Feeding system, sewing equipment and feeding method

Abstract

The invention discloses a feeding system, sewing equipment and a feeding method. The feeding system comprises a grabbing structure, a connecting arm, a movable base and a base. The grabbing mechanism is used for obtaining a target object, the connecting arm extends in the first direction, and one end of the connecting arm is connected with the grabbing mechanism. The movable base is connected with the end, away from the grabbing mechanism, of the connecting arm and movably connected with the base. The connecting arm can move relative to the movable base so as to adjust the position of the grabbing mechanism. The degree of freedom is high, the working efficiency and stability of feeding can be improved, and the automation degree is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of textiles, in particular to a feeding system, a sewing device and a feeding method. BACKGROUND

[0002] In the existing field of garment, luggage, shoes and hat sewing processing, double needle sewing machine as an important production equipment has been widely used. In the current double needle machine technology, the feeding process of cloth mainly depends on manual operation. The operator needs to manually place the cloth under the presser foot and continuously guide and push the cloth during the sewing process to ensure its smooth movement along the predetermined path.

[0003] Manual feeding is inefficient and labor-intensive. The feeding speed and rhythm of the operator is difficult to maintain stable for a long time, and is prone to fatigue, resulting in discontinuous production rhythm and limited overall production efficiency. Secondly, the accuracy of manual operation is difficult to guarantee. Due to human factors, the cloth is prone to deviation, skew, wrinkle or stretching deformation during the conveying process. These feeding errors will directly lead to a series of quality defects, seriously affecting the appearance quality and structural strength of the product. SUMMARY

[0004] The main purpose of the present application is to provide a feeding system, a sewing device and a feeding method. The feeding system of the present application has high degree of freedom, which can improve work efficiency and stability, and has high degree of automation.

[0005] To achieve the above-mentioned purpose, some embodiments of the present application provide a feeding system, comprising: A grabbing mechanism for obtaining a target object; A connecting arm extending in a first direction, one end of the connecting arm being connected to the grabbing mechanism; A movable base connected to the end of the connecting arm away from the grabbing mechanism; A base, the movable base being movably connected to the base; Wherein, the connecting arm can move relative to the movable base to adjust the position of the grabbing mechanism.

[0006] In some embodiments, the feeding system further comprises a first rotating member, the connecting arm being rotatably connected to the movable base through the first rotating member.

[0007] In some embodiments, the feeding system further comprises a second rotating member and a first platform, the first rotating member being connected to the first platform, and the first platform being connected to the movable base through the second rotating member.

[0008] In some embodiments, the rotation axis of the first rotating member and the rotation axis of the second rotating member are perpendicular, and the second rotating member rotates to adjust the angle between the connecting arm and the horizontal plane.

[0009] In some embodiments, the first rotating member rotates along a first direction, the grabbing mechanism has a front end and a rear end which are spaced apart and opposite to each other in the first direction, and the first rotating member rotates to adjust the orientation of the front end and the rear end.

[0010] In some embodiments, the grabbing mechanism includes two spaced-apart clamps, one of which is configured as the front end and the other of which is configured as the rear end.

[0011] In some embodiments, the first direction is a vertical direction, and the second rotating member rotates to switch the state of the connecting arm between the vertical direction and a horizontal direction.

[0012] In some embodiments, the movable base is slidably connected to the base, and the sliding direction of the movable base relative to the base, the rotation axis direction of the first rotating member, and the rotation axis direction of the second rotating member are perpendicular to each other. The movable base slides relative to the base to move the grabbing mechanism closer to or farther away from the target object.

[0013] Embodiments of the second aspect of the present application provide a sewing device including any of the above-described feeding systems. The sewing device further includes an unfolding system, a moving system, and a sewing system. The feeding system, the unfolding system, the moving system, and the sewing system are sequentially connected to sequentially complete the processing of the target object.

[0014] Embodiments of the third aspect of the present application provide a feeding method for any of the above-described feeding systems. The feeding method includes: The connecting arm moves relative to the movable base to adjust the orientation of the grabbing mechanism; The movable base moves relative to the base to move the grabbing mechanism closer to the target object; The grabbing mechanism acquires the target object; The grabbing mechanism is reset, and the orientation of the target object is adjusted.

