tensioning station 3, and then transfers the leather to the lifting and tensioning station 3, and aligns the leather and lays it on the cotton. The lifting and tensioning station 3 tensions the leather and cotton to obtain the tensioned materials, and then the robot transfer station 2 transfers the tensioned materials to the sewing station, and the sewing station sews the tensioned materials to obtain the sewn materials. Finally, the robot transfer station 2 transfers the sewn materials to the discharging station 5, thereby completing the sewing process of leather and cotton. The present invention ensures the timely transfer of materials through the simultaneous operation of a lifting and tensioning station 3, multiple sewing stations 4, and the robot transfer station 2, greatly improving production efficiency, while greatly reducing labor costs, improving production efficiency and making sewing more precise.

[0089] Specifically, a lifting and tensioning device is provided at the lifting and tensioning station 3, a sewing machine is provided at the sewing station 4 (existing products, no further description is given here. The position of the sewing machine is planned in advance at the beginning of the design of the entire system, and the most suitable position can be determined according to the manufacturer's beat requirements. The existing technology will not be repeated here), and a robot is provided at the robot transfer station 2, and a transfer fixture is connected to the robot. Tables are provided at the feeding station 1 and the discharging station 5, respectively, for temporarily storing items. The robot transfers the unsewn materials on the feeding station 1 to the lifting and tensioning device at the lifting and tensioning station 3, the lifting and tensioning device tensions the materials, the robot transfers the tensioned materials to the sewing machine at the sewing station 4, the sewing machine sews the tensioned materials, and the robot transfers the sewn materials to the discharging station 5. Tables are provided on both sides of the lifting and tensioning device as buffer stations 7.

[0090] Specifically, the transfer fixture includes: a bracket 2002, and at least one suction device, at least one sleeve device and a connecting device arranged on the bracket 2002. The suction device is used to suck materials, the sleeve device is used to connect with the tensioning fixture bottom plate, and the connecting device is used to connect with the robot.

[0091] The bracket 2002 is a rectangular frame structure, with its upper side and lower side parallel, front side and rear side parallel, and the upper side perpendicular to the front side. The connecting device is a flange, which is arranged on the right side of the bracket 2002. A first suction device is arranged on the upper side of the bracket, and a second suction device is arranged on the lower side of the bracket. The first suction device and the second suction device are arranged symmetrically. A first sleeve device is arranged on the upper part of the front side of the bracket, and a second sleeve device is arranged on the upper part of the rear side of the bracket. The first sleeve device and the second sleeve device are arranged symmetrically.

[0092] Each suction device includes a suction cup mounting plate and a plurality of suction cups, wherein the suction cup mounting plate is connected to the bracket, and the suction cups are connected to the suction cup mounting plate. Preferably, each suction device includes four suction cups, and the four suction cups are located at the four corners of a rectangle. The upper end surfaces of the four suction cups of the first suction device are located in the same plane parallel to the upper side surface of the bracket, and the lower end surfaces of the four suction cups of the second suction device are located in the same plane parallel to the lower side surface of the bracket. The four suction cups in the first suction device and the four suction cups in the second suction device are symmetrically arranged one by one up and down. The suction cup mounting plate in each suction device can be an integral body, or it can be as follows: Figure 3 Shown are two separate plates with 2 suction cups mounted on each plate.

[0093] Each of the sleeve devices includes a sleeve mounting plate and a plurality of sleeves, wherein the sleeve mounting plate is connected to the bracket, and the sleeves are connected to the sleeve mounting plate. Preferably, each sleeve device includes two sleeves. The central axes of the two sleeves in the first sleeve device are perpendicular to the front side of the bracket, and the central axes of the two sleeves in the second sleeve device are perpendicular to the rear side of the bracket. The two sleeves in the first sleeve device and the two sleeves in the second sleeve device are symmetrically arranged front to back. The sleeve mounting plate in each sleeve device can be an integral body, or it can be a single piece. Figure 3 Shown are two separate plates with 1 sleeve mounted on each plate.

[0094] Furthermore, since a flange connected to the robot is provided on the right side of the bracket, in order to avoid interference with the robot, a protruding section is provided on the left side of the upper end of the bracket, and the left sleeve mounting plate in the first sleeve device and the second sleeve device is connected to the protruding section, and the right sleeve mounting plate in the first sleeve device and the second sleeve device is connected to the left side of the right side of the bracket. In this way, there is a certain distance between the first sleeve device, the second sleeve device and the connecting device. After the first sleeve device and the second sleeve device are connected to the tensioning jig bottom plate, the tensioning jig bottom plate will not interfere with the robot.

[0095] Figure 3 and Figure 4In the illustrated embodiment, the first suction device includes a first suction cup mounting plate 2003 and a second suction cup mounting plate 2004. The first suction cup mounting plate 2003 is fixedly mounted on the left end of the upper side surface of the bracket 2002, and a third suction cup 2007 and a fourth suction cup 2008 are arranged on the upper end surface of the first suction cup mounting plate 2003. The second suction cup mounting plate 2004 is fixedly mounted on the right end of the upper side surface of the bracket, and a first suction cup 2005 and a second suction cup 2006 are arranged on the upper end surface of the second suction cup mounting plate 2004. The first suction cup 2005, the second suction cup 2006, the third suction cup 2007, and the fourth suction cup 2008 are located at the four corners of a rectangle, and the suction cup end surfaces on each suction cup are located in the same plane. The second suction device includes a third suction cup mounting plate 2009 and a fourth suction cup mounting plate 2010. The third suction cup mounting plate 2009 is fixedly mounted on the right end of the lower side surface of the bracket. A fifth suction cup 2011 and a sixth suction cup 2012 are arranged on the lower end surface of the third suction cup mounting plate 2009. The fourth suction cup mounting plate 2010 is fixedly mounted on the left end of the lower side surface of the bracket. A seventh suction cup 2013 and an eighth suction cup 2014 are arranged on the fourth suction cup mounting plate 2010. The fifth suction cup 2011, the sixth suction cup 2012, the seventh suction cup 2013, and the eighth suction cup 2014 are located at the four corners of a rectangle, and the suction cup end surfaces on each suction cup are located in the same plane. The first suction cup 2005 and the fifth suction cup 2011 are symmetrically arranged up and down, the second suction cup 2006 and the sixth suction cup 2012 are symmetrically arranged up and down, the third suction cup 2007 and the seventh suction cup 2013 are symmetrically arranged up and down, and the fourth suction cup 2008 and the eighth suction cup 2014 are symmetrically arranged up and down.

