Automatic feeding equipment for multi-layer cloth of clothes

Abstract

The invention discloses automatic clothing fabric feeding equipment which is characterized in that a table top is arranged on an equipment frame, three-axis truss manipulators are erected on the two side edges of the table top, and integrated grippers are further arranged on the three-axis truss manipulators; a turntable mechanism is arranged in the middle of the tabletop; according to the integrated gripper, needle type suction cups are downwards arranged on the two sides of the I-shaped cross beam frame, vacuum suction cups are further arranged below the I-shaped cross beam frame, and vacuum emitters are correspondingly arranged on the vacuum suction cups. A three-axis truss mechanical arm accurately conveys an integrated gripper to a discharging area of a table top; then the cloth and the templates with different thicknesses are respectively grabbed through the integrated gripper, conveyed to the rotary table mechanism through the three-axis truss manipulator to be stacked, and finally conveyed to a sewing equipment processing station through the rotary table mechanism to complete operation. And due to the arrangement of the integrated gripper, the first needle type suction cup and the second needle type suction cup can accurately grab thick materials and thin materials at the moment, and accurate grabbing of cloth with the thickness of 0.1 mm can be achieved.

Description

Technical Field

[0001] The invention relates to the field of clothing processing, in particular to automatic feeding equipment for clothing multi-layer fabrics. Background Art

[0002] The employment situation in garment factories is diversified and complex, and is affected by many factors. Except for large companies, small and medium-sized factories generally have low automation procedures. The following is an analysis of the current employment situation in garment factories: difficulty in recruiting workers, aging, high labor mobility, long working hours, poor working environment, unstable labor quality and other issues.

[0003] In order to solve the above social problems, it is necessary to improve the automation of equipment to increase speed and ensure product quality.

[0004] 1. Due to the complex characteristics of the fabric a) Deformability: Cloth is a soft and easily deformable object, and its shape and size will change with the action of external forces. This easily deformable characteristic makes it difficult for the robot to accurately predict and stably grasp the cloth.

[0005] b) Diverse materials: Different types of fabrics have different material properties, such as elasticity, friction, weight, etc. These properties will affect the gripping effect of the robot. For example, soft and smooth fabrics are easy to slip during the gripping process, while thick or fluffy fabrics are difficult to fold neatly.

[0006] 2. High grasping accuracy requirements a) Positioning accuracy: Due to the easy deformation of fabrics, the position and posture of the manipulator need to be precisely controlled during grasping to ensure that the fabric can be grasped accurately. This requires the control system to have high-precision positioning capabilities and real-time adjustment capabilities.

[0007] b) Grasping force: Controlling the grasping force is also a major difficulty. Too little force may cause the fabric to slip or fail to grasp, while too much force may damage the fabric or cause unnecessary deformation.

[0008] 3. Precise fabric layering a) Fabric sheet grabbing: Automatic fabric sheet grabbing needs to ensure 100% single layer b) The fabric is placed flat: the tension between the fabrics is controlled.

[0009] The authorization announcement number is: CN 220097737 U. A clothing piece stacking gripper with a gripping thickness adjustment function realizes gripper thickness adjustment by setting an inner gripper of the thickness-adjustable gripper, and maintains the flatness of the gripping surface by setting a built-in plate in the side gripper, thereby realizing stacking of clothing pieces.

[0010] The stacking function achieved by the above patent document cannot solve the problem of cloth grabbing accuracy.

[0011] The automatic loading and unloading mechanism of a clothing template machine with the authorization announcement number CN205011974U can only provide automatic loading and unloading of templates.

[0012] The authorization announcement number is: CN 221939500 U. An automatic loading and unloading mechanism of a garment template machine, the vacuum suction cup 29 provided cannot be implemented for thinner fabrics or fabrics with good air permeability, and there is no way to implement it for multi-layer fabrics (with fabrics and linings). Summary of the invention

[0013] The present invention provides a clothing multi-layer fabric automatic feeding device, which is used to solve the problem of automatic feeding of multi-layer fabrics (including outer fabric and lining) and convey them through a template, wherein the automatic feeding of two layers of fabric with relatively thin thickness, especially the lining fabric with a thickness of 0.1 mm, is completed.

[0014] To this end, the technical solution of the present invention is an automatic feeding device for multi-layered clothing fabrics, comprising a device frame, a desktop is provided on the device frame, mechanical arms are provided on both sides of the desktop, and a sewing device is provided at the front end of the desktop, characterized in that: the mechanical arms are also provided with an integrated gripper; a turntable mechanism is provided in the middle of the desktop; The integrated gripper comprises an I-beam frame, and needle suction cups are arranged downward on both sides of the I-beam frame, and a vacuum suction cup is also arranged under the I-beam frame, and a vacuum emitter is arranged corresponding to the vacuum suction cup; The needle suction cup is further divided into a plurality of first needle suction cups and a second needle suction cup, and the first needle suction cup and the second needle suction cup are correspondingly provided with a first solenoid valve and a second solenoid valve; The vacuum transmitter, the first solenoid valve and the second solenoid valve are installed on the I-beam frame.

