Feeding and conveying device capable of automatically grabbing cloth

Abstract

The utility model provides an automatic cloth grabbing feeding and conveying device which comprises a laser cutting machine and a mechanical arm, a flexible mechanical clamping jaw is arranged on a flange at the tail end of the mechanical arm, the automatic cloth grabbing feeding and conveying device further comprises a first conveying line and a second conveying line, the second conveying line is arranged beside the first conveying line, and the laser cutting machine is arranged beside the first conveying line. A manipulator is mounted between the first conveying line and the laser cutting machine, a discharging-to-frame assembly is erected on the first conveying line and comprises a mounting frame, and a material frame box is arranged on the mounting frame. The manipulator with the flexible mechanical clamping jaw is used for replacing people to take the cloth pieces, and omission or excessive taking of the cloth pieces is avoided according to a set program; the same set of cloth pieces is transferred to the next process through the transfer box, the problem of cloth piece missing can be avoided as long as the transfer box does not topple over, and abnormity can be remarkably reduced, so that the labor hour of manual processing is reduced, and the transaction rate of orders is increased; circulating conveying and using of the turnover boxes can be achieved through the first conveying line and the second conveying line.

Description

Technical Field

[0001] The utility model relates to the technical field of clothing production equipment, in particular to an automatic cloth grabbing, loading and feeding device. Background Art

[0002] At present, the pieces of cloth in the clothing production line are all taken manually after laser cutting, and the pieces of cloth for the same set of clothing need to be sorted and bundled together. There are the following problems: the sorters often take too much or forget to take when taking materials from the laser cutting machine; the taken pieces of cloth are not all bundled together, and the next process sewing worker may find that there are fewer pieces of cloth; in the entire traditional clothing production line, each abnormality will increase the working hours of manual processing. If the problem is not discovered and solved in time, the delivery time may be exceeded and the goods cannot be shipped, which ultimately affects the transaction rate of the order. Utility Model Content

[0003] In order to solve the above problems, the purpose of the utility model is to provide an automatic cloth grabbing, loading and feeding device.

[0004] The utility model is implemented by the following method: an automatic cloth grabbing and feeding device, comprising a laser cutting machine and a manipulator, a flexible mechanical clamp is provided on the end flange of the manipulator, and also comprises a first conveyor line and a second conveyor line, the second conveyor line is arranged on one side of the first conveyor line, the laser cutting machine is arranged on the other side of the first conveyor line, the first conveyor line is used to convey turnover boxes loaded with cloth pieces, and the second conveyor line is used to convey empty turnover boxes; the manipulator is installed between the first conveyor line and the laser cutting machine, a material unloading frame assembly is mounted on the first conveyor line, the material unloading frame assembly comprises a mounting frame, a material frame box is provided on the mounting frame, the manipulator is used to place the empty turnover box of the second conveyor line on the material frame box, and put the cloth pieces on the laser cutting machine into the empty turnover box, and place the turnover box loaded with cloth pieces on the material frame box onto the first conveyor line.

[0005] Preferably, the material unloading to frame assembly also includes a driving member and a printer, the driving member is installed on the mounting frame, and the material frame box is connected to the driving member; a printer is provided on the mounting frame, and the printer is located above the driving member, and the printer is used to print labels and drop them into the turnover box on the material frame box.

[0006] Preferably, the driving member includes a cylinder and a guide rail slider group, two groups of symmetrical guide rail slider groups are respectively connected to the two sides of the mounting frame facing the laser cutting machine, the two sides of the material frame box are connected to the corresponding side guide rail slider groups, one end of the cylinder is fixedly connected to the mounting frame, and the other end of the cylinder is fixedly connected to the guide rail.

[0007] Preferably, the guide rail slider group includes a slider and a guide rail, the slider is fixed on the side of the mounting frame facing the laser cutting machine, the guide rail is fixed on the side corresponding to the material frame box, and the guide rail is slidably connected to the slider.

[0008] Preferably, each group of the guide rail slider groups includes two sliders, and the two sliders are arranged side by side and overlap axially.

[0009] Preferably, a mounting plate is provided at the upper end of the mounting frame, the printer is installed on the mounting frame, and a clearance hole is provided on the mounting plate below the printer outlet, and the clearance hole is located above the moving track of the material frame box.

