Sewing apparatus, material taking method, and computer-readable storage medium

Abstract

The application discloses a sewing device, a material taking method and a computer readable storage medium. The sewing device comprises a rack, a material moving device, a material storing device and a material distributing device. The material moving device comprises a moving assembly and a pressing plate, and the pressing plate comprises a first needle group which is suitable for connecting a first end of eyelet cloth with a small area. A plurality of pieces of eyelet cloth are stacked along a vertical direction. The material distributing device comprises a material distributing plate. The material moving device is configured to have a first pressing state and a second pressing state. In the first pressing state, the pressing plate moves along the vertical direction to lift the first end of the eyelet cloth stacked on the top layer of the material storing device by the first needle group. The material distributing plate moves along a direction from the first end to the second end to lay the lifted eyelet cloth on the material distributing plate, so that the material moving device enters the second pressing state. In the second pressing state, the first pressing plate moves along the vertical direction to lift the eyelet cloth laid on the material distributing plate. The application can ensure that a single piece of cloth is grasped.

Description

Technical Field

[0001] This application relates to the field of textile technology, and in particular to a sewing device, a material handling method, and a computer-readable storage medium. Background Technology

[0002] In the field of automated sewing equipment, the automatic gripping and feeding of eyelet fabric is a key step in achieving continuous production in hat-making. Eyelet fabric, as a specialized material for sewing eyelets, typically has specific shape characteristics, with differences in area at both ends, and encompasses various types of fabric with varying thicknesses and textures. Due to its thin texture and smooth surface, this type of fabric is susceptible to static electricity, negative pressure, or interlayer adhesion during automated processing, causing multiple layers to stick together and making it difficult to grip each piece precisely.

[0003] Traditional automated material handling technologies often employ methods such as vacuum adsorption or mechanical clamping. However, for thin, sheet-like objects like embroidered fabric, conventional gripping methods struggle to balance positioning accuracy and gripping stability, often resulting in the simultaneous gripping of multiple pieces of fabric at once. Summary of the Invention

[0004] The main objective of this application is to provide a sewing device, a material handling method, and a computer-readable storage medium that can guarantee single-piece fabric handling.

[0005] To achieve the above objectives, some embodiments of this application propose a sewing device for gripping embroidered fabric, the embroidered fabric having a first end and a second end, the area of ​​the first end being smaller than that of the second end, the sewing device comprising: frame, A material transfer device is connected to a frame. The material transfer device includes a moving component and a pressure plate. The moving component is connected to the frame, and the pressure plate is connected to the moving component. The pressure plate includes a first needle group, which is adapted to connect to a first end. A storage device, connected to a frame, is suitable for storing multiple pieces of embroidered fabric, which are stacked vertically. A material distribution device is connected to a frame. The material distribution device includes a material distribution plate with a horizontal surface. The material distribution plate is adapted to move from a first end to a second end. The first needle assembly includes a first needle head and a first cylinder. The first cylinder is connected to the first needle head and is used to control the retraction of the first needle head. The material transfer device is configured to have a first pressing state and a second pressing state. In the first pressing state, the pressure plate moves vertically until the first needle head lifts the first end of the embroidery fabric stacked on the top layer of the material storage device. The material distribution plate moves from the first end to the second end until the lifted embroidery fabric is laid on the material distribution plate, so that the material transfer device enters the second pressing state. In the second pressing state, the first pressure plate moves vertically until the embroidery fabric laid on the material distribution plate is lifted.

[0006] In some embodiments, the sewing device includes a second needle assembly connected to a pressure plate, and the second needle assembly is adapted to connect to a second end; Specifically, the second pin group is connected to the second end only during the second pressing state.

[0007] In some embodiments, the second needle assembly includes a second needle tip and a second cylinder, the second cylinder being connected to the second needle tip and used to control the retraction of the second needle tip; In a single press-down state, the first needle extends to pierce the first end, and the second needle retracts; In the second pressurization state, the first needle extends to pierce the first end, and the second needle extends to pierce the second end.

[0008] In some embodiments, the material transfer device also has an intermediate state, which is located between a first pressing state and a second pressing state. In the intermediate state, the embroidered fabric is laid on the dividing plate, and the pressure plate and the embroidered fabric laid on the dividing plate are spaced apart. When switching from the first press-down state to the intermediate state, the first needle tip retracts to release the first end; When switching from the intermediate state to the secondary pressing state, the pressure plate moves down, the first needle extends to pierce the first end, and the second needle extends to pierce the second end.

[0009] In some embodiments, during the secondary pressing state, the length of the second needle extension is greater than or equal to the length of the first needle extension.

[0010] In some embodiments, the transfer device also has a feeding state, in which the first needle retracts and the second needle retracts, so that the transfer device releases the embroidery fabric.

[0011] In some embodiments, the storage device includes a material box base plate and a positioning pin, the positioning pin being connected to the material box base plate, the material box base plate carrying the embroidery fabric, the positioning pin extending in a vertical direction, and the positioning pin being adapted to pass through multiple pieces of embroidery fabric stacked in a vertical direction.

[0012] In some embodiments, the storage device includes a lifting mechanism connected to the bottom plate of the material box. The lifting mechanism is adapted to adjust the height of the bottom plate of the material box so that the embroidered fabric stacked on the top layer of the bottom plate of the material box is always at a preset height.

[0013] The second aspect of this application provides a material handling method using the sewing equipment of any of the above embodiments. The material handling method includes: S101: The first needle moves to the position of the first end of the corresponding embroidery eye fabric; S103: The pressure plate moves down, and the first needle tip extends to pierce the first end; S105: The pressure plate moves up to lift the first end; S107: The separating plate moves from the first end to the second end to separate the lifted embroidered fabric from the other fabrics; S109: The first needle retracts, releasing the separated embroidery fabric and laying it on the pressure plate. S111: The pressure plate moves down, and the first needle extends to pierce the embroidered fabric laid on the pressure plate.

[0014] An embodiment of the third aspect of this application provides a computer-readable storage medium storing a processor-executable program, which, when executed by a processor, is used to implement the material handling method of the above embodiments.

[0015] According to the above embodiments, the beneficial effects of this application are: The sewing equipment of this application is used to grasp embroidered eyelet fabric, which has a first end and a second end, the area of ​​the first end being smaller than that of the second end. The sewing equipment includes a frame, a material transfer device, a material storage device, and a material distribution device. The material transfer device is connected to the frame and includes a moving component and a pressure plate. The moving component is connected to the frame, and the pressure plate is connected to the moving component. The pressure plate includes a first needle assembly adapted to connect to the first end. The material storage device is connected to the frame and is adapted to store multiple pieces of embroidered eyelet fabric, which are stacked vertically. The material distribution device is connected to the frame and includes a distribution plate with a horizontal surface, adapted to move from the first end toward the second end. The first needle assembly includes a first needle head and a first cylinder. The first cylinder is connected to the first needle head and is used to control the retraction of the first needle head. The material transfer device is configured to have a first pressing state and a second pressing state. In the first pressing state, the pressure plate moves vertically until the first needle head lifts the first end of the embroidery fabric stacked on the top layer of the material storage device. The material distribution plate moves from the first end to the second end until the lifted embroidery fabric is laid on the material distribution plate, so that the material transfer device enters the second pressing state. In the second pressing state, the first pressure plate moves vertically until the embroidery fabric laid on the material distribution plate is lifted.

[0016] This application effectively solves the problem in existing technologies where large-area needle-punching gripping can easily lead to multiple pieces of fabric being punctured and fed into the sewing station simultaneously. This is achieved by configuring the material transfer device in a step-by-step gripping mode with a single pressing state and a secondary pressing state, and by using a material separating plate to separate the fabric between the two pressing states. In the single pressing state, the first needle of the first needle group only punctures and lifts the smaller end of the embroidery eyelet fabric. Since the gripping area is limited at this time, it effectively avoids the situation where lower layers of fabric are lifted due to adhesive resistance or negative pressure adsorption, reducing the risk of gripping multiple pieces. Subsequently, the material separating plate moves horizontally from the first end towards the second end, cutting and separating the lifted fabric from the stacked multiple pieces of fabric and laying it on its horizontal surface, thus physically separating the upper and lower fabrics. In the secondary pressing state, the pressure plate presses down again and lifts the fabric already laid on the material separating plate, completing a stable gripping process. This progressive grasping strategy, which involves first lifting a portion of the material, then separating it, and finally grasping it as a whole, eliminates the need for operators to manually adjust the needle depth and air pressure. Instead, it achieves reliable single-piece material handling through precise coordination of the mechanical structure, significantly improving the equipment's compatibility with fabrics of varying thicknesses and textures. Furthermore, the material separating plate plays a supporting and positioning role during the separation process, effectively ensuring the stability of production quality and improving the efficiency of automated material handling.