[0015] The effect is that in the present invention, the integrated gripper is accurately transported to the material discharge area of ​​the desktop by the robot; then the cloth and templates of different thicknesses are respectively grabbed by the integrated gripper, and transported to the turntable mechanism for stacking by the robot, and finally transported to the sewing equipment processing station by the turntable mechanism to complete the operation, and the turntable mechanism is rotated and reset to repeat the transport work.

[0016] The manipulator cooperates with the integrated gripper to carry various materials and finished products, and can carry workpieces of various materials and sizes with high precision and efficiency, completely replacing manual labor and greatly improving work efficiency and product quality. The setting of the integrated gripper is convenient and quick to install, replace and adjust. The lower template, thick material, thin material and upper template are grabbed from the desktop position in turn and placed on the turntable mechanism. The turntable mechanism rotates 180° to ensure the accurate feeding position.

[0017] At this time, the first needle suction cup and the second needle suction cup can accurately grasp the thick material and thin material respectively, and can achieve accurate grasping of 0.1mm thick fabric.

[0018] A further improvement is that the manipulator may be a three-axis truss manipulator.

[0019] The effect is that the manipulator or the three-axis truss manipulator provides multiple options to meet the needs of users.

[0020] A further improvement is that a probe rod and a proximity switch are also provided on the I-beam frame of the integrated gripper.

[0021] The effect is that the probe rod descends to a specified height along with the integrated gripper, the bottom of the probe rod contacts the rotating tabletop and is blocked and cannot continue to descend, and gradually approaches until the proximity switch is triggered, that is, the gripper stops descending.

[0022] A further improvement is that: the needle suction cup comprises a first adjustment mechanism and a first actuator, and the first adjustment mechanism is arranged on the upper part of the first actuator; The first adjustment mechanism includes a cylinder, which is connected to an external air source through an air pipe joint, and the cylinder also includes a cylinder slider and a cylinder guide rod, the cylinder guide rod moves downward in the cylinder slider, and a cylinder block is provided under the cylinder slider, wherein the cylinder slider and the cylinder block are connected by threads; a worm gear is provided outside the cylinder block, and the worm gear is connected to a first servo motor in cooperation with the worm; The first actuator includes a first housing, a cylinder guide rod is inserted into the first housing and is provided with a cylinder pressure head, and a group of needle slides are provided on both sides of the cylinder pressure head; a plurality of needles are provided under the needle slides, and the plurality of needles are arranged obliquely; The first needle slide plate and the second needle slide plate in each set of needle slide plates are arranged opposite to each other, so that the multiple needles form an angle relative to each other; The first needle slide plate and the second needle slide plate are provided with a transverse guide groove, and an inclined guide groove is provided below the transverse guide groove; Wherein, first positioning columns are provided on both sides of the cylinder pressure head and penetrate through the transverse guide groove; A second positioning column is provided and passes through the inclined guide groove; At this time, when the cylinder pressure head moves downward, the first needle slide plate and the second needle slide plate move relative to each other.

[0023] The effect is that the movement of the first servo motor in the adjustment mechanism drives the worm to drive the worm wheel, which then cooperates with the thread movement between the cylinder block and the cylinder slider to adjust the movement stroke of the actuator; The first needle slide and the second needle slide are arranged relative to each other, so that the multiple needles form an angle relative to each other, which can form an upward gripping force on the cloth after puncturing, so that the cloth can be picked up.

[0024] A further improvement is that the inclined guide groove is an arc-shaped guide groove, and the first needle slide and the second needle slide form an arc motion through the second positioning column.

[0025] The effect is that the inclined guide groove is an arc-shaped guide groove that forms an arc motion around the second positioning column; so that the first needle slide and the second needle slide have an arc-shaped simulated puncture and guide the needle picking puncture action, and thin materials of 0.1 mm can be easily grabbed without damaging the fabric itself.

[0026] A further improvement is that: the needle suction cup may be a second adjustment mechanism and a second actuator, and the second adjustment mechanism is arranged on the upper part of the second actuator; The second adjustment mechanism also includes a second servo motor, and the second servo motor is provided with a screw rod downward through the motor output shaft, and the guide connection block is driven to move up and down by driving the screw rod to rotate; The second actuator comprises a second housing, a slide groove is vertically arranged inside the second housing, and the guide connecting block moves up and down along the slide groove arranged inside the second housing; a slider is connected to the lower end of the guide connecting block, and the slider moves up and down to drive the needle slide, thereby realizing the extension and retraction of the acupuncture; There are multiple needles under the needle slide, and the multiple needles are set obliquely; The first needle slide plate and the second needle slide plate in each set of needle slide plates are arranged opposite to each other, so that the multiple needles form an angle relative to each other; The first needle slide plate and the second needle slide plate are provided with a transverse guide groove, and an inclined guide groove is provided below the transverse guide groove; Wherein, first positioning columns are provided on both sides of the slider and penetrate through the transverse guide groove; A second positioning column is provided and passes through the inclined guide groove; At this time, when the slider moves downward, the first needle slider and the second needle slider move relative to each other.

