A cutting device, a cutting table and a cutting method

Abstract

The present application belongs to the technical field of cutting bed, and discloses a grabbing device for cutting pieces, a cutting bed and a method for grabbing cutting pieces. The grabbing device for cutting pieces comprises a transfer member and at least one material collecting mechanism. The transfer member is configured to be arranged on a bed body and can move along a first direction relative to the bed body. The at least one material collecting mechanism is arranged on the transfer member in a spaced manner. The material collecting mechanism comprises a first driving assembly, a moving table and at least two material collecting modules. The at least two material collecting modules are arranged on the moving table in a spaced manner. The output end of the first driving assembly is used to drive the moving table to move along a second direction. The first driving assembly is arranged on the transfer member and can move along a third direction relative to the transfer member. The first direction, the second direction and the third direction are perpendicular to each other. Each material collecting module can move along the first direction relative to the moving table, and is used to grab cutting pieces. The present application can improve the consistency of the posture of cutting pieces before and after transfer, can grab and transfer cutting pieces at different positions, and can improve the material collecting efficiency.

Description

Technical Field

[0001] This invention relates to the field of cutting bed technology, and in particular to a cutting piece gripping device, a cutting bed, and a cutting piece gripping method. Background Technology

[0002] Existing automatic cutting beds can usually complete fabric laying, pattern layout and cutting, but the cut fabric pieces still need to be manually or semi-automatically removed from the cutting bed sorting area and transferred to the unloading area.

[0003] Manually transferring cut pieces is time-consuming and labor-intensive. To facilitate consistent operation in subsequent processes, the posture of the cut pieces before transfer must be consistent with the posture of the cut pieces placed in the cutting area after transfer. While semi-automatic mechanisms are used for transfer, the size of different cut pieces varies significantly, and the number, spacing, and position of the gripping points in existing semi-automatic mechanisms are generally fixed. Furthermore, fabric cut pieces are soft, thin, easily deformed, easily wrinkled, and breathable, making it difficult for semi-automatic mechanisms to guarantee consistent posture before and after transfer for large areas, long strips, or small pieces, and they primarily transfer pieces in the same location. Therefore, there is an urgent need for a cut piece gripping device, cutting bed, and cut piece gripping method to solve the aforementioned technical problems. Summary of the Invention

[0004] The purpose of this invention is to provide a cutting piece gripping device, a cutting bed, and a cutting piece gripping method. For cutting pieces of different specifications, it is beneficial to maintain the outline shape of the cutting pieces before and after transfer, improve the consistency of the posture of the cutting pieces before and after transfer, and can grip and transfer cutting pieces at different positions, thereby improving the efficiency of cutting piece collection.

[0005] To achieve this objective, the present invention adopts the following technical solution: On the one hand, a piece-grabbing device is provided, comprising: The transfer component is configured to be disposed on the bed body and movable relative to the bed body along a first direction; At least one receiving mechanism is spaced apart from the transfer member. The receiving mechanism includes a first drive component, a moving stage, and at least two receiving modules. The at least two receiving modules are spaced apart from the moving stage. The output end of the first drive component is used to drive the moving stage to move along a second direction. The first drive component is disposed on the transfer member and can move relative to the transfer member along a third direction. The first direction, the second direction, and the third direction are perpendicular to each other. Each receiving module can move relative to the moving stage along the first direction. The receiving module is used to grip the cut pieces.

[0006] In some possible implementations, the receiving module includes an adsorption component, the bottom of which is used to vacuum adsorb the cut piece; the receiving module also includes a clamping member and a second driving component, both of which are located on one side of the adsorption component, the second driving component being used to drive the clamping member to rotate, causing the clamping member to move closer to or away from the bottom of the adsorption component; when the clamping member is close to the bottom of the adsorption component and is in the clamping position, the bottoms of the clamping member and the adsorption component can respectively contact the opposite sides of the cut piece along the thickness direction.

[0007] In some possible implementations, the receiving module further includes a connector, a third drive assembly, and a mounting component. The connector is movable on the moving platform along the first direction. The third drive assembly is disposed on the connector. The output end of the third drive assembly is used to drive the adsorption assembly to rotate about the second direction as the rotation center line. The adsorption assembly is fixed on one side of the mounting component, and the clamping member and the second drive assembly are both fixed on the other side of the mounting component.

[0008] In some possible implementations, the receiving module further includes a fourth driving component and a lifting spline, the adsorption component is fixed to the lifting spline, the fourth driving component is driven by the lifting spline and is used to drive the adsorption component to move along the second direction, and the third driving component is driven by the lifting spline and is used to drive the adsorption component to rotate about the second direction as the rotation center line.

[0009] In some possible implementations, at least two receiving mechanisms are provided, the transfer member extends along the third direction, and at least two receiving mechanisms are spaced apart from the transfer member along the third direction.

