A lapper capable of automatic glue coating

Abstract

The present application relates to the technical field of laminating processing of cloth and workpiece, and proposes a cloth laminating machine capable of automatic gluing, which comprises a rack, a feeding mechanism, a first manipulator, a turnover mechanism, a feeding mechanism and a second manipulator arranged on the rack; the feeding mechanism is used for conveying cloth, and a gluing assembly is arranged on the feeding mechanism, which is used for applying glue to the pre-gluing surface of the cloth; the turnover mechanism has a clamping end for clamping the cloth; the feeding mechanism is used for conveying the workpiece to the material taking side of the second manipulator, and the second manipulator moves the workpiece to the laminating area; after the first manipulator grabs the cloth from the other side, the cloth is moved to the laminating station and is pressed onto the workpiece; after the cloth and the workpiece are laminated, the first manipulator releases the cloth. The online gluing method is used to replace the traditional double-sided adhesive tape feeding, and frequent shutdown, roll replacement and re-adjustment are not required.

Description

Technical Field

[0001] This invention relates to the technical field of fabric-workpiece bonding processing, and specifically to a fabric stacking machine with automatic adhesive application. Background Technology

[0002] Currently, the common method for attaching fabric to the surface of a workpiece is to first apply double-sided tape to the fabric manually or using equipment, and then attach the fabric to the workpiece surface. When using equipment for attachment, the double-sided tape is usually supplied in rolls. Once a roll is used up, the machine must be stopped for a re-roll, and the equipment must be readjusted afterward to ensure it is functioning correctly. This downtime for both readjustment and re-rolling results in low overall equipment production efficiency. Compared to manual operation, the efficiency improvement offered by this equipment does not meet expectations. Summary of the Invention

[0003] This invention proposes an automatic adhesive-applying fabric stacking machine, which mainly solves the technical problem that existing equipment requires machine downtime for roll replacement and debugging due to the use of roll-shaped double-sided adhesive tape as the intermediate connecting medium, resulting in a long standby time and thus the expected improvement in production efficiency.

[0004] An automatic glue-applying fabric stacking machine designed for this purpose includes a frame, on which a feeding mechanism, a first robotic arm, a flipping mechanism, a loading mechanism, and a second robotic arm are provided; The feeding mechanism is used to transport the fabric, and the feeding mechanism is equipped with an adhesive application component, which is used to apply adhesive to the pre-adhesive surface of the fabric. The flipping mechanism has a clamping end for clamping the side of the fabric. After the fabric is cut, the flipping mechanism flips the side of the fabric coated with adhesive to the bottom, so that the other side of the fabric faces up, so that the first robotic arm can grasp it. The feeding mechanism is used to transport the workpiece to the picking side of the second robot arm, and the second robot arm then moves the workpiece to the bonding area; The first robotic arm grasps the flipped fabric and transfers it to the position where it is pressed against the workpiece. After the fabric and workpiece are bonded together, the first robotic arm releases the fabric.

[0005] The adhesive application assembly includes a container, a heating element, and a rotating adhesive application wheel. The heating element is used to heat the adhesive stored in the container. The container is provided with a discharge channel for guiding the adhesive onto the adhesive application wheel. The fabric is coated with adhesive by the adhesive application wheel during conveying. The adhesive application surface of the adhesive application wheel is located inside the side edge of the fabric.

[0006] The number of adhesive coating components is two, which are arranged opposite each other. Each adhesive coating component is equipped with a heat insulation cover, which covers the heating part of the adhesive coating component. The side of the heat insulation cover is equipped with a mounting component, which is vertically adjustable on the feeding mechanism to adjust the vertical distance between the bottom of the adhesive coating component and the conveying surface of the feeding mechanism.

[0007] The feeding mechanism has a conveying channel for guiding the fabric along a preset path; The conveying channel is equipped with a rotating feed roller, which is located downstream of the glue coating assembly. The feed roller is used to flatten and correct the fabric entering the conveying channel. When the fabric passes through the feed roller, its pre-coated surface does not contact the feed roller. Limiting elements are provided on both sides of the conveying channel to limit the sides of the fabric. A preheating module is provided on the outside of the feed end of the conveying channel to preheat the fabric before it enters the conveying channel.

[0008] The feeding mechanism includes an upper roller, a lower roller, and a conveying drive motor. The conveying drive motor drives the upper roller and the lower roller to rotate. The upper roller and the lower roller are arranged vertically and rotatably on the discharge end of the conveying channel. The feeding mechanism is equipped with a lifting cylinder for driving the upper roller to move up and down, so as to adjust the distance between the upper and lower rollers.

[0009] The feeding mechanism is equipped with a cutting mechanism at the discharge end, which is used to cut the fabric output by the feeding mechanism to a preset length; the flipping mechanism is located outside the discharge end of the feeding mechanism. The cutting mechanism includes an upper blade and a lower blade arranged at intervals facing each other, forming a cutting station between the upper and lower blades. The lower blade is fixedly set, and the upper blade can move relative to the lower blade to cut the fabric to a preset length.