[0027] The movement of the second servo motor in the second adjustment mechanism not only realizes the downward needle-picking process, but also adjusts the movement trajectory of the second actuator. The electronic control adjustment of the second servo motor is convenient and fast, and different needle extension amounts corresponding to different fabrics can be set through the program, which greatly saves manpower and time costs when switching to process different products.

[0028] The inclined guide groove is an arc-shaped guide groove that forms an arc motion around the second positioning column; so that the first needle slide and the second needle slide have an arc-shaped simulated puncture and guide the puncture and needle picking action, and thin materials of 0.1mm can be easily grabbed without damaging the fabric itself.

[0029] Arc-shaped guide grooves in different directions are designed on the needling slides on both sides to convert the rotational motion of the screw into a compound motion of the slide in two directions, thereby obtaining more lateral feed under the same vertical extension amount, increasing the surface contact between the needle and the fabric under the same needling diameter, reducing the clamping angle between the needle and the fabric, obtaining a larger penetration amount, and clamping the fabric through the needling that extends in different directions, thereby improving the stability of the grasping.

[0030] The ends of the multiple needles are curved needles.

[0031] When the required penetration depth of arc-shaped acupuncture is extremely small in the direction of gravity vector, each single needle has better bearing, clamping and anti-falling effects on the fabric.

[0032] A further improvement is that: the turntable mechanism comprises a turntable table top, and a guide groove is provided on the turntable table top; A turntable frame is provided under the turntable table, and a turntable motor is provided under the turntable frame; the turntable motor passes through the turntable frame and is connected to a rotating bracket, a linear guide is provided on the rotating bracket, and a walking trolley is also provided on the linear guide, and the walking trolley is driven by the walking motor, wherein a rack corresponding to the linear guide is provided on the rotating bracket, and the walking motor drives the walking trolley to move along the rack and the linear guide through a gear; A lifting cylinder is provided on the traveling trolley, and a connecting plate is provided on the ejection end of the lifting cylinder; A rotary clamping cylinder is also provided at both ends of the connecting plate, and a rotary cylinder clamping claw is provided at the top of the rotary clamping cylinder; The rotating cylinder clamping jaws pass through the guide groove to form a clamping mechanism relative to the turntable tabletop; While the trolley moves along the rack and linear guide, the rotary cylinder clamp also moves along the guide groove, thereby moving the pressed template linearly to the next workstation.

[0033] The effect is that the guide groove provides a double-station arrangement, and through the precise positioning of the turntable table and the travel motor and the rotating cylinder clamping claws of the lifting cylinder and the rotating clamping cylinder, a clamping mechanism relative to the turntable table is formed so that the travel trolley will not loosen when traveling.

[0034] Further improvements are: a lifting limit block is also provided on the connecting plate of the lifting cylinder; a lifting support block is provided on the outer side of the rotary clamping cylinder corresponding to the connecting plate; and the lifting support block is higher than the turntable table after lifting the template.

[0035] The effect is: at this time, the rotating cylinder clamp, the jacking limit block and the jacking support block limit the upper and lower positions of the template and press it tightly. The jacking support block raises the template slightly above the table top, and the rotating cylinder clamp presses the template down, clamping the template while preventing the template from being damaged or crushed.

[0036] A further improvement is that template positioning pins are installed on the turntable table.

[0037] The effect is: after determining the template reference position and clamping the template, the travel motor drives the gear along the rack and moves the template along the linear slide rail, ensuring that the template position during the moving process is accurate and controllable. Beneficial Effects

[0038] The manipulator in the present invention accurately transports the integrated gripper to the material placement position on the desktop; then the integrated gripper grabs the fabrics and templates of different thicknesses respectively, grabs the lower template, thick material, thin material, and upper template from the desktop position in turn, and places them on the turntable mechanism, which rotates 180° to ensure the accurate feeding position. At this time, the first needle suction cup and the second needle suction cup can accurately grab thick and thin materials, and can achieve accurate grabbing of 0.1mm thick fabrics. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a structural layout diagram of Embodiment 1 of the present invention; Figure 2 yes Figure 1 The right side view without the sewing device 6; Figure 3 yes Figure 2 The main view of Figure 4 yes Figure 2 A top view of Figure 5 It is a three-dimensional schematic diagram of a three-axis truss manipulator and an integrated gripper; Figure 6 It is the material placement and template layout diagram; Figure 7 yes Figure 6 Enlarged view at A in the middle; Figure 8 Embodiment 3 Figure 3 A front view of the transfer station mechanism 4; Fig. 9 yes Figure 8 Remove the stereogram of the turntable tabletop 4.1; Fig.10 yes Fig. 9 Enlarged view at B in the middle; Fig.11 This is a front view of the integrated gripper of the second embodiment; Fig.12 yes Fig.11A front cross-sectional view of Fig.13 is a three-dimensional view of the appearance of the fourth embodiment; Fig.14 yes Fig.13 Internal structure view; Fig.15 yes Fig.14 A cross-sectional view of Fig.16 This is the connection diagram of the cylinder guide rod and the needle slide; Fig.17 yes Fig.16 Left view of Fig.18 is a three-dimensional perspective view of Embodiment 5; Fig.19 yes Fig.18 A cross-sectional view of the first servo motor; Fig. 20 yes Fig.19 Enlarged view at center C; Fig.21 yes Fig.19 Interior view of.