[0010] Preferably, a first proximity sensor is provided on a side of the mounting frame facing away from the laser cutting machine for detecting the position of the material frame box.

[0011] Preferably, two sides of the material frame box are provided with through-beam photoelectric sensors for detecting whether the material frame box is placed in a turnover box.

[0012] Preferably, a baffle is provided at the end of the second conveyor line at a position adjacent to the unloading frame assembly of the first conveyor line, and a second proximity sensor is provided on the baffle; a bracket is provided on the side of the mounting frame close to the second conveyor line, and a pneumatic telescopic limit plate is provided on the bracket above the first conveyor line.

[0013] Preferably, first conveyor lines are respectively provided on both sides of the second conveyor line, and each of the first conveyor lines is correspondingly provided with a material unloading frame assembly, the robot arm and the laser cutting machine.

[0014] The beneficial effects of the utility model are: the utility model provides an automatic grasping cloth feeding and feeding device. Compared with the prior art, the utility model has at least the following technical effects: 1. By setting a manipulator with a flexible mechanical gripper to replace people to take cloth pieces from the laser cutting machine, the manipulator takes cloth pieces according to the set program, and will not miss or take more; and the same set of cloth pieces are circulated to the next process through the turnover box. As long as the turnover box does not tip over during the transmission process, the cloth pieces will not be lost, which can avoid the problem of missing cloth pieces, and can significantly reduce abnormalities, so as to reduce the working hours of manual processing and improve the transaction rate of orders; the turnover box can be used for circular transportation through the first conveyor line and the second conveyor line. 2. The unloading frame assembly is provided with a printer, which can print labels in time and put them into the turnover box on the unloading frame assembly. When the product is cut and put into the turnover box, the corresponding information is printed online, and the product information such as number, color, team name, quantity, etc. is checked when the production line is unloaded, so that the operator of the packaging process can find the discrepancy between the process sheet and the product in time. 3. The material frame is installed on the mounting frame of the material unloading frame assembly through the driving part, so that it can be pushed out when holding empty turnover boxes and cloth pieces cut by the laser cutting machine, and can be retracted when receiving labels printed by the printer, avoiding interference and obstruction of the printer, and ensuring that the cut cloth pieces fall accurately into the turnover box. 4. On both sides of the material frame box, there are photoelectric sensors that can detect whether there are turnover boxes in the material frame box. Only when the turnover box is detected can the machine take the cut cloth pieces from the laser cutting machine and put them in, avoiding the cloth pieces being directly placed in the material frame box. 5. A baffle is provided at the end of the running track of the second conveyor line, and a pneumatic telescopic limit plate is provided in front of it. When the second proximity sensor on the baffle detects the turnover box, the pneumatic telescopic limit plate descends to block the empty turnover box sent from the second conveyor line, so that the robot can accurately clamp the empty turnover box from this position into the material frame box. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The utility model is a three-dimensional structural schematic diagram of an automatic cloth grabbing, loading and feeding device.

[0016] Figure 2 The utility model is a schematic diagram of the positional relationship of a conveyor line, a manipulator and a material unloading frame assembly of an automatic cloth grabbing and feeding device.

[0017] Figure 3 The utility model is a partially enlarged schematic diagram of the positional relationship between the first conveyor line, the second conveyor line and the material unloading frame assembly of an automatic cloth grabbing loading and feeding device.

[0018] Figure 4 The utility model is a schematic diagram of a state in which a manipulator of an automatic cloth-grabbing feeding and conveying device places an empty turnover box on a feeding frame assembly.

[0019] Figure 5 The utility model is a schematic structural diagram of a material unloading and frame assembly of an automatic cloth grabbing and feeding device.

[0020] Figure 6 It is a structural schematic diagram from another perspective of a material unloading to a frame assembly of an automatic cloth grabbing, loading and feeding device of the utility model.

[0021] Explanation of the accompanying drawings: 1. Laser cutting machine; 2. Robot; 3. First conveyor line; 4. Second conveyor line; 5. Turnover box; 6. Material unloading to frame assembly; 61. Mounting frame; 62. Material frame box; 63. Printer; 64. Cylinder; 65. Guide rail slider group; 66. Mounting plate; 67. First proximity sensor; 68. Through-beam photoelectric sensor; 7. Baffle; 8. Pneumatic telescopic limit plate. DETAILED DESCRIPTION

[0022] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments.