[0096] Preferably, the suction cups all adopt existing needle suction cups, and their structure will not be described in detail. Needle suction cups are used because there are holes on cotton materials, and vacuum suction cups cannot suck them. Although leather materials have no holes, after the vacuum suction cup sucks and puts down, there will be bulges and unevenness at the position where the leather materials are sucked by the vacuum suction cups. The suction cups are set at the four corners of the rectangle because the front end of the needle suction cup is a needle, which can only pierce the edge of the leather material, otherwise there will be small holes in the useful part in the middle of the leather material. The number of needle suction cups in each suction device can be 4, 6, 8, etc. After testing, at least 4 needle suction cups are required to suck up the material. The purpose of setting two suction devices on the clamp is to improve work efficiency, because the two suction devices can be used to grab leather and cotton materials in turn at the feeding station 1, and then put down the cotton and leather materials in turn at the lifting and tensioning station 3, and then return to the feeding station 1 to grab the leather and cotton materials, and then put down the cotton and leather materials after the lifting and tensioning station 3, or you can first use two suction devices to grab two pieces of cotton materials at the feeding station 1, and then put down two pieces of cotton materials at the lifting and tensioning station, and then return to the feeding station 1 to grab two pieces of leather materials, and then put down two pieces of leather materials at the lifting and tensioning station. Which method to use can be set according to actual needs.

[0097] The first sleeve mounting device includes a first sleeve mounting plate 2015 and a second sleeve mounting plate 2017. The first sleeve mounting plate 2015 is located on the left side of the first suction cup mounting plate 2003, and the second sleeve mounting plate 2017 is located between the first suction cup mounting plate 2003 and the second suction cup mounting plate 2004. A first sleeve 2016 is arranged on the front end surface of the first sleeve mounting plate 2015 and is perpendicular to it. A second sleeve 2018 is arranged on the front end surface of the second sleeve mounting plate 2017 and is perpendicular to it. The second sleeve-taking device includes a third sleeve mounting plate 2019 and a fourth sleeve mounting plate 2021. The third sleeve mounting plate 2019 is located on the left side of the first suction cup mounting plate 2003, and the fourth sleeve mounting plate 2021 is located between the first suction cup mounting plate 2003 and the second suction cup mounting plate 2004. A third sleeve 2020 is arranged on the rear end face of the third sleeve mounting plate 2019 and is perpendicular to it. A fourth sleeve 2022 is arranged on the rear end face of the fourth sleeve mounting plate 2021 and is perpendicular to it.

[0098] Preferably, the sleeves are all copper sleeves. The first sleeve 2016 and the third sleeve 2020 are symmetrically arranged front and back, and the central axes of the two are located on the same straight line; the second sleeve 2018 and the fourth sleeve 2022 are symmetrically arranged front and back, and the central axes of the two are located on the same straight line.

[0099] The working principle and working process of the transfer fixture are as follows: the transfer fixture is connected to the end flange of the robot through a flange, so that the transfer fixture can be driven by the robot to move. The first suction cup, the second suction cup, the third suction cup, and the fourth suction cup constitute a cotton material grabbing mechanism, which is used to grab the cotton material 2023 and can transfer the cotton material 2023 from the feeding station to the lifting and tensioning station. The fifth suction cup, the sixth suction cup, the seventh suction cup, and the eighth suction cup constitute a leather material grabbing mechanism, which is used to grab the leather material 2024 and can transfer the leather material 2024 from the feeding station to the lifting and tensioning station. The leather material grabbing mechanism and the cotton material grabbing mechanism are exactly the same, and either one can be used to grab the leather material or the cotton material. After the leather and fabric are tensioned, the first sleeve and the second sleeve are inserted into the movable pin on the tensioning jig bottom plate, and the tensioning jig bottom plate is dragged to the sewing station. Alternatively, the third sleeve and the fourth sleeve are inserted into the movable pin on the tensioning jig bottom plate, and the tensioning jig bottom plate is dragged to the sewing station. After sewing is completed, the leather grabbing mechanism grabs the material and moves it to the discharging station.

[0100] The lifting and tensioning device comprises: a fixed bracket 3001, a lifting and clamping mechanism 3005 and a tensioning fixture 3008. A tensioning workbench 3018 is arranged at the front lower part of the fixed bracket 3001, and a longitudinal guide rail is arranged on the front side of the fixed bracket 3001, and the guide rail is located above the tensioning workbench 3018. The lifting and clamping mechanism can clamp the tensioning fixture 3008 and can drive the tensioning fixture 3008 to move up and down along the guide rail. The tensioning fixture bottom plate 3019 is placed on the upper end surface of the tensioning workbench 3018.

[0101] like Figure 5-1 to Figure 7 As shown, the bottom end of the fixed bracket 3001 is fixed on the ground of the lifting and tensioning station 3, and a tensioning workbench 3018 is arranged at the front lower part of the fixed bracket 3001. The bottom end of the tensioning workbench 3018 is fixed on the ground of the lifting and tensioning station 3, and the upper end surface of the tensioning workbench 3018 is perpendicular to the front side surface of the fixed bracket 3001. A longitudinal guide rail is arranged on the front side surface of the fixed bracket 3001, and the guide rail is located above the tensioning workbench 3018. A guide rail slider 3002 is connected to the guide rail, and the guide rail slider 3002 can move up and down along the guide rail. The lifting and clamping mechanism 3005 is connected to the guide rail slider 3002 and can move up and down with the guide rail slider 3002. Figure 5-1 and Figure 5-2 In the illustrated embodiment, two longitudinal guide rails are arranged on the front side of the fixed bracket 3001 , and a guide rail slider 3002 is arranged on each guide rail.

[0102] In order to drive the lifting and clamping mechanism 3005 to move up and down, a lifting cylinder 3004 is provided at the rear end of the tensioning workbench, and the upper end of the telescopic rod of the lifting and clamping mechanism 3004 is connected to the rear side of the lifting and clamping mechanism, and the lifting and clamping mechanism and the guide rail slider 3002 are driven to move up and down along the guide rail by the extension and retraction of the telescopic rod. The lifting and clamping mechanism 3005 can grab the tensioning fixture 3008 and drive the tensioning fixture 3008 to move up and down.

[0103] exist Figure 6 In the illustrated embodiment, the bottom of the lifting cylinder 3004 is fixed to the middle of the rear end of the tensioning workbench 3018 through the lifting cylinder connecting block 3003. Specifically, the lifting cylinder 3004 is fixed to the side of the lifting cylinder connecting block 3003, and the telescopic rod of the lifting cylinder 3004 is located between the two guide rails. The lifting clamping mechanism 3005 is fixed to the side of the guide rail slider 3002 and is connected to the telescopic rod of the lifting cylinder 3004, and is used to move the lifting clamping mechanism 3005 up and down.

