Automobile roof fabric conveying and overturning equipment

Abstract

The invention provides automobile roof fabric conveying and overturning equipment, and belongs to the technical field of crossing of textile machinery and automobile part production equipment. The automobile roof fabric conveying and overturning equipment comprises a front end clamping assembly, an overturning plate assembly, a rear end clamping assembly, a second detection sensor and a third detection sensor, and through cooperation of the front end clamping assembly, the overturning plate assembly and the rear end clamping assembly, the front end and the rear end of a soft fabric are clamped correspondingly; accurate overturning of the fabric is achieved, and conveying continuity is kept; through the multiple sensors (the second detection sensor and the third detection sensor) and the central control unit (the third control unit), closed-loop control of real-time fabric position detection, action triggering and multi-mechanism cooperation is achieved, the turnover success rate and production line compatibility are improved, and full-process automatic decision making is achieved.

Description

Technical Field

[0001] The present invention belongs to the intersecting technical field of textile machinery and automobile parts production equipment, relates to automobile interior decoration manufacturing automation equipment, and specifically relates to automobile roof fabric conveying and turning equipment. Background Art

[0002] Car roof fabrics generally have a rubber side and a fabric side. In order to prevent the rubber side from sticking to the conveyor line during transportation, they are usually laid with the rubber side facing up and the fabric side facing down.

[0003] In order to subsequently press the car roof fabric down onto the inverted car roof frame, it is generally necessary to turn the car roof fabric over so that the adhesive surface of the car roof fabric faces downward, thereby facilitating the adhesion of the pressed adhesive surface to the car roof frame.

[0004] However, there are currently the following technical problems in turning over the car roof fabric:

[0005] (1) Low efficiency of manual turning: Traditionally, soft fabrics are turned manually, which can easily lead to fabric stretching and deformation or glue layer contamination due to inconsistent operations.

[0006] (2) Risk of mechanical damage: Using a rigid robotic arm to directly clamp the car roof fabric can easily damage the rubber surface.

[0007] (3) Insufficient positioning accuracy: If a hard robotic arm is used to clamp and flip the car roof fabric, the front and rear ends of the fabric are prone to offset, resulting in position misalignment after flipping, affecting the subsequent process docking.

[0008] (4) Timing control blind spot: If a hard robotic arm is used, the purely mechanical device cannot sense the position of the fabric, which may easily cause the gripper to grab the car roof fabric without grabbing it or colliding.

[0009] (5) Insufficient coordination: When the flipping action does not match the conveyor line speed, the fabric is prone to accumulation or tearing.

[0010] (6) Poor process adaptability: The thickness of different car roof fabrics requires manual adjustment of parameters, which affects the yield rate. Summary of the Invention

[0011] The present invention is made to solve the above-mentioned problem, and its purpose is to provide a car roof fabric conveying and turning device.

[0012] The present invention provides a car roof fabric conveying and turning device, which has the following characteristics: it is used to turn over a rectangular soft fabric fabric with a rubber surface and the rubber surface facing upward on a conveyor line and then continue to convey it; the conveyor line has a driver for driving the conveying; the conveyor line is divided into two sections along its conveying direction, which are respectively recorded as a first conveyor line and a second conveyor line; the soft fabric fabric is conveyed from the first conveyor line to the second conveyor line, the length direction of the conveyor line is recorded as the x-axis direction, the width direction of the conveyor line is recorded as the y-axis direction, and the direction perpendicular to the xy plane is recorded as the z-axis direction; the car roof fabric conveying and turning device comprises: a second detection sensor for detecting whether the front end of the soft fabric fabric in the conveying direction droops to a specified position in the yz plane direction after being conveyed via the conveyor line; a front end clamping assembly, which is arranged below the conveyor line and has a front end clamping claw movable along the x-axis direction, the initial position of the front end clamping claw is located in the lower area of ​​the conveying end of the second conveyor line, and the front end clamping claw is used to clamp the front end that droops to a specified position along the yz plane Clamping; a third detection sensor for detecting whether the rear end of the soft fabric reaches the upper area between the first conveyor line and the second conveyor line in the conveying direction; a flap assembly, arranged between the first conveyor line and the second conveyor line, for lifting the rear end conveyed above it, and the angle of the lifted rear end to the conveying direction is not less than 90°; a rear end clamping assembly, arranged above the conveyor line, having a rear end clamping jaw movable along the x-axis and z-axis directions, the initial position of the rear end clamping jaw being located above the flap assembly, and the rear end clamping jaw being used to clamp the rear end lifted by the flap assembly; and a third control unit, connected to the front end clamping assembly, the second detection sensor, the flap assembly, the rear end clamping assembly, the third detection sensor and the driver, for collaboratively controlling the front end clamping assembly, the rear end clamping assembly and the driver according to the signals of the second detection sensor and the third detection sensor so that the front and rear ends are swapped in front and back positions in the x-axis direction and are at the same height in the z-axis direction to realize the flipping of the soft fabric.

[0013] The automobile roof fabric conveying and turning device provided by the present invention may also have the following features: wherein the front end clamping assembly includes: a first movable portion, movably disposed below the conveyor line along the x-axis via a guide rail, the first movable portion being connected to a third control unit so as to be controlled by the third control unit for displacement; a first rotating portion, comprising a first roller, the first roller passing through the first movable portion along the y-axis and capable of rotating about its own axis in the y-axis direction, the first rotating portion being connected to the third control unit so as to be controlled by the third control unit to rotate the first roller about its own axis in the y-axis direction; and a first clamping portion, comprising a plurality of front end clamping jaws, the plurality of front end clamping jaws being distributed on the first roller along the y-axis direction so as to be driven by the first roller to rotate about the y-axis direction, the plurality of front end clamping jaws initially opening upward along the z-axis direction, the second detection sensor being used to detect whether the front end, after being conveyed via the conveyor line, has drooped into the opening of the front end clamping jaws along the yz plane, the first clamping portion being connected to the third control unit so as to be controlled by the third control unit so as to clamp the front end drooping into its opening along the yz plane.

