Automatic fillet covering machine and control method thereof

Abstract

The invention relates to an automatic fillet covering machine and a control method thereof. The automatic fillet covering machine comprises a support. The material grabbing mechanism comprises a grabbing platform, and a visual system is arranged on the grabbing platform; a support lifting mechanism; the edge covering mechanism is located between the supporting lifting mechanism and the material grabbing mechanism and comprises a plurality of edge pressing units located on the support and electrically connected with the visual system and a translation air cylinder connected with the edge pressing units, and the edge pressing units can convert signals sent by the visual system into corresponding edge pressing groove faces to form edge pressing pre-gaps; irregular shapes of materials are identified through an integrated visual system, and an edge pressing groove surface is automatically adjusted by an edge pressing unit in an edge covering mechanism according to a signal provided by the visual system, so that an edge pressing pre-gap suitable for the shapes of the materials is formed. The translation air cylinder controls the edge pressing unit to translate along the preset track, the deformation part of the second material and the first material are precisely attached, and automatic and precise edge covering of the irregular-shaped book is achieved.

Description

Technical Field

[0001] The present application relates to the field of automatic rounded edge hemming, and in particular to an automatic rounded edge hemming machine and a control method thereof. Background Art

[0002] In the traditional book production process, hemming technology mainly relies on manual operation or simple mechanized equipment, and these methods often have some obvious limitations. For example, most traditional equipment can only process books with regular corners, such as books with all corners being right angles or rounded corners. However, in the face of the growing demand for personalization in the market, the shapes and designs of books are becoming more and more diverse, including irregular corners, such as a combination of a rounded corner and other right angle corners. This irregularity makes it difficult for traditional equipment to adapt and achieve precise and beautiful hemming effects. In addition, manual operation is not only inefficient, but also difficult to guarantee quality, especially when processing a large number of orders. These problems are particularly prominent. Therefore, the market is in urgent need of an automatic rounded hemming machine that can adapt to various irregular-shaped books to improve production efficiency and product quality and meet the needs of personalized customization.

[0003] Application Contents In order to solve the problem that traditional equipment cannot accurately hem irregular-shaped books and improve production efficiency and product quality, the present application provides an automatic rounded hemming machine and a control method thereof.

[0004] The automatic rounded edge machine provided in this application adopts the following technical solution: An automatic rounded edge machine, comprising: Bracket; The material grabbing mechanism comprises a lifting rod connected to the bracket, a rotating seat rotatably arranged on the lifting rod, and a grabbing platform located on both sides of the rotating seat, wherein a visual system is arranged on the grabbing platform; A first material transport mechanism is slidably arranged with the bracket and is located on one side of the material grabbing mechanism; A second material transport mechanism is slidably arranged with the bracket and is located on the other side of the material grabbing mechanism; A supporting lifting mechanism is located below the grabbing platform; The edge wrapping mechanism is located between the support lifting mechanism and the material grabbing mechanism, and includes a plurality of edge pressing units located on the bracket and electrically connected to the visual system, and a translation cylinder connected to the edge pressing unit, wherein the edge pressing unit can convert the signal sent by the visual system into a corresponding edge pressing groove surface to form an edge pressing pre-gap; When the material grabbing mechanism grabs the first material from the first material transporting mechanism to the top of the supporting lifting mechanism, and at the same time the second material transporting mechanism grabs the second material to between the first material and the edging mechanism, the lifting rod descends so that the first material presses the second material down to abut against the supporting lifting mechanism, and descends to the bottom of the supporting lifting mechanism, thereby causing the edge of the second material to deform according to the edge pressing pre-gap, and then the translation cylinder controls the edge pressing unit to translate so that the deformed part of the second material fits with the first material.

[0005] By adopting the above technical solution, the irregular shape of the material is identified through the integrated visual system, and then the material is accurately placed above the support lifting mechanism through the coordinated work of the material grabbing mechanism and the second material transportation mechanism. The descending action of the lifting rod causes the first material to press down the second material, ensuring that the edge of the material is in close contact with the support lifting mechanism. Subsequently, the edge pressing unit in the hemming mechanism automatically adjusts the edge pressing groove surface according to the signal provided by the visual system to form an edge pressing pre-gap suitable for the shape of the material. The translation cylinder controls the edge pressing unit to translate along the preset trajectory, accurately fitting the deformed part of the second material with the first material, and realizing the automated and precise hemming of irregularly shaped books, thereby solving the technical problem that traditional equipment cannot adapt to materials with complex shapes, and improving production efficiency and hemming quality.

[0006] Preferably, the edge pressing unit includes a control component electrically connected to the visual system, a fixed seat connected to the translation cylinder driving end, and a edge pressing turntable rotatably arranged on the fixed seat and electrically connected to the control component, and the edge pressing turntable is provided with at least two edge pressing groove surfaces, and the edge pressing groove surfaces include at least a right-angle groove and a rounded groove.

[0007] By adopting the above technical solution, the edge pressing unit receives the signal of the visual system through its electrically connected control component, and utilizes the various edge pressing groove surfaces (such as right-angle grooves and rounded-angle grooves) on the edge pressing turntable to achieve precise edge hemming of materials of different shapes, thereby greatly improving the adaptability and edge hemming quality of the automatic edge hemming machine to materials of complex shapes.