[0010] In some possible implementations, the receiving mechanism further includes at least two fifth drive components, which are disposed on the moving stage. The at least two fifth drive components are disposed in one-to-one correspondence with at least two receiving modules. The fifth drive components are used to drive the corresponding receiving modules to move along the first direction. The receiving mechanism includes a sixth drive component, which is used to drive the transfer member to move along the first direction; The receiving mechanism further includes a seventh drive component, which drives the first drive component to move along the third direction.

[0011] In some possible implementations, the transfer member is slidably connected to the bed along the first direction; the sixth drive assembly includes a first drive member, a first gear, and a first rack; the first drive member is fixed to the transfer member; the output end of the first drive member is used to drive the first gear to rotate; the first rack is fixed to the bed and extends along the first direction; and the first rack meshes with the first gear; and / or, The first drive assembly is slidably connected to the transfer member along the third direction. The seventh drive assembly includes a second drive member, a second gear, and a second rack. The second drive member is fixed to the first drive assembly. The output end of the second drive member is used to drive the second gear to rotate. The second rack is fixed to the transfer member and extends along the third direction. The second rack meshes with the second gear.

[0012] On the other hand, a cutting bed is provided, including a bed body and a piece gripping device as described in any of the above embodiments, wherein the transfer member is disposed on the bed body and is movable relative to the bed body in a first direction.

[0013] On the other hand, a method for gripping cut pieces is provided, employing a cut piece gripping device as described in any of the above embodiments, the cut piece gripping method comprising: Based on the position, size, and outline information of the cut piece, the transfer component is moved along the first direction, each first drive component is moved along the third direction, and each receiving module is moved along the first direction to adjust the position of the receiving module so that at least two receiving modules are located above the same cut piece. The first drive component is controlled to move the moving platform along the second direction, so as to drive the receiving module to move along the second direction to be close to the cut piece, and the receiving module is controlled to grab the cut piece; After grasping the cut piece, control the first drive component to move the moving platform in the opposite direction along the second direction; The transfer member is moved along the first direction, each of the first drive components is moved along the third direction, and each of the receiving modules is moved along the first direction to move at least one of the cut pieces to the dropping area.

[0014] In some possible implementations, after at least two of the receiving modules are positioned above the same cut piece, the third driving component is controlled to drive the adsorption component to rotate around the second direction as the rotation center line, so that the horizontal tangent direction of the rotation direction of the clamping member is perpendicular to the edge line of the cut piece; controlling the receiving module to grasp the cut piece includes: controlling the bottom of the adsorption component to vacuum adsorb the cut piece, and after vacuum adsorbing the cut piece, controlling the second driving component to rotate the clamping member so that the clamping member is in the clamping position.

[0015] The beneficial effects of this invention are: The present invention provides a cutting piece gripping device, comprising a transfer component and at least one receiving mechanism. When gripping a cutting piece, based on the position, size, and contour information of the cutting piece, the transfer component moves along a first direction, each first drive component moves along a third direction, and each receiving module moves along the first direction to adjust the position of the receiving modules so that at least two receiving modules are positioned above the cutting piece. Then, the first drive components are controlled to move a moving platform along a second direction to drive the receiving modules to move along the second direction closer to the cutting piece, and the receiving modules are controlled to grip the cutting piece. After gripping the cutting piece, the first drive components are controlled to move the moving platform in the opposite direction along the second direction. Then, at least one cutting piece is moved to the dropping area to achieve material collection. Since each first drive component and each receiving module can move, cutting pieces at different positions on the bed can be gripped and transferred. Because at least one receiving mechanism is spaced apart from the transfer member, the first drive component corresponding to the receiving mechanism can move relative to the transfer member along a third direction. Each receiving mechanism has at least two receiving modules, and each receiving module can move relative to the moving table along a first direction, improving the flexibility of the gripping point position. This allows for the gripping of cut pieces of different specifications, covering various specifications such as large cut pieces, long strips, small cut pieces, and irregularly shaped cut pieces. Having at least two gripping points helps maintain the outline shape of the cut pieces before and after transfer, improving the consistency of the cut pieces' posture before and after transfer. Furthermore, since there is at least one receiving mechanism, the receiving mechanisms can operate in groups, simultaneously gripping multiple cut pieces, thus improving the efficiency of cutting piece receiving. Therefore, this invention, for cut pieces of different specifications, helps maintain the outline shape of the cut pieces before and after transfer, improves the consistency of the cut pieces' posture before and after transfer, and can grip and transfer cut pieces at different positions, thereby improving the efficiency of cutting piece receiving. Attached Figure Description

[0016] Figure 1 This is a first-view structural schematic diagram of the cutting piece gripping device and bed provided by the present invention; Figure 2 This is a second-view structural schematic diagram of the cutting piece gripping device and bed provided by the present invention; Figure 3 yes Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the structure of the receiving mechanism and the transfer component involved in this invention; Figure 5 yes Figure 4 Enlarged view of point B in the middle; Figure 6 This is a schematic diagram of the material receiving module involved in this invention.