[0014] The automobile roof fabric conveying and flipping equipment provided by the present invention may also have the following features: wherein, after the third control unit detects through the second detection sensor that the front end droops along the yz plane to the opening of the front end clamp after being conveyed via the conveyor line, it controls several front end clamps to clamp the front end, and controls the first moving part to move in the direction opposite to the conveying direction along the x-axis direction. When the third control unit detects through the third detection sensor that the rear end reaches the upper area between the first conveyor line and the second conveyor line, it controls the drive and the front end clamping assembly to stop running, and then controls the flap assembly to lift the rear end and cooperatively controls the rear end clamping assembly to clamp the rear end. During the displacement of the first moving part, the third control unit cooperatively controls the first roller to rotate around its own y-axis axis until the opening of the front end clamp is oriented along the x-axis direction and toward the conveying direction. The rotation angle of the first roller is 90°.

[0015] The automobile roof fabric conveying and flipping equipment provided by the present invention may also have the following features: wherein, the third detection sensor is used to detect whether there is soft fabric material staying above the side of the flap assembly at the end of the conveying of the first conveyor line, and the method for the third detection sensor to detect whether the rear end has reached the area where the flap assembly is located is: when the third detection sensor detects that there is no soft fabric material above the side of the flap assembly at the end of the conveying of the first conveyor line, it means that the rear end has reached the area where the flap assembly is located.

[0016] The automobile roof fabric conveying and flipping equipment provided by the present invention may also have the following features: wherein, the flap assembly includes: a transmission plate, whose two ends are respectively recorded as a free end and a fixed end, the free end is located in the y-axis direction area between the first conveyor line and the second conveyor line, and the fixed end is rotatably fixed around the y-axis direction to the side of the y-axis direction area between the first conveyor line and the second conveyor line, the number of transmission plates is 2 and they are arranged along the y-axis direction, and the connection direction of the free end and the fixed end is initially towards the conveying direction; a flap, which is arranged between the first conveyor line and the second conveyor line, and the two ends of the flap are respectively fixed by two free ends, and the flap is initially flush with the upper side of the conveyor line; and a flap cylinder, whose main body is fixed to the lower side of the transmission plate in the z-axis direction, and the power output shaft of the flap cylinder is connected to the free end, the flap cylinder is connected to the third control unit so that it is controlled by it to make the transmission plate rotate around the fixed end, and drive the two flaps with fixed free ends to flip a certain angle to lift the rear end, and the angle does not exceed 90°.

[0017] The automobile roof fabric conveying and turning device provided by the present invention may also have the following features: wherein the rear end clamping assembly includes: a second movable part, which is movably arranged above the conveying line through a guide rail, and the second movable part is connected to a third control unit so as to be controlled by the third control unit to move in the x-axis direction; a third movable part, which is movably arranged on the second movable part along the z-axis direction through a guide rail, and the third movable part is connected to a third control unit so as to be controlled by the third control unit to move in the x-axis direction; a second rotating part, which has a second roller, and the second roller passes through the third movable part in the y-axis direction and the second roller passes through the third movable part. It can rotate around its own axis in the y-axis direction, and the second rotating part is connected to the third control unit so that it controls the second roller to rotate around its own axis in the y-axis direction; and the second clamping jaw part has a plurality of rear end clamping jaws, and the plurality of rear end clamping jaws are distributed on the second roller along the y-axis direction so that they are driven to rotate around the y-axis direction, and the initial opening direction of the plurality of rear end clamping jaws is directly downward along the z-axis direction, or obliquely downward along the z-axis direction and pointing to the area of ​​the second conveyor line, and the second clamping jaw part is connected to the third control unit so that it controls the plurality of rear end clamping jaws to clamp the rear end of the flip assembly.

[0018] The automobile roof fabric conveying and flipping equipment provided by the present invention may also have the following features: after the third control unit controls the rear end clamping assembly to clamp the rear end of the flap assembly to lift up, it controls the front end clamping jaw to move along the x-axis direction in the direction opposite to the conveying direction, and at the same time, cooperatively controls the second moving part to move along the x-axis direction toward the conveying direction and controls the third moving part to move downward along the z-axis direction, until the front and rear positions of the rear end clamping jaw and the front end clamping jaw in the x-axis direction are swapped and are at the same height in the z-axis direction and the distance between the rear end clamping jaw and the front end clamping jaw can make the soft fabric fabric taut in the x-axis direction. During the displacement of the second moving part and the third moving part, the third control unit cooperatively controls the second roller to rotate around its own y-axis axis until the opening of the rear end clamping jaw is facing along the x-axis direction and in the direction opposite to the conveying direction, and the rotation angle range of the second roller is [90°, 180°).

[0019] The automobile roof fabric conveying and flipping equipment provided by the present invention may also have the following features: wherein, the angle between the initial opening direction of the rear end clamp and the conveying direction is recorded as θ1, and the angle between the direction of the rear end of the flap assembly and the conveying direction is recorded as θ2, θ1+θ2=180°.

[0020] The automobile roof fabric conveying and turning over equipment provided by the present invention may also have the following features: the adhesive surface is made of ppfoam material, and the soft fabric fabric has a mixed coating layer of solvent adhesive, catalyst and water on one side of the adhesive surface. Before the soft fabric fabric is turned over, when it is conveyed on the conveyor line, its ppfoam material side is away from the conveyor line, and its fabric material side is attached to the conveyor line.

[0021] The automobile roof fabric conveying and turning device provided by the present invention may also have the following features: wherein, the control process of the third control unit includes the following steps: S10, after the second detection sensor detects that the front end has drooped to a specified position in the yz plane direction, the front end clamp is controlled to clamp the front end and pull it to move along the x-axis in the direction opposite to the conveying direction, and during the displacement process, the front end clamp is cooperatively controlled to rotate around the y-axis so that the front end is finally moved along the x-axis in the direction opposite to the conveying direction; S20, when the third detection sensor detects that the rear end reaches above the area where the flap assembly is located, the driver is controlled to stop running and the front end clamp is controlled to stop moving; S30, the flap assembly is controlled to lift the rear end; S40, control the rear end clamp to clamp the lifted rear end; S50, control the rear end clamp to pull the rear end to move along the x-axis direction toward the transmission direction and at the same time downward along the z-axis direction, and at the same time control the front end clamp to pull the front end to move along the x-axis direction in the direction opposite to the transmission direction. During the displacement process, the rear end clamp is cooperatively controlled to rotate around the y-axis direction so that the rear end is finally directed along the x-axis direction toward the transmission direction, until the front end and the rear end are in the same xy plane and the distance between the front end and the rear end in the x-direction reaches the set value, and finally the soft fabric is turned over; S60, control the front end clamp to pull the front end to move along the x-axis direction toward the transmission direction and cooperate with the rear end clamp to transport the turned over soft fabric along the x-axis direction toward the transmission direction.