[0104] Furthermore, in order to fix the lifting clamping mechanism 3005 when it reaches the uppermost end, a locking cylinder connection block 3006 is provided at the top of the fixed bracket 3001, and a locking cylinder 3007 is connected to the rear side of the locking cylinder connection block 3006. The locking cylinder 3007 is a clamping self-locking cylinder, and when the lifting clamping mechanism 3005 moves to the top of the fixed bracket 3001, the locking cylinder 3007 locks it (the locking cylinder uses a strong clamping cylinder, which can clamp the uppermost beam of the lifting clamping mechanism 3005, thereby achieving locking), thereby ensuring safety.

[0105] Further, in Figure 5-1 , Figure 5-2 and Figure 6 In the embodiment shown, two buffer supports 3009 are further provided at the rear end of the tensioning workbench 3018, and a buffer 3010 is provided on each buffer support 3009 for buffering the falling of the lifting and clamping mechanism 3005. Two workbench limit blocks 3011 are further provided at the rear end of the tensioning workbench 3018 for limiting the descending position of the lifting and clamping mechanism 3005. Two sensor supports 3012 are provided at the rear side of the lower end of the support, and a sensor 3013 is provided on each sensor support 3012 for detecting whether the lifting and clamping mechanism 3005 is in place. The sensor 3013 adopts an existing photoelectric sensor, and can determine that the lifting and clamping mechanism is in place when the lifting and clamping mechanism 3005 blocks its light path, which will not be described in detail here.

[0106] Two first fixing blocks 3014 are arranged at the rear end of the tensioning workbench 3018. Each first fixing block 3014 is a U-shaped structure with an opening facing forward. An L-shaped second fixing block 3016 is arranged above each first fixing block 3014. A clamping cylinder 3017 is arranged above each second fixing block 3016. The telescopic rod of the clamping cylinder 3017 is connected to the positioning pin, and the telescopic direction of the telescopic rod is perpendicular to the tensioning workbench 3018. Two tensioning jig positioning blocks 3015 are arranged at the rear edge of the tensioning jig bottom plate 3019. The tensioning jig positioning blocks 3015 and the tensioning jig bottom plate 3019 can be fixedly connected by bolts. The two tensioning jig positioning blocks 3015 correspond to the two first fixing blocks 3014 one by one. When positioning is required, first insert the tensioning jig positioning block 3015 into the opening of the first fixed block 3014, then start the clamping cylinder 3017, and the telescopic rod of the clamping cylinder 3017 drives the positioning pin to descend and press the tensioning jig positioning block 3015. In this way, the two tensioning jig positioning blocks 3015 are pressed by the two clamping cylinders 3017 so that the tensioning jig bottom plate 3019 is fixed. After the tensioning work is completed, the clamping cylinder 3017 drives the positioning pin to move up and disengage from the tensioning jig positioning block 3015. The tensioning jig bottom plate 3019 is no longer fixed, and the tensioning jig bottom plate 3019 can be dragged away by the robot.

[0107] The structure of the tensioning jig base plate 3019 is the same as that of the existing tensioning jig base plate. In the present invention, a plurality of positioning pins 3020 and a plurality of movable pins 3021 are arranged on the upper end surface of the tensioning jig base plate 3019. The positioning pins 3020 are used for cooperating with the positioning sleeves in the tensioning jig 3008 for positioning; the movable pins 3021 are located on the front side of the positioning pins 3020, and are used for cooperating with the sleeves in the transfer fixture. After the two movable pins 3021 are simultaneously inserted into the two sleeves in a sleeve-taking device on the transfer fixture, it is convenient for the robot to move the tensioning jig base plate 3019.

[0108] like Figure 8 , Figure 9-1 As shown, the lifting and clamping mechanism 3005 includes: a lifting bracket 901, and a self-locking grasping mechanism and a pressing mechanism arranged on the lifting bracket 901.

[0109] The lifting bracket 901 includes a transverse bracket and a longitudinal bracket, the plane where the longitudinal bracket is located is perpendicular to the plane where the transverse bracket is located, and the lower end of the longitudinal bracket is connected to the rear end of the transverse bracket; slider connecting plates 902 are respectively provided at both ends of the rear side of the longitudinal bracket for connecting with the guide rail slider 3002; a cylinder telescopic rod connecting plate 903 is provided between the two slider connecting plates 902 for connecting with the telescopic rod of the lifting cylinder 3004, and the two slider connecting plates 902 and the cylinder telescopic rod connecting plate 903 are both perpendicular to the transverse bracket, so that the lifting bracket 901 can be driven by the telescopic rod of the lifting cylinder 3004, and then the guide rail slider 3002 is driven to move up and down along the guide rail.

[0110] The self-locking gripping mechanism includes a first connecting block 904, a second connecting block 906, a first cylinder 908 and a self-locking gripping hook 905. The self-locking gripping hook 905 is hinged to the first connecting block 904 and the second connecting block 906. The first cylinder 908 drives the self-locking gripping hook 905 to rotate through the first connecting block 904, thereby achieving clamping and releasing.

[0111] Specifically, first cylinder mounting plates are respectively arranged at the left and right ends of the middle part of the transverse bracket, a first cylinder 908 is arranged below each first cylinder mounting plate, a first connecting block 904 is arranged above each first cylinder mounting plate, and the upper end of the telescopic rod of the first cylinder 908 passes through the first cylinder mounting plate upwards and is connected to the middle part of the lower end of the first connecting block 904. The two first connecting blocks 904 are arranged in parallel and are both parallel to the plane where the transverse bracket is located.

[0112] Self-locking grabbing hooks 905 are respectively provided at both ends of each first connection block 904, and a second connection block 906 is provided on the transverse bracket. The self-locking grabbing hooks 905 correspond to the second connection blocks 906 one by one. In this way, there are a total of 2 first connection blocks, 4 self-locking grabbing hooks 905 and 4 second connection blocks 906. One end of each self-locking grabbing hook 905 is hinged to one end of the first connection block 904, and the middle part of each self-locking grabbing hook 905 is hinged to the second connection block 906. Specifically, long holes are respectively opened at both ends of each of the first connecting blocks 904, and double-headed threaded pins are arranged in the long holes. The double-headed threaded pins can move in the long hole along the length direction of the long hole and can rotate in the long hole at the same time. Both ends of the double-headed threaded pins extend out of the long hole. Each self-locking grasping hook 905 includes two parallel plates, each of which includes an integrally connected long strip plate and a U-shaped plate. One end of the two long strip plates is respectively connected to the two ends of the double-headed threaded pin, so that the first connecting block 904 One end of the U-shaped plate is clamped between the two long strips, and the other end of each long strip is fixedly connected to one end of the U-shaped plate, and a pin hole is opened at the connection between the long strip and the U-shaped plate. The lower end of the second connecting block 906 is fixedly connected to the bracket, and the upper part of the second connecting block 906 is located between the two plates of the self-locking grabbing hook 905. The pin passes through the pin holes on the two plates and the second connecting block 906, and the two plates are hinged to the second connecting block 906, so that each self-locking grabbing hook 905 can rotate around the pin. The open ends of the U-shaped plates on the two self-locking grabbing hooks 905 connected to the same first connecting block 904 are arranged opposite to each other. A first limit block 907 is arranged below the horizontal bracket, and the first limit block 907 corresponds to the self-locking grabbing hook 905 one by one.