[0010] The frame is also equipped with a material support mechanism, which is located below the outside of the discharge end of the feeding mechanism. The flipping mechanism and the material support mechanism are arranged opposite to each other. The material support mechanism includes a material support lifting drive and a material support component. The lifting end of the material support lifting drive is connected to the material support component to drive the material support component to lift up and down. The material support is used to support the side of the fabric, and it is in the rising material support position when the fabric is cut and after it is flipped. The material support is in a lowered position when the flipping mechanism flips the fabric to avoid the flipping action.

[0011] The frame is equipped with a feeding mechanism, which is a conveyor belt conveying mechanism; The material feeding mechanism is provided with a pressing mechanism at the discharge end for pressing the fabric onto the workpiece a second time. The pressing mechanism includes a pressing cylinder and a pressing plate, and the piston rod of the pressing cylinder is fixedly connected to the pressing plate.

[0012] A vision inspection camera is provided above the bonding area of ​​the frame. The detection area of ​​the vision inspection camera faces the gripping end of the first robot arm. The vision inspection camera is used to detect the position and angle deviation of the fabric on the gripping end of the first robot arm, so that the first robot arm can correct the placement angle of the fabric before bonding. In the horizontal projection direction, the swing path of the first robotic arm avoids the detection area of ​​the visual inspection camera, which is located outside the swing path of the robotic arm.

[0013] The flipping mechanism includes a gripper assembly, a gripper cylinder, and a rotary cylinder; The gripper cylinder is used to drive the gripper assembly to open and close, so as to grip or release the fabric. The gripper assembly constitutes the gripping end of the flipping mechanism. The rotary cylinder is used to drive the gripper cylinder and gripper assembly to rotate, thereby achieving flipping; The feeding mechanism includes a feeding lifting drive and a feeding plate, and the feeding plate is provided with a slot for a limiting rod to pass through; The bottom of the limiting rod is installed on the base plate, the base plate is provided with a side plate corresponding to the side of the feeding plate, and the feeding plate is provided with a connecting plate. The limiting rod, the side plate, the feeding plate and the connecting plate together form a workpiece positioning area that is open at the top and used to stack several workpieces. The loading and lifting driver is used to drive the loading plate to rise and fall along the limit rod, so as to transport each workpiece to the picking side of the second robot in sequence.

[0014] The beneficial technical effects of the present invention are as follows: 1. This invention uses an online gluing method to replace the traditional double-sided tape feeding method, eliminating the need for frequent machine shutdowns to change rolls and readjustments, effectively increasing the continuous operation time of the equipment, and improving the production efficiency of the equipment as expected.

[0015] 2. The adhesive roller is positioned near the inner edge of the fabric side, so that when the fabric is pressed onto the workpiece, the adhesive can be confined between the fabric and the workpiece, effectively reducing adhesive overflow.

[0016] 3. When the fabric passes through the feed roller, the pre-coated adhesive surface does not come into contact with the feed roller to prevent the adhesive from being wiped off or adhering to the roller surface after coating, thus ensuring the integrity of the adhesive layer.

[0017] 4. The position and angle deviation of the fabric on the first robotic arm gripping end are detected by a vision inspection camera, and the placement angle is corrected to improve the fitting and alignment accuracy.

[0018] 5. Drive the loading plate to rise step by step along the limit rod through the loading lifting driver, and transport the workpieces stacked in the workpiece positioning area to the picking side of the second robot in sequence. The second robot will automatically pick up and transfer the workpieces, reducing manual loading intervention. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of a fabric stacking machine according to an embodiment of the present invention.

[0020] Figure 2 This is a three-dimensional structural diagram of a feeding mechanism according to an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the structure of the fabric, coating wheel, and limiting member in the horizontal projection direction according to an embodiment of the present invention.

[0022] Figure 4 This is a three-dimensional structural diagram of the feeding mechanism from another visual perspective according to an embodiment of the present invention.

[0023] Figure 5 This is a three-dimensional cross-sectional structural diagram of an adhesive coating assembly according to an embodiment of the present invention.

[0024] Figure 6 This is a three-dimensional structural diagram of the gripper assembly of the flipping mechanism in an open state according to an embodiment of the present invention.

[0025] Figure 7 This is a three-dimensional structural diagram of the gripper assembly of the flipping mechanism according to an embodiment of the present invention, showing the flipping action after clamping.

[0026] Figure 8 This is a three-dimensional structural diagram of the first robotic arm grasping fabric according to an embodiment of the present invention.

[0027] Figure 9 This is a three-dimensional structural diagram of the first robotic arm according to an embodiment of the present invention.

[0028] Figure 10 This is a three-dimensional structural diagram of the feeding mechanism and the second robotic arm according to an embodiment of the present invention.