[0022] Functions and effects of the invention

[0023] The automobile roof fabric conveying and flipping device involved in the present invention is used to flip over a rectangular soft fabric with a rubber surface and the rubber surface facing upward on a conveyor line and then continue to convey it. The conveyor line has a driver for driving the conveying. The conveyor line is divided into two sections along its conveying direction, which are respectively recorded as the first conveyor line and the second conveyor line. The soft fabric is conveyed from the first conveyor line to the second conveyor line. The length direction of the conveyor line is recorded as the x-axis direction, the width direction of the conveyor line is recorded as the y-axis direction, and the direction perpendicular to the xy plane is recorded as the z-axis direction. It includes: a second detection sensor for detecting whether the front end of the soft fabric in the conveying direction droops to a specified position in the yz plane direction after being conveyed by the conveyor line; a front end clamping assembly, which is arranged below the conveyor line and has a front end clamp movable along the x-axis direction. The initial position of the front end clamp is located in the lower area of ​​the conveying end of the second conveyor line. The front end clamp is used to clamp the front end that droops to a specified position along the yz plane; a third detection sensor A device for detecting whether the rear end of the soft fabric reaches the upper area between the first conveyor line and the second conveyor line in the conveying direction; a flap assembly, arranged between the first conveyor line and the second conveyor line, for lifting the rear end conveyed above it, and the angle of the lifted rear end to the conveying direction is not less than 90°; a rear end clamping assembly, arranged above the conveyor line, having a rear end clamping jaw movable along the x-axis and z-axis directions, the initial position of the rear end clamping jaw being located above the flap assembly, and the rear end clamping jaw being used to clamp the rear end lifted by the flap assembly; and a third control unit, connected to the front end clamping assembly, the second detection sensor, the flap assembly, the rear end clamping assembly, the third detection sensor and the driver, for collaboratively controlling the front end clamping assembly, the rear end clamping assembly and the driver according to the signals of the second detection sensor and the third detection sensor so that the front and rear ends are swapped in front and back positions in the x-axis direction and are at the same height in the z-axis direction to realize the flipping of the soft fabric.

[0024] Therefore, the automobile roof fabric conveying and turning device of the present invention has the following beneficial effects:

[0025] (1) Through the coordination of the front-end clamping assembly, the flap assembly and the rear-end clamping assembly, the front and rear ends of the soft fabric are clamped respectively, so as to achieve precise flipping of the fabric and maintain transmission continuity.

[0026] (2) Through multiple sensors (second detection sensor and third detection sensor) + central control unit (third control unit), real-time detection of fabric position + action triggering + closed-loop control of multi-mechanism collaboration is realized, which improves the flipping success rate and production line compatibility and realizes full-process automated decision-making. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1is a perspective view of an automobile roof fabric conveying and turning device with upper and lower brackets in an embodiment of the present invention;

[0028] Figure 2 This is a perspective view of the automobile roof fabric conveying and turning device in an embodiment of the present invention without the upper and lower brackets;

[0029] Figure 3 yes Figure 2 Enlarged view of the middle II area;

[0030] Figure 4 It corresponds to Figure 3 A stereogram from another perspective;

[0031] Figure 5 yes Figure 2 Enlarged view of the middle III region;

[0032] Figure 6 yes Figure 2 Enlarged view of the middle IV region;

[0033] Figure 7 It corresponds to Figure 6 A stereogram from another perspective;

[0034] Figure 8 The present invention is a schematic diagram of a process for turning over a soft fabric by a vehicle roof fabric conveying and turning device in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to make the technical means, creative features, objectives and effects of the present invention easier to understand, the following embodiments and accompanying drawings specifically illustrate an automobile roof fabric conveying and turning device of the present invention.

[0036] <Example>

[0037] Figure 1 It is a three-dimensional diagram of the automobile roof fabric conveying and turning device with upper and lower brackets in an embodiment of the present invention.

[0038] like Figure 1 As shown, this embodiment provides a vehicle roof fabric conveying and turning device 60 for turning over a rectangular piece of soft fabric B with an adhesive surface facing upward on a conveyor line C for continued conveyance. The adhesive surface is made of PP foam, and the soft fabric B has a mixed coating layer of solvent adhesive, catalyst, and water on one side of the adhesive surface.

[0039] The conveyor line C has a driver for driving the conveying. The conveyor line C is divided into two sections along its conveying direction, which are respectively marked as the first conveyor line C1 and the second conveyor line C2.

[0040] The soft fabric B is conveyed from the first conveyor line C1 to the second conveyor line C2. Before being turned over, the soft fabric B is conveyed on the conveyor line C with its PPFOAM material side facing away from the conveyor line C and its fabric material side attached to the conveyor line C.

[0041] The length direction of the conveyor line C is recorded as the x-axis direction, the width direction of the conveyor line C is recorded as the y-axis direction, and the direction perpendicular to the xy plane is recorded as the z-axis direction.

[0042] Figure 3 yes Figure 2 Enlarged view of the middle II area; Figure 4 It corresponds to Figure 3 A stereogram from another perspective; Figure 5 yes Figure 2 Enlarged view of the middle III region; Figure 6 yes Figure 2 Enlarged view of area IV in the middle.

[0043] like Figures 1 to 6 As shown, the automobile roof fabric conveying and turning device 60 in this embodiment includes a front clamping assembly 61, a second detection sensor 62, a flap assembly 63, a rear clamping assembly 64, a third detection sensor 65 and a third control unit (not shown in the figure).

[0044] The front end clamping assembly 61 includes a first moving portion 611 , a first rotating portion 612 and a first clamping jaw portion 613 .

[0045] The first moving part 611 includes a third guide rail 6111 , a third rack 6112 , a third moving member 6113 and a third motor 6114 .

[0046] The number of third guide rails 6111 and third racks 6112 is 2 and 1 respectively. The third guide rails 6111 and third racks 6112 are fixed to the lower area of ​​the conveyor line C by an external fixed position bracket D'. The length direction of the third guide rails 6111 and third racks 6112 is along the x-axis direction.

[0047] The third moving member 6113 is track-embedded and mounted on the third guide rail 6111 so as to be movable along the x-axis direction.