[0015] According to the above-described embodiments, the present application has the following beneficial effects: The feeding system of the present application comprises a grabbing mechanism, a connecting arm, a movable base and a base. The grabbing mechanism is used to obtain a target object, which is usually in the form of a sheet, such as a hat brim front piece, etc. The grabbing mechanism can be in the form of a clamp, which clamps the target object and then moves it to a target position. The connecting arm extends in a first direction, one end of the connecting arm is connected to the grabbing mechanism, and the other end is connected to the movable base. The connecting arm serves to support the grabbing mechanism, and by extending a distance from the movable base, it can provide more space for the grabbing mechanism to move, which is beneficial to the action of the grabbing mechanism. The first direction can be any direction, for example, in some embodiments, the first direction is the vertical direction, and the grabbing mechanism is arranged above the movable base. The movable base is movably connected to the base. Specifically, the movable base can rotate or slide relative to the base, so as to adjust the inclination angle or position of the connecting arm, and thus adjust the orientation and position of the grabbing mechanism. For example, the movable base slides relative to the base to move the grabbing mechanism from an initial position to a target position. The connecting arm can move relative to the movable base to further adjust the position of the grabbing mechanism. For example, the connecting arm can rotate relative to the movable base, that is, through the rotation action, the connecting arm can switch its vertical state to a horizontal state or any inclination angle, so that the grabbing mechanism can be aligned with the target object at any position, and the grabbing mechanism can quickly and stably grab the target object. With such a design, combined with the sliding of the movable base relative to the base, the target object can be moved from the initial position to the target position, completing the automatic and efficient feeding process.

[0016] In summary, through the linkage of the grabbing mechanism, the connecting arm, the movable base and the base, the present application realizes high-precision and stepless pose adjustment of the target material in three-dimensional space. The grabbing mechanism as an end effector directly contacts the material, the connecting arm extends in a first direction, forming a long cantilever load path, so that the grabbing mechanism can flexibly grab within a larger working radius. The movable connection between the movable base and the base further expands the degree of freedom of movement, allowing the system to quickly compensate for the position deviation of the material without adding additional driving mechanisms, but only relying on the relative displacement between the base and the base. The connecting arm of the present application cooperates with the movable base, and the movable base cooperates with the base. This layered motion decoupling design simplifies the mechanical structure and reduces vibration during the action process, which is beneficial to maintaining a constant clamping force of the grabbing mechanism during the whole process of grabbing, carrying and placing, and effectively avoids the deformation or sliding of thin-walled or elastic materials during the transfer process. For example, the feeding system of the present application has outstanding effects in the field of textile technology, such as the processing technology of hat body front pieces.

[0017] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and for ordinary skilled in the art, other drawings can be obtained without creative labor based on the drawings shown.

[0019] Figure 1 Fig. 1 is a perspective view of a sewing device according to an embodiment of the present application, viewed along a first perspective angle; Figure 2 Fig. 2 is a perspective view of the sewing device according to an embodiment of the present application, viewed along a second perspective angle; Figure 1 Fig. 3 is an enlarged view of part A in Fig. 2; Figure 3 Fig. 4 is a perspective view of the sewing device according to an embodiment of the present application, viewed along a third perspective angle; Figure 4 Fig. 5 is a perspective view of a feeding system according to an embodiment of the present application, viewed along a first perspective angle; Figure 5 Fig. 6 is a perspective view of the feeding system according to an embodiment of the present application, viewed along a second perspective angle; Figure 6 Fig. 7 is a perspective view of the feeding system according to an embodiment of the present application, viewed along a third perspective angle; Figure 7 Fig. 8 is a flow chart of a feeding method according to an embodiment of the present application.

[0020] Explanation of the accompanying drawings: Fig. 1 is a perspective view of a sewing device according to an embodiment of the present application, viewed along a first perspective angle; Fig. 5 is a perspective view of a feeding system according to an embodiment of the present application, viewed along a first perspective angle; Fig. 6 is a perspective view of the feeding system according to an embodiment of the present application, viewed along a second perspective angle; Fig. 7 is a perspective view of the feeding system according to an embodiment of the present application, viewed along a third perspective angle; Fig. 8 is a flow chart of a feeding method according to an embodiment of the present application.

[0021] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0023] It should be noted that if the embodiments of the present application involve directionality indication (such as up, down, left, right, front, back, etc.), the directionality indication is only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directionality indication also changes accordingly.