[0008] Preferably, the right-angle groove comprises a first right-angle groove unit and a second right-angle groove unit, and the distance between the groove bottom and the groove opening end of the first right-angle groove unit is greater than the distance between the groove bottom and the groove opening end of the second right-angle groove unit.

[0009] By adopting the above technical solution, the layered design of the right-angle groove allows the edge pressing unit to adapt to right-angle edges of different shapes through the different spacing settings of the first right-angle groove unit and the second right-angle groove unit, thereby achieving precise edge wrapping of right-angle materials and improving the flexibility and adaptability of the edge wrapping operation.

[0010] Preferably, the rounded corner groove comprises a first rounded corner groove unit and a second rounded corner groove unit, and the distance between the groove bottom and the groove opening end of the first rounded corner groove unit is greater than the distance between the groove bottom and the groove opening end of the second rounded corner groove unit.

[0011] By adopting the above technical scheme, the hierarchical design of the rounded corner groove allows the edge pressing unit to adapt to fillets of different radii through the different groove bottom and groove opening end spacings of the first rounded corner groove unit and the second rounded corner groove unit, thereby achieving precise hemming of materials with different curvatures, thereby improving the adaptability and hemming accuracy of the hemming machine to rounded corner materials.

[0012] Preferably, the support lifting mechanism includes a support platform and a lifting motor. The support platform is located below the grabbing platform and is in a square shape. The lifting motor is used to drive the support platform to rise and fall. The edge pressing units are distributed in sequence on the surrounding side of the support platform and are respectively arranged corresponding to the four corners of the support platform.

[0013] By adopting the above-mentioned technical solution, the design of the support lifting mechanism realizes accurate all-round and multi-angle edging of the material through the lifting and lowering adjustment of the square support table and the corresponding setting of the edge pressing unit on the side of the support table, ensuring that no matter where the material is placed on the support table, a uniform and high-quality edging effect can be obtained.

[0014] Preferably, connecting rods are detachably connected to both sides of the edge pressing turntable, and the two connecting rods are vertically arranged between each other, and each connecting rod is movably connected to the connecting rod of another edge pressing turntable, and the connection points between the connecting rods and the edge pressing turntable are distributed on both sides of the edge pressing groove surface, and the length direction of the connecting rod extends along one side of the edge pressing groove surface.

[0015] By adopting the above-mentioned technical solution, the detachable connecting rod design on both sides of the edge pressing turntable allows the edge pressing unit to flexibly adjust its position on both sides of the right-angle groove or the rounded groove through vertical setting and movable connection. The connecting rod extends along one side of the groove, ensuring the precise fit of edges of different shapes during the edge binding process, thereby improving the adaptability of the edge binding machine to complex edge shapes and the consistency of edge binding.

[0016] Preferably, a clamping mechanism is provided under the edging mechanism, and the clamping mechanism includes a cross frame slidably arranged with the bracket, and a clamping block rotatably arranged on the cross frame, and the clamping block is used to flip and clamp the first material after edging based on the second material, and the cross frame slides relative to the bracket to deliver the first material after being clamped by the clamping block.

[0017] By adopting the above technical solution, the design of the clamping mechanism realizes the flipping, clamping and delivery of the first material after the hemming is completed through the coordinated action of the sliding cross frame and the rotating clamping block, thereby ensuring the stability of the material during the hemming process and the smooth progress of subsequent processes, and improving the automation level and efficiency of the entire hemming process.

[0018] Preferably, the first material transport mechanism comprises a first straight rod slidably arranged with the bracket, and a transport platform for transporting the first material to below the grabbing platform and located on the first straight rod.

[0019] By adopting the above-mentioned technical solution, the design of the first material transport mechanism realizes the efficient transportation and precise positioning of the first material under the grabbing platform through the sliding first straight rod and the transport platform located thereon, thereby ensuring the accuracy of material grabbing and the smoothness of the entire hemming process.

[0020] Preferably, the second material transport mechanism comprises a second straight rod slidably arranged with the bracket, and a vacuum suction head located on the second straight rod and used for transporting the second material to below the grabbing platform.

[0021] By adopting the above technical solution, the design of the second material transport mechanism achieves stable adsorption and precise transportation of the second material to the bottom of the grabbing platform through the sliding second straight rod and the vacuum suction head thereon, thereby improving the accuracy of material positioning and the efficiency of the entire hemming operation.

[0022] A control method for an automatic corner rounding and hemming machine is applied to an automatic corner rounding and hemming machine, and the method comprises: Acquiring visual image information of a first material; Analyze the visual image information of the first material to determine the corner type information and side length information of the first material; According to the edge type information, the edge holding unit is controlled to be converted into a corresponding edge holding groove surface to form an edge holding pre-gap for causing the second material to stand up and deform toward the first material; Determine a side length threshold, and compare a corresponding value in the side length information with the side length threshold to generate a corresponding comparison result; According to the comparison result, corresponding push information is determined, and the push information includes calibration completion information and sound and light alarm information.