[0113] Since one end of the self-locking grasping hook 905 is hinged to the long hole on the first connecting block 904, and the middle part is hinged to the second connecting block 906, when the telescopic rod of the first cylinder 908 is extended upward, the telescopic rod drives the first connecting block 904 to move upward, and the self-locking grasping hooks 905 hinged at both ends of the first connecting block 904 rotate around the pin shaft at the same time. When the inner sides of the U-shaped plates in the two self-locking grasping hooks 905 respectively support the first limit blocks 907, the long strip plates of the self-locking grasping hooks 905 at both ends of the first connecting block 904 form a certain angle with the plane where the horizontal bracket is located, and the two branches of the U-shaped plate are parallel to the plane where the horizontal bracket is located. At this time, the four self-locking grasping hooks 905 connected to the two first connections 4 can clamp the object located under the horizontal bracket. When the telescopic rod of the first cylinder 908 is retracted downward to its original position, the long strips of the self-locking gripping hooks 905 at both ends of the first connecting block 904 are parallel to the plane where the horizontal bracket is located, and the two branches of the U-shaped plate are at a certain angle to the plane where the horizontal bracket is located. At this time, the self-locking gripping hooks release the objects under the horizontal bracket.

[0114] The pressing mechanism includes: a second cylinder 9010, a button pressing block fixing plate 9016 and a button pressing block 9017. The button pressing block 9017 is arranged on the lower end surface of the button pressing block fixing plate 9016. The second cylinder 9010 can drive the button pressing block fixing plate 9016 to move up and down, thereby realizing the pressing and releasing of the button.

[0115] Specifically, two second cylinder mounting plates 909 are arranged in the middle of the transverse bracket, a second cylinder 9010 is arranged above each second cylinder mounting plate 909, and a button pressing block fixing plate 9016 is arranged below each second cylinder mounting plate 909. The lower end of the telescopic rod of the second cylinder 9010 passes through the second cylinder mounting plate 909 and is connected to the upper end surface of the button pressing block fixing plate 9016. When the telescopic rod of the second cylinder 9010 is extended or retracted, it can drive the button pressing block fixing plate 9016 to move up and down.

[0116] Preferably, in order to increase the stability of the button pressure block fixing plate 9016 when it moves up and down, a first linear bearing 9019 is respectively provided on the left and right sides of the lower end surface of each button pressure block fixing plate 9016, and a guide shaft 9020 that slides with the first linear bearing 9019 is provided, and the upper end of the guide shaft 9020 is fixedly connected to the transverse bracket, so that when the button pressure block fixing plate 9016 moves up and down, the guide shaft 9020 guides the up and down movement of the button pressure block fixing plate 9016.

[0117] Furthermore, in order to hold down the material, the pressing mechanism includes a pressing plate 9015 that can move up and down, and the pressing plate 9015 is located below the button pressing block fixing plate 9016. Specifically, linear bearing mounting plates 9011 are respectively provided on the left and right sides of each second cylinder mounting plate 909, and the linear bearing mounting plates 9011 are fixedly installed on the transverse bracket. A second linear bearing 9012 is fixedly installed below each linear bearing mounting plate 9011 (the upper end surface of the second linear bearing 9012 is fixedly connected to the lower end surface of the linear bearing mounting plate 9011), and an optical axis 9013 that is slidably matched with the second linear bearing 9012 is provided. An avoidance hole is provided on the button pressing block fixing plate 9016, and an avoidance hole is provided on the linear bearing mounting plate 9011, and the optical axis 9013 can pass through the avoidance holes on the linear bearing mounting plate 9011 and the button pressing block fixing plate 9016. The lower end of the optical axis 9013 is fixedly mounted on the upper end surface of the clamping plate 9015 and is slidably matched with the second linear bearing 9012 (in order to limit the axial displacement of the optical axis 9013 and prevent it from escaping from the second linear bearing 9012, a gasket is installed on the top of the optical axis 9013, which is not shown in the figure.). The second linear bearings 9012 located on the left and right sides of the same second cylinder mounting plate 909 are connected to the same clamping plate 9015, and the clamping plate 9015 is parallel to the transverse bracket. A spring 9014 is sleeved on the optical axis 9013 (the upper end of the spring 9014 supports the lower end surface of the second linear bearing 9012, and the lower end of the spring 9014 supports the upper end surface of the clamping plate 9015). A plurality of second limit blocks 9018 are arranged on the lower surface of the rear end of the transverse bracket, which are used to cooperate with the limit blocks 3011 on the tensioning workbench 3018 to limit the lifting and clamping mechanism.

[0118] The plurality of button pressing blocks 9017 provided on the lower end surface of the button pressing block fixing plate 9016 are used to press the buttons on the tensioning fixture 3008. When the button pressing block fixing plate 9016 moves down to the right position, the button pressing blocks surround the leather pressing plate 9015.

[0119] The working principle and working process of the lifting and clamping mechanism 3005 are as follows:

[0120] The telescopic rod of the first cylinder 908 of the lifting clamping mechanism 3005 extends upward, driving the first connecting block 904 to move upward, and then driving the self-locking gripping hook 905 to rotate forward around the second connecting block 906, clamping the tensioning fixture 3008 through the four self-locking gripping hooks 905, and then driving the tensioning fixture 3008 to slide downward. Since the clamping plate 9015 is located below the button clamping block fixing plate 9016, and the optical axis 9013 connected to the clamping plate 9015 can be 2, and a spring 9014 is arranged on the optical axis 9013, so the pressing plate 9015 first presses the leather material, and then the telescopic rod of the second cylinder 9010 extends downward (at this time, the spring 9014 is compressed, and the upper end of the optical axis 9013 passes through the button pressing block fixing plate 9016), the button pressing block fixing plate 9016 moves downward with the telescopic rod, and the button pressing block 9017 on the lower end surface of the button pressing block fixing plate 9016 presses the button component in the tensioning fixture 3008 to tension the leather material. The telescopic rod of the first cylinder 908 retracts downward, driving the first connecting block 904 to move downward, and then driving the self-locking gripping hook 905 to rotate in the opposite direction around the second connecting block 906, and the self-locking gripping hook 905 releases the tensioning fixture 3008, so that the tensioning fixture 3008 is separated from this lifting and clamping mechanism, and then the lifting and clamping mechanism 3005 moves upward to complete the work.