[0029] Figure 11 This is a three-dimensional structural diagram of the feeding mechanism according to an embodiment of the present invention.

[0030] Figure 12 This is a three-dimensional structural diagram of a pressing mechanism according to an embodiment of the present invention. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. In order to make the above-mentioned objects, features and advantages of this application more apparent and understandable, many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0032] See Figures 1-12 An automatic glue-applying fabric folding machine includes a frame 1, on which a feeding mechanism 2, a first robotic arm 3, a flipping mechanism 4, a loading mechanism 5, and a second robotic arm 6 are provided; The feeding mechanism 2 is used to convey the fabric 7, and the feeding mechanism 2 is provided with an adhesive application component 8, which is used to apply adhesive to the pre-coated surface of the fabric 7. The flipping mechanism 4 has a clamping end for clamping the side of the fabric 7. After the fabric 7 is cut, the flipping mechanism 4 flips the side of the fabric 7 coated with adhesive to the bottom, so that the other side of the fabric 7 faces up, so that the first robotic arm 3 can grasp it. The feeding mechanism 5 is used to transport the workpiece 9 to the picking side of the second robot 6, and the second robot 6 then moves the workpiece 9 to the bonding area; The first robotic arm 3 grabs the flipped fabric 7. After grabbing the fabric 7 from the other side, the fabric 7 is transferred to the position where it is pressed against the workpiece 9. After the fabric 7 is pressed against the workpiece 9, the first robotic arm 3 releases the fabric 7.

[0033] A gluing component 8 is installed on the feeding mechanism 2 to apply adhesive to the fabric 7, replacing the existing equipment that uses double-sided tape. This eliminates the need to stop the machine to replace the reel and readjust the equipment after the tape runs out, improving the reliability of continuous operation of the equipment, reducing downtime caused by reel replacement and adjustment, and increasing production efficiency.

[0034] The adhesive application assembly 8 includes a container 801, a heating element 802, and a rotating adhesive application wheel 804. The heating element 802 is used to heat the adhesive stored in the container 801. The container 801 is provided with a discharge channel 805 for guiding the adhesive onto the adhesive application wheel 804. The fabric 7 is coated with adhesive by the adhesive application wheel 804 during conveying. The adhesive application surface of the adhesive application wheel 804 is located on the inner side of the side edge of the fabric 7.

[0035] The heating element 802 heats the adhesive material in the container 801, which helps to improve the fluidity of the adhesive material and prevents the adhesive material from solidifying and clogging in the container 801 or the material discharge channel 805. During the conveying process, the cloth 7 passes through the rotating coating wheel 804, so that the conveying of the cloth 7 and the coating are carried out simultaneously. Only the adhesive material needs to be added to the container 801. The equipment does not need to be readjusted after the material is added, reducing the downtime of the equipment.

[0036] In this embodiment, the heating element 802 is embedded in the bottom of the container 801. A connector 803 is provided on the outer side of the bottom of the container 801. A material discharge channel 806 is provided on the connector 803. The material discharge channel 806 is connected to the material drop channel 805. The glue coating wheel 804 is rotatably mounted on the connector 803. One end of the material discharge channel 806 extends toward the glue coating wheel 804.

[0037] In this embodiment, the bottom of container 801 can be fixed to connector 803 by welding.

[0038] The number of adhesive coating components 8 is two and they are arranged opposite each other. Each adhesive coating component 8 is provided with a heat insulation cover 16, which covers the heating part of the adhesive coating component 8. The side of the heat insulation cover 16 is provided with a mounting part 17, which is vertically adjustable on the feeding mechanism 2 to adjust the vertical distance between the bottom of the adhesive coating component 8 and the conveying surface of the feeding mechanism 2.

[0039] Two adhesive application components 8 are arranged opposite each other and spaced apart. Adhesive is applied to the fabric 7 simultaneously from the inner sides of both edges, fixing the fabric 7 to the workpiece 9. The mounting component 17 is vertically adjustable on the feeding mechanism 2, allowing adjustment of the vertical distance between the bottom of the adhesive application component 8 and the conveying surface of the feeding mechanism 2 according to the thickness of the fabric 7. This ensures that the adhesive application wheel 804 maintains an appropriate distance from the surface of the fabric 7 of different thicknesses, preventing adhesive application failure.

[0040] In this embodiment, the bottom of the heat insulation cover 16 is provided with a bottom opening for the connector 803 and the applicator wheel 804 to extend out; the connector 803 is provided with a positioning step 8031, and the bottom of the heat insulation cover 16 is fixed to the positioning step 8031 ​​by welding. The upper parts of the heat insulation cover 16 and the container 801 are open to form a replenishment port for the adhesive, which can be replenished by a delivery pump. The outer surface of the heat insulation cover 16 is provided with heat dissipation holes.