[0017] Furthermore, by independently controlling the extension and retraction of the first needle tip using the first cylinder, precise switching between the first pressing state and the second pressing state for gripping and releasing the first end is achieved. This allows the fabric to transition from a suspended state to a flat state on the distribution plate, creating favorable conditions for stable secondary gripping. This design, which combines needle-punching gripping with mechanical separation, breaks through the limitations of the traditional one-to-the-end gripping mode, making the overall hardware layout more compact and reasonable. The three modules of feeding, storing, and distributing are organically linked through the intervention of the distribution plate, completing the coordinated operation of first distributing and then gripping within the same cycle. This simplifies the control logic and enhances the adaptability and stability of the gripping process, making it particularly suitable for the automated processing of thin and soft materials with specific shape characteristics, such as embroidered fabric, which require high positioning accuracy.

[0018] To further explain the principle of this application, specifically, this application utilizes the structural characteristics of the embroidered eyelet fabric: the first end has a small area and is easily lifted, while the second end has a large area and easily adheres to the lower layer of fabric. A step-by-step gripping mechanism combining a single pressing state and a double pressing state is designed. In the single pressing state, the first needle of the first needle group only pierces and lifts the first end of the top layer of embroidered eyelet fabric. At this time, the second end remains in place due to its own weight and adhesion to the lower layer of fabric, forming an inclined state where the front end of the fabric is lifted and the rear end is lowered. The material separating device then moves along the direction from the first end to the second end. Its horizontal surface separating plate cuts into the fabric at the fork, physically separating the lifted top layer of fabric from the stacked fabric below. Simultaneously, the first needle remains in the piercing state to fix the position of the first end of the lifted fabric. Combined with the positioning function of the storage device, the position of the remaining fabric remains unchanged, thus allowing the lifted fabric to be gripped. The top layer of fabric is laid flat on the surface of the distribution plate under tension. This separation process effectively eliminates the risk of multiple layers being lifted simultaneously due to negative pressure adsorption or the adhesive force between fabrics, ensuring that only a single layer of fabric is transferred to the distribution plate. Subsequently, the transfer device enters a secondary pressing state, and the pressure plate presses down again and pierces the first end of the fabric that has been laid flat on the distribution plate again, completing the reliable gripping of a single piece of material in a more stable posture. This fundamentally solves the technical problems of soft and thin fabrics being prone to carrying lifting plates, unstable gripping, and falling off midway during the automated gripping process, and realizes precise control and stable transfer of single-piece material.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or from practice of this application. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural diagram of a sewing device viewed from a first perspective in one embodiment of this application. Figure 2 yes Figure 1 Enlarged view of point A in the middle; Figure 3 This is a three-dimensional structural diagram of a sewing device viewed from a second perspective in one embodiment of this application. Figure 4 This is a three-dimensional structural diagram of a sewing device viewed from a third-person perspective in one embodiment of this application. Figure 5This is a three-dimensional structural diagram of the storage device viewed from a fourth perspective in one embodiment of this application; Figure 6 for Figure 5 A partial blast-damaged structural diagram of the intermediate storage unit; Figure 7 This is a three-dimensional structural diagram of the material transfer device viewed from a fifth perspective in one embodiment of this application; Figure 8 This is a three-dimensional structural diagram of the material transfer device viewed from a sixth perspective in one embodiment of this application; Figure 9 for Figure 8 Enlarged view at point B in the middle; Figure 10 This is a three-dimensional structural diagram of the material dispensing device viewed from a seventh perspective in one embodiment of this application; Figure 11 This is a three-dimensional structural diagram of the material dispensing device viewed from an eighth perspective in one embodiment of this application; Figure 12 This is a three-dimensional structural diagram of the storage device viewed from a ninth perspective in one embodiment of this application; Figure 13 This is a partial structural diagram of the sewing equipment in operation in one embodiment of this application, wherein the first end of the embroidery fabric is lifted by the first needle group, the second end is still attached to other fabrics, and the separating plate is about to be inserted between the lifted embroidery fabric and other fabrics. Figure 14 This is a flowchart of a material handling method in one embodiment of this application.

[0022] Explanation of icon numbers: Sewing equipment 10; Embroidery fabric 20; First end 21; Second end 22; Material transfer device 100; pressure plate 110; first needle group 111; second needle group 112; moving component 120; first sensor 130; Storage device 200; positioning pin 210; side guard 220; material box bottom plate 230; second sensor 240; Material distribution device 300; Material distribution plate 310; Figure 11 and Figure 12 1. Right material rack base plate for embroidered eyelet; 2. Cylinder fixing bracket assembly; 3. Three-axis cylinder; 4. Material box lifting base plate assembly; 5. Support shaft for embroidered eyelet material rack; 6. Platform plate for right material rack for embroidered eyelet; 7. Guide rail; 8. Slide rail fixing block for embroidered eyelet; 9. Separation plate for right material rack for embroidered eyelet; 10. Photoelectric sensor; 11. Fixing sheet metal for embroidered eyelet cylinder; 12. Connecting sheet metal for embroidered eyelet cylinder; 13. Limiting sheet metal for embroidered eyelet guide rail; 14. MGC20X275S mini cylinder; 15. Floating joint; 16. Thorium spike pad; 17. TRN12-04NO proximity sensor; 18. Clamping cylinder; 19. Through-type trapezoidal lead screw; 20. Positioning pin.

[0023] The realization of the purpose, functional features and advantages of this application will be further explained with reference to the accompanying drawings and embodiments. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0025] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0026] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or," "and / or," or "and / or" throughout the text implies three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0027] In existing technologies, automatic gripping devices for embroidered fabrics typically employ needle-punching gripping mechanisms, achieving mechanical connection by piercing the fabric with needles. However, such devices generally use a single downward pressure, with all needles simultaneously penetrating to the bottom, lacking an adaptive adjustment mechanism based on the physical properties of the fabric. When dealing with soft and thin fabrics, a single large-area needle punching can easily cause multiple layers of fabric to be pulled up due to negative pressure adsorption or interfacial adhesion.

[0028] The following is for reference. Figures 1 to 14This application describes a sewing device 10, a material handling method, and a computer-readable storage medium according to embodiments of the present application. The sewing device 10 of this application is used to grasp embroidered eyelet fabric 20, the embroidered eyelet fabric 20 having a first end 21 and a second end 22, the area of ​​the first end 21 being smaller than that of the second end 22. The sewing device 10 includes a frame, a material transfer device 100, a material storage device 200, and a material distribution device 300. The material transfer device 100 is connected to the frame and includes a moving component 120 and a pressure plate 110. The moving component 120 is connected to the frame, and the pressure plate 110 is connected to the moving component 120. The pressure plate 110 includes a first needle assembly 111, the first needle assembly 111 being adapted to connect to the first end 21. The material storage device 200 is connected to the frame and is adapted to store multiple pieces of embroidered eyelet fabric 20, the multiple pieces of embroidered eyelet fabric 20 being stacked vertically. The material distribution device 300 is connected to the frame and includes a material distribution plate 310. The surface of the material distribution plate 310 is horizontal and the material distribution plate 310 is adapted to move along the direction from the first end 21 to the second end 22. The first needle assembly 111 includes a first needle and a first cylinder. The first cylinder is connected to the first needle and is used to control the retraction of the first needle. The material transfer device 100 is configured to have a primary pressing state and a secondary pressing state. In the primary pressing state, the pressure plate 110 moves vertically until the first needle lifts the first end 21 of the embroidery fabric 20 stacked on the top layer of the storage device 200. The material distribution plate 310 moves along the direction from the first end 21 to the second end 22 until the lifted embroidery fabric 20 is laid on the material distribution plate 310, so that the material transfer device 100 enters the secondary pressing state. In the secondary pressing state, the first pressure plate 110 moves vertically until the embroidery fabric 20 laid on the material distribution plate 310 is lifted.