[0040] In the figure, 1 is the equipment frame, 2 is the three-axis truss manipulator, and 3 is the integrated gripper; 3.1 is the proximity switch, 3.2 is the probe, 3.3 is the vacuum suction cup, 3.4 is the first needle suction cup, 3.5 is the second needle suction cup, 3.6 is the first solenoid valve, 3.7 is the second solenoid valve, and 3.8 is the vacuum generator; 3.9 is the first adjustment mechanism; 3.91 is a cylinder, 3.92 is an air pipe joint, 3.93 is a cylinder slider, 3.94 is a cylinder guide rod, 3.95 is a cylinder stopper, 3.96 is a worm gear, 3.97 is a worm, and 3.98 is a first servo motor; 3.10 is the first executive body; 3.11 is the first shell, 3.12 is the cylinder pressure head, 3.13 is the plurality of needles, 3.14 is a first needle slide, 3.15 is a second needle slide, 3.16 is a transverse guide groove; 3.17 is an arc guide groove, 3.18 is a first positioning column, and 3.19 is a second positioning column; 4 is a turntable mechanism; 4.1 is the turntable table, 4.2 is the turntable frame, 4.3 is the turntable motor, 4.4 is the rotating bracket, 4.5 is the linear guide, 4.6 is the walking trolley, 4.7 is the walking motor, 4.8 is the rack, 4.9 is the gear, 4.10 is the lifting cylinder, 4.11 is the connecting plate, 4.12 is the rotating clamping cylinder, 4.13 is the rotating cylinder clamping claw, 4.14 is the lifting support block, 4.15 is the lifting limit block; 5 is the template, 5.1 is the material discharge area, 5.2 is the template positioning groove, and 5.3 is the desktop positioning pin; 6 is sewing equipment; 7 is the second adjustment mechanism, 8 is the second actuator, 7.1 is the second servo motor, 7.2 is the motor output shaft, 7.3 is the lead screw, 7.4 is the guide connection block; 7.5 is the scale plate; 8.1 is the second housing, 8.2 is the slide groove, and 8.3 is the slider. DETAILED DESCRIPTION

[0041] The present invention Figure 1-21 shown.

[0042] Embodiment 1: wherein the present invention is as follows Figure 1-7 shown.

[0043] An automatic feeding device for multi-layered clothing fabrics comprises a device frame 1, wherein a desktop is arranged on the device frame 1, three-axis truss manipulators 2 are arranged on both sides of the desktop, a sewing device 6 is arranged at the front end of the desktop, and an integrated gripper 3 is also arranged on the three-axis truss manipulator 2; a turntable mechanism 4 is arranged in the middle of the desktop; The integrated gripper 3 comprises an I-beam frame, and needle suction cups are arranged downward on both sides of the I-beam frame, and a vacuum suction cup 3.3 is also arranged under the I-beam frame, and a vacuum emitter 3.8 is arranged corresponding to the vacuum suction cup 3.3; The needle suction cup is divided into a plurality of first needle suction cups 3.4 and second needle suction cups 3.5, and the first needle suction cups 3.4 and the second needle suction cups 3.5 are provided with first solenoid valves 3.6 and second solenoid valves 3.7 correspondingly; The vacuum transmitter 3.8, the first solenoid valve 3.6 and the second solenoid valve 3.7 are installed on the I-beam frame.

[0044] Working principle and effect: The three-axis truss manipulator 2 in the present invention accurately transports the integrated gripper 3 to the material discharge area 5.1 on the desktop; then the cloth and template 5 of different thicknesses are respectively grabbed by the integrated gripper 3, and transported to the turntable mechanism 4 for stacking by the three-axis truss manipulator 2, and finally transported to the sewing equipment 6 processing station through the turntable mechanism 4 to complete the operation, and the turntable mechanism 4 rotates and resets to repeat the transport work.

[0045] The three-axis truss manipulator 2 cooperates with the integrated gripper 3 to carry a variety of materials and finished products, and can carry workpieces of various materials and sizes with high precision and efficiency, completely replacing manual labor and greatly improving work efficiency and product quality; The setting of the integrated gripper 3 is convenient and quick to install, replace and adjust. The lower template, thick material, thin material and upper template are grabbed from the desktop position in turn and placed on the turntable mechanism 4. The turntable mechanism 4 rotates 180° to ensure the accurate feeding position.