[0017] In the picture: 1. Transfer component; 2. Receiving mechanism; 21. First drive assembly; 22. Moving table; 23. Receiving module; 231. Adsorption assembly; 232. Clamping component; 233. Second drive assembly; 234. Connecting component; 235. Third drive assembly; 2351. Motor; 2352. Synchronous belt; 236. Mounting component; 237. Fourth drive assembly; 238. Lifting spline; 24. Fifth drive assembly; 25. Sixth drive assembly; 251. First drive component; 252. First gear; 253. First rack; 26. Seventh drive assembly; 261. Second drive component; 262. Second rack; 10. Vacuum connector; 100. Bed frame; 101. Cutting area; 102. Sorting area; 201. Large cut pieces; 202. Long strip cut pieces. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0020] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1 to 6As shown, the present invention provides a cutting piece gripping device, including a transfer member 1 and at least one receiving mechanism 2. The transfer member 1 is configured to be disposed on a bed 100 and movable relative to the bed 100 along a first direction, the first direction being the length direction of the bed 100, i.e. Figure 1 and Figure 2 In the X direction; at least one receiving mechanism 2 is spaced apart from the transfer member 1. The receiving mechanism 2 includes a first drive assembly 21, a moving table 22, and at least two receiving modules 23. The at least two receiving modules 23 are spaced apart from the moving table 22. The output end of the first drive assembly 21 is used to drive the moving table 22 to move along a second direction, which is the height direction of the bed 100, i.e. Figure 2 The Z-direction; the first drive component 21 is disposed on the transfer member 1 and can move relative to the transfer member 1 along a third direction, which is the width direction of the bed 100, that is Figure 1 and Figure 2 In the Y direction, the first direction, the second direction, and the third direction are perpendicular to each other; each receiving module 23 can move relative to the moving table 22 along the first direction. The receiving module 23 is used to grab cut pieces, which can be large cut pieces 201, long strip cut pieces 202, or cut pieces of other specifications. Optionally, the bed body 100 is provided with a cutting area 101, a sorting area 102, and a dropping area, which are arranged sequentially along the first direction.

[0023] When gripping the cut pieces, based on the position, size, and contour information of the cut pieces, the transfer component 1 moves along the first direction (X-direction), each first drive component 21 moves along the third direction (Y-direction), and each receiving module 23 moves along the first direction (X-direction) to adjust the position of the receiving modules 23 so that at least two receiving modules 23 are above the cut pieces. Then, the first drive components 21 are controlled to move the moving table 22 along the second direction (Z-direction) to drive the receiving modules 23 to move along the second direction to be close to the cut pieces, and the receiving modules 23 are controlled to grip the cut pieces. After gripping the cut pieces, the first drive components 21 are controlled to move the moving table 22 in the opposite direction along the second direction. Then, at least one cut piece is moved to the dropping area to achieve material collection. Since each first drive component 21 and each receiving module 23 can move, cut pieces at different positions on the bed 100 can be gripped and transferred. Since at least one receiving mechanism 2 is spaced apart from the transfer member 1, the first driving component 21 corresponding to the receiving mechanism 2 can move relative to the transfer member 1 along a third direction. Each receiving mechanism 2 has at least two receiving modules 23, and each receiving module 23 can move relative to the moving table 22 along a first direction, improving the flexibility of the gripping point position. This allows for the gripping of cut pieces of different specifications, covering various specifications such as large cut pieces 201, long strip cut pieces 202, small cut pieces, and irregularly shaped cut pieces. Having at least two gripping points helps maintain the outline shape of the cut pieces before and after transfer, improving the consistency of the cut pieces' posture before and after transfer. Furthermore, since at least one receiving mechanism 2 is provided, the receiving mechanism 2 can operate in groups, simultaneously gripping multiple cut pieces, thus improving the efficiency of cutting piece collection. Therefore, this invention, for cut pieces of different specifications, helps maintain the outline shape of the cut pieces before and after transfer, improves the consistency of the cut pieces' posture before and after transfer, and can grip and transfer cut pieces at different positions, thus improving the efficiency of cutting piece collection. In addition, the transfer component 1 can move relative to the bed 100 in the first direction, and can be used not only to transfer the cut pieces to the dropping area, but also to adjust the position of the receiving module 23.

[0024] Optionally, in this embodiment, at least two receiving mechanisms 2 are provided. The transfer member 1 extends along a third direction, and at least two receiving mechanisms 2 are spaced apart from the transfer member 1 along the third direction. With at least two receiving mechanisms 2, the multiple receiving modules 23 can be arranged sequentially around the edge of the cut piece through the cooperative movement between the first driving component 21 and the receiving module 23. This increases the number of gripping points when gripping a single cut piece, improves the consistency of the cut piece's posture before and after transfer, and also improves receiving efficiency. Furthermore, it simplifies the structure of the transfer member 1 and facilitates determining the spacing between each receiving mechanism 2. Additionally, the moving stage 22 extends along a first direction, and at least two receiving modules 23 are spaced apart from the moving stage 22 along the first direction. This arrangement simplifies the structure of the moving stage 22 and facilitates determining the spacing between each receiving module 23. Optionally, in this embodiment, there are four receiving mechanisms 2, which are spaced apart on the transfer member 1 along a third direction. Each receiving mechanism 2 corresponds to two receiving modules 23, and the two receiving modules 23 are spaced apart on the corresponding moving platform 22 along a first direction.