[0041] In this embodiment, the mounting component 17 is provided with a vertical adjustment groove, and the feeding mechanism 2 includes a frame 201. The frame 201 is provided with a fastening hole aligned with the vertical adjustment groove. Fasteners pass through the vertical adjustment groove and the fastening hole in sequence to fix the mounting component 17 to the frame 201. When adjustment is required, the fasteners are loosened, the mounting component 17 is moved along the vertical adjustment groove to the required height, and then the fasteners are tightened. This allows for vertical adjustment of the distance between the bottom of the adhesive application assembly 8 and the conveying surface of the feeding mechanism 2. The fasteners are screws.

[0042] In this embodiment, the frame 201 is provided with a support frame 209 for placing the fabric roll.

[0043] The feeding mechanism 2 has a conveying channel for guiding the fabric 7 along a preset path; The conveying channel is equipped with a rotating feed roller 203, which is located downstream of the glue coating assembly 8. It is used to flatten and correct the fabric 7 entering the conveying channel. When the fabric 7 passes through the feed roller 203, its pre-coated surface does not contact the feed roller 203. Limiting members 202 are provided on both sides of the conveying channel to limit the sides of the fabric 7; A preheating module 208 is provided on the outside of the feed end of the conveying channel to preheat the fabric 7 before it enters the conveying channel.

[0044] The preheating module 208 preheats the fabric 7 before it enters the conveying channel, keeping the fabric 7 in a soft state.

[0045] The feed roller 203 is located downstream of the adhesive coating assembly 8. After the fabric 7 is coated with adhesive, it passes through the feed roller 203, which flattens and corrects the coated fabric 7, ensuring that the fabric 7 remains flat before entering the subsequent cutting process. The pre-coated surface of the fabric 7 does not contact the feed roller 203, preventing the adhesive on the fabric 7 from adhering to the surface of the feed roller 203 and contaminating the roller surface, and also preventing the fabric 7 from sticking to the roller surface, causing wrinkles or deviations during the conveying of the fabric 7. The limiting member 202 limits the fabric 7 on both sides to prevent the fabric 7 from deviating during the conveying process.

[0046] In this embodiment, the frame 201 is provided with a support plate for forming a conveying channel and supporting the fabric 7 during conveying, or a plurality of conveying rollers that are rotatably arranged at intervals. The two ends of the connecting shaft of the feed roller 203 are rotatably connected to the frame 201, and the feed roller 203 is located above the support plate or the conveying roller. A plurality of feed rollers 203 are provided, and the plurality of feed rollers 203 are arranged at intervals along the conveying direction of the fabric 7.

[0047] In this embodiment, the frame 201 is provided with a fixed shaft for installing the limiting member 202. The side of the limiting member 202 is provided with a shaft hole that passes through the fixed shaft. The upper part of the limiting member 202 is provided with a screw hole for installing a locking screw. The screw hole communicates with the shaft hole. After the locking screw is tightened, the end of the locking screw abuts against the fixed shaft. After the locking screw is loosened, the limiting member 202 can move axially on the fixed shaft to adjust the distance between the two limiting members 202 according to the width of the fabric 7.

[0048] In this embodiment, two sets of opposing limiting members 202 are arranged at intervals along the conveying direction of the fabric 7.

[0049] In this embodiment, the preheating module 208 includes two heating plates arranged vertically, and the heating plates are equipped with heating wires or heating tubes, etc.; the fabric 7 passes between the two heating plates during conveying.

[0050] The feeding mechanism 2 includes an upper roller 205, a lower roller 204 and a conveying drive motor 206. The conveying drive motor 206 drives the upper roller 205 and the lower roller 204 to rotate. The upper roller 205 and the lower roller 204 are arranged vertically and rotatably on the discharge end of the conveying channel. The feeding mechanism 2 is equipped with a lifting cylinder 18 for driving the upper roller 205 to move up and down, so as to adjust the distance between the upper and lower rollers.

[0051] In this embodiment, a first gear is provided on the connecting shaft of the upper roller 205, and a second gear and a transmission wheel 19 are provided on the connecting shaft of the lower roller 204. A drive wheel 20 is provided on the conveying drive motor 206. The first gear and the second gear mesh. The transmission wheel 19 and the drive wheel 20 are connected by a synchronous belt 21. The conveying drive motor 206 drives the drive wheel 20 to rotate. The drive wheel 20 drives the transmission wheel 19 to rotate through the synchronous belt 21, so that the second gear drives the first gear to rotate, thereby causing the upper roller 205 and the lower roller 204 to rotate.

[0052] In this embodiment, the cylinder body of the lifting cylinder 18 is fixed on the frame 201. A movable frame is provided on the frame 201, and the movable frame is slidably connected to the frame 201 via a slide rail, slider, or other structure. The upper roller 205 is rotatably mounted on the movable frame. The piston rod of the lifting cylinder 18 is fixedly connected to the movable frame to drive the movable frame and its upper roller 205 to move up and down vertically. The lifting cylinder 18 drives the upper roller 205 to move up and down to adjust the distance between the upper roller 205 and the lower roller 204, allowing the upper roller 205 and the lower roller 204 to accommodate the passage of fabrics 7 of different thicknesses.