[0048] The third motor 6114 is fixed on the third movable member 6113. The power output shaft of the third motor 6114 has a gear that matches and engages with the third rack 6112. When the third motor 6114 is running, the gear thereon rotates to engage with different positions in the length direction of the third rack 6112, thereby driving the third movable member 6113 to move in the x-axis direction.

[0049] The first rotating portion 612 includes a first roller 6121 and a first rotation driving motor 6122 .

[0050] The first roller 6121 is rotatably disposed on the third moving member 6113 and has a length direction along the y-axis. The first roller 6121 has a gear.

[0051] The first rotary drive motor 6122 is fixed on the third movable member 6113 , and the power output shaft of the first rotary drive motor 6122 is connected to the gear on the first roller shaft 6121 through a track, thereby providing the first roller shaft 6121 with power to rotate around its own longitudinal axis.

[0052] The first clamping jaw portion 613 includes a plurality of front clamping jaw driving cylinders 6131 and a plurality of pairs of front clamping jaws 6132 corresponding thereto.

[0053] A plurality of front-end clamp driving cylinders 6131 are distributed along the y-axis direction on the first roller 6121 and rotate along with the first roller 6121 .

[0054] Several pairs of front-end clamping jaws 6132 are mounted on corresponding front-end clamping jaw drive cylinders 6131. ​​These clamping jaws 6132 are used to clamp the front end of the soft fabric B, which has been conveyed via conveyor line C and has drooped to a specified position in the yz plane. The initial position of the front-end clamping jaws 6132 is below the end of the conveyor line C1, and the initial opening of the front-end clamping jaws 6132 is upward along the z-axis. The front-end clamping jaws 6132 are driven by the front-end clamping jaw drive cylinders 6131 to clamp the front end.

[0055] The second detection sensor 62 is arranged on the third moving member 6113, and is used to detect whether the front end droops along the yz plane to the opening of the front end clamp 6132 after being conveyed via the second conveying line C2.

[0056] The flap assembly 63 includes a transmission plate 631 , a flap 632 and a flap cylinder 633 .

[0057] The two ends of the transmission plate 631 are respectively denoted as a free end 6311 and a fixed end 6312. The free end 6311 is located in the y-axis region between the first conveyor line C1 and the second conveyor line C2, and the fixed end 6312 is rotatably fixed about the y-axis to the side of the y-axis region between the first conveyor line C1 and the second conveyor line C2.

[0058] There are two transmission plates 631 and they are arranged along the y-axis direction (specifically in this embodiment, two transmission plates 631 are arranged at both ends of the y-axis area between the first conveyor line C1 and the second conveyor line C2), and the connection direction of the free end 6311 and the fixed end 6312 is initially towards the transmission direction.

[0059] The flap 632 is disposed between the first conveyor line C1 and the second conveyor line C2 . Both ends of the flap 632 are fixed by two free ends 6311 . The flap 632 is initially flush with the upper side of the conveyor line C1 .

[0060] The main body of the flip cylinder 633 is fixed to the lower area of ​​the transmission plate 631 in the z-axis direction through an additionally arranged plate, and the power output shaft of the flip cylinder 633 is connected to the free end 6311. When the flip cylinder 633 is in operation, it drives the transmission plate 631 as a whole to rotate around the fixed end 6312, and drives the two flip plates 632 fixed at the free ends 6311 to flip a certain angle to lift the rear end, and the angle does not exceed 90°.

[0061] The rear end clamping assembly 64 includes a second moving portion 641 , a third moving portion 642 , a second rotating portion 643 and a second clamping jaw portion 644 .

[0062] The second moving part 641 includes a fourth guide rail 6411 , a fourth rack 6412 , a fourth moving member 6413 , and a fourth motor 6414 .

[0063] The number of the fourth guide rails 6411 and the fourth rack 6412 is 2 and 1 respectively. The fourth guide rails 6411 and the fourth rack 6412 are fixed to the upper area of ​​the conveyor line C through an external fixed position bracket D. The length direction of the fourth guide rails 6411 and the fourth rack 6412 are both along the x-axis direction.

[0064] The fourth moving member 6413 is track-embedded and mounted on the fourth guide rail 6411 so as to be movable along the x-axis direction.

[0065] The fourth motor 6414 is fixed on the fourth movable member 6413. The power output shaft of the fourth motor 6414 has a gear that matches and engages with the fourth rack 6412. When the fourth motor 6414 is running, the gear on it rotates to engage with different positions in the length direction of the fourth rack 6412, thereby driving the fourth movable member 6413 to move in the x-axis direction.

[0066] The third moving portion 642 includes a fifth guide rail 6421 , a fifth rack 6422 , a fifth moving member 6423 , and a fifth motor 6424 .

[0067] Figure 7 It corresponds to Figure 6 A stereogram from another perspective.

[0068] like Figures 1 to 7 As shown, the number of the fifth guide rails 6421 and the number of the fifth racks 6422 are 2 and 1 respectively. The fifth guide rails 6421 and the fifth racks 6422 are fixed on the fourth moving member 6413, and the length directions of the fifth guide rails 6421 and the fifth racks 6422 are along the z-axis direction.

[0069] The fifth moving member 6423 is track-embedded and mounted on the fifth guide rail 6421 so as to be movable along the z-axis direction.

[0070] The fifth motor 6424 is fixed on the fifth movable member 6423. The power output shaft of the fifth motor 6424 has a gear that matches and engages with the fifth rack 6422. When the fifth motor 6424 is running, the gear on it rotates to engage with different positions in the length direction of the fifth rack 6422, thereby driving the fifth movable member 6423 to move in the z-axis direction.

[0071] The second rotating portion 643 includes a second roller 6431 and a second rotation driving motor 6432 .

[0072] The second roller 6431 is rotatably mounted on the fifth moving member 6423 and has a length along the y-axis. A gear is mounted on the second roller 6431 .

[0073] The second rotary drive motor 6432 is fixed on the fifth movable member 6423 , and the power output shaft of the second rotary drive motor 6432 is connected to the gear on the second roller shaft 6431 through a track, thereby providing the second roller shaft 6431 with power to rotate around its own longitudinal axis.

[0074] The second clamping jaw portion 644 includes a plurality of rear end clamping jaw driving cylinders 6441 and a plurality of pairs of rear end clamping jaws 6442 corresponding thereto.

[0075] A plurality of rear-end clamp driving cylinders 6441 are distributed along the y-axis direction on the second roller 6431 and rotate along with the second roller 6431 .