[0025] Optionally, in this embodiment, as Figure 5 and Figure 6As shown, the receiving module 23 includes an adsorption component 231, the bottom of which is used for vacuum adsorption of the cut sheet. Vacuum adsorption of the cut sheet minimizes damage. Furthermore, the receiving module 23 also includes a clamping member 232 and a second driving component 233. Both the clamping member 232 and the second driving component 233 are located on one side of the adsorption component 231. The second driving component 233 drives the clamping member 232 to rotate, causing it to move closer to or further away from the bottom of the adsorption component 231. When the clamping member 232 is in the clamping position, its proximity to the bottom of the adsorption component 231 allows the bottoms of the clamping member 232 and the adsorption component 231 to contact the opposite sides of the cut sheet along its thickness direction. When the receiving module 23 picks up the cut piece, the bottom of the adsorption component 231 can first vacuum-adsorb the cut piece. After adsorbing the cut piece, the second drive component 233 is controlled to rotate the clamping member 232, so that the clamping member 232 is close to the bottom of the adsorption component 231, and the bottoms of the clamping member 232 and the adsorption component 231 respectively contact the opposite sides of the cut piece along the thickness direction, thereby clamping the cut piece. This setting can improve the success rate of the cut piece picking up by the receiving module 23, and the cut piece is not easy to fall off when transferring the cut piece. In addition, while the adsorption component 231 plays an adsorption role, the bottom of the adsorption component 231 can also serve as a clamping surface to cooperate with the clamping member 232 to clamp the cut piece, resulting in a high degree of integration. Optionally, in this embodiment, the clamping member 232 has an L-shaped structure. In other embodiments, the receiving module 23 includes an adsorption component 231 and a clamping component. The bottom of the adsorption component 231 is used for vacuum adsorption of the cut piece, and the clamping component includes two grippers that can move towards or away from each other. When the receiving module 23 grips the cut piece, the bottom of the adsorption component 231 can first vacuum adsorb the cut piece. After adsorbing the cut piece, the two grippers move towards each other to clamp the cut piece.

[0026] Optionally, in this embodiment, the receiving module 23 further includes a connector 234, a third drive component 235, and a mounting component 236. The connector 234 can move along the first direction on the moving platform 22. The third drive component 235 is disposed on the connector 234. The output end of the third drive component 235 is used to drive the adsorption component 231 to rotate around the second direction as the rotation center line. The adsorption component 231 is fixed on one side of the mounting component 236, and the clamping component 232 and the second drive component 233 are both fixed on the other side of the mounting component 236. The third driving component 235 drives the adsorption component 231 and the clamping component 232 to rotate, adjusting the overall rotation angle of the adsorption component 231 and the clamping component 232. This ensures that the horizontal tangent direction of the clamping component 232's rotation is perpendicular to the edge line of the cut piece. The horizontal tangent direction of the clamping component 232's rotation is the width direction of the adsorption component 231 itself in this embodiment. In this embodiment, it also refers to the width direction of the adsorption component 231 being perpendicular to the edge line of the cut piece. By making the horizontal tangent direction of the clamping component 232's rotation perpendicular to the edge line of the cut piece, the cut piece extends from the inside towards the edge line during clamping, reducing wrinkles caused by clamping. This allows multiple receiving modules 23 corresponding to the same cut piece to adapt to multiple edge lines with different extension directions, better maintaining the contour shape of the cut piece before and after transfer and improving the consistency of the cut piece's posture before and after transfer. In addition, the clamping member 232 and the second driving component 233 are both fixed to the adsorption component 231 by the mounting member 236, and the third driving component 235 can realize the synchronous rotation of the adsorption component 231 and the clamping member 232, which can improve the degree of integration.