[0029] This application effectively solves the problem in the prior art where a single large-area needle-punching gripping operation can easily lead to multiple pieces of fabric being punctured and fed into the sewing station simultaneously. This is achieved by configuring the material transfer device 100 in a step-by-step gripping mode with a single pressing state and a second pressing state, and by cooperating with the material separation plate 310 to separate the fabric between the two pressing states. In the first pressing state, the first needle of the first needle group 111 only punctures and lifts the smaller first end 21 of the embroidery eyelet fabric 20. Since the gripping area is limited at this time, it effectively avoids the situation where the lower layer of fabric is lifted due to the adhesive resistance between the fabrics or the negative pressure adsorption, reducing the risk of gripping multiple pieces. Subsequently, the material separation plate 310 moves horizontally along the direction from the first end 21 towards the second end 22, cutting and separating the lifted fabric from the stacked multiple pieces of fabric and laying it on its horizontal surface, thus separating the upper and lower fabrics in physical space. In the second pressing state, the pressure plate 110 presses down again and lifts the fabric already laid on the material separation plate 310, completing a stable gripping operation. This progressive grasping strategy, which involves first lifting a portion of the material, then separating it, and finally grasping it as a whole, eliminates the need for operators to manually adjust the needle depth and air pressure. The precise coordination of the mechanical structure ensures the reliability of single-piece material handling, significantly improving the equipment's compatibility with fabrics of different thicknesses and textures. Meanwhile, the material separating plate 310 also plays a supporting and positioning role during the separation process, effectively ensuring the stability of production quality and improving the production efficiency of automated material handling.

[0030] Furthermore, by independently controlling the extension and retraction state of the first needle tip through the first cylinder, precise switching between the gripping and releasing of the first end 21 is achieved between the first and second pressing states. This allows the fabric to transition from a suspended state to a flat state on the distribution plate 310, creating favorable conditions for stable secondary gripping. This design, which combines needle-punching gripping with mechanical separation, breaks through the limitations of the traditional one-to-the-end gripping mode, making the overall hardware layout more compact and reasonable. The three modules of feeding, storing, and distributing are organically linked through the intervention of the distribution plate 310, completing the coordinated operation of first distributing and then gripping within the same cycle. This simplifies the control logic and enhances the adaptability and stability of the gripping process, making it particularly suitable for the automated processing of thin and soft materials with specific shape characteristics, such as embroidered fabric 20, which require high positioning accuracy.

[0031] To further explain the principle of this application, specifically, this application utilizes the structural characteristics of the first end 21 of the embroidered eyelet fabric 20, which has a small area and is easy to lift, while the second end 22 has a large area and easily adheres to the lower layer of fabric. A step-by-step gripping mechanism combining a single pressing state and a double pressing state is designed. In the single pressing state, the first needle of the first needle group 111 only pierces and lifts the first end 21 of the top layer of embroidered eyelet fabric 20. At this time, the second end 22 remains in place due to its own weight and adhesion to the lower layer of fabric, forming an inclined state where the front end of the fabric is lifted and the rear end is lowered. The material separating device 300 then moves along the direction from the first end 21 towards the second end 22. Its horizontal surface separating plate 310 cuts in from the fabric fork, physically cutting and separating the lifted top layer of fabric from the stacked fabric below. Simultaneously, the first needle remains in the piercing state to fix the position of the first end 21 of the lifted fabric. Combined with the positioning function of the storage device 200, the position of the remaining fabric remains unchanged. The lifted top layer of fabric is laid flat on the surface of the distribution plate 310 under tension. This separation process effectively eliminates the risk of multiple layers being lifted simultaneously due to negative pressure adsorption or the adhesive force between fabrics, ensuring that only a single layer of fabric is transferred to the distribution plate 310. Subsequently, the transfer device 100 enters a secondary pressing state, and the pressure plate 110 presses down again and pierces the first end 21 of the fabric that has been laid flat on the distribution plate 310 again, so as to complete the reliable gripping of a single piece of material in a more stable posture. This fundamentally solves the technical problems of soft and thin fabrics being prone to carrying lifting plates, unstable gripping, and falling off midway during the automated gripping process, and realizes precise control and stable transfer of single-piece material.

[0032] It should be noted that the eyelet fabric 20 in this application refers to a specific shaped fabric used in the hat-making process for sewing the eyelet area. In some embodiments, the eyelet fabric 20 has an asymmetrical structural feature with a first end 21 and a second end 22, and the area of ​​the first end 21 is smaller than that of the second end 22. The fabric has an eyelet hole in the center for the positioning needle 210 to pass through to achieve multi-layer stacking and positioning. At the same time, its material covers a variety of fabric types with different thicknesses and softness. It needs to be accurately grasped by a single piece through automated equipment for subsequent sewing processing.

[0033] Furthermore, it can be understood that the core technical idea of ​​this application is to achieve stable single-piece material picking of thin, soft, and easily sticky materials by combining step-by-step grasping with mechanical intervention separation, which is applicable to a variety of fluid media or fluid-like media materials with similar physical properties. For example, flexible thin-film media, which are lightweight and easily adsorbed by electrostatic or negative pressure, are prone to problems such as simultaneous lifting or adhesion during automated stacking and unloading processes. The step-by-step gripping and cutting separation mechanism of this application can effectively overcome these problems. Another example is multi-layered sheet-like soft composite materials, which have weak interlayer bonding but are prone to interfacial adsorption during rapid gripping. A progressive mode of partial lifting with initial pressure, separation by the material distribution plate 310, and stable gripping with secondary pressure can achieve reliable separation and transfer of single-layer materials. Furthermore, soft gaskets with viscoelastic surfaces are prone to adhesion after being stacked under pressure, and their irregular shape makes stable material handling difficult with traditional vacuum adsorption or overall needle punching. This application's time-division gripping strategy targeting the two ends with area differences and the horizontal cutting action of the mechanical separation plate can ensure accurate acquisition and stable transfer of single-piece materials, improving the reliability and adaptability of automated processing of such media.

[0034] Reference Figures 1 to 4 In some embodiments, the frame refers to the basic component that forms the overall structural support frame of the sewing equipment 10. It is used to fix and support all functional components such as the material transfer device 100, the material storage device 200, and the material distribution device 300, providing a stable installation reference and relative positional relationship for each device. This ensures that the translational movement of the moving component 120, the vertical pressing action of the pressure plate 110, the horizontal movement of the material distribution plate 310, and the vertical stacking storage of the material storage device 200 can all operate collaboratively within a precise spatial coordinate system. It is the mechanical foundation for realizing the overall structural integration of the equipment and the linkage and coordination of various functional modules. In some embodiments, the frame is a gantry frame structure with a crossbeam component spanning the working area. This provides a long-stroke linear motion guide for the moving component 120 of the material transfer device 100, while symmetrically arranging the material storage device 200 and the material distribution device 300 on both sides of the crossbeam to achieve an efficient dual-station alternating material handling mode. In some embodiments, the frame is a cantilever support structure, with one end fixed to the base and the other end extending to form an open working space, facilitating the quick loading, unloading, and maintenance of the storage device 200. The dispensing device 300 can be integrated into the cantilever end and the transfer device 100 to form a compact material handling unit, suitable for space-constrained automated production line layouts. In some embodiments, the frame is a modular combined frame, assembled from profile components with standardized interfaces. The stroke range of the transfer device 100, the material holding height of the storage device 200, and the intervention angle of the dispensing device 300 can be flexibly adjusted according to the specifications and dimensions of the embroidered fabric 20 and process requirements, enabling rapid reconfiguration and functional expansion of the equipment structure to meet personalized configuration needs in different application scenarios.

[0035] Reference Figures 1 to 4 In some embodiments, the material transfer device 100 refers to a functional module connected to the frame for grasping and spatially transferring the embroidery fabric 20. It consists of a moving component 120 and a pressure plate 110. The moving component 120 provides the pressure plate 110 with horizontal translational movement capability. The pressure plate 110 carries the first needle group 111 and performs vertical pressing and lifting actions. Through the step-by-step cooperation of a first pressing state and a second pressing state, the complete material transfer process is completed, from grasping the fabric from the top layer of the storage device 200, separating it through the material separating device 300, and transferring it to the target station. In some embodiments, the material transfer device 100 is an articulated robotic arm transfer system. It realizes the spatial pose adjustment of the end effector through the linkage of multi-degree-of-freedom rotary joints. It can complete the transfer of fabric from the storage station to the sewing station under complex trajectories. Moreover, the end flexible clamping module can simulate the step-by-step actions of the pressure plate 110 and the needle group, first partially clamping and lifting, and then stabilizing the whole grasp. In some embodiments, the material transfer device 100 is a high-speed transfer mechanism driven by a linear motor. It utilizes the principle of direct electromagnetic drive to achieve non-contact, high-precision linear motion, enabling rapid response to the switching requirements between primary and secondary pressing states. Combined with pneumatic or electric actuators, it achieves precise timing control of needle gripping and release, improving the material handling cycle time and positioning accuracy. In some embodiments, the material transfer device 100 is a parallel-configuration gripping platform. Through the coordinated drive of multiple sets of telescopic branches, it achieves six degrees of freedom motion of the moving platform. The pressure plate 110 and the needle assembly can be integrated below the moving platform, rapidly switching spatial postures between primary and secondary pressing states. Simultaneously, the high rigidity of the parallel structure ensures stability during needle gripping, making it suitable for high-speed, high-frequency automated material handling operations.