[0024] In addition, if the embodiments of the present application involve the description of "first", "second", etc., the description of "first", "second", etc. is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, if "and / or", "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes include "A and / or B", including A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0025] The feeding system 100, the sewing device 10 and the feeding method according to the embodiments of the present application will be described below with reference to Figures 1 to 7 , Figure 1 , Figure 2 and Figure 6In some embodiments, the feeding system 100 of the present application comprises a grabbing mechanism 110, a connecting arm 120, a movable base 130 and a base 140. The grabbing mechanism 110 is used to obtain a target object, which is usually in the form of a piece, such as a hat brim front piece, etc. The grabbing mechanism 110 can be in the form of a clamp 111, which clamps the target object and then moves it to a target position. The connecting arm 120 extends in a first direction, one end of the connecting arm 120 is connected to the grabbing mechanism 110, and the other end is connected to the movable base 130. The connecting arm 120 serves to support the grabbing mechanism 110, and by extending a distance from the movable base 130, it can provide more space for the grabbing mechanism 110 to move, which is beneficial for the movement of the grabbing mechanism 110. The first direction can be any direction, for example, in some embodiments, the first direction is the vertical direction, and the grabbing mechanism 110 is arranged above the movable base 130. The movable base 130 is movably connected to the base 140. Specifically, the movable base 130 can rotate or slide relative to the base 140, so as to adjust the inclination angle or position of the connecting arm 120, and thus adjust the orientation and position of the grabbing mechanism 110. For example, the movable base 130 slides relative to the base 140 to move the grabbing mechanism 110 from an initial position to a target position. The connecting arm 120 can move relative to the movable base 130 to further adjust the position of the grabbing mechanism 110. For example, the connecting arm 120 can rotate relative to the movable base 130, i.e. by rotating, the connecting arm 120 can switch its vertical state to a horizontal state or any inclination angle, so that the grabbing mechanism 110 can be aligned with the target object at any position, and the grabbing mechanism 110 can quickly and stably grab the target object. In this way, in combination with the sliding of the movable base 130 relative to the base 140, the target object can be moved from the initial position to the target position, and an automatic and efficient feeding process can be completed.

[0026] In summary, the application achieves high-precision and stepless pose adjustment of the target material in three-dimensional space through the linkage of the grabbing mechanism 110, the connecting arm 120, the movable base 130, and the base 140. The grabbing mechanism 110, as an end effector, directly contacts the material. The connecting arm 120 extends in the first direction, forming a long cantilever load path, so that the grabbing mechanism 110 can flexibly grab within a larger working radius. The movable connection between the movable base 130 and the base 140 further expands the degree of freedom of movement, allowing the system to quickly compensate for material position deviation without adding additional driving mechanisms, but only relying on the relative displacement between the base and the base 140. The connecting arm 120 of the application cooperates with the movable base 130, and the movable base 130 cooperates with the base 140. This layered motion decoupling design simplifies the mechanical structure and reduces vibration during the action process, which is beneficial to maintaining a constant clamping force of the grabbing mechanism 110 during the whole process of grabbing, carrying, and placing, effectively avoiding deformation or sliding of thin-walled or elastic materials during transfer. For example, the feeding system 100 of the application has outstanding effects in the field of textile technology, such as the processing technology of hat body front pieces.

[0027] In addition, compared with the traditional complex mechanical arm that requires multiple joint cooperation, the application has a simple structure and can achieve large-range flexible grabbing and high-precision positioning. The connecting arm 120 extends in the first direction to form a long cantilever, and the movable base 130 slides on the slide rail orthogonal to it, so that the grabbing mechanism 110 can touch the sheet material in the three-dimensional space without dead zones. Only a single rotational degree of freedom is reserved between the connecting arm 120 and the movable base 130, and through the built-in bearing and closed-loop control, the accuracy of repeated positioning is ensured. Taking the hat brim front piece as an example, the grabbing mechanism 110 uses adjustable double clamps 111, and the inner side of the clamp 111 is covered with a flexible pad layer to prevent thin material from slipping and to avoid indentation. The connecting arm 120 selects lightweight high-strength pipe materials, which are light in weight and high in rigidity, and have very small end shaking after high-speed start and stop. The movable base 130 and the base 140 are driven by a linear motor, which responds quickly and greatly shortens the idle time. The layered and modular design of the application uses only three independent drives to complete the functions of the traditional multi-axis mechanical arm, reduces the number of parts, simplifies the structure, and is convenient to maintain, providing a hardware foundation for continuous, reliable, and low-energy-consumption operation of the textile workshop.