[0027] Optionally, in this embodiment, the receiving module 23 further includes a fourth driving component 237 and a lifting spline 238. The adsorption component 231 is fixed to the lifting spline 238. The fourth driving component 237 is drivenly connected to the lifting spline 238 and is used to drive the adsorption component 231 to move along the second direction. The third driving component 235 is drivenly connected to the lifting spline 238 and is used to drive the adsorption component 231 to rotate around the second direction as the rotation center line. Through the above settings, the adsorption component 231 and the clamping component 232 can rotate synchronously, and the adsorption component 231 and the clamping component 232 can be raised synchronously. The height of the adsorption component 231 and the clamping component 232 of each receiving module 23 can be individually adjusted. For example, for multiple receiving modules 23 on the same moving platform 22, the adsorption component 231 and the clamping component 232 of the non-working receiving module 23 can be relatively raised to avoid the non-working receiving module 23 squeezing or damaging other cut pieces when the working receiving module 23 is running. Furthermore, by setting the lifting spline 238, the integration can be improved. The lifting spline 238 is a mature technology in related fields, and will not be described in detail in this embodiment. Optionally, the third drive assembly 235 includes a motor 2351, two pulleys, and a synchronous belt 2352. The synchronous belt 2352 is sleeved on the two pulleys, one of which is driven by the lifting spline 238, and the other pulley is driven by the motor 2351. In other embodiments, the third drive assembly 235 includes a motor 2351, two sprockets, and a chain. The chain is sleeved on the two sprockets, one of which is driven by the lifting spline 238, and the other sprocket is driven by the motor 2351. Optionally, the fourth drive assembly 237 is a cylinder.

[0028] Optionally, such as Figure 4 As shown, the receiving mechanism 2 also includes at least two fifth drive components 24, which are disposed on the moving table 22. Each of the at least two fifth drive components 24 corresponds to one of the at least two receiving modules 23. The fifth drive components 24 drive the corresponding receiving module 23 to move along the first direction. Automatically driving the receiving module 23 with the fifth drive components 24 improves automation and makes the movement distance more accurate. The one-to-one correspondence between the at least two fifth drive components 24 and the at least two receiving modules 23 allows for individual adjustment of the position of each receiving module 23, improving adjustment flexibility. In other embodiments, the receiving module 23 is slidably connected to the moving table 22 along the first direction. The position is adjusted by manually pushing the receiving module 23 to slide along the first direction. Optionally, the fifth drive component 24 is a lead screw, electric cylinder, pneumatic cylinder, or hydraulic cylinder. Optionally, such as... Figure 3As shown, the receiving mechanism 2 includes a sixth drive assembly 25, which drives the transfer member 1 to move along a first direction. This configuration improves automation and makes the movement distance more accurate. In other embodiments, the transfer member 1 is slidably connected to the bed 100 along the first direction. The transfer member 1 is moved by manually pushing it. Optionally, the receiving mechanism 2 also includes a seventh drive assembly 26, which drives the first drive assembly 21 to move along a third direction. This configuration improves automation and makes the movement distance more accurate. In other embodiments, the first drive assembly 21 is slidably connected to the transfer member 1 along a third direction. The first drive assembly 21 is moved by manually pushing it.

[0029] Optionally, in this embodiment, the transfer member 1 is slidably connected to the bed 100 along the first direction. The sixth drive assembly 25 includes a first drive member 251, a first gear 252, and a first rack 253. The first drive member 251 is fixed to the transfer member 1, and its output end is used to drive the first gear 252 to rotate. The first rack 253 is fixed to the bed 100 and extends along the first direction, meshing with the first gear 252. By driving the first gear 252 to rotate through the first drive member 251, the transfer member 1 slides along the first direction on the bed 100, thus moving the transfer member 1. This configuration simplifies the structure of the sixth drive assembly 25, reduces its space requirements, and achieves high movement accuracy. Optionally, two sixth drive assemblies 25 are provided, located on opposite sides of the transfer member 1 along the third direction.

[0030] Optionally, in this embodiment, the first drive assembly 21 is slidably connected to the transfer member 1 along a third direction. The seventh drive assembly 26 includes a second drive member 261, a second gear, and a second rack 262. The second drive member 261 is fixed to the first drive assembly 21, and its output end is used to drive the second gear to rotate. The second rack 262 is fixed to the transfer member 1 and extends along a third direction, meshing with the second gear. By driving the second gear to rotate through the second drive member 261, the first drive assembly 21 slides along a third direction on the transfer member 1, thereby moving the first drive assembly 21 and the receiving module 23. This configuration makes the structure of the seventh drive assembly 26 simple, occupies little space, and has high moving accuracy. Optionally, the first drive assembly 21 can be a lead screw, an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder. In addition, the piece gripping device also includes a control mechanism and a vision recognition mechanism. The control mechanism is communicatively connected to the vision recognition mechanism, the first drive assembly 21, the second drive assembly 233, the third drive assembly 235, the fourth drive assembly 237, the fifth drive assembly 24, the sixth drive assembly 25, and the seventh drive assembly 26. By setting up the vision recognition mechanism, the position, size, and contour information of the piece can be detected and transmitted to the control mechanism. The control mechanism controls the operation of the first drive assembly 21, the second drive assembly 233, the third drive assembly 235, the fourth drive assembly 237, the fifth drive assembly 24, the sixth drive assembly 25, and the seventh drive assembly 26 to select the receiving mechanism 2 to participate in the gripping and the corresponding receiving module 23 for each receiving mechanism 2. It also adjusts the position of the receiving module 23 and the rotation angle of the adsorption assembly 231 and the clamping member 232 to adapt to different pieces and different edge lines of the same piece. Optionally, as... Figure 6 As shown, the adsorption component 231 is connected to the negative pressure source via the vacuum connector 10. Optionally, the fabric piece gripping device also includes a vacuum degree detection sensor, which is used to detect the vacuum degree of the adsorption holes of the adsorption component 231. The vacuum degree detection sensor is communicatively connected to the negative pressure source. By setting the vacuum degree detection sensor, when the vacuum degree is not at the set value, the vacuum degree detection sensor will transmit a signal to the negative pressure source, causing the negative pressure source to replenish the adsorption.