[0036] Reference Figures 1 to 4In some embodiments, the storage device 200 refers to a feeding module connected to the frame for vertically stacking and storing multiple pieces of embroidered fabric 20. It provides a continuous and orderly source of top-layer material for the transfer device 100 by stacking embroidered fabric 20 with a first end 21 and a second end 22, where the area of ​​the first end 21 is smaller than that of the second end 22, in a specific posture. It also works with the distribution device 300 to achieve precise vertical positioning and layered management of the fabric, serving as a fundamental material storage unit to ensure the stable operation of automated continuous grasping operations. In some embodiments, the storage device 200 is a rotary feeding mechanism. It achieves cyclical supply of fabric through multiple storage stations arranged circumferentially on a horizontal rotary table. When the material at one station is completely grasped, the rotary table rotates to switch to the next station to continue feeding. Simultaneously, vacant stations can be manually replenished, enabling parallel processing of continuous operation and offline replenishment. In some embodiments, the storage device 200 is a chain-type circulating lifting mechanism, which uses trays spaced apart on a closed chain to support the stack of fabric. Through the stepping motion of the chain, each layer of fabric is sequentially lifted to a fixed picking height. This, combined with the step-by-step gripping action of the transfer device 100, forms a rhythmic feeding mechanism. The chain's circulation path can adapt to the needs of fabric stacks of different heights. In some embodiments, the storage device 200 is a flexible vibratory feeder directional feeding system. Through controllable vibration excitation, the randomly stacked thin fabric is adjusted in posture and arranged in an orderly manner in a specific cavity. The first end 21 and the second end 22 are automatically oriented using the fabric's own shape characteristics. Then, it is conveyed to the top of the distribution device 300 in a single-layer flat manner, providing the transfer device 100 with a top layer of material that is uniform in posture and easy to grip in steps.

[0037] Reference Figures 1 to 4In some embodiments, the material separating device 300 refers to a functional module connected to the frame, used to separate the fabric between the first and second pressing states of the material transfer device 100. The material separating device 300 includes a horizontally surfaced material separating plate 310, which can move horizontally from the first end 21 to the second end 22. It cuts and separates the lifted top layer of embroidered fabric 20 from the stacked fabric below and lays it flat on its upper surface, thereby ensuring that the material transfer device 100 can stably grasp single pieces of material in the second pressing state. It is the core execution mechanism for realizing the core process logic of separating before grasping. In some embodiments, the material separating device 300 is an airflow-assisted separation mechanism. It injects a directional and controllable airflow into the gap between the lifted material and the lower layer material to break the negative pressure adsorption between layers and assist the lateral unfolding of the material. At the same time, the horizontally moving support plate intervenes synchronously with the airflow to complete the receiving and flattening of the material. It is suitable for film materials with high surface flatness requirements. In some embodiments, the material distribution device 300 is an electrostatic adsorption separation platform, which utilizes the selective adsorption of specific polar materials by an electrostatic field. When the material transfer device 100 presses down and lifts the first end 21 of the material, the second end 22 of the material is adsorbed by the electrostatic field force and kept in a drooping posture. Subsequently, the horizontally moving insulating separation plate cuts off the electrostatic field effect and transfers the material onto it, achieving contactless separation and support. In some embodiments, the material distribution device 300 is a negative pressure adsorption conveyor belt mechanism, whose surface is evenly distributed with adsorption holes and circulates horizontally. When the material transfer device 100 lifts the top layer of material, the conveyor belt cuts in from the material branch and receives the lower surface of the material by negative pressure adsorption. As the conveyor belt rotates, the material is spread out and transported to the secondary gripping station, completing the continuous operation of separation and transfer.

[0038] Reference Figure 13 Regarding the first pressing state, it should be noted that the first pressing state refers to the initial working stage of the material transfer device 100 executing the step-by-step grasping process. In this state, the pressure plate 110 moves downward in the vertical direction, causing the first needle of the first needle group 111 to extend and pierce the smaller first end 21 of the embroidery fabric 20 stacked on the top layer of the storage device 200. Subsequently, the pressure plate 110 is raised to partially lift the first end 21 of the fabric, while the larger second end 22 remains in place due to its own weight and adhesion to the lower layer of fabric, forming an inclined posture with the front end of the fabric raised and the rear end hanging down, creating the necessary conditions for the intervention and separation of the material separating plate 310.

[0039] Reference Figure 13Regarding the secondary pressing state, it should be noted that the secondary pressing state refers to the final working stage of the step-by-step grasping process executed by the material transfer device 100. In this state, the pressure plate 110 moves downward again in the vertical direction, causing the first needle of the first needle group 111 to extend and pierce the first end 21 of the embroidery fabric 20 that has been laid on the surface of the material distribution plate 310, thereby lifting the single piece of fabric in a stable, flat position, completing the reliable grasping after separation from the storage device 200 and the material distribution device 300, and ensuring that the material transfer device 100 can transfer the single piece of material to the subsequent sewing station.

[0040] To ensure more stable gripping of the embroidery fabric 20 during the secondary pressing state, the sewing device 10 can be equipped with a gripping structure other than the first needle group 111, which constrains the embroidery fabric 20 during the secondary pressing state. For example, the auxiliary gripping structure can be a second needle group 112, etc. In some embodiments, the auxiliary gripping structure is a negative pressure adsorption auxiliary module, which is disposed on the lower surface of the pressure plate 110 and distributed around the first needle group 111. During the secondary pressing state, it uses vacuum negative pressure to tightly adhere the non-needle-punched area of ​​the embroidery fabric 20 to the bottom surface of the pressure plate 110, forming a surface contact constraint to suppress the swaying and slippage of the fabric during the transfer process. In some embodiments, the auxiliary gripping structure is a flexible clamping auxiliary mechanism, which is arranged on the edge of the pressure plate 110 in the form of elastic clips or pneumatic fingers. During the secondary pressing state, it performs clamping from the side of the fabric while simultaneously performing needle-punching gripping, and restricts the horizontal displacement degree of freedom of the fabric through controllable clamping force to avoid inertial deviation during high-speed material transfer. In some embodiments, the auxiliary gripping structure is a magnetic adsorption auxiliary component, which uses the electromagnet or permanent magnet embedded in the pressure plate 110 to generate a magnetic attraction effect with the magnetic fibers or metal wires composite in the embroidered fabric 20. In the secondary pressing state, the non-contact magnetic constraint enhances the bonding strength between the fabric and the pressure plate 110, which is particularly suitable for gripping fine fabrics where it is not advisable to increase the needle-punching density to avoid damaging the surface.