[0028] In some embodiments, the grabbing mechanism 110 can also be configured in the form of a suction cup, a magnetic structure, etc. to adapt to different shapes of target objects.

[0029] In some embodiments, the connecting arm 120 can achieve telescopic function through electric drive or hydraulic drive to adjust the length according to actual needs. In some embodiments, the connection between the movable base 130 and the base 140 adopts a slide rail design, which supports fine adjustment in four directions of front, back, left, and right, improving the accuracy of positioning.

[0030] Referring toFigure 2 And Figure 6 In some embodiments, the feeding system 100 further comprises a first rotating member 160, through which the connecting arm 120 is rotatably connected to the movable base 130. The first rotating member 160 is designed to enhance the flexibility of the connecting arm 120, allowing it to rotate around an axis in the horizontal plane. In this way, when it is necessary to adjust the direction of the grabbing mechanism 110, it can be easily done by controlling the first rotating member 160, greatly improving the operation efficiency. For example, if the material needs to be transported from one side to the other side, the direction of the grabbing mechanism 110 can be changed by rotating the first rotating member 160, without the need to reposition the entire device. This design not only increases the operation convenience of the system, but also reduces unnecessary mechanical movement, reduces the risk of wear and tear, and prolongs the service life of the equipment. Specifically, the first rotating member 160 enables the grabbing mechanism 110 to rotate continuously around the axis of the first rotating member 160, so that the grabbing mechanism 110 can quickly complete the fine adjustment of the target material orientation without moving the movable base 130, but only relying on the rotation of the connecting arm 120. This design shortens the idle time caused by repositioning the base, and is particularly suitable for multi-station, multi-angle alternating operation occasions. Since the rotating motion is completed by a single drive source, the structure is simple and easy to maintain. In addition, the modular design of the rotating member facilitates later upgrades or replacements.

[0031] It can be understood that in some embodiments, the first rotating member 160 can be configured as a rotating platform driven by a servo motor, which not only enables continuous stepless rotation, but also has a position feedback function to ensure that each rotation reaches the predetermined position.

[0032] In some embodiments, in order to further improve stability, a damping device such as a rubber grommet, a spring assembly, or a buffer cylinder can be added between the connecting arm 120 and the movable base 130 to absorb vibrations and reduce errors caused by external factors. Specifically, the use of rubber grommets can effectively alleviate vibrations caused by uneven ground or external impacts, ensuring that the connecting arm 120 and the grabbing mechanism 110 remain stable during operation. Such an improved solution not only enhances the system's anti-interference ability, but also improves the operation accuracy.

[0033] In some embodiments, the first rotating member 160 is integrated with intelligent sensors to monitor rotation speed and angle information in real time, and automatically correct deviations through the control system to ensure accurate positioning of each rotation. This helps maintain high levels of operation accuracy in high-precision applications such as electronic component assembly or precision instrument manufacturing. For example, using an optical encoder as a sensor can monitor the state of the rotating member in real time and adjust its action in a timely manner, thereby avoiding the occurrence of cumulative errors.

[0034] Referring to Figure 2、 Figure 5 And Figure 6 In some embodiments, the feeding system 100 further comprises a second rotating member 170 and a first platform 150. The first rotating member 160 is connected to the first platform 150, which is connected to the movable base 130 through the second rotating member 170. The function of the first rotating member 160 is to enable the connecting arm 120 to rotate in the horizontal plane, thereby changing the orientation of the front and rear ends of the grabbing mechanism 110 to adapt to target materials in different positions. The first platform 150 serves as an intermediate structure, not only providing stable support, but also allowing the second rotating member 170 to achieve further angular adjustment based on it. Specifically, the first platform 150 adjusts the angle of the entire connecting arm 120 relative to the horizontal plane by rotating around the rotation axis of the second rotating member 170, i.e., adjusts the pointing direction of the end of the grabbing mechanism 110. This double-layer rotating design improves the flexibility and operating range of the system, allowing the grabbing mechanism 110 to move freely in three-dimensional space to meet various complex feeding needs. In summary, the first rotating member 160 directly drives the connecting arm 120 to complete a primary rotation, and the second rotating member 170 drives the entire first platform 150 to perform a secondary rotation relative to the movable base 130, with the two rotation axes arranged in space intersecting each other, expanding the single rotation degree of freedom into a composite rotation degree of freedom. With this design, the grabbing mechanism 110 can continuously adjust the grabbing angle within a hemispherical space without changing the absolute coordinates of the base 140 or the movable base 130, thereby shortening the repositioning time during multi-pose switching.