[0076] A plurality of pairs of rear end clamps 6442 are correspondingly arranged on the rear end clamp driving cylinder 6441, and are driven by the rear end clamp driving cylinder 6441 to clamp the rear end. The initial position of the rear end clamp 6442 is located in the upper area of ​​the flap 632. The initial opening direction of the rear end clamp 6442 is obliquely downward along the z-axis direction and pointing to the area of ​​the second conveyor line C2. The angle between this direction and the conveying direction is recorded as θ1, θ1∈(0°,90°). The angle between the direction of the rear end raised by the flap 632 and the conveying direction is recorded as θ2, θ2∈[90°,180°), θ1+θ2=180°.

[0077] Specifically in this embodiment, the initial position of the fifth movable member 6423 is located above the area at the end of the first conveyor line C1 close to the second conveyor line C2, and the third detection sensor 65 is arranged on the fifth movable member 6423 to detect whether there is soft fabric B above the side of the conveying end of the first conveyor line C1 close to the flip plate 632. When the third detection sensor 65 detects that there is no soft fabric B above the side of the conveying end of the first conveyor line C1 close to the flip plate 632, it means that the rear end has reached above the area where the flip plate 632 is located.

[0078] The third control unit (not shown in the figure) is connected to the second detection sensor 62, the third detection sensor 65, the third motor 6114, the first rotation drive motor 6122, the front end clamping claw drive cylinder 6131, the flip cylinder 633, the fourth motor 6414, the fifth motor 6424, the second rotation drive motor 6432, the rear end clamping claw drive cylinder 6441 and the driver of the conveyor line, and is used to coordinately control the front end clamping assembly 61, the flip assembly 63, the rear end clamping assembly 64 and the driver to clamp the front end and the rear end of the soft fabric fabric B according to the detection signals of the second detection sensor 62 and the third detection sensor 65 so that the front and rear ends are swapped in front and back positions in the x-axis direction and are at the same height in the z-axis direction to achieve the flipping of the soft fabric fabric B.

[0079] Figure 8 The present invention is a schematic diagram of a process for turning over a soft fabric by a vehicle roof fabric conveying and turning device in an embodiment of the present invention.

[0080] like Figures 1 to 8 As shown, the operation process of the automobile roof fabric conveying and turning device 60 in this embodiment / the control process of the third control unit includes the following steps:

[0081] S10, after the second detection sensor 62 detects that the front end has been transported via the second conveyor line C2 and drooped along the yz plane to the opening of the front end clamp 6132, the front end clamp is driven by the front end clamp cylinder 6131 to control the front end clamp 6132 to clamp the front end. Subsequently, the third motor 6114 is operated to control the third moving member 6113 to drive the front end clamped by the front end clamp 6132 to move along the x-axis in the direction opposite to the transport direction. During the displacement process, the first rotary drive motor 6122 is operated in conjunction to drive the first roller 6121 to rotate, thereby driving the front end clamped by the front end clamp 6132 thereon to rotate around the y-axis so that the front end is finally moved along the x-axis in the direction opposite to the transport direction.

[0082] In the above steps, the first roller 6121 rotates around the y-axis by an angle of 90°.

[0083] S20, when the third detection sensor 65 detects that the rear end reaches above the area where the flip plate 632 is located, the driver is controlled to stop running (stop the operation of the conveyor line C) and the third motor 6114 is controlled to stop running to stop the front end clamp 6132 from driving the front end to move in the x-axis direction.

[0084] S30, controlling the flap cylinder 633 to operate so that the flap 632 lifts up the rear end.

[0085] S40, driving the rear end clamping jaw driving cylinder 6441 to operate, thereby controlling the rear end clamping jaw 6442 to clamp the lifted rear end.

[0086] S50, (1) Control the fourth motor 6414 to drive the fourth moving member 6413 to move along the x-axis direction toward the transmission direction, thereby driving the rear end clamped by the rear end clamp 6442 provided thereon to be pulled along the x-axis direction toward the transmission direction. (2) Cooperate with the fifth motor 6424 to drive the fifth moving member 6423 to move downward along the z-axis direction, thereby driving the rear end clamped by the rear end clamp 6442 provided thereon to move downward along the z-axis direction. (3) Cooperate with the third motor 6114 to control the third moving member 6113 to drive the front end clamped by the front end clamp 6132 to move along the x-axis direction toward the direction opposite to the transmission direction. (4) Coordinated control of the second rotary drive motor 6432 to rotate the second roller 6431 to drive the rear end clamp 6442 provided thereon to rotate around the y-axis direction so that the rear end clamp 6442 clamps the rear end and finally moves along the x-axis direction toward the transmission direction (the rotation angle range of the second roller 6431 is [90°, 180°)) until the front end and the rear end are in the same xy plane and the distance between the front end and the rear end in the x-direction reaches the set value, thereby finally realizing the turning over of the soft fabric B.

[0087] S60, controlling the third motor 6114 and the fifth motor 6424 to operate in coordination, so that the turned-over soft fabric B is transported along the x-axis toward the conveying direction for subsequent processes.

[0088] Functions and Effects of the Embodiments

[0089] According to the embodiment, a car roof fabric conveying and flipping device is provided, which has the following characteristics: it is used to flip over a rectangular soft fabric with a rubber surface and the rubber surface facing upward on a conveyor line and then continue to convey it; the conveyor line has a driver for driving the conveying; the conveyor line is divided into two sections along its conveying direction, which are respectively recorded as the first conveyor line and the second conveyor line; the soft fabric is conveyed from the first conveyor line to the second conveyor line, and the length direction of the conveyor line is recorded as the x-axis direction, the width direction of the conveyor line is recorded as the y-axis direction, and the direction perpendicular to the xy plane is recorded as the z-axis direction, because it includes: a second detection sensor for detecting whether the front end of the soft fabric in the conveying direction droops to a specified position in the yz plane direction after being conveyed via the conveyor line; a front end clamping assembly, which is arranged below the conveyor line and has a front end clamp movable along the x-axis direction, the initial position of the front end clamp is located in the lower area of ​​the conveying end of the second conveyor line, and the front end clamp is used to clamp the front end that droops to a specified position along the yz plane; the second Three detection sensors are used to detect whether the rear end of the soft fabric reaches the upper area between the first conveyor line and the second conveyor line in the conveying direction; a flip assembly is arranged between the first conveyor line and the second conveyor line, and is used to lift the rear end conveyed above it, and the angle between the lifted rear end and the conveying direction is not less than 90°; a rear end clamping assembly is arranged above the conveyor line, and has a rear end clamping claw movable along the x-axis and z-axis directions, and the initial position of the rear end clamping claw is located above the flip assembly, and the rear end clamping claw is used to clamp the rear end lifted by the flip assembly; and a third control unit is connected to the front end clamping assembly, the second detection sensor, the flip assembly, the rear end clamping assembly, the third detection sensor and the driver, and is used to coordinately control the front end clamping assembly, the rear end clamping assembly and the driver according to the signals of the second detection sensor and the third detection sensor so that the front and rear ends are swapped in the front and rear positions in the x-axis direction and are at the same height in the z-axis direction to realize the flipping of the soft fabric.