[0023] By adopting the above-mentioned technical scheme, the control method of the automatic rounded corner hemming machine realizes the intelligent recognition of the edge type and size of the first material through the acquisition and analysis of visual image information, automatically adjusts the edge pressing unit to adapt to the shape of the material, and generates feedback information by comparing the edge length information with the threshold value, thereby improving the intelligence level of the hemming process and the accuracy of the operation, ensuring the quality of the hemming and enhancing the safety and reliability of the production process.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. The present application identifies the irregular shape of the material through an integrated visual system, and then accurately places the material above the support lifting mechanism through the coordinated work of the material grabbing mechanism and the second material transport mechanism. The descending action of the lifting rod causes the first material to press down the second material, ensuring that the edge of the material is in close contact with the support lifting mechanism. Subsequently, the edge pressing unit in the edge wrapping mechanism automatically adjusts the edge pressing groove surface according to the signal provided by the visual system to form an edge pressing pre-gap suitable for the shape of the material. The translation cylinder controls the edge pressing unit to translate along a preset trajectory, accurately fitting the deformed part of the second material to the first material, thereby realizing automated and precise edge wrapping of irregularly shaped books, thereby solving the technical problem that traditional equipment cannot adapt to materials with complex shapes, and improving production efficiency and edge wrapping quality; 2. The core innovation of this automatic rounded hemming machine is to form a pre-gap that suits the shape of the material. The machine can accurately identify the irregular shape of the material through the visual system, and adjust the groove surface of the hemming unit in real time to match the specific contour of the material. This adaptive adjustment capability ensures that no matter whether the edge of the material is rounded, right-angled or other irregular shapes, the hemming unit can form a suitable pre-gap so that the edge of the material can be accurately pressed without damage. The application of this technology significantly improves the hemming ability of complex-shaped materials, realizes an automated, efficient and high-quality production process, and effectively solves the limitations of traditional equipment when dealing with irregular materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional structural schematic diagram of an automatic rounded edge hemming machine according to an embodiment of the present application.

[0026] Figure 2 This is a front view of an automatic corner rounding machine according to an embodiment of the present application.

[0027] Figure 3 It is a top view of an automatic corner rounding machine according to an embodiment of the present application.

[0028] Figure 4 This is an embodiment of the present application Figure 2 Partial cross-section of AA.

[0029] Figure 5It is a partial three-dimensional structural schematic diagram of an automatic rounded edge hemming machine according to an embodiment of the present application.

[0030] Figure 6 It is a top view of the edge pressing turntable of an embodiment of the present application.

[0031] Description of reference numerals: 1. Bracket; 2. Material grabbing mechanism; 21. Lifting rod; 22. Rotating seat; 23. Grabbing platform; 24. Visual system; 3. Second material transport mechanism; 31. Second straight rod; 32. Vacuum suction head; 4. Support lifting mechanism; 5. Edge wrapping mechanism; 51. Edge pressing unit; 511. Fixed seat; 512. Edge pressing turntable; 513. Edge pressing groove surface; 5131. Right angle groove; 5131a. First right angle groove unit; 5131b. Second right angle groove unit; 5132. Rounded groove; 5132a. First rounded groove unit; 5132b. Second rounded groove unit; 52. Translation cylinder; 53. Connecting rod; 6. Clamping mechanism; 61. Horizontal frame; 62. Clamping block; 7. First material transport mechanism; 71. First straight rod; 72. Transport platform. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1-6 This application is described in further detail.

[0033] Reference Figure 1-5 , an automatic rounded edge machine, comprising: Bracket 1; The material grabbing mechanism 2 comprises a lifting rod 21 connected to the bracket 1, a rotating seat 22 rotatably arranged on the lifting rod 21, and a grabbing platform 23 located on both sides of the rotating seat 22, and a visual system 24 is arranged on the grabbing platform 23; A first material transport mechanism 7 is slidably arranged with the bracket 1 and is located on one side of the material grabbing mechanism 2; A second material transport mechanism 3 is slidably arranged with the bracket 1 and is located at the other side of the material grabbing mechanism 2; A support lifting mechanism 4 is located below the grabbing platform 23; The edge wrapping mechanism 5 is located between the support lifting mechanism 4 and the material grabbing mechanism 2, and includes a plurality of edge pressing units 51 located on the bracket 1 and electrically connected to the visual system 24, and a translation cylinder 52 connected to the edge pressing unit 51. The edge pressing unit 51 can convert the signal sent by the visual system 24 into a corresponding edge pressing groove surface 513 to form an edge pressing pre-gap; When the material grabbing mechanism 2 grabs the first material from the first material transporting mechanism 7 to the top of the supporting lifting mechanism 4, and at the same time the second material transporting mechanism 3 grabs the second material to between the first material and the edging mechanism 5, the lifting rod 21 descends to make the first material press the second material down to abut against the supporting lifting mechanism 4, and descends to the bottom of the supporting lifting mechanism 4, so that the edge of the second material is deformed according to the edge pressing pre-gap, and then the translation cylinder 52 controls the edge pressing unit 51 to translate, so that the deformed part of the second material fits with the first material.