[0035] In some embodiments, in order to enhance the stability and carrying capacity of the first platform 150, high-strength alloy materials can be used to manufacture the first platform 150. For example, using aluminum alloy not only reduces weight, but also increases compressive strength, ensuring good performance even under high load conditions.

[0036] In some embodiments, sensors such as accelerometers or gyroscopes can be integrated on the first platform 150 to monitor the attitude changes of the platform in real time and automatically correct deviations through a feedback control system, ensuring that each rotation can reach the predetermined position.

[0037] Referring to Figure 2 And Figure 6In some embodiments, the rotation axes of the first rotating member 160 and the second rotating member 170 are arranged vertically, which provides more flexibility for the system. When the second rotating member 170 rotates, the angle between the connecting arm 120 and the horizontal plane can be changed, thereby adapting to different working scenarios. For example, when it is necessary to lift the material from the ground to a higher position, the angle of the connecting arm 120 can be adjusted by the second rotating member 170 to gradually approach the vertical state, facilitating the accurate grabbing and lifting of the material by the grabbing mechanism 110. When the material is located at a higher position, the second rotating member 170 can also adjust the connecting arm 120 to a position close to the horizontal plane, to facilitate the placement or transfer of the material. This design not only improves the applicability of the system, but also enhances its ability to handle complex tasks. Further, by arranging the rotation axes of the first rotating member 160 and the second rotating member 170 to be perpendicular to each other, the connecting arm 120 obtains the ability to adjust the pitch angle, and the rotation of the second rotating member 170 can directly change the included angle between the connecting arm 120 and the horizontal plane, thereby realizing the height compensation and posture adjustment of the grabbing mechanism 110 in the vertical direction without moving the base 140 or the movable base 130. In the corresponding control system, such a vertical rotation axis arrangement makes the decoupling of the two-stage rotation more explicit, and the control algorithm only needs to close the loop for a single rotation angle, which can form a sector-shaped reachable area in three-dimensional space, covering the complex trajectories that can only be completed by double-axis linkage in traditional sliding tables.

[0038] It can be understood that, in some embodiments, in order to further optimize the performance of the second rotating member 170, a worm gear mechanism with self-locking function is selected as the second rotating member 170. Specifically, this mechanism can automatically lock the position when it stops rotating, preventing accidental movement caused by external forces, and facilitating the long-term maintenance of a specific angle, which is applied to fixed workpieces for processing, etc. In addition, a hydraulic buffer device can be installed near the second rotating member 170 to absorb the impact energy generated during rotation, reduce the influence of vibration on the system, and improve the running stability.

[0039] In some embodiments, the driving mode of the second rotating member 170 is configured as pneumatic driving. Compared with traditional electric driving, pneumatic driving has the advantages of fast response speed, simple maintenance, etc. For example, in the case where only the grabbing mechanism 110 needs to be switched between the vertical state and the horizontal state, pneumatic driving can provide faster start and stop times, thereby shortening the entire operation cycle. At the same time, the pneumatic system usually does not require a complex electronic control system, reducing the failure points and improving the reliability and durability of the system.

[0040] Referring to Figure 1 , Figure 2 and Figure 6In some embodiments, the rotation axis of the first rotating member 160 is in a first direction, which is a vertical direction in some embodiments. The grabbing mechanism 110 has a front end and a rear end that are spaced apart and opposite to each other, where the front end and the rear end are respectively for the places where the grabbing mechanism 110 connects the head and the tail of the target object during operation. The first rotating member 160 rotates to adjust the orientation of the front end and the rear end, which design compresses the complex pose transformation that needs to be completed on multiple joints or slides into angle control within a single axis system, simplifying the kinematics model and significantly reducing control delay and cumulative error. Since the relative positions of the front end and the rear end are ensured by the structure itself, the first rotating member 160 only needs to output an angle signal to complete the 180° flip of the material grabbing surface or the positioning of any intermediate angle in a very short time, thereby meeting the strict requirements of the subsequent processes on the front and rear order and the front and back orientation of the material, and providing reliable protection for high-speed, high-precision, and low-energy-consumption operation of the production line.