[0053] The feeding mechanism 2 is equipped with a cutting mechanism 10 at the discharge end, which is used to cut the fabric 7 output by the feeding mechanism 2 to a preset length; the flipping mechanism 4 is located outside the discharge end of the feeding mechanism 2. The cutting mechanism 10 includes an upper blade 1001 and a lower blade 1002 that are arranged opposite each other at intervals. A cutting station is formed between the upper blade 1001 and the lower blade 1002. The lower blade 1002 is fixedly arranged. The upper blade 1001 can move relative to the lower blade 1002 to cut the fabric 7 to a preset length.

[0054] In this embodiment, the lower blade 1002 is fixed on the end of the frame 201, and the upper blade 1001 is movably disposed on the end of the frame 201. A drive cylinder is provided on the frame 201 above the upper blade 1001. The piston rod of the drive cylinder is fixedly connected to the upper blade 1001 to drive the upper blade 1001 to move up and down in the vertical direction to move closer to or away from the lower blade 1002.

[0055] The frame 1 is also provided with a material support mechanism 11. The material support mechanism 11 is located below the outside of the discharge end of the feeding mechanism 2. The flipping mechanism 4 is arranged opposite to the material support mechanism 11 at intervals. The material support mechanism 11 includes a material support lifting drive 1101 and a material support component 1102. The lifting end of the material support lifting drive 1101 is connected to the material support component 1102 in a transmission connection to drive the material support component 1102 to lift up and down. The material support 1102 is used to support the side of the fabric 7, and it is in the rising material support position when the fabric 7 is cut and after it is flipped. The material support 1102 is in a lowered position when the flipping mechanism 4 flips the fabric 7 to avoid the flipping action.

[0056] When the fabric 7 is cut, the material support 1102 is in the rising support position, supporting the side of the fabric 7 to prevent the cut fabric 7 from drooping or falling under its own weight. When the flipping mechanism 4 flips the fabric 7, the material support 1102 descends to the descending position to avoid the flipping action. After the flipping is completed, the material support 1102 rises again to the rising support position to support the side of the flipped fabric 7. Since the cut fabric 7 is supported by the material support 1102 on both sides and clamped by the flipping mechanism 4, it is convenient for the first robotic arm 3 to grasp the flipped fabric 7 by vacuum adsorption.

[0057] The frame 1 is provided with a feeding mechanism 12 on the bonding area, and the feeding mechanism 12 is a conveyor belt conveying mechanism; The material feeding mechanism 12 is provided with a pressing mechanism 14 for pressing the cloth 7 onto the workpiece 9 for a second time. The pressing mechanism 14 includes a pressing cylinder 1401 and a pressing plate 1402. The piston rod of the pressing cylinder 1401 is fixedly connected to the pressing plate 1402.

[0058] In this embodiment, a receiving box 13 is provided on one side of the discharge end of the feeding mechanism 12. The laminated fabric 7 and workpiece 9 are conveyed outward from the lamination area to achieve automatic feeding. The pressing mechanism 14 on the feeding mechanism 12 drives the pressing plate 1402 to press down through the pressing cylinder 1401, so that the fabric 7 and workpiece 9 are further pressed together after lamination, ensuring that the surfaces of the fabric 7 and workpiece 9 are fully adhered and improving the bonding firmness.

[0059] In this embodiment, the fixed frame of the feeding mechanism 12 is provided with a fixing plate 22 for fixing the pressing cylinder 1401.

[0060] A visual inspection camera 15 is provided above the bonding area of ​​the frame 1. The detection area of ​​the visual inspection camera 15 faces the gripping end of the first robot arm 3. The visual inspection camera 15 is used to detect the position and angle deviation of the fabric 7 on the gripping end of the first robot arm 3, so that the first robot arm 3 can correct the placement angle of the fabric 7 before bonding. In the horizontal projection direction, the swing path of the movable arm 301 of the first robotic arm 3 avoids the detection area of ​​the visual inspection camera 15. The detection area of ​​the visual inspection camera 15 is located outside the swing path of the movable arm 301, so as to avoid the movable arm 301 of the first robotic arm 3 from blocking the detection field of the visual inspection camera 15 during the movement.

[0061] In this embodiment, the gripping ends of the first robotic arm 3 and the second robotic arm 6 are provided with suction cups 23 for gripping materials from the other side.

[0062] In this embodiment, the first robotic arm 3 is a multi-axis robotic arm. When the visual inspection camera 15 detects that the fabric 7 is swaying, the rotation axis of the first robotic arm 3 rotates to correct the position and angle of the fabric 7.