[0031] The present invention also provides a cutting bed, including a bed body 100 and a cutting piece gripping device as described above. A transfer member 1 is disposed on the bed body 100 and is movable relative to the bed body 100 in a first direction. This cutting bed is beneficial for maintaining the outline shape of the cutting pieces before and after transfer for cutting pieces of different specifications, improving the consistency of the posture of the cutting pieces before and after transfer, and can grip and transfer cutting pieces at different positions, thereby improving the efficiency of cutting piece collection.

[0032] The present invention also provides a method for gripping cut pieces, employing the cut piece gripping device as described above, the cut piece gripping method comprising: Based on the position, size, and outline information of the cut piece, the transfer component 1 is moved along the first direction, each first drive component 21 is moved along the third direction, and each receiving module 23 is moved along the first direction to adjust the position of the receiving module 23 so that at least two receiving modules 23 are located above the same cut piece. It is understood that whether the transfer component 1, the first drive component 21, and the receiving module 23 all need to be moved and the distance of movement are determined based on the actual information of the cut piece.

[0033] Control the first drive component 21 to move the moving table 22 along the second direction, so as to drive the receiving module 23 to move along the second direction to close to the cut piece, and control the receiving module 23 to grab the cut piece; After grabbing the cut piece, control the first drive component 21 to move the moving platform 22 in the opposite direction along the second direction; The transfer component 1 is moved along the first direction, each first drive component 21 is moved along the third direction, and each receiving module 23 is moved along the first direction to move at least one cut piece to the dropping area. It is understood that whether the transfer component 1, the first drive components 21, and the receiving modules 23 all need to be moved, and the distance of movement, are determined according to the actual placement of the dropping area.

[0034] The above-described method for gripping cut pieces helps maintain the outline shape of the cut pieces before and after transfer, improves the consistency of the cut pieces' posture before and after transfer, and allows for gripping and transferring cut pieces in different positions, thus improving the efficiency of cut piece collection. Furthermore, it enables reliable gripping, smooth transfer, and sequential dropping of cut pieces of different specifications.

[0035] Optionally, after at least two receiving modules 23 are positioned above the same cut piece, the third drive component 235 is controlled to drive the adsorption component 231 to rotate around the second direction as the rotation center line, so that the horizontal tangent direction of the rotation direction of the clamping member 232 is perpendicular to the edge line of the cut piece; controlling the receiving module 23 to grasp the cut piece includes: controlling the bottom of the adsorption component 231 to vacuum adsorb the cut piece; after vacuum adsorption of the cut piece, controlling the second drive component 233 to rotate the clamping member 232, so that the clamping member 232 is in the clamping position. This setting can improve the success rate of cutting piece grasping, and the cut piece is not easy to fall off when transferring the cut piece. In addition, by making the horizontal tangent direction of the rotation direction of the clamping member 232 perpendicular to the edge line of the cut piece, the cut piece is stretched from the inside to the edge line when clamped, which can reduce the wrinkles of the cut piece caused by clamping, so that the receiving module 23 can adapt to different edge lines of the cut piece, which is more conducive to maintaining the contour shape of the cut piece before and after transfer and improving the consistency of the posture of the cut piece before and after transfer. Furthermore, when the distance between two adjacent cut pieces is large, at least two receiving modules 23 are positioned above the same cut piece and at its edge to facilitate clamping. When the distance between two adjacent cut pieces is small, at least two receiving modules 23 are positioned above the same cut piece and at its center. After the bottom of the adsorption component 231 vacuum adsorbs the cut piece, the second drive component 233 is then controlled to rotate the clamping member 232 to prevent the adsorption component 231 from sucking up both adjacent cut pieces, causing mis-clamping or material smearing. In addition, when the clamping member 232 is in the clamping position, the bottom of the adsorption component 231 can be controlled to stop vacuum adsorbing the cut piece, or the bottom of the adsorption component 231 can be controlled to continue vacuum adsorbing the cut piece until the clamping member 232 begins to move away from the bottom of the adsorption component 231 before stopping adsorption.