[0041] In some embodiments, limit switches are installed near the first rotating member 160 and / or the second rotating member 170 to detect the rotation limit position and avoid damage to the equipment caused by excessive rotation.

[0042] Referring to Figures 1 to 6 In some embodiments, the grabbing mechanism 110 includes two spaced-apart clamps 111, one of which is configured as the front end and the other of which is configured as the rear end. In some embodiments, the distance between the two clamps 111 can be adjusted according to the size of the target material to ensure that various sizes of materials can be firmly grabbed. In some embodiments, the clamps 111 are equipped with non-slip pads or rubber layers inside to increase friction and prevent the material from slipping during grabbing. In addition, the grabbing mechanism 110 can also integrate sensors such as pressure sensors to monitor the grabbing force in real time, ensuring that the material will not fall due to insufficient force and will not be damaged due to excessive force.

[0043] In some embodiments, when the first rotating member 160 drives the overall rotation, the two clamps 111 change orientation synchronously while maintaining the same distance between them, thereby ensuring that the material is always in a stable clamping state during the flipping process and will not slip or deform due to uneven force on one side. The two clamps 111 can be configured to be independently controlled to open and close, and the system can adaptively adjust the clamping point according to the width of the material to avoid crushing thin-walled, soft, or irregular workpieces. At the same time, the independently designed clamp 111 structure provides a standard mechanical interface for subsequent quick replacement of fingers or addition of sensors, and only one clamp 111 needs to be disassembled to complete the specification switching during maintenance.

[0044] Referring to Figures 1 to 6In some embodiments, the first direction is vertical, and the second rotating member 170 rotates to switch the state of the connecting arm 120 between the vertical direction and the horizontal direction. Specifically, the rotation axis direction of the first rotating member 160 is vertical, and the first rotating member 160 rotates to switch the order of the two clamps 111, so that the orientation of the target object can be flexibly adjusted, and the reasonable end of the target object can be oriented towards the entrance of the next process. The rotation axis of the second rotating member 170 is horizontal, that is, the second rotating member 170 functions as a turnover, and can adjust the angle between the grabbing mechanism 110 and the horizontal plane. In specific application scenarios, for example, the grabbing mechanism 110 needs to clamp a sheet-shaped object, such as a hat front piece, which is placed flat on the desktop with part of the structure protruding from the desktop. Then the grabbing mechanism 110 needs to switch its vertical state to a horizontal state through the second rotating member 170, and then clamp the hat front piece. Further, when processing the hat front piece, if the hat front piece is conveyed to the entrance of the next process in a flat state, the hat front piece is likely to bend in the path due to its own gravity. Therefore, after clamping the hat front piece, the grabbing mechanism 110 stands up the hat front piece in a horizontal state, that is, the grabbing mechanism 110 switches to a vertical state through the second rotating member 170, and then conveys the hat front piece to the entrance of the next process, so as to maintain the shape of the hat front piece and facilitate subsequent operations.

[0045] Referring to Figure 6 In some embodiments, the movable base 130 is slidingly connected to the base 140, and the sliding direction of the movable base 130 relative to the base 140, the rotation axis direction of the first rotating member 160, and the rotation axis direction of the second rotating member 170 are perpendicular to each other. The movable base 130 slides relative to the base 140 to move the grabbing mechanism 110 closer to or farther away from the target object. The sliding design provides an additional degree of freedom, and the movable base 130 can move linearly along the base 140 independently, so that the distance between the grabbing mechanism 110 and the target material can be quickly adjusted without changing the pitch angle of the connecting arm 120 and the orientation of the grabbing mechanism 110. Since the sliding direction is orthogonal to the previous two rotations, the motion error will not accumulate at the end. The base sliding also allows the working radius of the entire feeding system 100 to be flexibly expanded or contracted according to the production line layout. When maintaining, the base can be pulled out as a whole by loosening the slide rail locking member, which reduces the maintenance cost.

[0046] In some embodiments, in order to enhance the carrying capacity and stability of the movable base 130, a plurality of guide wheels are installed at the bottom of the movable base 130. These guide wheels not only reduce friction and improve sliding efficiency, but also increase support points to ensure that the movable base 130 remains stable during high-speed motion. For example, when handling heavy objects, the plurality of guide wheels can evenly distribute the weight to avoid overloading and damage to a single component. In some embodiments, magnetic drive technology can also be used to make the sliding smoother.