[0023] See also Figures 1 to 6 , an automatic cloth grabbing and feeding device, comprising a laser cutting machine 1 and a manipulator 2, a flexible mechanical gripper is provided on the end flange of the manipulator 2, and also comprising a first conveyor line 3 and a second conveyor line 4, the second conveyor line 4 is arranged on one side of the first conveyor line 3, and the laser cutting machine 1 is arranged on the other side of the first conveyor line 3, the first conveyor line 3 is used to convey a turnover box 5 loaded with cloth pieces, and the second conveyor line 4 is used to convey an empty turnover box 5; the manipulator 2 is installed between the first conveyor line 3 and the laser cutting machine 1, and a material unloading frame assembly 6 is mounted on the first conveyor line 3, and the material unloading frame assembly 6 includes a mounting frame 61, and a material frame box 62 is provided on the mounting frame 61, and the manipulator 2 is used to place the empty turnover box 5 of the second conveyor line 4 on the material frame box, and put the cloth pieces on the laser cutting machine 1 into the empty turnover box 5, and place the turnover box 5 loaded with cloth pieces on the material frame box onto the first conveyor line 3. By setting up a robot 2 with a flexible mechanical gripper to replace people in taking cloth pieces from the robot 2, the robot 2 takes cloth pieces according to the set program and will not miss or take too much; and the same set of cloth pieces are circulated to the next process through the turnover box 5. As long as the turnover box 5 does not tip over during the transmission process, the cloth pieces will not be lost, which can avoid the problem of missing cloth pieces and significantly reduce abnormalities, thereby reducing the working hours of manual processing and improving the transaction rate of orders; the turnover box 5 can be used for circular transportation through the first conveyor line 3 and the second conveyor line 4.

[0024] See also Figures 1 to 6Preferably, the material unloading frame assembly 6 also includes a driver and a printer 63. The driver is installed on the mounting frame 61, and the material frame box is connected to the driver. The mounting frame 61 is provided with a printer 63, and the printer 63 is located above the driver. The printer 63 is used to print labels and drop them into the turnover box 5 on the material frame box. In addition, the material unloading frame assembly 6 is provided with a printer 63, which can print labels in time and put them into the turnover box 5 on the material unloading frame assembly 6. When the product is cut and placed in the turnover box 5, the corresponding information is printed online, and the product information such as number, color, team name, quantity, etc. is checked when the material is unloaded from the production line, so that the operators in the packaging process can find out the discrepancy between the process sheet and the product in time.

[0025] See also Figures 1 to 6 Preferably, the driving member includes a cylinder 64 and a guide rail slider group 65. Two groups of symmetrical guide rail slider groups 65 are respectively connected to the two sides of the mounting frame 61 facing the laser cutting machine 1. The two sides of the material frame box are connected to the corresponding side guide rail slider groups 65. One end of the cylinder 64 is fixedly connected to the mounting frame 61, and the other end of the cylinder 64 is fixedly connected to the guide rail. The guide rail slider group 65 includes a slider and a guide rail. The slider is fixed on the side of the mounting frame 61 facing the laser cutting machine 1. The guide rail is fixed on the side corresponding to the material frame box 62, and the guide rail is slidably connected to the slider. Each group of the guide rail slider group 65 includes two sliders, which are arranged side by side and overlap axially. The material frame box 62 is driven by the cylinder 64 to move along the guide rail slider group 65, so as to accurately move the material frame box 62 to the position of receiving the cloth piece and the position of receiving the label.

[0026] See also Figures 1 to 6 Preferably, a mounting plate 66 is provided at the upper end of the mounting frame 61, the printer 63 is installed on the mounting frame 61, and a clearance hole is provided on the mounting plate 66 below the outlet of the printer 63, and the clearance hole is located above the moving track of the material frame box 62. The clearance hole facilitates the labels printed by the printer 63 to fall smoothly into the turnover box 5 in the material frame box 62 below.