[0046] At this time, the first needle suction cup 3.4 and the second needle suction cup 3.5 can respectively accurately grasp thick materials and thin materials, and can achieve accurate grasping of 0.1mm thick fabrics.

[0047] The I-beam frame of the integrated gripper 3 is also provided with a probe rod 3.2 and a proximity switch 3.1.

[0048] Working principle and effect: The probe rod 3.2 descends to a specified height along with the integrated gripper 3, and the bottom of the probe rod 3.2 contacts the rotating tabletop and is blocked and cannot continue to descend, and gradually approaches until the proximity switch 3.1 is triggered, that is, the gripper stops descending.

[0049] Embodiment 2: Figure 11-12 middle The integrated gripper 3 comprises an I-beam frame, two rows of needle suction cups are arranged downward on both sides of the I-beam frame, and a vacuum suction cup 3.3 is also arranged under the I-beam frame, and a vacuum emitter 3.8 is arranged corresponding to the vacuum suction cup 3.3; The two rows of needle suction cups are further divided into a plurality of first needle suction cups 3.4 and second needle suction cups 3.5, and the first needle suction cups 3.4 and the second needle suction cups 3.5 are provided with first solenoid valves 3.6 and second solenoid valves 3.7 correspondingly; The vacuum transmitter 3.8, the first solenoid valve 3.6 and the second solenoid valve 3.7 are installed on the I-beam frame.

[0050] The I-beam frame of the integrated gripper 3 is also provided with a probe rod 3.2 and a proximity switch 3.1.

[0051] The two sides of the I-beam frame are respectively provided with waist-shaped slots, and the first needle suction cup 3.4, the second needle suction cup 3.5 and the vacuum suction cup 3.3 form a motion relationship corresponding to the waist-shaped slots; At the same time, the middle beam of the I-beam frame also has an adjustable motion relationship.

[0052] Embodiment three: Figure 8-10 middle The turntable mechanism 4 comprises a turntable table top 4.1, on which a guide groove is provided; A turntable frame 4.2 is provided under the turntable table top 4.1, and a turntable motor 4.3 is provided under the turntable frame 4.2; the turntable motor 4.3 passes through the turntable frame 4.2 and is connected to a rotating bracket 4.4, a linear guide rail 4.5 is provided on the rotating bracket 4.4, and a walking trolley 4.6 is also provided on the linear guide rail 4.5, and the walking trolley 4.6 is driven by a walking motor 4.7, wherein a rack 4.8 is provided on the rotating bracket 4.4 and corresponds to the linear guide rail 4.5, and the walking motor 4.7 drives the walking trolley 4.6 to move along the rack 4.8 and the linear guide rail 4.5 through a gear 4.9; A lifting cylinder 4.10 is provided on the traveling trolley 4.6, and a connecting plate 4.11 is provided on the ejection end of the lifting cylinder 4.10; A rotary clamping cylinder 4.12 is also provided at both ends of the connecting plate 4.11, and a rotary cylinder clamping claw 4.13 is provided at the top of the rotary clamping cylinder 4.12; The rotating cylinder clamping jaw 4.13 passes through the guide groove to form a clamping mechanism relative to the turntable table top 4.1; While the traveling carriage 4.6 moves along the rack 4.8 and the linear guide rail 4.5, the rotary cylinder clamp 4.13 also moves along the guide groove, thereby linearly moving the pressed template to the next station.

[0053] Working principle and effect: The guide groove provides a double-station arrangement, and through the turntable table top 4.1 and the precise movement of the travel motor 4.7 and the jacking cylinder 4.10 and the rotating cylinder clamp 4.13 of the rotating clamping cylinder 4.12, a clamping mechanism relative to the turntable table top 4.1 is formed so that the travel trolley 4.6 will not loosen when traveling.

[0054] The lifting cylinder 4.10 is also provided with a lifting limit block 4.15 on the connecting plate 4.11; a lifting support block 4.14 is provided on the outer side of the rotating clamping cylinder 4.12 corresponding to the connecting plate 4.11; and the lifting support block 4.14 is raised above the turntable table 4.1 after the template is lifted.

[0055] Working principle and effect: At this time, the rotating cylinder clamp 4.13, the lifting limit block 4.15 and the lifting support block 4.14 limit the upper and lower positions of the template and press them tightly. The lifting support block 4.14 raises the template slightly higher than the turntable table 4.1, and the rotating cylinder clamp 4.13 presses down the template, clamping the template while preventing the template from being damaged or crushed.

[0056] The turntable table top 4.1 is provided with template positioning pins 5.3.

[0057] The template positioning pin 5.3 determines the template reference position. After the template is clamped, the travel motor 4.7 drives the gear 4.9 along the rack 4.8 and moves the template along the linear slide rail, ensuring that the template position during the moving process is accurate and controllable.