[0090] Therefore, the automobile roof fabric conveying and turning device of this embodiment has the following beneficial effects:

[0091] (1) Through the coordination of the front-end clamping assembly, the flap assembly and the rear-end clamping assembly, the front and rear ends of the soft fabric are clamped respectively, so as to achieve precise flipping of the fabric and maintain transmission continuity.

[0092] (2) Through multiple sensors (second detection sensor and third detection sensor) + central control unit (third control unit), real-time detection of fabric position + action triggering + closed-loop control of multi-mechanism collaboration is realized, which improves the flipping success rate and production line compatibility and realizes full-process automated decision-making.

[0093] Furthermore, the front-end clamping assembly includes: a first moving part, which is movably arranged below the conveyor line along the x-axis direction through a guide rail, and the first moving part is connected to a third control unit so that its displacement is controlled by it; a first rotating part, which has a first roller, and the first roller passes through the first moving part along the y-axis direction and the first roller can rotate around its own axis in the y-axis direction, and the first rotating part is connected to the third control unit so that it controls the first roller to rotate around its own axis in the y-axis direction; and a first clamping jaw part, which has a plurality of front-end clamping jaws, and the plurality of front-end clamping jaws are distributed on the first roller along the y-axis direction so that they are driven to rotate around the y-axis direction, and the initial opening direction of the plurality of front-end clamping jaws is upward along the z-axis direction, and the second detection sensor is used to detect whether the front end droops along the yz plane to the opening of the front-end clamping jaw after being transmitted via the conveyor line, and the first clamping jaw part is connected to the third control unit so that it controls the plurality of front-end clamping jaws to clamp the front end drooping along the yz plane to its opening.

[0094] Such a setting has the following beneficial effects: the front-end clamping jaw integrates displacement + rotation + clamping functions, and the action is triggered by the sensor to avoid manual judgment errors.

[0095] Furthermore, the third control unit detects through the second detection sensor that the front end droops along the yz plane to the opening of the front end clamp after being transmitted through the conveyor line, and then controls several front end clamps to clamp the front end, and controls the first moving part to move along the x-axis direction in the direction opposite to the transmission direction. When the third control unit detects through the third detection sensor that the rear end reaches the upper area between the first conveyor line and the second conveyor line, it controls the drive and the front end clamping assembly to stop running, and then controls the flap assembly to lift the rear end and cooperatively controls the rear end clamping assembly to clamp the rear end. During the displacement of the first moving part, the third control unit cooperatively controls the first roller to rotate around its own y-axis axis until the opening of the front end clamp is facing along the x-axis direction and toward the transmission direction. The rotation angle of the first roller is 90°.

[0096] Such an arrangement has the following beneficial effects: clamping is performed immediately after detecting sagging, and then the front end is synchronously rotated 90° during the reverse movement, which can effectively shorten the process time.

[0097] Furthermore, the third detection sensor is used to detect whether there is soft fabric material staying above the side of the flap assembly at the end of the conveying of the first conveyor line. The method for the third detection sensor to detect whether the rear end has reached the area where the flap assembly is located is: when the third detection sensor detects that there is no soft fabric material above the side of the flap assembly at the end of the conveying of the first conveyor line, it means that the rear end has reached the area where the flap assembly is located.

[0098] Such an arrangement has the following beneficial effects: the third sensor simplifies detection installation through the "no material, in place" logic, reducing equipment complexity.

[0099] Furthermore, the flip assembly includes: a transmission plate, whose two ends are respectively marked as a free end and a fixed end, the free end is located in the y-axis direction area between the first conveyor line and the second conveyor line, and the fixed end is rotatably fixed around the y-axis direction to the side of the y-axis direction area between the first conveyor line and the second conveyor line. There are two transmission plates and they are arranged along the y-axis direction. The connection direction of the free end and the fixed end is initially towards the conveying direction; a flip plate, which is arranged between the first conveyor line and the second conveyor line, and the two ends of the flip plate are respectively fixed by two free ends, and the flip plate is initially flush with the upper side of the conveyor line; and a flip cylinder, whose main body is fixed to the lower side of the transmission plate in the z-axis direction, and the power output shaft of the flip cylinder is connected to the free end. The flip cylinder is connected to the third control unit so that it is controlled to operate so that the transmission plate rotates around the fixed end, and drives the two flip plates with fixed free ends to flip a certain angle to lift the rear end, and the angle does not exceed 90°.

[0100] Such an arrangement has the following beneficial effects: the angle limit of the flap cylinder (≤90°) ensures that the fabric is not folded and damaged when it is lifted.

[0101] Furthermore, the rear end clamping assembly includes: a second movable part, which is movably arranged above the conveyor line through a guide rail, and the second movable part is connected to a third control unit so as to be controlled by it to move in the x-axis direction; a third movable part, which is movably arranged on the second movable part along the z-axis direction through a guide rail, and the third movable part is connected to a third control unit so as to be controlled by it to move; a second rotating part, which has a second roller, and the second roller passes through the third movable part along the y-axis direction and the second roller can rotate around its own axis in the y-axis direction, and the second rotating part is connected to the third control unit so as to be controlled by it to rotate the second roller around its own axis in the y-axis direction; and a second clamping part, which has a plurality of rear end clamping jaws, and the plurality of rear end clamping jaws are distributed on the second roller along the y-axis direction so as to be driven by it to rotate around the y-axis direction, and the initial opening direction of the plurality of rear end clamping jaws is directly downward along the z-axis direction, or obliquely downward along the z-axis direction and pointing to the area of ​​the second conveyor line, and the second clamping jaw part is connected to the third control unit so as to be controlled by it to clamp the rear end of the flip assembly.