[0034] In this embodiment, the automatic rounded hemming machine realizes an efficient and accurate hemming process through its precisely designed structural parts and linkage mechanisms. The bracket 1 serves as the foundation of the entire machine and provides stable support; the material grabbing mechanism 2 can accurately locate and grab the first material to the top of the support lifting mechanism 4 through the coordinated action of the lifting rod 21 and the rotating seat 22, in cooperation with the visual system 24; the second material transportation mechanism 3 flexibly transports the second material to between the first material and the hemming mechanism 5 through a sliding setting. The support lifting mechanism 4 is located below the grabbing platform 23 to ensure stable support of the material during the hemming process. The hemming mechanism 5 is the core of the machine, and its edge pressing unit 51 automatically converts the edge pressing groove surface 513 according to the material shape information captured by the visual system 24 to form an edge pressing pre-gap that adapts to the shape of the material. When the first material and the second material are in place, the lifting rod 21 descends, so that the first material presses down the second material to achieve preliminary bonding of the materials. Subsequently, the translation cylinder 52 drives the edge pressing unit 51 to translate, accurately bonding the deformed part of the second material with the first material, and completing the hemming. During the whole process, the coordinated actions of various structural parts and the application of intelligent control systems not only improve the automation level of hemming, but also ensure the hemming quality and production efficiency.

[0035] In summary, the irregular shape of the material is identified through the integrated visual system 24, and then the material is accurately placed above the supporting lifting mechanism 4 through the coordinated work of the material grabbing mechanism 2 and the second material transport mechanism 3. The descending action of the lifting rod 21 causes the first material to press down the second material, ensuring that the edge of the material is in close contact with the supporting lifting mechanism 4. Subsequently, the edge pressing unit 51 in the edge wrapping mechanism 5 automatically adjusts the edge pressing groove surface 513 according to the signal provided by the visual system 24 to form an edge pressing pre-gap suitable for the shape of the material. The translation cylinder 52 controls the edge pressing unit 51 to translate along a preset trajectory, accurately fitting the deformed part of the second material with the first material, and realizing the automated and precise edge wrapping of irregularly shaped books, thereby solving the technical problem that traditional equipment cannot adapt to materials with complex shapes, and improving production efficiency and edge wrapping quality.

[0036] Further, see Figure 1-6The edge pressing unit 51 includes a control component electrically connected to the visual system 24, a fixed seat 511 connected to the driving end of the translation cylinder 52, and a edge pressing turntable 512 rotatably arranged on the fixed seat 511 and electrically connected to the control component, and the edge pressing turntable 512 is provided with at least two edge pressing groove surfaces 513, and the edge pressing groove surface 513 includes at least a right-angle groove 5131 and a rounded groove 5132.

[0037] In this embodiment, the design of the edge pressing unit 51 achieves precise edge wrapping of the edges of materials of different shapes through the synergy of its structural parts. The control component is electrically connected to the visual system 24, and can receive and process the material shape information captured by the visual system 24 to ensure the precise adjustment of the edge pressing unit 51. The fixed seat 511 is connected to the driving end of the translation cylinder 52, and is responsible for translating the edge pressing unit 51 to a suitable position to meet the edge wrapping requirements of the material. The rotation of the edge pressing turntable 512 is set on the fixed seat 511, and is electrically connected to the control component. It can rotate to the corresponding edge pressing groove surface 513 according to the command of the control component, such as the right-angle groove 5131 or the rounded groove 5132, to match the specific shape of the material. When the material is placed in the proper position by the material grabbing mechanism 2 and the second material transport mechanism 3, the edge pressing groove surface 513 on the edge pressing turntable 512 will automatically adjust to the proper position according to the shape of the material, and then the translation cylinder 52 drives the edge pressing unit 51 to move, so that the edge pressing groove surface 513 is precisely fitted with the edge of the material to complete the edge wrapping. In this process, the precise linkage of each structural component ensures the automation, flexibility and high efficiency of the edge wrapping operation, and significantly improves the edge wrapping quality.

[0038] To summarize, the edge pressing unit 51 receives the signal from the visual system 24 through its electrically connected control component, and utilizes the various edge pressing groove surfaces 513 (such as the right-angle groove 5131 and the rounded groove 5132) on the edge pressing turntable 512 to achieve precise edge hemming of the edges of materials of different shapes, thereby greatly improving the adaptability and edge hemming quality of the automated hemming machine to materials of complex shapes.

[0039] Further, see Figure 6 The right-angle groove 5131 includes a first right-angle groove unit 5131a and a second right-angle groove unit 5131b, and the distance between the groove bottom and the groove opening end of the first right-angle groove unit 5131a is greater than the distance between the groove bottom and the groove opening end of the second right-angle groove unit 5131b.

[0040] In this embodiment, the layered design of the right-angle groove 5131 achieves adaptability to edges of materials of different widths by setting different spacings between the first right-angle groove unit 5131a and the second right-angle groove unit 5131b. The first right-angle groove unit 5131a is suitable for wider right-angle edges, while the second right-angle groove unit 5131b is suitable for narrower right-angle edges. This design enables the edge pressing unit 51 to be flexibly adjusted to adapt to right-angle materials of different sizes, ensuring that during the edge wrapping process, whether it is a wide edge or a narrow edge, accurate deformation and fitting can be achieved.