[0058] In the fourth embodiment: Figure 13-17 middle The first needle sucker 3.4 and the second needle sucker 3.5 of the needle sucker are set to have adjustment ranges of different sizes, which are suitable for simultaneous processing of multiple fabrics.

[0059] The needle suction cup comprises a first adjustment mechanism 3.9 and a first actuator 3.10, wherein the first adjustment mechanism 3.9 is arranged on the upper part of the first actuator 3.10; The first adjustment mechanism 3.9 comprises a cylinder 3.91, which is connected to an external air source via an air pipe joint 3.92. The cylinder 3.91 also comprises a cylinder slider 3.93 and a cylinder guide rod 3.94, the cylinder guide rod 3.94 moves downward in the cylinder slider 3.93, a cylinder block 3.95 is provided under the cylinder slider 3.93, wherein the cylinder slider 3.93 and the cylinder block 3.95 are connected via threads; a worm gear 3.96 is provided outside the cylinder block 3.95, and the worm gear 3.96 is connected to a first servo motor 3.98 in cooperation with a worm 3.97; The first actuator 3.10 includes a first housing 3.11, a cylinder guide rod 3.94 is inserted into the first housing 3.11 and is provided with a cylinder pressure head 3.12, and a group of needle slides are provided on both sides of the cylinder pressure head 3.12; A plurality of needles 3.13 are arranged under the needle slide, and the plurality of needles 3.13 are arranged obliquely; The first needle slide plate 3.14 and the second needle slide plate 3.15 in each set of needle slide plates are arranged opposite to each other, so that the plurality of needles 3.13 form an angle relative to each other; A transverse guide groove 3.16 is provided on the first needle slide 3.14 and the second needle slide 3.15, and an inclined guide groove 3.17 is provided below the transverse guide groove 3.16; The first positioning columns 3.18 are provided on both sides of the cylinder pressure head 3.12 and penetrate the transverse guide groove 3.16; A second positioning column 3.19 is provided and passes through the inclined guide groove 3.17; At this time, when the cylinder ram 3.12 moves downward, the first needle slide 3.14 and the second needle slide 3.15 move relative to each other.

[0060] The movement of the first servo motor 3.98 in the first adjustment mechanism 3.9 drives the worm 3.96 to drive the worm wheel 3.95, which then cooperates with the threaded movement between the cylinder block 3.94 and the cylinder slider 3.92 to adjust the movement stroke of the first actuator 3.10; The first needle slide 3.14 and the second needle slide 3.15 are arranged opposite to each other, so that the plurality of needles 3.13 form an angle relative to each other, which can form an upward gripping force on the cloth after puncturing, so that the cloth can be picked up.

[0061] The inclined guide groove 3.17 is an arc-shaped guide groove, and the first needle slide 3.14 and the second needle slide 3.15 form an arc motion through the second positioning column 3.19.

[0062] The ends of the multiple needles 3.13 are arc-shaped needles.

[0063] The inclined guide groove 3.17 is an arc-shaped guide groove that forms an arc motion around the second positioning column 3.19, so that the first needle slide 3.14 and the second needle slide 3.15 have an arc puncture and guide to form a needle picking action, so that thin materials of 0.1 mm can be easily grasped without damaging the cloth itself.

[0064] Embodiment 5: Figure 18-21 shown.

[0065] The needle suction cup may include a second adjustment mechanism 7 and a second actuator 8, the second adjustment mechanism 7 is arranged on the second actuator 8, the second adjustment mechanism 7 also includes a second servo motor 7.1, the second servo motor 7.1 is provided with a motor output shaft 7.2 and a screw rod 7.3 downward, and the screw rod 7.3 is driven to rotate and drive the guide connection block 7.4 to move up and down; The second actuator 8 comprises a second housing 8.1, a slide groove 8.2 is vertically arranged inside the second housing 8.1, and a guide connecting block 7.4 moves up and down along the slide groove 8.2 arranged inside the second housing 8.1; a slider 8.3 is connected to the lower end of the guide connecting block 7.4, and the slider 8.3 moves up and down to drive the needle slide, thereby realizing the extension and retraction of acupuncture; The screw rod 7.3 of the second adjustment mechanism 7 and the second actuator 8 is provided with a dial 7.5 outside; A plurality of needles 3.13 are arranged under the needle slide, and the plurality of needles 3.13 are arranged obliquely; The first needle slide plate 3.14 and the second needle slide plate 3.15 in each set of needle slide plates are arranged opposite to each other, so that the plurality of needles 3.13 form an angle relative to each other; A transverse guide groove 3.16 is provided on the first needle slide 3.14 and the second needle slide 3.15, and an inclined guide groove 3.17 is provided below the transverse guide groove 3.16; The first positioning columns 3.18 are provided on both sides of the slider 8.3 and penetrate the transverse guide groove 3.16; A second positioning column 3.19 is provided and passes through the inclined guide groove 3.17; At this time, when the slide block 8.3 moves downward, the first needle slide 3.14 and the second needle slide 3.15 move relative to each other.