[0121] like Figure 10 to Figure 13 As shown, the tensioning jig 3008 comprises: a tensioning base plate 1001, at least one large hole is opened on the tensioning base plate 1001, and a plurality of tensioning units are arranged around the periphery of each large hole. One or more large holes can be arranged on the tensioning base plate 1001 according to actual needs, and the large holes on the tensioning base plate 1001 correspond to the large holes on the tensioning jig base plate 3019 one by one. When the lifting and clamping mechanism 3005 drives the tensioning jig 3008 to descend above the tensioning jig base plate 3019, the large holes on the tensioning base plate 1001 are aligned with the large holes on the tensioning jig base plate 3019, and the plurality of tensioning units around the large holes on the tensioning base plate 1001 can tension a group of materials on the large holes on the tensioning jig base plate 3019 corresponding to the large holes.

[0122] The shapes of the large holes on the tensioning base plate 1001 and the tensioning fixture base plate 3019 can be designed according to actual needs. For example, if a rectangular material is to be tensioned, the shape of the large hole is rectangular; if a circular material is to be tensioned, the shape of the large hole is circular, and so on.

[0123] Fig.10In the embodiment shown, two large rectangular holes are formed on the tensioning base plate 1001, and a plurality of tensioning units are arranged around the periphery of each large rectangular hole. A circle of tensioning units around each large hole can tension a group of materials in the large hole, and two circles of tensioning units can tension two groups of materials at the same time, which greatly improves production efficiency. More large holes can be arranged as needed, and a plurality of tensioning units are arranged around each large hole. 2 to 26 tensioning units can be arranged around each large hole.

[0124] Furthermore, a plurality of flange sleeves 1027 are provided on the upper end surface of the tensioning base plate 1001. The flange sleeves 1027 correspond one-to-one to the positioning pins 3020 on the tensioning fixture base plate 3019. After the positioning pins 3020 are inserted into the flange sleeves 1027, the tensioning base plate 1001 and the tensioning fixture base plate 3019 are positioned.

[0125] like Fig.11 As shown, each of the tensioning units includes an electromagnet 1005, a telescopic shaft 1006, a connecting piece and a pricking device, wherein the pricking device is connected to the connecting piece, and the connecting piece is connected to the telescopic shaft 1006. The electromagnet 1005 can move the telescopic shaft 1006, and the telescopic shaft 1006 drives the grabbing device to move through the connecting piece.

[0126] Specifically, the connecting member includes: a transverse plate 1002, a longitudinal plate 1009, a slide rail 1011 is arranged on the upper end surface of the tensioning base plate 1001, a tensioning slider 1010 is arranged on the slide rail 1011 to slide with it, the lower part of the transverse plate 1002 is connected to the tensioning slider 1010, the upper part of the longitudinal plate 1009 is connected to the telescopic shaft 1006, and the lower part is connected to the transverse plate 1002, and the transverse plate 1002 is connected to the piercing device. The axial direction of the telescopic shaft 1006 is parallel to the axial direction of the slide rail 1011, and is perpendicular to the edge of the large hole on the tensioning base plate 1001. The telescopic shaft 1006 is connected to the electromagnet 1005. When the electromagnet 1005 is energized, the telescopic shaft 1006 drives the longitudinal plate 1009, the longitudinal plate 1009 drives the transverse plate 1002, the transverse plate 1002 drives the tensioning slider 1010 to slide along the slide rail 1011, and at the same time the transverse plate 1002 drives the piercing device to move, so that the piercing device moves in a direction perpendicular to the edge of the large hole.

[0127] Furthermore, in order to fix the electromagnet, an electromagnet bracket 1003 is provided on the tensioning base plate 1001, and an electromagnet housing 1004 is fixed to the upper end of the electromagnet bracket, the electromagnet 1005 is arranged in the inner cavity of the electromagnet housing 1004, and symmetrical holes are opened on the electromagnet housing 1004, the telescopic shaft 1006 is slidably matched with the electromagnet 1005, and the two ends of the telescopic shaft 1006 respectively pass through the holes on the electromagnet housing 1004 and are located outside the left and right sides of the electromagnet housing 1004, the two ends of the telescopic shaft 1006 are supported on the electromagnet housing 1004, the middle part of the telescopic shaft 1006 passes through the coil in the electromagnet 1005, and when the coil is energized, the telescopic shaft 1006 will move along its axial direction. The left end of the telescopic shaft 1006 is connected to the longitudinal plate 1009, an annular groove is provided at the right end of the telescopic shaft 1006, a shaft retaining ring 1007 is provided in the annular groove, a first spring 1008 is sleeved at the right end of the telescopic shaft 1006, and the first spring 1008 is located between the electromagnet housing 1004 and the shaft retaining ring 1007, so that the first spring 1008 is limited by the shaft retaining ring 1007. When the electromagnet 1005 is powered on, the telescopic shaft 1006 moves to the left and compresses the first spring 1008. When the electromagnet 1005 is powered off, the first spring 1008 recovers and drives the telescopic shaft 1006 to move rightward back to its original position.

[0128] The piercing device comprises: a tablet moving part and a pointed pin moving part, a tablet is connected to the tablet moving part, and a pointed pin is connected to the pointed pin moving part. The tablet moving part and the pointed pin moving part are connected to the transverse plate 1002 respectively.

[0129] Specifically, the pressing piece moving component includes: a first button 1012, a support plate 1013, a sliding assembly shell 1017, and a pressing piece moving block 1016. The first button 1012 is located above the sliding assembly shell 1017, one end of the pressing piece moving block 1016 is located in the inner cavity of the sliding assembly shell, and the other end of the pressing piece moving block 1016 is located outside the sliding assembly shell and connected to the pressing piece 1026. The rear side of the sliding assembly shell is connected to the transverse plate 1002 and can move with the transverse plate 1002. The first button 1012 can drive the pressing piece moving block 1016 to move in the inner cavity of the sliding assembly shell.