[0027] See also Figures 1 to 6 Preferably, a first proximity sensor 67 is provided on the side of the mounting frame 61 away from the laser cutting machine 1 for detecting the position of the material frame box. Only when the first proximity sensor 67 detects the material frame box 62, the printer 63 works to print the label, and then directly drops it into the turnover box 5 thereon.

[0028] See also Figures 1 to 6Preferably, two sides of the material frame box 62 are provided with a through-beam photoelectric sensor 68 for detecting whether the material frame box 62 is placed in the turnover box 5. Only when the turnover box 5 is detected can the machine take the cut cloth pieces from the laser cutting machine 1 and put them in, so as to avoid the cloth pieces being directly placed in the material frame box 62.

[0029] See also Figures 1 to 3 Preferably, a baffle 7 is provided at the end of the second conveyor line 4 at a position adjacent to the unloading frame assembly 6 of the first conveyor line, and a second proximity sensor is provided on the baffle 7; a bracket is provided on the side of the mounting frame 61 close to the second conveyor line 4, and a pneumatic telescopic limit plate 8 is provided on the bracket above the first conveyor line 3. When the second proximity sensor on the baffle 7 detects the turnover box 5, the pneumatic telescopic limit plate 8 descends to block the empty turnover box 5 subsequently delivered by the second conveyor line 4, so as to prevent the turnover boxes 5 from being squeezed together, so as to facilitate the manipulator 2 to accurately clamp the empty turnover box 5 from this position into the material frame box 62.

[0030] See also Figures 1 to 6 Preferably, first conveyor lines 3 are provided on both sides of the second conveyor line 4, and each first conveyor line 3 is provided with a corresponding unloading frame assembly 6, the manipulator 2 and the laser cutting machine 1. Two first conveyor lines 3 are provided, and the two lines can cut and pack cloth pieces at the same time, which can maximize the turnover efficiency and avoid the turnover boxes 5 from being piled up on the second conveyor line 4.

[0031] The utility model has the following working principle:

[0032] There are three conveyor lines, namely the second conveyor line 4 in the middle for supplying empty turnover boxes 5, and the first conveyor lines 3 on the left and right sides for conveying turnover boxes 5 filled with cloth pieces. The products (cloth pieces) are transported by the first conveyor line 3 to the next hanging process. The operator takes out the products (cloth pieces) in the full turnover boxes 5 and puts the empty turnover boxes 5 from the first conveyor line 3 to the second conveyor line 4 in the middle, thus forming a repeated cycle.

[0033] The manipulator 2 moves the flexible mechanical gripper to the top of the empty turnover box 5 in the middle of the conveyor line, and controls the lowering position of the flexible mechanical gripper group by changing the posture of the manipulator 2, clamping the left and right side walls of the turnover box 5. At this time, the driving member of the material frame assembly 6 drives the material frame box 62 to push out the mounting frame 61, and the manipulator 2 moves the clamped turnover box 5 to the material frame box 62 for placement. At this time, the through-beam photoelectric sensor 68 is blocked, indicating that the turnover box 5 is in place and can start to receive the cloth pieces and labels;

[0034] When the laser cutting machine 1 transfers the cut cloth pieces to the right place, the visual module on the laser cutting machine 1 can detect the closed-loop contour of each cloth piece, and can communicate with the controller of the manipulator 2 to provide the grabbing coordinate points of each cloth piece. The manipulator 2 moves the flexible mechanical gripper to the top of the cloth piece, lowers the flexible mechanical gripper, and the flexible mechanical gripper contacts the cloth piece and over-presses it by 5mm. The three-axis cylinder 64 on the flexible mechanical gripper closes its two claws, separates and grabs the cloth piece from the cloth strip, and then moves the cloth piece to the top of the push-out position of the material frame box 62 through the manipulator 2, drives the cylinder 64 on the flexible mechanical gripper to open its two claws, and allows the cloth piece to be thrown into the turnover box 5;

[0035] After the cloth pieces are installed, the cylinder 64 retracts and drives the material frame box 62 to drag the material frame box 62 containing the turnover box 5 to the bottom of the mounting plate 66 under the guidance of the slide rails on both sides. Then the printer 63 prints out the washing label, which automatically falls into the turnover box 5 in the material frame box 62 through the clearance hole, and then extends through the cylinder 64 to push the turnover box 5 to the initial position. Then the robot 2 drives the flexible mechanical gripper to take the turnover box 5 and place it on the first conveyor line 3, and the turnover box 5 filled with cloth pieces is transported to the next process through the conveyor line.