[0063] The flipping mechanism 4 includes a gripper assembly 401, a gripper cylinder 402, and a rotary cylinder 403. The gripper cylinder 402 is used to drive the gripper assembly 401 to open and close, so as to grip or release the fabric 7. The gripper assembly 401 constitutes the gripping end of the flipping mechanism 4. The rotary cylinder 403 is used to drive the gripper cylinder 402 and the gripper assembly 401 to rotate, thereby achieving flipping; In this embodiment, the cylinder body of the gripper cylinder 402 is fixed on the rotating platform of the rotary cylinder 403, and the piston rod of the gripper cylinder 402 drives the gripper assembly 401 to perform opening and closing actions through the connecting rod assembly.

[0064] In this embodiment, the gripper of the gripper assembly 401 is provided with a laterally extending adjustment groove. When the gripper is fixed, the screw is fixedly connected to the corresponding connecting rod through the adjustment groove. When adjusting, the screw is loosened and the gripper moves back and forth to adjust the front and rear distance between the gripper assembly 401 and the discharge end of the feeding mechanism 2.

[0065] The feeding mechanism 5 includes a feeding lifting drive 501 and a feeding plate 502. The feeding plate 502 is provided with a slot for the limit rod 503 to pass through. The bottom of the limiting rod 503 is installed on the base plate 504. The base plate 504 is provided with a side plate 505 corresponding to the side of the feeding plate 502. The feeding plate 502 is provided with a connecting plate 24. The limiting rod 503, the side plate 505, the feeding plate 502 and the connecting plate 24 together form a workpiece positioning area that is open at the top and used to stack several workpieces 9. The loading lifting driver 501 is used to drive the loading plate 502 to rise and fall along the limiting rod 503 so as to transport each workpiece 9 to the picking side of the second robot 6 in sequence.

[0066] In this embodiment, the second robotic arm 6 is a two-axis robotic arm with translational and vertical lifting structures. The translational structure can be implemented using a linear motor module, and the vertical lifting structure can be implemented using a lifting cylinder.

[0067] In this embodiment, the loading lifting driver 501 is a motor. The motor can drive the loading plate 502 to move up and down through a screw, nut, guide rail and other structures. The loading plate 502 is fixed to the nut. Due to the limit rod and guide rail structure, the loading plate 502 cannot rotate. When the screw rotates, the nut can only move up and down along the screw. Alternatively, the loading lifting driver 501 can be replaced by a motor linear module.

[0068] In this embodiment, several limiting rods 503 are provided. Side plates 505 are provided on both sides of the base plate 504 corresponding to the loading plate 502. The limiting rods 503 are arranged at intervals along the end and outer periphery of the workpiece 9 to cooperate with the side plates 505, connecting plate 24, etc. to limit the placement of the workpiece 9. The bottom of the limiting rods 503 is adjustablely mounted on the base plate 504 by screws or magnets to accommodate workpieces of different sizes.

[0069] The loading mechanism 5's loading lifting driver 501 drives the loading plate 502 to rise and fall along the limiting rod 503, sequentially conveying each workpiece 9 stacked in the workpiece positioning area to the picking side of the second robot 6, thus achieving continuous feeding of the workpiece 9. The limiting rod 503 and the side plate 505 limit the stacked workpiece 9 to prevent the workpiece 9 from shifting or tipping over during the lifting process, ensuring that the second robot 6 picks up the workpiece 9 at a fixed position each time.

[0070] Specifically: Before entering the conveying channel, the fabric 7 is preheated by the preheating module 208 to keep it soft. After preheating, the fabric 7 enters the conveying channel, and the limiting member 202 limits the fabric 7 on both sides to prevent it from shifting during conveying. The fabric 7 continues to be conveyed forward, and two adhesive application components 8 are arranged opposite each other on both sides of the fabric 7. The adhesive application surface of each adhesive application wheel 804 is located on the inner side of the side edge of the fabric 7. Each adhesive application wheel 804 rotates as the fabric 7 is conveyed to apply adhesive to the pre-adhesive surface of the fabric 7.

[0071] After the adhesive is applied, the fabric 7 continues to be conveyed forward. At this time, the pre-coated side of the fabric 7 enters the feed roller 203 with the pre-coated side facing upward. The feed roller 203 does not contact the coated part of the fabric 7. The coated fabric 7 is flattened and corrected so that the fabric 7 remains relatively flat.

[0072] After being flattened, the fabric 7 enters the discharge end of the feeding mechanism 2. The fabric 7 is output through the gap between the upper roller 205 and the lower roller 204 to the outside of the discharge end of the feeding mechanism 2. When the fabric 7 has been output to a certain length, the upper blade 1001 of the cutting mechanism 10 moves relative to the lower blade 1002, cutting the fabric 7 to a preset length. Whether the output of the fabric 7 has reached the preset length can be detected by an infrared detector or by detecting the conveying stroke of the motor using an encoder.