[0066] The movement of the second servo motor 7.1 in the second adjustment mechanism 7 not only realizes the downward needle-picking process, but also adjusts the movement trajectory of the second actuator 8. The electronic control adjustment of the second servo motor 7.1 is convenient and fast, and different needle extension amounts corresponding to different fabrics can be set through the program, which greatly saves manpower and time costs when switching to process different products.

[0067] The inclined guide groove 3.17 is an arc-shaped guide groove that forms an arc motion around the second positioning column 3.19, so that the first needle slide 3.13 and the second needle slide 3.14 have an arc puncture and guide the needle picking puncture action, so that thin materials of 0.1 mm can be easily grasped without damaging the cloth itself.

[0068] Arc-shaped guide grooves in different directions are designed on the needle-punching slides on both sides to convert the rotational motion of the screw 7.2 into a compound motion of the slides in two directions, thereby obtaining more lateral feed under the same vertical extension amount, increasing the surface contact between the needle and the fabric under the same needle-punching diameter, reducing the clamping angle between the needle and the fabric, obtaining a larger penetration amount, and clamping the fabric by the needles extending in different directions, thereby improving the stability of the grasping.

[0069] The ends of the multiple needles 3.13 are arc-shaped needles.

[0070] When the required penetration depth of arc-shaped acupuncture is extremely small in the direction of gravity vector, each single needle has better bearing, clamping and anti-falling effects on the fabric.

Claims

1. An automatic feeding device for multi-layered clothing fabrics, comprising a device frame (1), wherein the device frame (1) is provided with a desktop, mechanical arms are provided on both sides of the desktop, and a sewing device (6) is provided at the front end of the desktop, characterized in that: The manipulator is also provided with an integrated gripper (3); a turntable mechanism (4) is provided in the middle of the tabletop; The integrated gripper (3) comprises an I-beam frame, a plurality of pin-type suction cups are arranged downwardly on both sides of the I-beam frame, and a vacuum suction cup (3.3) is also arranged under the I-beam frame, and a vacuum emitter (3.8) is arranged corresponding to the vacuum suction cup (3.3); The needle suction cup is further divided into a plurality of first needle suction cups (3.4) and second needle suction cups (3.5), and the first needle suction cups (3.4) and the second needle suction cups (3.5) are provided with a first solenoid valve (3.6) and a second solenoid valve (3.7) correspondingly; The vacuum transmitter (3.8), the first solenoid valve (3.6) and the second solenoid valve (3.7) are installed on the I-beam frame.

2. The automatic feeding equipment for multi-layered clothing fabrics according to claim 1 is characterized in that: The manipulator may be a three-axis truss manipulator (2).

3. The automatic feeding equipment for multi-layered clothing fabrics according to claim 1 is characterized in that: The I-beam frame of the integrated gripper (3) is also provided with a probe rod (3.2) and a proximity switch (3.1).

4. The automatic feeding device for multi-layered clothing fabrics according to claim 1 or 3, characterized in that: The two sides of the I-beam frame are respectively provided with waist-shaped slots, and the first needle suction cup (3.4), the second needle suction cup (3.5) and the vacuum suction cup (3.3) form a corresponding motion relationship in the waist-shaped slots; At the same time, the middle beam of the I-beam frame also has an adjustable motion relationship.

5. The automatic feeding equipment for multi-layered clothing fabrics according to claim 1 is characterized by: The needle suction cup comprises a first adjustment mechanism (3.9) and a first actuator (3.10), wherein the first adjustment mechanism (3.9) is arranged on the upper part of the first actuator (3.10); The first adjustment mechanism (3.9) comprises a cylinder (3.91), the cylinder (3.91) being connected to an external air source via an air pipe joint (3.92), the cylinder (3.91) also comprising a cylinder slider (3.93) and a cylinder guide rod (3.94), the cylinder guide rod (3.94) moving downward in the cylinder slider (3.93), a cylinder stopper (3.95) being provided under the cylinder slider (3.93), wherein the cylinder slider (3.93) and the cylinder stopper (3.95) are connected via threads; a worm gear (3.96) is provided outside the cylinder stopper (3.95), and the worm gear (3.96) is connected to a first servo motor (3.98) in cooperation with the worm gear (3.97); The first actuator (3.10) comprises a first housing (3.11), a cylinder guide rod (3.94) is inserted deep into the housing (3.11) and is provided with a cylinder pressure head (3.12), and a group of needle slides are provided on both sides of the cylinder pressure head (3.12); A plurality of needles (3.13) are arranged under the needle slide, and the plurality of needles (3.13) are arranged obliquely; The first needle slide plate (3.14) and the second needle slide plate (3.15) in each group of needle slide plates are arranged relative to each other, so that the plurality of needles (3.13) form an angle relative to each other; A transverse guide groove (3.16) is provided on the first needle slide (3.14) and the second needle slide (3.15), and an inclined guide groove (3.17) is provided below the transverse guide groove (3.16); Wherein, first positioning columns (3.18) are provided on both sides of the cylinder pressure head (3.12) and penetrate the transverse guide groove (3.16); A second positioning column (3.19) is also provided and passes through the inclined guide groove (3.17); At this time, when the cylinder pressure head (3.12) moves downward, the first needle slide (3.14) and the second needle slide (3.15) move relative to each other.