[0036] Several points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, and can be mechanical or electrical connections, or internal connectivity between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may change.

[0037] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the usual design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0038] Finally, the above is only a preferred implementation of the present utility model, and the protection scope of the present utility model is not limited to the above embodiments. All technical solutions under the concept of the present utility model belong to the protection scope of the present utility model.

[0039] It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications without departing from the principle of the utility model should also be regarded as within the protection scope of the utility model.

Claims

1. An automatic cloth grabbing, feeding and feeding device, comprising a laser cutting machine and a manipulator, wherein a flexible mechanical gripper is provided on the end flange of the manipulator, characterized in that: It also includes a first conveyor line and a second conveyor line, the second conveyor line is arranged on one side of the first conveyor line, and the laser cutting machine is arranged on the other side of the first conveyor line, the first conveyor line is used to transport turnover boxes loaded with cloth pieces, and the second conveyor line is used to transport empty turnover boxes; the manipulator is installed between the first conveyor line and the laser cutting machine, and a material unloading frame assembly is mounted on the first conveyor line, the material unloading frame assembly includes a mounting frame, and a material frame box is arranged on the mounting frame, the manipulator is used to place the empty turnover boxes of the second conveyor line on the material frame box, and put the cloth pieces on the laser cutting machine into the empty turnover boxes, and place the turnover boxes loaded with cloth pieces on the material frame box on the first conveyor line.

2. The automatic cloth grabbing, feeding and conveying device according to claim 1, characterized in that: The material unloading to frame assembly also includes a driving member and a printer, the driving member is installed on the mounting frame, and the material frame box is connected to the driving member; a printer is provided on the mounting frame, and the printer is located above the driving member. The printer is used to print labels and drop them into the turnover box on the material frame box.

3. The automatic cloth grabbing, feeding and conveying device according to claim 2, characterized in that: The driving component includes a cylinder and a guide rail slider group. Two groups of symmetrical guide rail slider groups are respectively connected to the two sides of the mounting frame facing the laser cutting machine. The two sides of the material frame box are connected to the corresponding side guide rail slider groups. One end of the cylinder is fixedly connected to the mounting frame, and the other end of the cylinder is fixedly connected to the guide rail.

4. The automatic cloth grabbing, feeding and conveying device according to claim 3, characterized in that: The guide rail slider group includes a slider and a guide rail. The slider is fixed on the side of the mounting frame facing the laser cutting machine. The guide rail is fixed on the side corresponding to the material frame box. The guide rail is slidably connected to the slider.

5. The automatic cloth grabbing, feeding and conveying device according to claim 4, characterized in that: Each group of the guide rail slider groups includes two sliders, and the two sliders are arranged side by side and overlap axially.

6. The automatic cloth grabbing, feeding and conveying device according to claim 2, characterized in that: A mounting plate is provided at the upper end of the mounting frame, the printer is mounted on the mounting frame, a clearance hole is provided on the mounting plate below the printer outlet, and the clearance hole is located above the moving track of the material frame box.

7. The automatic cloth grabbing, feeding and conveying device according to claim 2, characterized in that: A first proximity sensor is provided on a side of the mounting frame facing away from the laser cutting machine, for detecting the position of the material frame box.

8. The automatic cloth grabbing, feeding and conveying device according to claim 1, characterized in that: Opposing photoelectric sensors are provided on both sides of the material frame box for detecting whether the material frame box is placed in a turnover box.

9. The automatic cloth grabbing, feeding and conveying device according to claim 1, characterized in that: A baffle is provided at the end of the second conveyor line at a position adjacent to the unloading frame assembly of the first conveyor line, and a second proximity sensor is provided on the baffle; a bracket is provided on the side of the mounting frame close to the second conveyor line, and a pneumatic telescopic limit plate is provided on the bracket above the first conveyor line.

10. The automatic cloth grabbing, feeding and conveying device according to claim 1, characterized in that: First conveying lines are respectively arranged on both sides of the second conveying line, and each of the first conveying lines is correspondingly provided with a material unloading frame assembly, the robot arm and the laser cutting machine.

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