[0041] Reference Figures 7 to 9In some embodiments, the sewing device 10 includes a second needle assembly 112 connected to a pressure plate 110, and the second needle assembly 112 is adapted to connect to a second end 22. Specifically, the second needle assembly 112 connects to the second end 22 only during the second pressing state; for example, at this time, the needle tip of the second needle assembly 112 pierces the second end 22, achieving a stable connection between the second needle assembly 112 and the second end 22. During the first pressing state, the second needle assembly 112 does not pierce the eyelet fabric 20, meaning that the second needle assembly 112 does not have the ability to grasp the eyelet fabric 20; for example, the needle tip of the second needle assembly 112 does not pierce the upper surface of the eyelet fabric 20, or the needle tip of the second needle assembly 112 is spaced apart from the eyelet fabric 20. By adding a second needle assembly 112 to the pressure plate 110, a differentiated time-sharing grasping strategy for the first end 21 and the second end 22 of the eyelet fabric 20 is achieved, improving the constraint stability of materials with asymmetrical areas during the step-by-step grasping process. In the first pressing state, the second needle group 112 maintains a distance from the embroidery fabric 20 and does not participate in the gripping. Only the first needle group 111 performs local needle lifting on the smaller first end 21. At this time, the larger second end 22 can hang freely and maintain contact with the lower layer of fabric because it is not constrained. This design effectively avoids the risk that the entire piece of fabric will be forcibly pulled up due to the second end 22 being fixed too early, which would cause the lower layer of fabric to stick together. Subsequently, the separating plate 310 intervenes to complete the separation and lays the fabric flat for support. In the second pressing state, the second needle group 112 connects to the second end 22, forming a double-point constraint pattern on both ends of the fabric with the first needle group 111, so that the fabric is in a tense and stable state during the transfer process. This time-division gripping mechanism based on the fabric area distribution characteristics retains the low-resistance separation advantage of single-end local lifting under the first pressing state, and solves the problem of swaying, slippage or even falling off of a single piece of fabric due to center of gravity shift or airflow disturbance during the transfer process through the double-end synchronous constraint under the second pressing state. This enhances the adaptability and reliability of the material transfer device 100 to gripping irregularly shaped fabrics. At the same time, the synergistic effect of the double needle group disperses the load-bearing load of single-point needle punching, reduces the degree of damage to the fabric fibers caused by needle penetration, and helps to ensure the quality of the finished product in subsequent sewing processing.

[0042] Reference Figures 7 to 9In some embodiments, the second needle assembly 112 includes a second needle tip and a second cylinder. The second cylinder is connected to the second needle tip and is used to control the retraction of the second needle tip. In a first pressing state, the first needle tip extends to pierce the first end 21, and the second needle tip retracts. In a second pressing state, the first needle tip extends to pierce the first end 21, and the second needle tip extends to pierce the second end 22. By configuring the second needle assembly 112 with a second cylinder to independently control the extension and retraction state of the second needle tip, the timing and action coordination between the first needle assembly 111 and the second needle assembly 112 are achieved, improving the automation control accuracy and action reliability of the step-by-step grasping process. In the first pressing state, while the first cylinder drives the first needle to extend and pierce the first end 21, the second cylinder keeps the second needle in the retracted state, creating a clear physical gap between the second needle group 112 and the embroidered fabric 20. This ensures that the larger second end 22 is unrestrained and can hang freely during the separation phase, effectively avoiding the risk of the entire fabric being forcibly pulled up due to both ends being fixed simultaneously, thus compromising the separation effect of the separating plate 310. In the second pressing state, the first needle remains extended to continuously constrain the first end 21, while the second cylinder drives the second needle to extend and pierce the second end 22, achieving synchronous needle piercing constraint of both ends of the fabric by the double needle group. This design, which uses independent cylinders to control the needle piercing sequence at both ends, allows the material transfer device 100 to complete the transition from single-end partial gripping to stable double-end constraint on the same pressure plate 110 structure, without the need for additional mechanical switching mechanisms, simplifying the equipment structure and control logic. Meanwhile, the cylinder-driven needle-piercing action has the characteristics of rapid response and controllable stroke, which can precisely match the intervention timing of the material distribution plate 310 and the lifting rhythm of the pressure plate 110, ensuring seamless connection between the first pressing and the second pressing state, improving the rhythm efficiency and repeatability of the gripping action, and providing reliable action execution guarantee for high-speed automated continuous operation.

[0043] Reference Figure 1 , Figure 5 , Figure 8 as well as Figure 13 In some embodiments, the material transfer device 100 also has an intermediate state, which is located between a primary pressing state and a secondary pressing state. In the intermediate state, the embroidered fabric 20 is laid on the dividing plate 310, and the pressing plate 110 and the embroidered fabric 20 laid on the dividing plate 310 are spaced apart. When switching from the primary pressing state to the intermediate state, the first needle retracts to release the first end 21. When switching from the intermediate state to the secondary pressing state, the pressing plate 110 moves down, the first needle extends to pierce the first end 21, and the second needle extends to pierce the second end 22. By setting an intermediate state between the primary pressing state and the secondary pressing state in the material transfer device 100, a smooth transition and precise transfer of the fabric from a suspended posture to a flat posture is achieved, improving the controllability and reliability of the material state transition during the step-by-step grasping process.

[0044] In the intermediate state, the embroidered fabric 20 is completely laid on the surface of the dividing plate 310, while the pressure plate 110 remains spaced from the fabric, creating the necessary operating space for the first needle to release the first end 21. When switching from the first pressing state to the intermediate state, the first needle retracts to release the constraint on the first end 21, allowing the fabric to naturally flatten under its own weight and the support of the dividing plate 310, avoiding the risk of fabric deformation or fiber damage caused by continuous suspension and pulling. This release action allows the fabric to complete the fit and positioning with the dividing plate 310 in a tension-free free state, ensuring that the fabric obtains a stable support reference in the horizontal direction. When switching from the intermediate state to the second pressing state, the pressure plate 110 moves down and the first and second needles extend synchronously, piercing the first end 21 and the second end 22 of the fabric respectively, achieving overall grasping with synchronous constraint at both ends.

[0045] The introduction of intermediate states breaks down the originally continuous downward gripping action into three distinct sub-stages: release, flattening, and re-gripping. This allows the fabric to undergo a gradual evolution from point constraint to surface support and then to double-point constraint during the transfer process, effectively buffering the mechanical impact of the gripping action on the fabric. Simultaneously, this state division provides clear timing nodes for the lifting and lowering motion of the pressure plate 110 and the extension and retraction of the needle assembly, facilitating precise coordination of the action rhythm of each actuator by the control system. This improves the stability and predictability of the equipment operation and provides structural assurance for reliable material handling under complex working conditions.

[0046] Reference Figures 1 to 9In some embodiments, under secondary pressure, the length of the second needle extension is greater than or equal to the length of the first needle extension. By making the length of the second needle extension greater than or equal to the first needle under secondary pressure, the precision requirement for the length of the second needle extension is reduced, the difficulty of assembly and debugging is reduced, and precise control of the differentiated penetration depth at both ends of the embroidery fabric 20 is achieved, improving the adaptability and puncture reliability of the gripping structure to fabrics of different thicknesses and hardnesses. Since the embroidery fabric 20 has a structural feature where the area of ​​the first end 21 is smaller than that of the second end 22, after the separation by the separating plate 310, the larger second end 22 often bears the main weight of the fabric and is more prone to sagging deformation. A longer needle penetration depth can provide deeper fiber interlocking and stronger mechanical anchoring for this end, effectively compensating for the peeling torque caused by the fabric's own weight and material transfer acceleration. Because the first end 21 has a smaller area and lighter weight, a shorter needle penetration depth is sufficient to meet the constraint requirements, while avoiding damage such as fiber tearing or hole enlargement caused by excessively deep punctures to the edge areas of the thin fabric. This differentiated needle-punching strategy, based on the fabric's area distribution and mechanical characteristics, enables the dual-needle assembly to form an asymmetrical gripping force distribution pattern during collaborative constraint. The second end 22 achieves the primary load-bearing strength through deep puncture, while the first end 21 achieves precise positioning and auxiliary constraint through shallow puncture. Their combined effect ensures the fabric maintains a stable tension posture during transfer. Simultaneously, this design allows for independent adjustment of the penetration depth of the needles at both ends for different material properties, minimizing mechanical damage to the fabric surface while ensuring gripping reliability. This enhances the equipment's compatibility with diverse materials and the stability of gripping quality.

[0047] In some embodiments, the material transfer device 100 also has a release state, in which the first needle retracts and the second needle retracts to release the embroidered fabric 20. By setting the release state in the material transfer device 100, a precise and controllable transition from gripping constraint to complete release of the embroidered fabric 20 is achieved, improving the integrity of the material transfer process and the continuity of automated operations. In the release state, the first and second needles retract synchronously, completely releasing the needle-punching constraint on the first end 21 and the second end 22 of the fabric, allowing the embroidered fabric 20 to smoothly detach from the pressure plate 110 without mechanical interference and accurately place it at the target station. This design ensures that the material transfer device 100 can prepare for the next round of material handling cycle with a standardized reset posture after completing the fabric transfer, avoiding the risk of fabric snagging or equipment collision caused by needle residue extension. The synchronous retraction mode of the dual needles, along with the initial pressing state, intermediate state, and secondary pressing state, forms a complete gripping and releasing closed loop. This ensures that the material transfer device 100 has clear state nodes and a well-defined timing logic throughout its entire operation cycle, facilitating state monitoring and fault diagnosis by the control system. Simultaneously, the material release state setting provides stable release conditions for the precise positioning of the fabric at the target station, eliminating fabric deviation or dragging deformation caused by improper needle withdrawal timing or incomplete release. This improves the baseline accuracy of subsequent sewing processes and the consistency of finished product quality, providing a reliable state transition guarantee for the efficient and stable operation of the automated hat-making production line.