[0073] Before the fabric 7 is cut, the material support 1102 is in the rising support position, supporting the side of the fabric 7 to prevent it from drooping excessively. Simultaneously, the gripper assembly 401 of the flipping mechanism 4 switches from the open state to the clamping state. When the other side of the fabric 7 droops, the gripper assembly 401, when closed, has its lower gripper supporting the fabric 7 as it approaches, thus clamping the side of the fabric 7. This clamping position avoids the area of ​​the fabric 7 coated with adhesive. After the fabric 7 outputs a preset length, both sides of the fabric 7 are supported by the material support 1102 and the gripper assembly 401, respectively. The fabric 7 is then cut. After the fabric 7 is cut, the material support 1102 descends to the corresponding position to avoid the flipping action. The rotary cylinder 403 drives the gripper cylinder 402 and the gripper assembly 401 to rotate, flipping the adhesive-coated side of the fabric 7 to the bottom, so that the other side of the fabric 7 faces upwards. After the flipping is completed, the material support 1102 rises again to support the side of the flipped fabric 7. This side area corresponds to the clamping position of the gripper assembly 401 and avoids the glued area.

[0074] In addition, the loading lifting driver 501 of the loading mechanism 5 drives the loading plate 502 to rise and fall along the limiting rod 503, and sequentially transports each workpiece 9 stacked in the workpiece positioning area to the picking side of the second robot 6. The second robot 6 takes the workpiece 9 from the picking side and transfers the workpiece 9 to the unloading mechanism 12 in the bonding area. After the workpiece 9 is transported to below the vision inspection camera 15, the unloading mechanism 12 stops transporting.

[0075] After the first robotic arm 3 picks up and grasps the fabric 7, the gripper assembly 401 releases the fabric 7. The first robotic arm 3 transfers the fabric 7 to below the vision inspection camera 15, with the inspection area of ​​the vision inspection camera 15 facing the gripping end of the first robotic arm 3. The camera detects the position and angular deviation of the fabric 7 on the gripping end of the first robotic arm 3, and the first robotic arm 3 corrects the placement angle of the fabric 7 based on the detection results of the vision inspection camera 15. The first robotic arm 3 presses the corrected fabric 7 onto the workpiece 9, with the adhesive-coated side of the fabric 7 adhering to the surface of the workpiece 9. After the fabric 7 and workpiece 9 are adhered, the first robotic arm 3 releases the fabric 7.

[0076] The feeding mechanism 12 restarts and conveys the laminated fabric 7 and workpiece 9 to the outside of the lamination area. When conveyed to the pressing mechanism 14, the feeding mechanism 12 stops running, and the pressing cylinder 1401 of the pressing mechanism 14 drives the pressing plate 1402 to apply pressure to the fabric 7, so that the fabric 7 and workpiece 9 are further pressed together after lamination. The feeding mechanism 12 restarts again and conveys the finished product after lamination to the receiving box 13.

[0077] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic gluing fabric folding machine, comprising a frame (1), characterized in that: The frame (1) is equipped with a feeding mechanism (2), a first robotic arm (3), a flipping mechanism (4), a loading mechanism (5), and a second robotic arm (6). The feeding mechanism (2) is used to convey the fabric (7), and the feeding mechanism (2) is provided with a glue application component (8), which is used to apply glue to the pre-coated surface of the fabric (7); The flipping mechanism (4) has a clamping end for clamping the side of the fabric (7). After the fabric (7) is cut, the flipping mechanism (4) flips the side of the fabric (7) coated with adhesive to the bottom, so that the other side of the fabric (7) faces up, so that the first robotic arm (3) can grab it. The feeding mechanism (5) is used to transport the workpiece (9) to the picking side of the second robot (6), and the second robot (6) then moves the workpiece (9) to the bonding area; The first robotic arm (3) grabs the flipped fabric (7), and the fabric (7) is transferred to the position where it is pressed against the workpiece (9). After the fabric (7) and the workpiece (9) are pressed together, the first robotic arm (3) releases the fabric (7). The adhesive application assembly (8) includes a container (801), a heating element (802), and a rotating adhesive application wheel (804). The heating element (802) is used to heat the adhesive stored in the container (801). The container (801) is provided with a discharge channel (805) for guiding the adhesive onto the adhesive application wheel (804). The fabric (7) is coated with adhesive by the adhesive application wheel (804) during transport. The adhesive application surface of the adhesive application wheel (804) is located on the inner side of the side edge of the fabric (7). The number of the glue application components (8) is two and they are arranged opposite each other. Each glue application component (8) is provided with a heat insulation cover (16). The heat insulation cover (16) covers the heating part of the glue application component (8). The side of the heat insulation cover (16) is provided with a mounting part (17). The mounting part (17) is adjustablely mounted on the feeding mechanism (2) in the vertical direction to adjust the vertical distance between the bottom of the glue application component (8) and the conveying surface of the feeding mechanism (2). The feeding mechanism (2) has a conveying channel for guiding the fabric (7) to be conveyed along a preset path; The conveying channel is provided with a rotating feed roller (203). The feed roller (203) is located on the downstream side of the glue coating assembly (8) and is used to flatten and correct the fabric (7) entering the conveying channel. When the fabric (7) passes through the feed roller (203), its pre-coated surface does not contact the feed roller (203). Limiting elements (202) are provided on both sides of the conveying channel to limit the sides of the fabric (7); A preheating module (208) is provided on the outside of the feed end of the conveying channel to preheat the fabric (7) before it enters the conveying channel.