[0047] In some embodiments, a slide rail design with self-locking function is adopted. This design allows the movable base 130 to be automatically locked after reaching the designated position, preventing accidental movement due to external vibrations and other factors. For example, after completing the material grabbing, the movable base 130 can be fixed in a safe position by the self-locking function, waiting for the next instruction. This way not only improves the safety of the system, but also enhances the reliability of the operation.

[0048] Referring Figures 1 to 7 , embodiments of the second aspect of the present application propose a sewing equipment 10, which includes the feeding system 100 of any of the above embodiments, and further includes a material spreading system 200, a material moving system 300, and a sewing system 400. The feeding system 100, the material spreading system 200, the material moving system 300, and the sewing system 400 are integrated in the same sewing equipment 10 in the order of the process, realizing the automation process of the hat body front piece from grabbing, spreading, carrying, sewing, and the whole process. The feeding system 100 completes the grabbing and initial positioning of the material in one time with high degree of freedom and high precision four-stage linkage structure, directly providing the semi-finished product with stable posture and accurate position for the subsequent material spreading system 200, eliminating the hidden danger of stitch asymmetry caused by manual placement. The material spreading system 200 and the material moving system 300 further shape and accurately position the cloth based on the spatial reference established by the feeding system 100, ensuring that the stop and tightness are in the best state when entering the sewing system 400. The sewing system 400 can maintain constant speed and tension to complete double-needle sewing after continuously receiving the positioned material, reducing the phenomenon of broken thread and skipping needle caused by frequent start and stop.

[0049] For example, the sewing equipment 10 first lays the hat body front piece on the target platform, and the pressing structure on the target platform quickly presses down and completes the pre-sewing, so that the edge of the hat piece reaches the specified radius and size. Subsequently, the material taking mechanism of the feeding system 100 starts to act, and the grabbing mechanism 110 is composed of two clamps 111 arranged along the X direction, the clamps 111 are installed on a base that can rotate around the X axis, and the rotation axis of the base is vertical Z direction and can slide in the horizontal plane. In the initial state, the clamps 111 are opened by 180°, and the base is vertical, then the base rotates around the X axis to be horizontal, the whole body is stretched forward above the hat piece, the clamps 111 are closed to clamp the hat piece, the pressing mechanism is immediately lifted and released, and finally the base moves back to reset, rotates around the X axis back to vertical, and rotates 180° around the Z axis, completes the sequential exchange of the front and rear ends of the hat piece, and then accurately sends it into the material spreading system 200.

[0050] When the cap piece enters the material spreading system 200, it first passes through the outer eight-shaped guide channel to realize initial positioning without bending, and then is sent to the material loading platform. The material spreading system 200 includes a first end portion, a second end portion, a first positioning hook and a second positioning hook, the first end portion and the second end portion of the material spreading system 200 are inclined to each other, so that the first positioning hook and the second positioning hook are inserted into the inside of the cap piece opening along the X direction, the first end portion and the second end portion are synchronously away along the Y direction, driving the first positioning hook and the second positioning hook to completely spread the preset area of the cap piece horizontally and flatly on the surface of the material loading platform, realizing the flat state without wrinkle and tension deformation, laying a foundation for subsequent sewing.

[0051] Subsequently, the material moving system 300 cooperates with the sewing system 400, a pair of Y-direction spaced bending arms of the material moving system 300 extend into the inside of the flattened cap body front piece, the end of the bending arm is sleeved with a high-friction sleeve and is bent to be horizontal to press the material. After the first positioning hook and the second positioning hook are withdrawn, the bending arm pushes the cap piece to the target position of the sewing system 400 along the X direction synchronously. After reaching, the moving mechanism is slightly lifted to release the pressure, but the lower end is still left in the inside of the cap piece to prevent the two pieces from closing. The sewing mechanism is started, and the sewing equipment 10 head completes the continuous double-needle sewing of the cap piece and the bundle strip at a preset speed and tension. When the waste area reaches the cutting knife group, it is cut off when the cap piece is driven by the sewing system 400 at a set speed, and finally the finished product is automatically slid down to the collecting device along the slide rail by gravity, realizing the whole process unmanned operation of the cap body front piece from grabbing, spreading, carrying, sewing to collecting.