[0041] In terms of working principle, when the vision system 24 captures the edge type and size information of the material, the control component will instruct the edge pressing turntable 512 to rotate to the corresponding right-angle groove 5131 unit based on this information. If the right-angle edge of the material is wider, the edge pressing turntable 512 will rotate to the first right-angle groove unit 5131a; if the right-angle edge of the material is narrower, it will rotate to the second right-angle groove unit 5131b. Subsequently, the translation cylinder 52 drives the edge pressing unit 51 on the fixed seat 511 to translate to the correct position of the edge of the material, so that the edge pressing groove surface 513 is precisely aligned with the right-angle edge of the material. Through this linkage mechanism, the edge pressing unit 51 can effectively hem the right-angle edges of different widths, thereby improving the versatility and accuracy of the hemming machine.

[0042] To sum up, the layered design of the right-angle groove 5131, through the different spacing settings of the first right-angle groove unit 5131a and the second right-angle groove unit 5131b, allows the edge pressing unit 51 to adapt to right-angle edges of different shapes, thereby achieving precise edge wrapping of right-angle materials and improving the flexibility and adaptability of the edge wrapping operation.

[0043] Further, see Figure 6 The rounded corner groove 5132 includes a first rounded corner groove unit 5132 and a second rounded corner groove unit 5132b, and the distance between the bottom of the first rounded corner groove unit 5132 and the groove opening end is greater than the distance between the bottom of the second rounded corner groove unit 5132b and the groove opening end.

[0044] In this embodiment, the hierarchical design of the fillet groove 5132 allows the edge pressing unit 51 to adapt to fillet edges of different radii by setting the first fillet groove unit 5132 and the second fillet groove unit 5132b at different intervals. The first fillet groove unit 5132 is suitable for a larger fillet radius, while the second fillet groove unit 5132b is suitable for a smaller fillet radius. This design ensures that the edge pressing unit 51 can automatically adjust the edge pressing groove surface 513 according to the actual size of the material fillet to achieve accurate hemming.

[0045] In terms of working principle, the visual system 24 first obtains and analyzes the fillet radius information of the first material, and then transmits this information to the control component. The control component instructs the edge pressing turntable 512 to rotate to the corresponding fillet groove 5132 unit position according to the size of the fillet radius. If the fillet radius of the material is large, the edge pressing turntable 512 will rotate to the first fillet groove 5132 unit; if the fillet radius is small, it will rotate to the second fillet groove unit 5132b. The translation cylinder 52 then drives the edge pressing unit 51 to move to the fillet edge of the material to ensure that the edge pressing groove surface 513 is accurately aligned with the fillet edge of the material and forms a tight fit. Through this linkage mechanism, the edge pressing unit 51 can adapt to fillets of various radii, improve the flexibility and adaptability of the hemming machine, and ensure the quality and efficiency of the hemming process.

[0046] To sum up, the hierarchical design of the rounded corner groove 5132 allows the edge pressing unit 51 to adapt to fillets of different radii through the different groove bottom and groove opening end spacings between the first rounded corner groove 5132 unit and the second rounded corner groove unit 5132b, thereby achieving precise edge wrapping of materials with different curvatures, thereby improving the adaptability and edge wrapping accuracy of the edge wrapping machine to rounded corner materials.

[0047] Furthermore, the support lifting mechanism 4 includes a support platform and a lifting motor. The support platform is located below the grabbing platform 23 and is in a square shape. The lifting motor is used to drive the support platform to rise and fall. The edge pressing units 51 are distributed in sequence on the surrounding sides of the support platform and are respectively arranged corresponding to the four corners of the support platform.

[0048] In this embodiment, the design of the support and lifting mechanism 4 realizes stable support and precise positioning of the material during the hemming process through the cooperation of the square support table and the lifting motor. The support table is located below the grabbing platform 23, ensuring that the material can be evenly supported after being placed by the material grabbing mechanism 2 and the second material transport mechanism 3. The lifting motor is responsible for driving the support table to rise and fall, and the height of the support table is adjusted according to the thickness of the material and the hemming requirements to adapt to materials of different sizes.

[0049] The edge pressing units 51 are sequentially distributed around the support table and are arranged corresponding to the four corners of the support table. Such a layout ensures that no matter where the material is placed on the support table, there is a corresponding edge pressing unit 51 that can perform precise edge wrapping operations. When the material is placed on the support table, the lifting motor adjusts the support table to a suitable height according to the material information provided by the visual system 24 to ensure that there is an appropriate gap between the material and the edge pressing unit 51 for deformation and bonding.

[0050] The working principle after linkage is that when the material reaches the top of the support table, the lifting motor drives the support table to rise to catch the material, and then according to the edge type and size information of the material, the control component instructs the edge pressing turntable 512 to rotate to the corresponding edge pressing groove surface 513. As the support table descends, the material is gradually pressed by the edge pressing unit 51 to form a preset edge shape. During the whole process, the coordinated work of the support lifting mechanism 4 and the edge pressing unit 51 ensures the consistency and accuracy of the edge wrapping operation, and improves the production efficiency and the quality of the final product.

[0051] To sum up, the design of the support lifting mechanism 4 realizes accurate all-round and multi-angle edging of the material through the lifting and lowering adjustment of the square support table and the corresponding setting of the edge pressing unit 51 on the surrounding side of the support table, ensuring that no matter where the material is placed on the support table, a uniform and high-quality edging effect can be obtained.