[0102] Such an arrangement has the following beneficial effects: the three degrees of freedom (x / z movement + y rotation) of the rear end clamp adapts to the dynamic posture after the flap is lifted.

[0103] Furthermore, after the third control unit controls the rear end clamping assembly to clamp the raised rear end of the flap assembly, it controls the front end clamping jaw to move along the x-axis direction in the direction opposite to the conveying direction, and at the same time, cooperatively controls the second moving part to move along the x-axis direction in the conveying direction and controls the third moving part to move downward along the z-axis direction, until the front and rear positions of the rear end clamping jaw and the front end clamping jaw in the x-axis direction are swapped and are at the same height in the z-axis direction and the distance between the rear end clamping jaw and the front end clamping jaw can make the soft fabric taut in the x-axis direction. During the displacement of the second moving part and the third moving part, the third control unit cooperatively controls the second roller to rotate around its own y-axis axis until the opening of the rear end clamping jaw is facing along the x-axis direction and in the direction opposite to the conveying direction, and the spin angle range of the second roller is [90°, 180°).

[0104] Such an arrangement has the following beneficial effects: the front and rear clamps move in coordination to tighten the fabric, while the rear clamp rotates 90° to 180° to eliminate torsional stress.

[0105] Furthermore, the angle between the initial opening direction of the rear end clamp and the conveying direction is recorded as θ1, and the angle between the direction of the raised rear end of the flap assembly and the conveying direction is recorded as θ2, θ1+θ2=180°.

[0106] Such an arrangement has the following beneficial effects: the geometric constraint of θ1+θ2=180° is maintained, ensuring the optimization of the flipping path.

[0107] Furthermore, the control process of the third control unit includes the following steps: S10, after detecting that the front end has drooped to the specified position in the yz plane direction through the second detection sensor, the front end clamp is controlled to clamp the front end and pull it to move along the x-axis in the direction opposite to the transmission direction, and during the displacement process, the front end clamp is cooperatively controlled to rotate around the y-axis so that the front end is finally moved along the x-axis in the direction opposite to the transmission direction; S20, when the third detection sensor detects that the rear end reaches above the area where the flap assembly is located, the drive is controlled to stop running and the front end clamp is controlled to stop moving; S30, the flap assembly is controlled to lift the rear end; S40, the rear end clamp is controlled to clamp the lifted The rear end of the fabric is finally turned over along the x-axis direction, until the front end and the rear end are in the same xy plane and the distance between the front end and the rear end in the x direction reaches the set value, thereby finally turning over the soft fabric. S60: control the front end clamp to pull the front end to move along the x-axis direction toward the transmission direction and cooperate with the rear end clamp to transport the turned over soft fabric along the x-axis direction toward the transmission direction.

[0108] Such a setting has the following beneficial effects: a standardized operation sequence is formed through the six-step control process of S10-S60, which is applicable to different batches of fabrics and effectively improves the yield rate.

[0109] Those skilled in the art will appreciate that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A car roof fabric conveying and turning device, characterized in that: It is used to turn over a rectangular piece of soft fabric with a rubber surface facing upward on a conveyor line and then continue to convey it. The conveyor line has a driver for driving the conveying. The conveyor line is divided into two sections along its conveying direction, which are respectively recorded as the first conveyor line and the second conveyor line. The soft fabric is conveyed from the first conveyor line to the second conveyor line. The length direction of the conveyor line is recorded as the x-axis direction, the width direction of the conveyor line is recorded as the y-axis direction, and the direction perpendicular to the xy plane is recorded as the z-axis direction. The automobile roof fabric conveying and turning equipment includes: A second detection sensor is used to detect whether the front end of the soft fabric in the conveying direction has drooped to a specified position in the yz plane direction after being conveyed via the conveyor line; A front-end clamping assembly is provided below the conveyor line and has a front-end clamping jaw movable along the x-axis direction. The initial position of the front-end clamping jaw is located in the area below the end of the conveyor line. The front-end clamping jaw is used to clamp the front end that is drooped to a specified position along the yz plane. a third detection sensor, configured to detect whether the rear end of the soft fabric in the conveying direction reaches the upper area between the first conveying line and the second conveying line; a flap assembly, disposed between the first conveyor line and the second conveyor line, for lifting the rear end conveyed above it, with the angle between the lifted rear end and the conveying direction being not less than 90°; a rear end clamping assembly, disposed above the conveyor line, having a rear end clamping jaw movable along the x-axis and the z-axis, wherein the initial position of the rear end clamping jaw is located above the flap assembly, and the rear end clamping jaw is used to clamp the rear end lifted by the flap assembly; and A third control unit is connected to the front-end clamping assembly, the second detection sensor, the flip assembly, the rear-end clamping assembly, the third detection sensor, and the driver, and is used to collaboratively control the front-end clamping assembly, the rear-end clamping assembly, and the driver based on signals from the second detection sensor and the third detection sensor so that the front and rear ends are swapped in front and back positions in the x-axis direction and are at the same height in the z-axis direction to achieve flipping of the soft fabric.

2. The automobile roof fabric conveying and turning device according to claim 1, Its characteristics are: in, The front end clamping assembly includes: A first moving part is movably provided below the conveying line along the x-axis through a guide rail, and the first moving part is connected to the third control unit so that its displacement is controlled by the third control unit; a first rotating portion having a first roller, the first roller passing through the first moving portion along the y-axis and being capable of rotating about its own axis in the y-axis direction, the first rotating portion being connected to the third control unit so as to be controlled by the third control unit to rotate the first roller about its own axis in the y-axis direction; and The first clamping jaw part has a plurality of front end clamping jaws, and the plurality of front end clamping jaws are distributed on the first roller along the y-axis direction so as to be driven by the first roller to rotate around the y-axis direction. The initial opening direction of the plurality of front end clamping jaws is upward along the z-axis direction. The second detection sensor is used to detect whether the front end droops along the yz plane to the opening of the front end clamping jaw after being transmitted via the conveyor line. The first clamping jaw part is connected to the third control unit so as to be controlled by it so that the plurality of front end clamping jaws clamp the front end drooping along the yz plane to its opening.