[0130] More specifically, the front and rear sides of the lower end of the first button 1012 are fixedly connected to the upper ends of the two support plates 1013, and holes are respectively opened on the two support plates 1013. The sliding shaft 1018 passes through the holes on the two support plates 1013 and fits tightly with the holes, and the two ends of the sliding shaft 1018 are respectively located outside the two support plates 1013. The sliding assembly shell 1017 is a hollow box-shaped structure with an opening at the upper end, and longitudinal grooves protruding outward and running through the upper and lower sides are respectively provided in the middle of the front side and the rear side. The two ends of the sliding shaft 1018 are respectively located in the grooves of the front side and the rear side. A cover plate 1014 is provided at the upper end opening of the sliding assembly shell 1017, and a second spring 1015 is provided between the cover plate 1014 and the first button 1012, and the second spring 1015 is located between the two support plates 1013. Further, in order to limit the radial movement of the second spring 1015, a cylindrical protrusion is provided on the lower end surface of the first button 1012, and the outer part of the upper cylindrical protrusion of the second spring 1015. During installation, the sliding shaft 1018 is placed into the inner cavity of the sliding assembly housing 1017 from the upper end opening of the sliding assembly housing 1017, and then the cover plate 1014 is covered.

[0131] like Fig.13 As shown ( Fig.13 and Fig.11 It's in the opposite direction. Fig.11 The left side of Fig.13 ), a hole is provided on the right side surface of the sliding assembly shell 1017, the pressing piece moving block 1016 is inserted into the inner cavity of the sliding assembly shell 1017 through the hole, an inverted trapezoidal notch is provided on the upper part of the pressing piece moving block 1016, a spring mounting groove is provided on the left end of the pressing piece moving block 1016, a third spring 1019 is installed between the left inner wall of the sliding assembly shell 1017 and the pressing piece moving block 1016, one end of the third spring 1019 is against the inner wall of the sliding assembly shell 1017, and the other end is extended into the spring mounting groove of the pressing piece moving block 1016, and the pressing piece moving block 1016 can be returned to its original position by the third spring 1019.

[0132] The sliding shaft 1018 is located at the upper part of the inverted trapezoidal notch of the pressing sheet moving block 1016. When the first button 1012 is pressed down, the first button 1012 drives the sliding shaft 1018 to move downward through the two support plates 1013. The sliding shaft 1018 pushes the pressing sheet moving block 1016 to the left through the oblique waist of the inverted trapezoidal notch, compressing the third spring 1019. When the first button 1012 is no longer pressed, the second spring 1015 is restored, and the third spring 1019 is restored at the same time. The third spring 1019 pushes the pressing sheet moving block 1016 to move right. The oblique waist of the inverted trapezoidal notch pushes the sliding shaft 1018 to move upward, pushing the pressing sheet moving block 1016 to move right back to its original position, and the leather pressing sheet 1026 connected to the pressing sheet moving block 1016 moves left and right with the pressing sheet moving block 1016.

[0133] The pressing plate 1026 is an L-shaped structure, including a vertically connected longitudinal plate and a horizontal plate, wherein the longitudinal plate is connected to the pressing plate moving block 1016, one end of the horizontal plate is connected to the lower end of the longitudinal plate, and a U-shaped notch is opened at the other end of the horizontal plate.

[0134] The pointed pin moving component includes: a step, a guide block 1020, and a second button 1021 arranged at the front of the transverse plate 1002. A sleeve mounting hole is provided on the step, and the guide block 1020 passes through the sleeve mounting hole, and the upper end of the guide block 1020 is located above the step and connected to the second button 1021, and the lower end of the guide block 1020 is located below the step and connected to the pointed pin 1025. A fourth spring 1022 is arranged between the upper end surface of the step and the lower end surface of the second button 1021. When the second button 1021 is pressed down, the second button 1021 drives the guide block 1020 to move downward, and at the same time compresses the fourth spring 1022, and the guide block 1020 drives the pointed pin 1025 to move downward. When the second button 1021 is no longer pressed, the fourth spring 1022 is restored, drives the guide block 1020 to move upward, and the guide block 1020 drives the pointed pin 1025 to move upward. The pointed pin 1025 is located above the U-shaped notch of the transverse piece of the pressing piece 1026 .

[0135] Preferably, a graphite sleeve 1024 (the graphite copper sleeve has a self-lubricating effect and is a self-lubricating bearing) is installed in the sleeve installation hole, and the guide block 1020 passes through the graphite sleeve 1024 .

[0136] Fig.13In the illustrated embodiment, the guide block 1020 is a T-shaped structure, including a transverse block and a longitudinal block connected vertically, the transverse block is located below the step, the longitudinal block passes upward through the graphite sleeve 1024 and is connected to the second button 1021, and the longitudinal block and the graphite sleeve 1024 are slidably matched. A fourth spring 1022 is sleeved on the longitudinal block, and the fourth spring 1022 is located between the second button 1021 and the step. Preferably, a gasket 1023 is provided between the lower end surface of the fourth spring 1022 and the upper end surface of the step. A pointed pin 1025 is provided at the front end of the transverse block, and the upper end of the pointed pin 1025 is fixedly connected to the front end of the transverse block.

[0137] like Figure 9-2 As shown, the shape of each button pressing block 3017 in the lifting and clamping mechanism 3005 matches the shape of the first button 1012 and the second button 1021, for example, can be made into a stepped shape. When the lifting and clamping mechanism 3005 is lowered into place, a button pressing block 3017 can simultaneously press the first button 1012 and the second button 1021 on the same tensioning unit.

[0138] Preferably, in order to save space, two adjacent tensioning units can share the same electromagnet 1005 and telescopic shaft 1006, that is, the longitudinal blocks 1009 of the two tensioning units are connected to the same telescopic shaft 1006. In this way, when the telescopic shaft 1006 moves, it can drive the two longitudinal blocks 1009 to move at the same time, and then drive the two pressing sheet moving parts and the pointed pin moving parts to move.

[0139] The working principle and working process of the lifting and tensioning device are as follows:

[0140] The robot drives the transfer fixture to grab the leather and fabric and place them at the designated position (i.e., the large hole) on the tensioning fixture bottom plate 3019. The first cylinder 3004 drives the lifting clamping mechanism 3005 to drive the tensioning fixture 3008 to move downward to the top of the tensioning fixture bottom plate 3019. The positioning pin 3020 is inserted into the flange sleeve 1027 of the tensioning fixture 3008 to complete the positioning. After the tensioning fixture 3008 tensions and positions the leather, it is separated from the lifting clamping mechanism 3005. The first cylinder 3004 drives the lifting clamping mechanism 3005 to move upward to the top, and the second cylinder 7 clamps and locks it. The robot drives the transfer fixture to drag the tensioning fixture bottom plate 3019 and the leather tensioning fixture to the sewing station.