[0036] The specific methods for picking up cut pieces include: S1. The control vision recognition mechanism identifies the position, size, and outline information of the cut piece and feeds the information back to the control mechanism. The control mechanism selects a single receiving mechanism 2, two adjacent receiving mechanisms 2, or a combination of multiple receiving mechanisms 2 to participate in the gripping based on the position, size, and outline information of the cut piece. It also selects the number of receiving modules 23 corresponding to each receiving mechanism 2 and calculates the moving distance of the transfer component 1 along the first direction, the moving distance of the first drive component 21 along the third direction, the required spacing of each receiving module 23 corresponding to any receiving mechanism 2 along the first direction, the moving distance of the moving table 22 along the second direction, the moving distance of the adsorption component 231 along the second direction, and the rotation angle of the adsorption component 231 about the second direction as the rotation center line.

[0037] S2. Control the transfer component 1 to move along the first direction, control each first drive component 21 to move along the third direction, and control each receiving module 23 to move along the first direction, so as to adjust the position of the receiving module 23 so that at least two receiving modules 23 are located above the same cut piece. S3. For each receiving module 23, control the third driving component 235 to drive the adsorption component 231 to rotate around the second direction as the rotation center line, so that the horizontal tangent direction of the rotation direction of the clamping member 232 is perpendicular to the edge line of the cut piece corresponding to the clamping member 232. S4. Control the first driving component 21 to move the moving stage 22 along the second direction, and control the fourth driving component 237 to move the adsorption component 231 along the second direction, so as to drive the receiving module 23 to move along the second direction to be close to the cut piece, control the bottom of the adsorption component 231 to vacuum adsorb the cut piece, after vacuum adsorbing the cut piece, control the second driving component 233 to rotate the clamping member 232 so that the clamping member 232 is in the clamping position, when the clamping member 232 is in the clamping position, control the bottom of the adsorption component 231 to stop vacuum adsorbing the cut piece; S5. Control the first drive component 21 to move the moving stage 22 in the opposite direction along the second direction; control the fourth drive component 237 to move the adsorption component 231 in the opposite direction along the second direction. S6. Control the transfer component 1 to move along the first direction, control each first drive component 21 to move along the third direction, control each receiving module 23 to move along the first direction, and move at least one piece of material to the dropping area. S7. After reaching the material dropping area, control the second drive component 233 to rotate the clamping member 232 in the opposite direction, so that the clamping member 232 is away from the bottom of the adsorption component 231.

[0038] Optionally, for a large cut piece 201 with a rectangular shape and large size, two adjacent receiving mechanisms 2 are selected to participate in the gripping, and each receiving mechanism 2 corresponds to two receiving modules 23, so that the four receiving modules 23 are located above the large cut piece 201 and at the edges of the four corners of the large cut piece 201. This setup allows for four-point gripping of the large cut piece 201, and after reaching the dropping area, the relative positions of the four points remain unchanged, achieving flat gripping and placement to maintain the outline shape. Optionally, for a long strip cut piece 202, a single receiving mechanism 2 is selected to participate in the gripping, and the single receiving mechanism 2 corresponds to two receiving modules 23, so that the two receiving modules 23 are located above the long strip cut piece 202 and on both sides of the long strip cut piece 202 along its length. This setup keeps the long strip cut piece 202 straight during the transfer process to maintain its outline shape. Optionally, for irregularly shaped cut pieces, at least two receiving mechanisms 2 are selected to participate in the gripping, and each receiving mechanism 2 corresponds to at least two receiving modules 23. All receiving modules 23 are positioned above the irregularly shaped cut piece and arranged sequentially around its edge. All corresponding third drive components 235 are controlled to drive the adsorption component 231 to rotate around the second direction as its rotation center line, so that the horizontal tangent direction of the gripper 232's rotation direction is perpendicular to the edge line of the irregularly shaped cut piece corresponding to the gripper 232. Of course, large cut pieces 201 and long strip cut pieces 202 are both irregularly shaped cut pieces. Furthermore, when the bottom of the adsorption component 231 vacuum adsorbs the cut piece, the vacuum degree of the adsorption holes of the adsorption component 231 is detected. If the vacuum degree is not at the set value, a negative pressure source is used for supplemental adsorption or an alarm is triggered.

[0039] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A gripping device for cut pieces, characterized in that, include: The transfer member (1) is configured to be disposed on the bed body (100) and movable relative to the bed body (100) in a first direction; At least one receiving mechanism (2) is spaced apart from the transfer member (1). The receiving mechanism (2) includes a first drive component (21), a moving table (22), and at least two receiving modules (23). The at least two receiving modules (23) are spaced apart from the moving table (22). The output end of the first drive component (21) is used to drive the moving table (22) to move along a second direction. The first drive component (21) is located on the transfer member (1) and can move relative to the transfer member (1) along a third direction. The first direction, the second direction, and the third direction are perpendicular to each other. Each receiving module (23) can move relative to the moving table (22) along the first direction. The receiving module (23) is used to grab the cut pieces.