[0048] Reference Figure 2 , Figure 5 and Figure 6In some embodiments, the storage device 200 includes a material box base plate 230 and a positioning pin 210. The positioning pin 210 is connected to the material box base plate 230, which carries the embroidery fabric 20. The positioning pin 210 extends vertically and is adapted to pass through multiple pieces of embroidery fabric 20 stacked vertically. By setting a cooperative structure of the material box base plate 230 and the positioning pin 210 in the storage device 200, the orderly stacking and precise positioning of multiple pieces of embroidery fabric 20 in the vertical direction are achieved, improving the stability of the feeding process and the consistency of the fabric posture. The positioning pin 210 extends vertically and passes through multiple pieces of stacked embroidery fabric 20, using the pre-set embroidery holes in the center of the fabric to form a through-type positioning constraint, keeping the relative positions of each layer of fabric in the horizontal plane fixed, effectively avoiding the risk of stacking misalignment or tipping caused by the thin and soft fabric and the easy curling of the edges. Meanwhile, the vertical guiding function of the positioning pin 210 provides a reliable spatial reference for the material transfer device 100 to accurately align with the first end 21 of the fabric during a single press, ensuring that the first pin can accurately pierce the target position without slippage or deviation. The material box bottom plate 230, as a load-bearing foundation, provides stable mounting support for the positioning pin 210 and bears the entire weight load of the stacked fabric, keeping the top layer of fabric within the preset picking height range. The rigid connection structure between the positioning pin 210 and the material box bottom plate 230 can resist the lateral force generated when the material transfer device 100 presses down to pick up the material, preventing the storage device 200 from shifting or overturning. This through-type positioning design allows the lower layer of fabric that is not lifted to maintain a stable stacked posture during the separation and gripping process, providing reliable multi-layer storage and orderly feeding guarantees for continuous picking operations, and improving the automated continuous operation capability and feeding reliability of the equipment.

[0049] In some embodiments, the storage device 200 includes a lifting mechanism connected to the material box base plate 230. The lifting mechanism is adapted to adjust the height of the material box base plate 230 so that the top layer of embroidered fabric 20 stacked on the material box base plate 230 is always at a preset height, for example, by setting a second sensor 240 to determine the height information of the fabric. By setting a linkage structure between the lifting mechanism and the material box base plate 230 in the storage device 200, an automatic adjustment mechanism for dynamic compensation of the fabric stacking height as the material is picked up is realized, improving the consistency of the top layer fabric position and the stability of the grasping action of the material transfer device 100 during continuous material feeding. The lifting mechanism is connected to the material box base plate 230 and drives it to rise and fall in the vertical direction. As the top layer fabric is picked up piece by piece, the material box base plate 230 rises accordingly to compensate for the reduction in fabric thickness, so that the top layer fabric is always at the preset picking height. This design eliminates the variation in the downward stroke of the transfer device 100 caused by the decrease in fabric stacking height, ensuring that the pressure plate 110 can accurately reach the picking position with a constant vertical displacement during each downward press. This avoids impact vibration caused by excessive stroke or needle-punching failure caused by insufficient stroke. The constant picking height provides a stable spatial reference for the intervention timing and horizontal movement trajectory of the separating plate 310, enabling the separation action to be repeatedly performed in a consistent relative positional relationship, improving the cycle stability and reliability of the step-by-step grasping process. At the same time, this automatic compensation mechanism reduces the frequency of manual intervention and adjustment, allowing the storage device 200 to hold more fabric reserves to extend the continuous operation cycle, improving the automation level and production efficiency of the equipment, and providing a reliable material supply guarantee for unattended automated hat-making production lines.

[0050] Reference Figure 14 The second aspect of this application provides a material taking method using the sewing equipment 10 of any of the above embodiments. The material taking method includes: S101: The first needle moves to the position of the first end 21 of the corresponding embroidery fabric 20; S103: The pressure plate 110 moves down, and the first needle extends to pierce the first end 21; S105: The pressure plate 110 moves upward to lift the first end 21; S107: The separating plate 310 moves along the first end 21 toward the second end 22 to separate the lifted embroidered fabric 20 from other fabrics; S109: The first needle retracts, releasing the separated embroidery fabric 20, so that the separated embroidery fabric 20 is laid on the pressure plate 110. S111: The pressure plate 110 moves down, and the first needle extends to pierce the embroidered fabric 20 laid on the pressure plate 110.

[0051] This application decomposes the material handling process into six sequentially connected steps, achieving fully controllable operation of the easily sticky embroidery eyelet fabric 20 from positioning, partial gripping, separation, release to stable gripping, thus improving the single-piece reliability and operational stability of automated material handling. Specifically, in step S101, the first needle moves to the position corresponding to the first end 21 of the embroidery eyelet fabric 20, ensuring that the needle point accurately acts on the smaller end area through pre-positioning, creating conditions for subsequent low-resistance lifting; in step S103, the pressure plate 110 moves down and the first needle extends to pierce the first end 21, completing the initial contact and mechanical connection of the gripping structure; in step S105, the pressure plate 110 moves up to lift the first end 21, causing the fabric to form an inclined posture with the front end raised and the rear end hanging down. At this time, the larger second end 22 remains in place due to its own weight and adhesion to the lower layer of fabric, effectively avoiding the risk of the entire fabric being forcibly pulled up and carrying heavy pieces; in step S107, the separating plate 310 moves along the first... End 21 moves towards the second end 22, performing a horizontal cutting and separation action from the fabric fork, completely separating the top layer of fabric to be lifted from the stacked fabric below in physical space, while the separated fabric is laid flat and supported on the surface of the dividing plate 310; in step S109, the first needle retracts to release the separated fabric, allowing the fabric to be laid naturally on the dividing plate 310 in a tension-free state, completing a smooth transition from a suspended posture to a flat posture, ensuring that the fabric enters the final gripping stage in a flat state; in step S111, the pressure plate 110 moves down again and the first needle extends to pierce the fabric laid on the dividing plate 310, completing the reliable gripping of a single piece of material in a stable, flat posture, laying the foundation for subsequent transfer to the sewing station. This method transforms the multivariate uncertainties of traditional one-time grasping into controllable state variables for each step by coordinating step-by-step grasping and mechanical separation. This reduces the failure rate of material handling caused by fabric adhesion, negative pressure adsorption, or shape variation. At the same time, the action parameters of each step can be independently optimized and adjusted according to the characteristics of the fabric, improving the equipment's adaptability to different materials and the stability of material handling quality.

[0052] An embodiment of the third aspect of this application proposes a computer-readable storage medium storing a processor-executable program. When executed by a processor, the processor-executable program is used to implement the material-grabbing method of the above embodiments. By converting the material-grabbing method of the above embodiments into a processor-executable program and storing it in a computer-readable storage medium, the step-by-step grasping process logic is digitally solidified and automatically executed, improving the functional integrity and feasibility of the sewing equipment 10 control system. As a physical carrier for hardware and software interaction, this storage medium can precisely encode the timing relationships, action parameters, and state transition conditions of each step from S101 to S111 in the form of program code, enabling the processor to accurately parse and drive the coordinating operation of the material transfer device 100, the material distribution device 300, and the material storage device 200 during operation. This software-based control method allows the complex step-by-step grasping process to be reliably reproduced on a standardized computing platform, avoiding the uncertainty of manual operation, and facilitating flexible adjustment of process parameters and functional iteration through program updates. The storage medium tightly integrates the technical solution of the method claims with the specific hardware execution environment, providing the necessary software support foundation for the industrial application of the material handling method and ensuring a complete technical implementation path from method conception to actual production. Simultaneously, the standardized storage and retrieval mechanism of the program facilitates the consistency of control logic across multiple devices and enables remote maintenance and management capabilities, improving the system integration level and operational efficiency of automated production lines. This lays the software architectural foundation for equipment interconnection and data-driven optimization in an intelligent manufacturing environment.