[0052] Referring to Figures 1 to 7 The third aspect of the embodiment of the present application proposes a feeding method for the feeding system 100 of any of the above-mentioned embodiments. Figure 7 The feeding method comprises: S101: The connecting arm 120 is moved relative to the movable base 130 to adjust the orientation of the grabbing mechanism 110; S103: The movable base 130 is moved relative to the base 140 to make the grabbing mechanism 110 close to the target object; S105: The grabbing mechanism 110 acquires the target object; S107: The grabbing mechanism 110 is reset, and the orientation of the target object is adjusted.

[0053] The method realizes the automation of the whole process from the static target material to the grabbing and then to the directional resetting. In the first step, the connecting arm 120 is actively moved relative to the movable base 130, and the pre-posture adjustment of the grabbing mechanism 110 is performed by using the existing rotation or pitch freedom of the system, so that the opening plane is parallel to the surface of the material, the rigid collision is avoided, the subsequent alignment error is reduced, and the one-time grabbing success rate is improved. In the second step, the movable base 130 is translated or slid relative to the base 140, and the grabbing mechanism 110 with the adjusted posture is sent to the target material above along the shortest path, the air travel time is reduced, the straightness of the movement is ensured by using the rigidity of the base, and the positioning drift caused by the cantilever vibration is prevented. In the third step, the grabbing mechanism 110 performs the closing action to complete the grabbing, and the clamping force is adaptively set by the system according to the weight and material of the material, so as to ensure that the material is not slipped and is not crushed. In the fourth step, the grabbing mechanism 110 carries the material back to the original position, and the orientation of the target material is adjusted again during the return process, so that the front end and the rear end are in order, and the positive and negative angles meet the requirements of the next station. This step internalizes the traditional manual turning action into the continuous rotation of the rotating part, eliminates human errors, and improves the stability of the rhythm. The whole method provides high-consistency material supply for the subsequent material spreading, sewing and other processes, and improves the production capacity and the yield of the finished products.

[0054] The above are only preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural transformation made under the inventive concept of the present application, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A feeding system, characterized in that, include: A grasping mechanism used to acquire a target object; A connecting arm extends along a first direction, and one end of the connecting arm is connected to the gripping mechanism; A movable base is connected to the end of the connecting arm that is away from the gripping mechanism. The base, wherein the movable base is movably connected to the base; The connecting arm is movable relative to the movable base to adjust the position of the gripping mechanism.

2. The feeding system according to claim 1, characterized in that, The feeding system also includes a first rotating component, and the connecting arm is rotatably connected to the movable base through the first rotating component.

3. The feeding system according to claim 2, characterized in that, The feeding system also includes a second rotating component and a first platform. The first rotating component is connected to the first platform, and the first platform is connected to the movable base through the second rotating component.

4. The feeding system according to claim 3, characterized in that, The axis of rotation of the first rotating member is perpendicular to the axis of rotation of the second rotating member, and the second rotating member rotates to adjust the angle between the connecting arm and the horizontal plane.

5. The feeding system according to claim 4, characterized in that, The first rotating component has its axis of rotation in the first direction, and the gripping mechanism has a front end and a rear end that are spaced apart and distributed perpendicular to the first direction. The first rotating component rotates to adjust the orientation of the front end and the rear end.

6. The feeding system according to claim 5, characterized in that, The gripping mechanism includes two spaced-apart clamps, one of which is configured as the front end and the other as the rear end.

7. The feeding system according to claim 4, characterized in that, The first direction is vertical, and the second rotating member rotates to switch the state of the connecting arm between the vertical and horizontal directions.

8. The feeding system according to claim 4, characterized in that, The movable base is slidably connected to the base. The sliding direction of the movable base relative to the base, the rotation axis direction of the first rotating member, and the rotation axis direction of the second rotating member are perpendicular to each other. The movable base slides relative to the base to make the gripping mechanism move closer to or away from the target object.

9. A sewing machine, characterized in that, The sewing equipment includes the feeding system according to any one of claims 1-8, and further includes a spreading system, a transferring system and a sewing system, wherein the feeding system, the spreading system, the transferring system and the sewing system are connected in sequence to complete the processing of the target object in turn.

10. A feeding method, characterized in that, For the feeding system according to any one of claims 1-8, the feeding method includes: The connecting arm moves relative to the movable base to adjust the orientation of the gripping mechanism; The movable base is movable relative to the base to allow the gripping mechanism to approach the target object; The grasping mechanism acquires the target object; The gripping mechanism is reset and the orientation of the target object is adjusted.

Images