2. The cutting piece gripping device according to claim 1, characterized in that, The receiving module (23) includes an adsorption component (231), the bottom of which is used for vacuum adsorption of the cut piece; the receiving module (23) also includes a clamping member (232) and a second driving component (233), the clamping member (232) and the second driving component (233) are both located on one side of the adsorption component (231), the second driving component (233) is used to drive the clamping member (232) to rotate, so that the clamping member (232) is close to or away from the bottom of the adsorption component (231); when the clamping member (232) is close to the bottom of the adsorption component (231) and the clamping member (232) is in the clamping position, the bottom of the clamping member (232) and the adsorption component (231) can respectively contact the opposite sides of the cut piece along the thickness direction.

3. The cutting piece gripping device according to claim 2, characterized in that, The receiving module (23) further includes a connector (234), a third drive component (235), and a mounting component (236). The connector (234) can move along the first direction on the moving platform (22). The third drive component (235) is disposed on the connector (234). The output end of the third drive component (235) is used to drive the adsorption component (231) to rotate around the second direction as the rotation center line. The adsorption component (231) is fixed on one side of the mounting component (236). The clamping component (232) and the second drive component (233) are both fixed on the other side of the mounting component (236).

4. The cutting piece gripping device according to claim 3, characterized in that, The receiving module (23) further includes a fourth driving component (237) and a lifting spline (238). The adsorption component (231) is fixed to the lifting spline (238). The fourth driving component (237) is connected to the lifting spline (238) for driving the adsorption component (231) to move along the second direction. The third driving component (235) is connected to the lifting spline (238) for driving the adsorption component (231) to rotate around the second direction as the rotation center line.

5. The cutting piece gripping device according to any one of claims 1-4, characterized in that, The receiving mechanism (2) is provided in at least two, the transfer member (1) extends along the third direction, and at least two receiving mechanisms (2) are spaced apart from the transfer member (1) along the third direction.

6. The cutting piece gripping device according to any one of claims 1-4, characterized in that, The receiving mechanism (2) further includes at least two fifth drive components (24), which are disposed on the moving stage (22). The at least two fifth drive components (24) are disposed in correspondence with at least two receiving modules (23). The fifth drive components (24) are used to drive the corresponding receiving module (23) to move along the first direction. The receiving mechanism (2) includes a sixth drive assembly (25) for driving the transfer member (1) to move along the first direction; The receiving mechanism (2) further includes a seventh drive component (26), which is used to drive the first drive component (21) to move along the third direction.

7. The cutting piece gripping device according to claim 6, characterized in that, The transfer member (1) is slidably connected to the bed (100) along the first direction. The sixth drive assembly (25) includes a first drive member (251), a first gear (252), and a first rack (253). The first drive member (251) is fixed to the transfer member (1). The output end of the first drive member (251) is used to drive the first gear (252) to rotate. The first rack (253) is fixed to the bed (100) and extends along the first direction. The first rack (253) meshes with the first gear (252); and / or, The first drive assembly (21) is slidably connected to the transfer member (1) along the third direction. The seventh drive assembly (26) includes a second drive member (261), a second gear, and a second rack (262). The second drive member (261) is fixed to the first drive assembly (21). The output end of the second drive member (261) is used to drive the second gear to rotate. The second rack (262) is fixed to the transfer member (1) and extends along the third direction. The second rack (262) meshes with the second gear.

8. A cutting bed, characterized in that, Includes a bed (100) and a piece gripping device as described in any one of claims 1-7, wherein the transfer member (1) is disposed on the bed (100) and is movable relative to the bed (100) in a first direction.

9. A method for gripping cut pieces, characterized in that, The method of gripping cut pieces using the cutting piece gripping device as described in any one of claims 1-7 includes: Based on the position, size and outline information of the cut piece, the transfer component (1) is moved along the first direction, each first drive component (21) is moved along the third direction, and each receiving module (23) is moved along the first direction to adjust the position of the receiving module (23) so that at least two receiving modules (23) are located above the same cut piece; Control the first drive component (21) to move the moving platform (22) along the second direction, so as to drive the receiving module (23) to move along the second direction to be close to the cut piece, and control the receiving module (23) to grab the cut piece; After grabbing the cut piece, control the first drive component (21) to move the moving platform (22) in the opposite direction along the second direction. Move the transfer member (1) along the first direction, move each of the first drive components (21) along the third direction, move each of the receiving modules (23) along the first direction, and move at least one of the cut pieces to the dropping area.

10. The method for grasping cut pieces according to claim 9, characterized in that, After at least two of the receiving modules (23) are positioned above the same piece of fabric, the third drive assembly (235) is controlled to drive the adsorption assembly (231) to rotate around the second direction as the rotation center line, so that the horizontal tangent direction of the rotation direction of the clamping member (232) is perpendicular to the edge line of the piece of fabric; controlling the receiving module (23) to grasp the piece of fabric includes: controlling the bottom of the adsorption assembly (231) to vacuum adsorb the piece of fabric, and after vacuum adsorbing the piece of fabric, controlling the second drive assembly (233) to rotate the clamping member (232) so that the clamping member (232) is in the clamping position.

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