[0053] Below, refer to Figures 1 to 14This paper describes the sewing equipment 10, material handling method, and computer-readable storage medium of this application in one specific embodiment. The sewing equipment 10 of this application includes four core modules: a frame, a material transfer device 100, a material storage device 200, and a material distribution device 300. Each device is connected to the frame and forms an organically linked overall layout. The material storage device 200 is used to stack and store multiple pieces of embroidery fabric 20 in a vertical direction. It includes a material box base plate 230, a positioning needle 210, and a lifting mechanism. The positioning needle 210 extends vertically and passes through the multiple stacked pieces of embroidery fabric 20 to achieve horizontal positioning. The lifting mechanism is connected to the material box base plate 230 and adjusts its height so that the top layer of embroidery fabric 20 is always at a preset material handling height. The material transfer device 100 includes a moving component 120 and a pressure plate 110. The moving component 120 is connected to the frame and provides the pressure plate 110 with horizontal translational movement capability. The pressure plate 110 carries the first needle assembly 111 and performs vertical pressing and lifting actions. The first needle assembly 111 includes a first needle head and a first cylinder. The first cylinder is connected to the first needle head and controls its extension and retraction. The material separation device 300 includes a horizontally surfaced material separation plate 310, which is adapted to move horizontally along the direction from the first end 21 to the second end 22 to intervene in the gripping process of the material transfer device 100 to achieve fabric separation.

[0054] The material transfer device 100 is configured with four working modes: a single pressing state, an intermediate state, a secondary pressing state, and a material release state, forming a complete process cycle of step-by-step grasping. In the single pressing state, the pressure plate 110 moves vertically until the first needle pierces and lifts the first end 21 of the embroidery fabric 20 stacked on the top layer of the storage device 200. At this time, the second end 22 remains in place due to its own weight and adhesion to the lower layer of fabric, forming an inclined posture with the front end raised and the rear end hanging down. The separating plate 310 then moves in the direction from the first end 21 to the second end 22, cutting in from the fabric fork and laying the lifted embroidery fabric 20 flat on its surface, realizing the physical cutting and separation of the top layer of fabric from the stacked fabric below. Subsequently, the material transfer device 100 enters the intermediate state, the first needle retracts to release the first end 21, and the separated embroidery fabric 20 is naturally laid on the separating plate 310 in a tension-free state. In the secondary pressing state, the pressure plate 110 moves down again, and the first needle extends to pierce the first end 21 of the embroidered fabric 20 laid on the material distribution plate 310, completing the stable gripping of a single piece of fabric. At this time, a second needle assembly 112 can be added to the pressure plate 110. The second needle assembly 112 includes a second needle and a second cylinder. The second cylinder controls the extension and retraction of the second needle. In the secondary pressing state, the second needle extends to pierce the second end 22, and the extension length of the second needle can be longer than that of the first needle, forming a two-point differentiated constraint on both ends of the fabric, enhancing the gripping stability. In the material release state, the first and second needles retract synchronously, causing the material transfer device 100 to release the embroidered fabric 20 to the target workstation, completing a single work cycle.

[0055] This solution's material handling method, through the sequential coordination of step-by-step gripping and mechanical separation, precisely decomposes the process of partial lifting, separation, and re-gripping, effectively solving the technical challenges of soft, thin fabrics being prone to sticking and difficult to separate. The computer-readable storage medium of this solution stores a processor-executable program, which, when executed by the processor, is used to implement the aforementioned material handling method, providing software support for the automated control of the equipment.

[0056] In summary, the core innovation of this solution lies in dividing the gripping action into two pressing actions with a separation step involving the material distribution plate 310. Through differentiated control of the first needle group 111 and the second needle group 112, adaptive adjustment of the needle length, and precise switching of various working states, it achieves compatibility and adaptation to diverse fabric characteristics, improves the reliability of single-piece material picking and the stability of production quality, and at the same time, the compact hardware layout and clear timing logic effectively improve the automation level and production efficiency of the equipment.

[0057] Furthermore, referring to Figure 11 and Figure 12 , Figure 11 and Figure 12The detailed structural design of the material distribution device and the material storage device is given, specifically including: 1. Embroidery eye right material rack base plate, 2. Cylinder fixing frame assembly, 3. Three-axis cylinder, 4. Material box lifting base plate assembly, 5. Embroidery eye material rack support shaft, 6. Embroidery eye right material rack platform plate, 7. Guide rail, 8. Embroidery eye slide rail fixing block, 9. Embroidery eye right material rack separation plate, 10. Photoelectric sensor, 11. Embroidery eye cylinder fixing sheet metal, 12. Embroidery eye cylinder connecting sheet metal, 13. Embroidery eye guide rail limiting sheet metal, 14. MGC20X275S mini cylinder, 15. Floating joint, 16. Thorium spike pad, 17. TRN12-04NO proximity, 18. Clamping cylinder, 19. Through trapezoidal lead screw, and 20. Positioning pin.The right-side material rack base plate 1 of the embroidered eyelet fabric provides the installation reference for the entire material distribution and storage device, forming the structural support foundation of the components. The cylinder fixing bracket assembly 2 is installed on the right-side material rack base plate 1 to fix the MGC20X275S mini cylinder 14, ensuring the stable arrangement of the drive components. The three-axis cylinder 3 is also installed on the right-side material rack base plate 1 of the embroidered eyelet fabric, providing the embroidered eyelet material box assembly with rising and falling movements, facilitating the quick installation and disassembly of the material box. The material box lifting base plate assembly 4 is connected to the through trapezoidal screw 19, which realizes vertical lifting under the drive of the screw to compensate for changes in the stacking height of the fabric. The embroidered eyelet fabric rack support shaft 5 is set vertically to provide lateral edge positioning for multi-layer stacked embroidered eyelet fabric. To prevent fabric from tipping over or shifting; the right-side fabric shelf platform plate 6 serves as an intermediate mounting layer, facilitating the arrangement of the guide rail 7 and cylinder components, while also providing movement space and installation reference for the right-side fabric shelf separation plate 9; the guide rail 7 is fixed to the right-side fabric shelf platform plate 6 via the embroidery eye slide rail fixing block 8, providing precise guidance for the reciprocating linear motion of the right-side fabric shelf separation plate 9; the right-side fabric shelf separation plate 9, as the core actuator, has a thin-blade structure at its front end to reduce insertion resistance. Driven by the MGC20X275S mini cylinder 14, it moves horizontally along the direction of the guide rail 7 to achieve the cutting and separation of adjacent fabrics. The middle contact area between the separation plate and the fabric emphasizes the balance between material hardness and support force, ensuring both... Effective separation while stably supporting the fabric; photoelectric sensor 10 is installed at an appropriate position on the right embroidery frame platform plate 6 to detect the position status of the material box lifting base plate assembly 4 and provide feedback signals to the control system; the embroidery cylinder fixing sheet metal 11 and the embroidery cylinder connecting sheet metal 12 cooperate to achieve a reliable connection between the MGC20X275S mini cylinder 14 and the right embroidery frame separation plate 9; the floating joint 15 compensates for installation errors and motion deviations, ensuring smooth transmission; the embroidery guide rail limiting sheet metal 13 is arranged at both ends of the guide rail 7 to limit the stroke limit of the right embroidery frame separation plate 9 and prevent slippage; the thorium needle pad 16 is set at the bottom of the material box as a protective pad for the needle-punching assembly, avoiding... The design prevents damage to the rigid substrate from direct impact of the needle; the TRN12-04NO proximity switch 17 detects the lower limit of the through-type trapezoidal lead screw 19, and works with the photoelectric sensor 10 to achieve bidirectional limit protection for the lifting stroke; the clamping cylinder 18 automatically presses down and clamps after the embroidery box assembly is placed in place, preventing the box from swinging or shifting during material retrieval; the through-type trapezoidal lead screw 19 is driven by a stepper motor, and through threaded transmission, it achieves precise height adjustment of the lifting base plate assembly 4 of the embroidery box, ensuring that the top layer of fabric is always at a constant material retrieval plane; the positioning pin 20 is set on the lifting base plate assembly 4 of the embroidery box, and cooperates with the positioning hole at the bottom of the embroidery box assembly to achieve rapid and accurate positioning of the box and consistency in repeated installation. The above components work together to enable the material distribution device to precisely intervene between the first and second pressing states of the material transfer device, completing the separation and support functions of the fabric. At the same time, the storage device provides structural protection for continuous and stable single-piece material retrieval through automatic lifting compensation and reliable clamping positioning.