[0052] Further, see Figure 4 The two sides of the edge pressing turntable 512 are detachably connected with connecting rods 53, and the two connecting rods 53 are vertically arranged, and each of the connecting rods 53 is movably connected to the connecting rod 53 of another edge pressing turntable 512, and the connection points between the connecting rods 53 and the edge pressing turntable 512 are distributed on both sides of the edge pressing groove surface 513, and the length direction of the connecting rod 53 extends along one side of the edge pressing groove surface 513.

[0053] In this embodiment, the detachable connecting rods 53 on both sides of the edge pressing rotating disc 512 are designed to provide flexible adjustment capabilities of the edge pressing unit 51 on both sides of the right-angle groove 5131 or the rounded groove 5132 through vertical arrangement and active connection. The connection points between each connecting rod 53 and the edge pressing rotating disc 512 are distributed on both sides of the groove, and the length direction of the connecting rod 53 extends along one side of the groove. This layout allows the edge pressing unit 51 to be accurately positioned according to the specific shape and size of the material.

[0054] In terms of working principle, when the edge pressing turntable 512 receives the command from the control component and rotates to the corresponding edge pressing groove surface 513, the connecting rods 53 on both sides are adjusted to the appropriate position. Since the connecting rods 53 are vertically arranged and can be flexibly connected, they can adapt to right-angled or rounded edges of different widths or radii. The vertical and movable characteristics of the connecting rods 53 enable the edge pressing unit 51 to be fine-tuned in three-dimensional space, ensuring that no matter how the edge of the material changes, the edge pressing unit 51 can closely fit the edge of the material to achieve precise hemming.

[0055] When the material is placed on the support table, the edge pressing unit 51 can apply appropriate pressure to the edge of the material from different angles through the adjustment of the connecting rod 53 to deform and fit the material. This design significantly improves the adaptability of the edge wrapping machine to materials of complex shapes and ensures the consistency and high quality of the edge wrapping process.

[0056] To summarize, the detachable connecting rod 53 design on both sides of the edge pressing turntable 512 allows the edge pressing unit 51 to flexibly adjust its position on both sides of the right-angle groove 5131 or the rounded groove 5132 through vertical setting and movable connection. The connecting rod 53 extends along one side of the groove, ensuring the precise fit of edges of different shapes during the edge binding process, thereby improving the adaptability of the edge binding machine to complex edge shapes and the consistency of edge binding.

[0057] Further, see Figure 5 A clamping mechanism 6 is provided under the edging mechanism 5, and the clamping mechanism 6 includes a horizontal frame 61 slidably arranged with the bracket 1, and a clamping block 62 rotatably arranged on the horizontal frame 61, and the clamping block 62 is used to flip and clamp the first material after edging based on the second material, and the horizontal frame 61 slides relative to the bracket 1 to deliver the first material clamped by the clamping block 62.

[0058] In this embodiment, the design of the clamping mechanism 6 realizes efficient processing of the first material after the hemming is completed through the coordinated action of the cross frame 61 and the clamping block 62. The cross frame 61 is slidably arranged with the bracket 1, allowing it to move horizontally on the bracket 1, and the clamping block 62 is rotatably arranged on the cross frame 61, and the angle can be adjusted as needed. The main function of the clamping block 62 is to flip and clamp the first material after the hemming of the second material is completed, so as to ensure that the material remains stable during the subsequent delivery process.

[0059] In terms of working principle, after the first material and the second material have completed the preliminary hemming operation, the cross frame 61 of the clamping mechanism 6 will slide under the first material, and the clamping block 62 will rotate and clamp the first material. Once the first material is clamped, the cross frame 61 will slide along the bracket 1 to send the hemmed first material to the next production link or the finished product area. This automated clamping and sending mechanism not only improves production efficiency, but also reduces manual intervention, reducing the risk of operating errors and material damage.

[0060] Through the automated operation of the clamping mechanism 6, the entire hemming process becomes smoother and more efficient, ensuring the stability and consistency of the material throughout the entire production process, thereby improving the quality of the final product and the overall automation level of production.

[0061] To sum up, the design of the clamping mechanism 6 realizes the flipping, clamping and delivery of the first material after the hemming is completed through the coordinated action of the sliding cross frame 61 and the rotating clamping block 62, ensuring the stability of the material during the hemming process and the smooth progress of subsequent processes, thereby improving the automation level and efficiency of the entire hemming process.

[0062] Further, see Figure 1The first material transport mechanism 7 includes a first straight rod 71 slidably arranged with the bracket 1, and a transport platform 72 for transporting the first material to the bottom of the grabbing platform 23 and located on the first straight rod 71.

[0063] In this embodiment, the design of the first material transport mechanism 7 realizes efficient and accurate transport of the first material through the synergistic effect of the first straight rod 71 and the transport platform 72. The first straight rod 71 is slidably arranged with the bracket 1, allowing it to move freely on the bracket 1, and the transport platform 72 is located on the first straight rod 71, and is used to carry and transport the first material to a predetermined position below the grabbing platform 23.

[0064] In terms of working principle, when the first material needs to be grabbed, the first straight rod 71 slides along the bracket 1 to transport the material on the transport platform 72 to the bottom of the grabbing platform 23. Subsequently, the grabbing device (such as a clamp or a suction cup, etc.) that may be included in the first material transport mechanism 7 will operate to grab the material from the transport platform 72 and place it in a suitable position for subsequent hemming operations. In the whole process, the sliding of the first straight rod 71 and the positioning of the transport platform 72 ensure the accuracy and stability of material transportation, providing a reliable material supply for the subsequent hemming process.