[0141] The working principle and workflow of the fully automatic tension sewing system of the present invention are as follows: at the lifting and tensioning station, the tensioning jig bottom plate 3019 is located on the tensioning workbench, and the robot drives the transfer fixture to first place the cotton material on the large hole of the tensioning jig bottom plate 3019, and then stack the leather material on the cotton material. The electromagnet is energized before the tensioning jig falls. After the electromagnet is energized, the pressing piece moving part and the pressing piece, the pointed pin moving part and the pointed pin in the tensioning unit move forward at the same time, and then the lifting and clamping mechanism 3005 clamps the tensioning jig 3008 and moves it downward to be placed on the tensioning jig bottom plate 3019, and the flange sleeve 1027 is sleeved on the positioning pin 3020 on the tensioning jig bottom plate 3019 for positioning. Since each tensioning unit surrounds the material, the pressing piece 1026 in each tensioning unit can press the material at this time. Then the button pressing block moves downward and presses the first button 1012 and the second button 1021 at the same time, and the second button 1021 drives the pointed pin 1025 to move downward and penetrate into the material, while the first button 1012 drives the pressing sheet 1026 to retreat, thereby releasing the material. Then the electromagnet is powered off, and the pressing plate moving parts and the pressing plate, the pointed pin moving parts and the pointed pin in the tensioning unit move backwards at the same time (moving toward the center of the large hole is moving forward, and moving backwards is moving backward). Since the pointed pin 1025 is inserted into the material, the pointed pin 1025 also drives the material to move backwards. Moreover, since there are multiple tensioning units around the material, when all tensioning units work at the same time, the pointed pin 1025 in each tensioning unit pulls the material backwards from all directions, thereby achieving the tensioning of the material. Then release the button and the pressing block, the pointed pin 1025 drives the material to move upward slightly, and at the same time the pressing plate moving block 1016 moves forward and returns to its original position. At this time, since the material has moved upward, the pressing plate is located below the material, thereby supporting the material, and the tensioning work is completed.

[0142] After the material is tensioned, the lifting clamping mechanism releases the tensioning jig. At this time, the tensioning jig, the tensioning jig base plate and the tensioned material are together. The robot cooperates with the sleeve in the transfer fixture and the moving pin in the tensioning jig base plate to move the tensioning jig base plate, the material and the tensioning jig to the sewing machine at the sewing station next to the lifting and tensioning station. The sewing machine sews the tensioned material and sews the leather and cotton materials in the material into one. After sewing, the robot moves the tensioning jig base plate, the sewn material and the tensioning jig to the tensioning station through the transfer fixture. The lifting clamping mechanism then grabs the tensioning jig and drives the tensioning jig to move upward away from the sewn material. The robot transfers the sewn material to the discharge station, and then the robot sucks the cotton and leather materials onto the tensioning jig base plate for unloading. The tensioning sequence of a lifting and tensioning station and the sewing sequence of two sewing stations can be designed according to the robot's beat, so that the robot can be fully utilized to transfer materials at multiple stations, and the lifting and tensioning stations and sewing stations work at the same time, which greatly improves production efficiency. After the above sewing process is completed, multiple pieces of material are formed, and then other processes are used to splice the multiple pieces of material into car seats.

[0143] In order to improve production efficiency, when using Figure 1 and Figure 2In the embodiment shown, four tensioning jig base plates and four tensioning jigs can be used. In the initial state, the four tensioning jig base plates and the four tensioning jigs are placed together in a one-to-one correspondence (the locating pin on a tensioning jig base plate is inserted into the flange sleeve of the corresponding tensioning jig) to form a set of tensioning mechanisms, and a set of tensioning mechanisms is placed in each of the lifting tensioning station, two buffer stations, and one sewing station. Then the lifting tensioning device first lifts up the tensioning fixture located at the lifting tensioning station, and the robot puts the material on the tensioning fixture bottom plate, and then moves the tensioning fixture down and presses it on the tensioning fixture bottom plate for tensioning. In this way, the first set of tensioning mechanisms completes the work, and the robot drags the tensioning mechanism with the tensioned material to the first sewing station to start sewing, and then the robot moves the next set of tensioning mechanisms to the lifting tensioning station, and the lifting tensioning device repeats the above action for tensioning, and the robot drags the tensioning mechanism with the tensioned material to another sewing station for sewing, so that the two sewing stations sew at the same time. While sewing, the lifting tensioning station uses the other two sets of tensioning mechanisms for tensioning, and drags the tensioning mechanism with the tensioned material to the buffer stations on both sides to wait. Since the sewing time is relatively long, after the sewing machine completes sewing, the robot drags a set of tensioning mechanisms with sewn materials to the lifting and tensioning station. The lifting and tensioning device grabs and moves up the tensioning fixture. The robot puts the sewn materials into the discharging station. At this time, there is an idle tensioning mechanism at the lifting and tensioning station. The robot grabs the unsewn materials from the feeding station to the lifting and tensioning station, and uses the tensioning mechanism that has just been idle to tension them. After tensioning, it is dragged into the buffer station 7 to wait for sewing, and the other tensioning mechanisms that have completed sewing are treated in the same way. In this way, four sets of tensioning mechanisms are used to form a cycle of automatic work. This layout is currently the most efficient layout for reducing costs. The sewing machine does not need to stop, and all stations are as busy as possible.

[0144] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0145] In the description of the present invention, unless otherwise specified, the terms "upper", "lower", "left", "right", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0146] The above technical solution is only one implementation mode of the present invention. For those skilled in the art, it is easy to make various types of improvements or modifications based on the principles disclosed in the present invention, and it is not limited to the technical solution described in the above specific embodiments of the present invention. Therefore, the above description is only preferred and does not have a restrictive meaning.

Claims

1. A fully automatic tension sewing system, characterized in that: The system comprises: a feeding station, a robot transfer station, at least one lifting and tensioning station, at least one sewing station, and a discharging station; The feeding station is used to place unsewn materials; The lifting and tensioning station is used to tension the unsewn material to obtain the tensioned material; The sewing station is used to sew the tensioned material to obtain the sewn material; The material discharging station is used to place the sewn materials; The robot transfer station is used to transfer unsewn materials, tensioned materials and sewn materials.