[0058] Furthermore, the actions of the right-side material holder component for the embroidered eyelet are implemented as follows: i. In the initial state, the MGC20X275S mini cylinder 14 is in the extended state. Through the embroidered eye cylinder connecting sheet metal 12 and floating joint 15, it drives the embroidered eye right material rack separation plate 9 to the rightmost position, so that the opening of the internal cavity enclosed by the embroidered eye right material rack base plate 1 and the embroidered eye right material rack platform plate 6 is fully exposed, which facilitates the insertion of the embroidered eye material box assembly. At the same time, the clamping cylinder 18 is in the extended state to avoid space for the material box placement.

[0059] ii. The three-axis cylinder 3 pushes upward, driving the material box lifting base plate assembly 4 and positioning pin 20 to rise synchronously, so as to facilitate the placement operation of the embroidery eye material box assembly.

[0060] iii. After the embroidery box assembly is placed in, the clamping cylinder 18 retracts to clamp the embroidery box assembly, thus reliably fixing the box.

[0061] iv. The three-axis cylinder 3 retracts downward, driving the material box lifting base plate assembly 4 and positioning pin 20 to descend synchronously, completing the placement and positioning of the material box.

[0062] v. When the equipment starts operating, the embroidery eyelet feeding component moves from the initial position to the picking position. The gripping function component starts to press down, and after pressing down to the position, the front set of needles starts to pierce and grab the top cap piece, while the rear two sets of needles remain stationary. The gripping function component lifts up, at which point the front end of the cap piece is pulled up, while the rear end remains in its original position due to its own weight, the positioning effect of the mold ejector pin in the embroidery eyelet material box component, and the adhesive force of the two cap pieces.

[0063] vi. The MGC20X275S mini cylinder 14 begins to retract, and through the fixed sheet metal 11 of the eyelet cylinder, the connected sheet metal 12 of the eyelet cylinder, and the floating joint 15, the right material rack separating plate 9 of the eyelet cylinder moves to the left along the guide rail 7 to perform a cutting action. The eyelet guide rail limiting sheet metal 13 provides limit protection for the end point of the stroke. The thickness of the area in the middle of the right material rack separating plate 9 that contacts the cap piece is designed to be as thin as possible to reduce insertion resistance, while a material with a certain degree of hardness is selected to ensure support. Under the cutting of the right material rack separating plate 9, the upper and lower cap pieces are separated, and the first cap piece is picked up and falls on the right material rack separating plate 9. At this time, the mold ejector pin is still in the eyelet of the cap piece, which plays the role of positioning the cap piece with high accuracy.

[0064] vii. The gripping component presses down again to pick up the material. During the pressing process, the first set of needles retracts its needles and releases the front end of the gripping cap. After pressing down to the end, the first set of needles and the second set of needles simultaneously grip the cap. After achieving stable gripping, the gripping component lifts up again.

[0065] viii. The translation function of the embroidery eyelet feeding component begins to feed material to the sewing station of the sewing machine, completing the gripping and transfer of a single cap piece.

[0066] Furthermore, the actions of the embroidery eyelet box component are implemented as follows: After the embroidery eyelet material box assembly is inserted into the embroidery eyelet right material rack assembly, the clamping cylinder 18 retracts to clamp the embroidery eyelet material box assembly, and the three-axis cylinder 3 retracts downward, driving the material box lifting base plate assembly 4 and the positioning pin 20 to descend synchronously, completing the placement and positioning of the material box. When the equipment is running, the material box lifting base plate assembly 4 moves upward under the push of the through trapezoidal screw 19. The TRN12-04NO proximity switch 17 and the photoelectric sensor 10 work together to detect its lifting position, so that the cap piece placed on the thorium needle pad 16 is always at a fixed horizontal plane, which facilitates the gripping function component to grip the cap piece; the embroidery eyelet rack support shaft 5 provides lateral edge positioning for the cap piece, ensuring that the stacked fabric remains neat and orderly during the lifting process.

[0067] In summary, this application enables stable and high-precision transmission of single pieces of lightweight fabric, effectively solving problems in existing technologies such as fabric adhesion, negative pressure adsorption, or large-area needle punching leading to heavy piece handling, mid-process drops, and downtime rework. The machine features a compact hardware layout, with each functional module organically linked through the frame. The clear and explicit control logic facilitates the programming and execution of automation programs, improving the production efficiency, single-piece material handling success rate, and finished product quality consistency of automated hat-making production lines. It provides a reliable technical solution for the automated processing of lightweight and soft materials.

[0068] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural transformations made based on the content of the specification and drawings of this application under the concept of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A sewing device for gripping embroidered eyelet fabric, the embroidered eyelet fabric having a first end and a second end, the area of ​​the first end being smaller than that of the second end, characterized in that, include: frame, A material transfer device is connected to the frame. The material transfer device includes a moving component and a pressure plate. The moving component is connected to the frame, and the pressure plate is connected to the moving component. The pressure plate includes a first needle group, which is adapted to connect to the first end. A storage device is connected to the frame, and the storage device is adapted to store multiple pieces of the embroidery fabric, which are stacked vertically. A material distribution device is connected to the frame. The material distribution device includes a material distribution plate with a horizontal surface. The material distribution plate is adapted to move along the direction from the first end toward the second end. The first needle assembly includes a first needle and a first cylinder. The first cylinder is connected to the first needle and is used to control the retraction of the first needle. The material transfer device is configured to have a primary pressing state and a secondary pressing state. In the primary pressing state, the pressure plate moves vertically to the point where the first needle lifts the first end of the embroidery fabric stacked on the top layer of the material storage device. The material distribution plate moves from the first end toward the second end until the lifted embroidery fabric is laid on the material distribution plate, so that the material transfer device enters the secondary pressing state. In the secondary pressing state, the first pressure plate moves vertically to lift the embroidery fabric laid on the material distribution plate.

2. The sewing equipment according to claim 1, characterized in that, The sewing device includes a second needle assembly connected to the pressure plate, and the second needle assembly is adapted to connect to the second end; Specifically, the second needle group is connected to the second end only during the secondary pressing state.

3. The sewing equipment according to claim 2, characterized in that, The second needle assembly includes a second needle tip and a second cylinder. The second cylinder is connected to the second needle tip and is used to control the retraction of the second needle tip. During the first press-down state, the first needle extends to pierce the first end, and the second needle retracts; In the secondary downward pressure state, the first needle extends to pierce the first end, and the second needle extends to pierce the second end.

4. The sewing equipment according to claim 2, characterized in that, The material transfer device also has an intermediate state, which is located between the first pressing state and the second pressing state. In the intermediate state, the embroidery fabric is laid on the dividing plate, and the pressing plate and the embroidery fabric laid on the dividing plate are spaced apart. When switching from the first pressing state to the intermediate state, the first needle retracts to release the first end; When switching from the intermediate state to the secondary pressing state, the pressure plate moves down, the first needle extends to pierce the first end, and the second needle extends to pierce the second end.

5. The sewing equipment according to claim 4, characterized in that, In the secondary downward pressure state, the length of the second needle extension is greater than or equal to the length of the first needle extension.

6. The sewing equipment according to claim 4, characterized in that, The material transfer device also has a material release state, in which the first needle retracts and the second needle retracts, so that the material transfer device releases the embroidery fabric.

7. The sewing equipment according to claim 1, characterized in that, The storage device includes a material box base plate and a positioning pin. The positioning pin is connected to the material box base plate, and the material box base plate carries the embroidery fabric. The positioning pin extends in a vertical direction and is adapted to pass through multiple pieces of embroidery fabric stacked in a vertical direction.

8. The sewing equipment according to claim 7, characterized in that, The storage device includes a lifting mechanism connected to the bottom plate of the material box. The lifting mechanism is adapted to adjust the height of the bottom plate of the material box so that the embroidered fabric stacked on the top layer of the bottom plate of the material box is always at a preset height.

9. A method for obtaining materials, characterized in that, The material feeding method for the sewing apparatus according to any one of claims 1 to 8 includes: S101: The first needle moves to the position of the first end of the corresponding embroidery eye fabric; S103: The pressure plate moves down, and the first needle extends to pierce the first end; S105: The pressure plate moves upward to lift the first end; S107: The separating plate moves along the direction from the first end to the second end to separate the lifted embroidered fabric from other fabrics; S109: The first needle retracts, releasing the separated embroidery fabric, so that the separated embroidery fabric is laid on the pressure plate; S111: The pressure plate moves down, and the first needle extends to pierce the embroidered fabric laid on the pressure plate.

10. A computer-readable storage medium, characterized in that, It stores a processor-executable program, which, when executed by the processor, is used to implement the material handling method as described in claim 9.

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