6. The automatic feeding equipment for multi-layered clothing fabrics according to claim 5 is characterized in that: The inclined guide groove (3.17) is an arc-shaped guide groove, and the first needle slide (3.14) and the second needle slide (3.15) form an arc motion through the second positioning column (3.19); the ends of the multiple needles (3.13) are arc-shaped needles.

7. The automatic feeding equipment for multi-layered clothing fabrics according to claim 1 or 5, characterized in that: The needle suction cup may include a second adjustment mechanism (7) and a second actuator (8), wherein the second adjustment mechanism (7) is arranged on the second actuator (8). The second adjustment mechanism (7) further comprises a second servo motor (7.1), wherein the second servo motor (7.1) is provided with a screw rod (7.3) through a motor output shaft (7.2) downwardly, and the screw rod (7.3) is driven to rotate to drive the guide connection block (7.4) to move up and down; The second actuator (8) comprises a second housing (8.1), a slide groove (8.2) is vertically arranged inside the second housing (8.1), and the guide connection block (7.4) moves up and down along the slide groove (8.2) arranged inside the second housing (8.1); a slider (8.3) is connected to the lower end (7.4) of the guide connection block, and the slider (8.3) moves up and down to drive the needle slide, thereby realizing the extension and retraction of acupuncture; The screw rod (7.3) of the second adjustment mechanism (7) and the second actuator (8) is provided with a dial (7.5) outside; A plurality of needles (3.13) are arranged under the needle slide, and the plurality of needles (3.13) are arranged obliquely; The first needle slide plate (3.14) and the second needle slide plate (3.15) in each group of needle slide plates are arranged relative to each other, so that the plurality of needles (3.13) form an angle relative to each other; A transverse guide groove (3.16) is provided on the first needle slide (3.14) and the second needle slide (3.15), and an inclined guide groove (3.17) is provided below the transverse guide groove (3.16); Wherein, first positioning columns (3.18) are provided on both sides of the slider (8.3) and penetrate the transverse guide groove (3.16); A second positioning column (3.19) is also provided and passes through the inclined guide groove (3.17); At this time, when the slider (8.3) moves downward, the first needle slide (3.14) and the second needle slide (3.15) move relative to each other; The ends of the multiple needles (3.13) are curved needles.

8. The automatic feeding equipment for multi-layered clothing fabrics according to claim 1 is characterized by: The turntable mechanism (4) comprises a turntable tabletop (4.1), on which a guide groove is provided; a turntable frame (4.2) is provided under the turntable tabletop (4.1), and a turntable motor (4.3) is provided under the turntable frame (4.2); the turntable motor (4.3) passes through the turntable frame (4.2) and is connected to a rotating bracket (4.4), on which a linear guide rail (4.5) is provided, and on which a walking trolley (4.6) is also mounted, and the walking trolley (4.6) is driven by a walking motor (4.7), wherein a rack (4.8) is provided on the rotating bracket (4.4) and corresponds to the linear guide rail (4.5), and the walking motor (4.7) drives the walking trolley (4.6) to move along the rack (4.8) and the linear guide rail (4.5) through a gear (4.9); A lifting cylinder (4.10) is provided on the traveling trolley (4.6), and a connecting plate (4.11) is provided on the ejection end of the lifting cylinder (4.10); A rotary clamping cylinder (4.12) is also provided at both ends of the connecting plate (4.11), and a rotary cylinder clamping claw (4.13) is provided at the top end of the rotary clamping cylinder (4.12); The rotating cylinder clamp (4.13) passes through the guide groove to form a clamping mechanism relative to the turntable table (4.1); While the traveling carriage (4.6) moves along the rack (4.8) and the linear guide rail (4.5), the rotary cylinder clamp (4.13) also moves along the guide groove, thereby linearly moving the pressed template to the next station.

9. The automatic feeding equipment for multi-layered clothing fabrics according to claim 8, characterized in that: The lifting cylinder (4.10) is also provided with a lifting limit block (4.15) on the connecting plate (4.11); a lifting support block (4.14) is provided on the outer side of the rotary clamping cylinder (4.12) corresponding to the connecting plate (4.11); and the lifting support block (4.14) is raised above the turntable tabletop (4.1) after the template is lifted.

10. The automatic feeding equipment for multi-layered clothing fabrics according to claim 8, characterized in that: A template positioning pin (5.3) is installed on the turntable tabletop (4.1).

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