2. The fabric folding machine with automatic gluing capability according to claim 1, characterized in that: The feeding mechanism (2) includes an upper roller (205), a lower roller (204) and a conveying drive motor (206). The conveying drive motor (206) drives the upper roller (205) and the lower roller (204) to operate. The upper roller (205) and the lower roller (204) are arranged vertically and rotatably on the discharge end of the conveying channel. The feeding mechanism (2) is equipped with a lifting cylinder (18) for driving the upper roller (205) to move up and down, so as to adjust the distance between the upper and lower rollers.

3. The fabric folding machine with automatic gluing capability according to claim 1, characterized in that: The feeding mechanism (2) is provided with a cutting mechanism (10) at the discharge end, which is used to cut the fabric (7) output by the feeding mechanism (2) to a preset length; the flipping mechanism (4) is located outside the discharge end of the feeding mechanism (2); The cutting mechanism (10) includes an upper blade (1001) and a lower blade (1002) arranged at intervals between each other. A cutting station is formed between the upper blade (1001) and the lower blade (1002). The lower blade (1002) is fixedly arranged, and the upper blade (1001) can move relative to the lower blade (1002) to cut the fabric (7) to a preset length.

4. The fabric folding machine with automatic gluing capability according to claim 1, characterized in that: The frame (1) is also provided with a material support mechanism (11). The material support mechanism (11) is located below the outside of the discharge end of the feeding mechanism (2). The flipping mechanism (4) and the material support mechanism (11) are arranged opposite to each other. The material support mechanism (11) includes a material support lifting drive (1101) and a material support component (1102). The lifting end of the material support lifting drive (1101) is connected to the material support component (1102) to drive the material support component (1102) to lift up and down. The material support (1102) is used to support the side of the fabric (7), and it is in the rising material support position when the fabric (7) is cut and after it is flipped. The material support (1102) is in a lower position when the flipping mechanism (4) flips the fabric (7) to avoid the flipping action.

5. The fabric folding machine with automatic gluing capability according to claim 1, characterized in that: The frame (1) is provided with a feeding mechanism (12) on the bonding area, and the feeding mechanism (12) is a conveyor belt conveying mechanism; The material feeding mechanism (12) is provided with a pressing mechanism (14) for pressing the cloth (7) onto the workpiece (9) for a second time. The pressing mechanism (14) includes a pressing cylinder (1401) and a pressing plate (1402). The piston rod of the pressing cylinder (1401) is fixedly connected to the pressing plate (1402).

6. The fabric folding machine with automatic gluing capability according to claim 1, characterized in that: A visual inspection camera (15) is provided above the bonding area of ​​the frame (1). The detection area of ​​the visual inspection camera (15) faces the gripping end of the first robot (3). The visual inspection camera (15) is used to detect the position and angle deviation of the fabric (7) on the gripping end of the first robot (3), so that the first robot (3) can correct the placement angle of the fabric (7) before bonding. In the horizontal projection direction, the swing path of the movable arm (301) of the first robotic arm (3) avoids the detection area of ​​the visual inspection camera (15), and the detection area of ​​the visual inspection camera (15) is located outside the swing path of the movable arm (301).

7. The fabric folding machine with automatic gluing capability according to claim 1, characterized in that: The flipping mechanism (4) includes a gripper assembly (401), a gripper cylinder (402), and a rotary cylinder (403). The gripper cylinder (402) is used to drive the gripper assembly (401) to open and close, so as to grip or release the fabric (7). The gripper assembly (401) constitutes the gripping end of the flipping mechanism (4). The rotary cylinder (403) is used to drive the gripper cylinder (402) and the gripper assembly (401) to rotate, thereby achieving flipping; The feeding mechanism (5) includes a feeding lifting drive (501) and a feeding plate (502), and the feeding plate (502) is provided with a slot for the limit rod (503) to pass through; The bottom of the limiting rod (503) is installed on the base plate (504). The base plate (504) is provided with a side plate (505) corresponding to the side of the loading plate (502). The loading plate (502) is provided with a connecting plate (24). The limiting rod (503), the side plate (505), the loading plate (502) and the connecting plate (24) together form a workpiece positioning area that is open at the top and used to stack several workpieces (9). The loading lifting driver (501) is used to drive the loading plate (502) to rise and fall along the limit rod (503) so as to transport each workpiece (9) to the picking side of the second robot (6) in sequence.

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