[0065] Through this design, the first material transport mechanism 7 not only improves the automation level of material handling, but also reduces manual intervention, reduces operational complexity and potential errors, thereby improving the efficiency and accuracy of the entire production process.

[0066] In summary, the design of the first material transport mechanism 7 achieves efficient transportation and precise positioning of the first material under the grabbing platform 23 through the sliding first straight rod 71 and the transport platform 72 located thereon, thereby ensuring the accuracy of material grabbing and the smoothness of the entire hemming process.

[0067] Further, see Figure 1 The second material transport mechanism 3 includes a second straight rod 31 slidably arranged with the bracket 1, and a vacuum suction head 32 for transporting the second material to the bottom of the grabbing platform 23 and located on the second straight rod 31.

[0068] In this embodiment, the design of the second material transport mechanism 3 realizes flexible, stable transportation and precise positioning of the second material through the synergistic effect of the second straight rod 31 and the vacuum suction head 32. The second straight rod 31 is slidably arranged with the bracket 1, allowing it to move horizontally or vertically along the bracket 1, and the vacuum suction head 32 is installed on the second straight rod 31, and uses the vacuum adsorption principle to grasp and fix the second material.

[0069] In terms of working principle, when the second material needs to be grabbed, the second straight rod 31 slides along the bracket 1 to move the vacuum suction head 32 to the location of the material. The vacuum suction head 32 is activated to absorb the material by generating negative pressure to ensure that the material does not slide or fall during transportation. Subsequently, the second straight rod 31 moves the vacuum suction head 32 that absorbs the material to a predetermined position below the grabbing platform 23 according to the control instruction, ready for the hemming operation.

[0070] During the entire linkage process, the sliding ability of the second straight rod 31 provides flexibility in material grabbing, while the adsorption function of the vacuum suction head 32 ensures stable grabbing and precise placement of the material. This design significantly improves the automation and accuracy of material handling, reduces manual intervention, and reduces the risk of operating errors and material damage, thereby improving the efficiency and quality of the entire hemming process.

[0071] In summary, the design of the second material transport mechanism 3 achieves stable adsorption and precise transport of the second material to the bottom of the grabbing platform 23 through the sliding second straight rod 31 and the vacuum suction head 32 thereon, thereby improving the accuracy of material positioning and the efficiency of the entire hemming operation.

[0072] A control method for an automatic corner rounding and hemming machine is applied to an automatic corner rounding and hemming machine, and the method comprises: Acquiring visual image information of a first material; Analyze the visual image information of the first material to determine the corner type information and side length information of the first material; According to the edge type information, the edge pressing unit 51 is controlled to be converted into a corresponding edge pressing groove surface 513 to form an edge pressing pre-gap for causing the second material to stand up and deform toward the first material; Determine a side length threshold, and compare a corresponding value in the side length information with the side length threshold to generate a corresponding comparison result; According to the comparison result, corresponding push information is determined, and the push information includes calibration completion information and sound and light alarm information.

[0073] In this embodiment, the visual image information of the first material is the appearance image data of the first material captured by the machine through the visual system 24, which is used for subsequent analysis and processing; the corner type information is the shape characteristics of the corners of the first material obtained based on the analysis of the visual image information, such as right angles or rounded corners; the side length information is the length dimension data of the corners of the first material, which is used to determine the specific size of the material; the side length threshold is a preset length range standard, which is used to evaluate whether the side length information meets the processing requirements; the comparison result is a judgment of compliance or non-compliance obtained by comparing the side length information with the side length threshold; the calibration completion information is a signal issued by the system when the material size meets the requirements, indicating that the next step of operation can be performed; the sound and light alarm information is a visual and auditory warning issued by the system when the material size does not meet the requirements, prompting that the material needs to be recalibrated.

[0074] For example, assuming that the first material is a book, the visual system 24 obtains the visual image information of the cover of the book, and after analysis, determines that the corner type of the cover is rounded, and the side length information is 5 cm. The system presets the side length threshold of 4-6 cm, so the comparison result generated after comparing the side length information of 5 cm with the threshold meets the requirements. The system then pushes a calibration completion message to inform the operator that the hemming operation can be performed. If the side length information is 7 cm, which exceeds the threshold range, the system will issue an audible and visual alarm message, prompting the operator to readjust the position or size of the material, that is, to disassemble and replace the length of the cross frame 61.

[0075] In summary, the control method of the automatic rounded edge hemming machine realizes the intelligent recognition of the edge type and size of the first material through the acquisition and analysis of visual image information, automatically adjusts the edge pressing unit 51 to adapt to the material shape, and generates feedback information by comparing the edge length information with the threshold value, thereby improving the intelligence level of the hemming process and the accuracy of the operation, ensuring the quality of the hemming and enhancing the safety and reliability of the production process.