3. The automobile roof fabric conveying and turning device according to claim 2, characterized in that: in, After the third control unit detects through the second detection sensor that the front end has been transported via the conveyor line and drooped along the yz plane into the opening of the front end clamp, it controls the front end clamps to clamp the front end and controls the first moving part to move along the x-axis in a direction opposite to the transport direction. When the third control unit detects through the third detection sensor that the rear end reaches the upper area between the first conveyor line and the second conveyor line, it controls the driver and the front end clamping assembly to stop running, and then controls the flap assembly to lift the rear end and cooperatively controls the rear end clamping assembly to clamp the rear end. During the displacement of the first moving part, the third control unit cooperatively controls the first roller to rotate around its own y-axis axis until the opening of the front clamp is oriented along the x-axis direction and toward the conveying direction, and the rotation angle of the first roller is 90°.

4. The automobile roof fabric conveying and turning device according to claim 1, characterized in that: in, The third detection sensor is used to detect whether the soft fabric is located above the side of the flap assembly at the end of the first conveying line. The method by which the third detection sensor detects whether the rear end has reached the area where the flap assembly is located is as follows: when the third detection sensor detects that there is no soft fabric above the side of the flap assembly at the end of the conveying end of the first conveyor line, it means that the rear end has reached the area where the flap assembly is located.

5. The automobile roof fabric conveying and turning device according to claim 1, Its characteristics are: in, The flap assembly comprises: a transmission plate, with its two ends respectively designated as a free end and a fixed end, the free end being located in the y-axis region between the first conveyor line and the second conveyor line, the fixed end being rotatably fixed about the y-axis to the side of the y-axis region between the first conveyor line and the second conveyor line, the number of the transmission plates being two and being arranged along the y-axis, the direction of the line connecting the free end and the fixed end initially being oriented in the conveying direction; a flap, disposed between the first conveyor line and the second conveyor line, with both ends of the flap being fixed by the two free ends, and the flap being initially flush with the upper side of the conveyor line; and The main body of the flip cylinder is fixed to the lower side of the transmission plate in the z-axis direction, and the power output shaft of the flip cylinder is connected to the free end. The flip cylinder is connected to the third control unit so that it is controlled to operate so that the transmission plate rotates around the fixed end and drives the two flaps fixed at the free ends to flip a certain angle to lift the rear end, and the angle does not exceed 90°.

6. The automobile roof fabric conveying and turning device according to claim 1, Its characteristics are: in, The rear end clamping assembly comprises: A second moving part is movably arranged above the conveying line through a guide rail, and the second moving part is connected to the third control unit so as to be controlled by the third control unit to move along the x-axis direction; a third movable portion, movably disposed on the second movable portion along the z-axis via a guide rail, the third movable portion being connected to the third control unit so as to be controlled in displacement; a second rotating portion having a second roller, the second roller passing through the third moving portion along the y-axis and capable of rotating about its own axis in the y-axis direction, the second rotating portion being connected to the third control unit so as to be controlled by the third control unit to rotate the second roller about its own axis in the y-axis direction; and The second clamping jaw part has a plurality of rear end clamping jaws, and the plurality of rear end clamping jaws are distributed on the second roller along the y-axis direction so as to be driven by the second roller to rotate around the y-axis direction. The initial opening direction of the plurality of rear end clamping jaws is directly downward along the z-axis direction, or obliquely downward along the z-axis direction and pointing to the area of ​​the second conveyor line. The second clamping jaw part is connected to the third control unit so as to be controlled by it so that the plurality of rear end clamping jaws clamp the rear end of the flip assembly.

7. The automobile roof fabric conveying and turning device according to claim 6, characterized in that: in, When the third control unit controls the rear end clamping assembly to clamp the rear end lifted by the flap assembly, it controls the front end clamping jaw to move in the direction opposite to the conveying direction along the x-axis direction, and at the same time coordinately controls the second moving part to move in the x-axis direction toward the conveying direction and controls the third moving part to move downward in the z-axis direction, until the front and rear positions of the rear end clamping jaw and the front end clamping jaw in the x-axis direction are swapped and are at the same height in the z-axis direction and the distance between the rear end clamping jaw and the front end clamping jaw can make the soft fabric taut in the x-axis direction. During the displacement of the second moving part and the third moving part, the third control unit cooperatively controls the second roller to rotate around its own axis in the y-axis direction until the opening of the rear end clamp is oriented along the x-axis direction and in the direction opposite to the conveying direction, and the rotation angle range of the second roller is [90°, 180°).

8. The automobile roof fabric conveying and turning device according to claim 6, characterized in that: in, The angle between the initial opening direction of the rear end clamp and the conveying direction is recorded as θ1. The angle between the rear end of the flip assembly and the conveying direction is denoted as θ2. θ1+θ2=180°.

9. The automobile roof fabric conveying and turning device according to claim 1, characterized in that: in, The adhesive surface is made of ppfoam, and the soft fabric has a mixed coating layer of solvent adhesive, catalyst and water on one side of the adhesive surface. Before the soft fabric is turned over, when it is conveyed on the conveyor line, the PPFOAM material side of the soft fabric faces away from the conveyor line, and the fabric material side of the soft fabric is attached to the conveyor line.

10. The automobile roof fabric conveying and turning device according to any one of claims 1 to 9, characterized in that: in, The control process of the third control unit includes the following steps: S10, after detecting, by the second detection sensor, that the front end has drooped to a specified position in the yz plane direction, controlling the front end clamp to clamp the front end and pull it to move along the x-axis in a direction opposite to the conveying direction, and during the displacement process, cooperatively controlling the front end clamp to rotate about the y-axis so that the front end is finally moved along the x-axis in a direction opposite to the conveying direction; S20, when the third detection sensor detects that the rear end reaches above the area where the flap assembly is located, the driver is controlled to stop running and the front clamp is controlled to stop moving; S30, controlling the flap assembly to lift the rear end; S40, controlling the rear end clamp to clamp the lifted rear end; S50, controlling the rear end clamp to pull the rear end to move along the x-axis toward the conveying direction and simultaneously downward along the z-axis, and simultaneously controlling the front end clamp to pull the front end to move along the x-axis toward a direction opposite to the conveying direction, and cooperatively controlling the rear end clamp to rotate about the y-axis during the displacement process so that the rear end is finally directed toward the conveying direction along the x-axis, until the front end and the rear end are in the same xy plane and the distance between the front end and the rear end in the x-direction reaches a set value, thereby finally achieving the turning over of the soft fabric; S60, controlling the front end clamp to pull the front end to move along the x-axis toward the conveying direction and cooperate with the rear end clamp to transport the turned over soft fabric along the x-axis toward the conveying direction.

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