2. The fully automatic tension sewing system according to claim 1, characterized in that: The system includes a lifting and tensioning station and two sewing stations; The lifting and tensioning station is located on one long side of the rectangle, and the feeding station and the discharging station are located on the other long side of the rectangle; One sewing station is located on one short side of the rectangle, and the other sewing station is located on the other short side of the rectangle; The robot transfer station is arranged at the center of the rectangle; Preferably, the system further comprises a fence; The fence surrounds the periphery of the feeding station, the lifting and tensioning station, the sewing station and the discharging station.

3. The fully automatic tension sewing system according to claim 1, characterized in that: A lifting and tensioning device is provided at the lifting and tensioning station; The lifting and tensioning device comprises: a fixed bracket, a lifting and clamping mechanism and a tensioning fixture; A tensioning workbench is arranged at the lower front part of the fixed bracket, and a longitudinal guide rail is arranged on the front side of the fixed bracket; The lifting and clamping mechanism can clamp the tensioning fixture and can drive the tensioning fixture to move up and down along the guide rail; The tensioning fixture bottom plate is placed on the upper end surface of the tensioning workbench.

4. The fully automatic tension sewing system according to claim 3, characterized in that: Two first fixing blocks are arranged at the rear end of the tensioning workbench, each of which is a U-shaped structure with an opening facing forward; An L-shaped second fixing block is arranged above each first fixing block, and a clamping cylinder is arranged above each second fixing block, a telescopic rod of the clamping cylinder is connected with a positioning pin, and a telescopic direction of the telescopic rod is perpendicular to the tensioning workbench; Two tensioning jig positioning blocks are arranged at the rear edge of the tensioning jig bottom plate; the tensioning jig positioning blocks correspond to the first fixing blocks one by one; A plurality of positioning pins and a plurality of moving pins are arranged on the upper end surface of the tensioning fixture bottom plate.

5. The fully automatic tension sewing system according to claim 3, characterized in that: The lifting and clamping mechanism comprises: a lifting bracket, and a self-locking grasping mechanism and a pressing mechanism arranged on the lifting bracket; The lifting bracket includes a transverse bracket and a longitudinal bracket; The self-locking gripping mechanism comprises a first connecting block, a second connecting block, a first cylinder and a self-locking gripping hook, wherein the self-locking gripping hook is hinged to the first connecting block and the second connecting block, and the first cylinder drives the self-locking gripping hook to rotate through the first connecting block; The pressing mechanism comprises: a second cylinder, a button pressing block fixing plate and a button pressing block; The button pressing block is arranged on the lower end surface of the button pressing block fixing plate; The second cylinder can drive the button pressing block fixing plate to move up and down; Preferably, the pressing mechanism comprises a pressing plate capable of moving up and down; The pressing plate is located below the button pressing block fixing plate.

6. The fully automatic tension sewing system according to claim 3, characterized in that: The tensioning fixture comprises: a tensioning base plate, on which at least one large hole is opened, and a plurality of tensioning units are arranged around the periphery of each large hole, and the tensioning units can tension the material; Preferably, a plurality of flange sleeves are further provided on the upper end surface of the tensioning base plate, and the flange sleeves correspond one-to-one to the positioning pins on the tensioning fixture base plate.

7. The fully automatic tension sewing system according to claim 6, characterized in that: Each of the tensioning units comprises an electromagnet, a telescopic shaft, a connecting piece and a piercing device; The piercing device is connected to a connecting piece, and the connecting piece is connected to a telescopic shaft; The electromagnet enables the telescopic shaft to move; Preferably, the connecting member comprises: a transverse plate and a longitudinal plate; A slide rail is arranged on the upper end surface of the tensioning bottom plate, and a tensioning slider is arranged on the slide rail; the lower part of the transverse plate is connected to the tensioning slider; the axial direction of the telescopic shaft is parallel to the axial direction of the slide rail; The upper part of the longitudinal plate is connected with the telescopic shaft, and the lower part is connected with the transverse plate, and the transverse plate is connected with the piercing device.

8. The fully automatic tension sewing system according to claim 7, characterized in that: The piercing device comprises: a tablet pressing moving part and a pointed pin moving part; The pressing piece moving component comprises: a first button, a support plate, a sliding assembly shell, and a pressing piece moving block; the first button is located above the sliding assembly shell, one end of the pressing piece moving block is located in the inner cavity of the sliding assembly shell, and the other end of the pressing piece moving block is located outside the sliding assembly shell and connected to the pressing piece; the rear side of the sliding assembly shell is connected to the transverse plate; the first button can drive the pressing piece moving block to move in the inner cavity of the sliding assembly shell; The pointed pin moving component includes: a step, a guide block, and a second button arranged at the front part of the transverse plate; a sleeve mounting hole is opened on the step, the guide block passes through the sleeve mounting hole, and the upper end of the guide block is located above the step and connected to the second button; the lower end of the guide block is located below the step and connected to the pointed pin; the second button can drive the guide block to move.

9. The fully automatic tension sewing system according to claim 1, characterized in that: A robot is arranged at the robot transfer station, and a transfer fixture is connected to the robot; The transfer fixture comprises: a bracket, and at least one suction device, at least one sleeve device and a connecting device arranged on the bracket; Each of the suction devices comprises a suction cup mounting plate and a plurality of suction cups, wherein the suction cup mounting plate is connected to the bracket, and the suction cups are connected to the suction cup mounting plate; Each of the sleeve taking devices comprises a sleeve mounting plate and a plurality of sleeves, wherein the sleeve mounting plate is connected to the bracket, and the sleeves are connected to the sleeve mounting plate; The connecting device adopts a flange.

10. A fully automatic tension sewing method, characterized in that: The method comprises: The robot first places the unsewn material on the tensioning jig base; The electromagnet is energized, and the tablet moving part and the tablet, the pointed pin moving part and the pointed pin move forward simultaneously; The lifting and clamping mechanism clamps the tensioning jig and places the tensioning jig on the tensioning jig bottom plate; The button press moves down, the pointed pin moves down and pierces into the material, and the press moves back at the same time; When the electromagnet is powered off, the pressing piece moving part and the pressing piece, the pointed pin moving part and the pointed pin move backward at the same time; the pointed pin drives the material to move backward; Release the button to press the block, the pointed pin drives the material to move upward, and at the same time the pressing block moves forward to obtain the tensioned material; The lifting and clamping mechanism releases the tensioning fixture; The robot moves the tensioning jig base plate, the tensioned material, and the tensioning jig to the sewing machine at the sewing station at the same time; The sewing machine sews the tensioned material to obtain the sewn material; The robot moves the tensioning jig base plate, the sewn material and the tensioning jig to the lifting and tensioning station at the same time, and the lifting and clamping mechanism grabs the tensioning jig and drives the tensioning jig to move upward and away from the sewn material; The robot transfers the sewn materials to the outfeed station.

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