[0076] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automatic rounded hemming machine, characterized in that: include: Bracket (1); A material grabbing mechanism (2) comprises a lifting rod (21) connected to the bracket (1), a rotating seat (22) rotatably arranged on the lifting rod (21), and a grabbing platform (23) located on both sides of the rotating seat (22), wherein a visual system (24) is provided on the grabbing platform (23); A first material transport mechanism (7) is slidably arranged with the support (1) and is located on one side of the material grabbing mechanism (2); A second material transport mechanism (3) is slidably arranged with the support (1) and is located on the other side of the material grabbing mechanism (2); A supporting lifting mechanism (4) is located below the grabbing platform (23); The edge wrapping mechanism (5) is located between the supporting lifting mechanism (4) and the material grabbing mechanism (2), and includes a plurality of edge pressing units (51) located on the support (1) and electrically connected to the visual system (24), and a translation cylinder (52) connected to the edge pressing unit (51), wherein the edge pressing unit (51) can convert a signal sent by the visual system (24) into a corresponding edge pressing groove surface (513) to form an edge pressing pre-gap; When the material grabbing mechanism (2) grabs the first material from the first material transporting mechanism (7) to the top of the supporting lifting mechanism (4), and at the same time the second material transporting mechanism (3) grabs the second material to between the first material and the edge wrapping mechanism (5), the lifting rod (21) descends so that the first material presses the second material down to abut against the supporting lifting mechanism (4), and descends to the bottom of the supporting lifting mechanism (4), thereby causing the edge of the second material to deform according to the edge pressing pre-gap, and then the translation cylinder (52) controls the edge pressing unit (51) to translate so that the deformed part of the second material fits with the first material.

2. The automatic rounded edge machine according to claim 1, characterized in that: The edge pressing unit (51) includes a control component electrically connected to the visual system (24), a fixed seat (511) connected to the driving end of the translation cylinder (52), and an edge pressing turntable (512) rotatably arranged on the fixed seat (511) and electrically connected to the control component, wherein at least two edge pressing groove surfaces (513) are provided on the edge pressing turntable (512), and the edge pressing groove surfaces (513) include at least a right-angle groove (5131) and a rounded groove (5132).

3. The automatic rounded edge machine according to claim 2, characterized in that: The right-angle groove (5131) includes a first right-angle groove unit (5131a) and a second right-angle groove unit (5131b), and the distance between the groove bottom and the groove opening end of the first right-angle groove unit (5131a) is greater than the distance between the groove bottom and the groove opening end of the second right-angle groove unit (5131b).

4. The automatic rounded hemming machine according to claim 2, characterized in that: The rounded corner groove (5132) includes a first rounded corner groove unit (5132a) and a second rounded corner groove unit (5132b), wherein the distance between the groove bottom and the groove opening end of the first rounded corner groove unit (5132a) is greater than the distance between the groove bottom and the groove opening end of the second rounded corner groove unit (5132b).

5. The automatic rounded edge machine according to claim 2, characterized in that: The two sides of the edge pressing turntable (512) are detachably connected with connecting rods (53), the two connecting rods (53) are vertically arranged, and each of the connecting rods (53) is movably connected to the connecting rod (53) of another edge pressing turntable (512), and the connection points between the connecting rods (53) and the edge pressing turntable (512) are distributed on both sides of the edge pressing groove surface (513), and the length direction of the connecting rod (53) is extended along one side of the edge pressing groove surface (513).

6. The automatic rounded hemming machine according to claim 1, characterized in that: The support lifting mechanism (4) comprises a support platform and a lifting motor. The support platform is located below the grabbing platform (23) and is arranged in a square shape. The lifting motor is used to drive the support platform to rise and fall. The edge pressing units (51) are sequentially distributed around the support platform and are respectively arranged corresponding to the four corners of the support platform.

7. The automatic rounded edge machine according to claim 1, characterized in that: A clamping mechanism (6) is provided below the hemming mechanism (5), and the clamping mechanism (6) comprises a cross frame (61) slidably arranged with the bracket (1), and a clamping block (62) rotatably arranged on the cross frame (61), and the clamping block (62) is used to flip and clamp the first material after the hemming is performed on the second material, and the cross frame (61) slides relative to the bracket (1) to deliver the first material clamped by the clamping block (62).

8. The automatic rounded edge machine according to claim 1, characterized in that: The first material transport mechanism (7) comprises a first straight rod (71) slidably arranged with the bracket (1), and a transport platform (72) for transporting the first material to below the grabbing platform (23) and located on the first straight rod (71).

9. The automatic rounded edge machine according to claim 1, characterized in that: The second material transport mechanism (3) comprises a second straight rod (31) slidably arranged with the bracket (1), and a vacuum suction head (32) located on the second straight rod (31) and used for transporting the second material to below the grabbing platform (23).

10. A control method for an automatic corner rounding hemming machine, applied to an automatic corner rounding hemming machine according to any one of claims 1 to 9, characterized in that: The method comprises: Acquiring visual image information of a first material; Analyze the visual image information of the first material to determine the corner type information and side length information of the first material; According to the edge type information, the edge holding unit is controlled to be converted into a corresponding edge holding groove surface to form an edge holding pre-gap for causing the second material to stand up and deform toward the first material; Determine a side length threshold, and compare a corresponding value in the side length information with the side length threshold to generate a corresponding comparison result; According to the comparison result, corresponding push information is determined, and the push information includes calibration completion information and sound and light alarm information.

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