Turnover type cutting piece separating and grabbing device

Abstract

The utility model discloses a turnover type cut-part separating and grabbing device, and aims to provide the turnover type cut-part separating and grabbing device which is beneficial to grabbing separated cut-parts by a clamping jaw of a manipulator subsequently, and effectively avoids the problem that the edges of the cut-parts are folded in the clamping jaw of the manipulator to cause folding indentation and edge folding phenomena of the cut-parts. The device comprises a mounting seat; the overturning seat is rotatably arranged on the mounting seat in a manner of being capable of overturning upwards in the up-down direction; the grabber is used for grabbing the cutting piece and is arranged on the overturning seat; the driving executing mechanism is arranged on the mounting seat; one end of the connecting rod is hinged to the moving block, and the other end of the connecting rod is hinged to the overturning seat; the driving executing mechanism drives the moving block to move and drives the overturning base to overturn upwards in the vertical direction through the connecting rod.

Description

Technical Field

[0001] The utility model relates to the technical field of cut piece separation, in particular to a flip - type cut piece separation and grasping device. Background Art

[0002] Although automation technology has been popularized in many fields, the garment manufacturing industry still widely relies on manual sewing. The main reason is that most of the existing automated sewing equipment still requires manual loading, resulting in limited production efficiency and increased costs. The key obstacle to the future development of unmanned automated sewing equipment lies in the lack of automatic cut piece separation technology, which is a prerequisite for realizing a fully automated process. The cut piece separation technology refers to automatically grasping the stacked cut pieces one by one from top to bottom in a single layer. The cut piece separation technology is often applied to automated and unmanned garment production equipment and workstations as the loading module therein.

[0003] Currently, for cut piece separation, the vacuum adsorption method or the mechanical grasping method is mainly adopted. The specific cut piece separation structure generally controls a lifting mechanism and a gripper for grasping the cut pieces. The lifting mechanism (such as an electric cylinder or a cylinder) is used to drive the gripper for grasping the cut pieces (such as a vacuum chuck that can generate negative pressure) to move up and down. After the gripper grasps the cut pieces, the lifting mechanism drives the gripper to rise, so as to suck up a layer of cut pieces; then the manipulator grasps and moves the sucked - up cut pieces to the target position. The current cut piece separation structure has the following deficiencies. Since the cut piece fabric is soft, after the lifting mechanism drives the gripper and the cut pieces to rise, the edges of the cut pieces will droop downward and be distributed in a downward state. This makes it difficult for the jaws of the subsequent manipulator to approach the separated cut pieces (i.e., the cut pieces on the gripper) smoothly. When the edges of the cut pieces enter the jaws, they will bend and fold, and it is difficult to enter the jaws straight (failure to grasp straight), and it is easy for the edges of the cut pieces to be folded in the jaws of the manipulator, resulting in problems such as folding marks and hemming of the cut pieces. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a flip - type cut piece separation and grasping device, which is beneficial for the jaws of the subsequent manipulator to grasp the separated cut pieces, and effectively avoids the problem that the edges of the cut pieces are folded in the jaws of the manipulator, resulting in folding marks and hemming of the cut pieces.

[0005] The technical solution of the utility model is as follows:

[0006] A flip - type cut piece separation and grasping device, comprising:

[0007] A mounting seat;

[0008] A flipping seat, which is rotatably arranged on the mounting seat so as to be able to flip in the up - and - down direction;

[0009] A gripper for grasping the cut pieces, which is arranged on the flipping seat;

[0010] A moving block and a driving actuator disposed on a mounting base;

[0011] A connecting rod, one end of which is hinged to the moving block and the other end of which is hinged to the flipping seat; the driving actuator drives the moving block to move and drives the flipping seat to flip up and down through the connecting rod. The specific operation of a flipping type cutting piece separating and grasping device of this solution is as follows: the driving actuator drives the moving block to move and drives the flipping seat to flip down through the connecting rod, so that the grippers are distributed downward. The grippers in this state are used to grasp the topmost cutting piece (the topmost cutting piece among the stacked cutting pieces); when the grippers grasp the cutting piece, the lifting mechanism of the cutting piece separating structure can drive the mounting base to move upward, and then drive the grippers to move upward; during or after the upward movement of the grippers, the driving actuator drives the moving block to move and drives the flipping seat to flip upward by a set angle through the connecting rod, so that a part of the edge of the cutting piece grasped by the grippers faces forward or upward or obliquely upward; thus, during the subsequent process of the clamping jaws of the manipulator grasping and separating the cutting piece, since a part of the edge of the cutting piece faces forward or upward or obliquely upward, this part of the edge of the cutting piece facing forward or upward or obliquely upward can enter the clamping jaws straight, effectively avoiding the problem that the edge of the cutting piece is bent and folded when entering the clamping jaws, it is difficult to enter the clamping jaws straight, and the edge of the cutting piece is easily folded in the clamping jaws of the manipulator, resulting in the problem of folding marks and hem of the cutting piece.

[0012] Preferably, a mounting bracket is provided on the flipping seat, and the gripper is mounted on the mounting bracket. In this way, the structure and size of the mounting bracket can be adjusted as needed, and then it is convenient to adjust the mounting position of the gripper to meet the needs of different grasping parts of the gripper for different cutting pieces.

[0013] Preferably, the gripper is mounted on the mounting bracket by bolts. In this way, it is convenient for the installation, disassembly and replacement of the gripper.

[0014] Preferably, the gripper is a needle-piercing suction cup, which includes a plurality of needles. The driving actuator drives the moving block to move and drives the flipping seat to flip up and down through the connecting rod, so that the needles of the needle-piercing suction cup are distributed downward or to one side. The advantages of using a needle-piercing suction cup to grasp the cutting piece are as follows: the needle-piercing stroke is adjustable to adapt to different fabric thicknesses, the fixture has good versatility; the grasping force is large, and it can effectively overcome the adhesion phenomena such as fiber entanglement; there are no requirements for the elasticity, air permeability, material and knitting method of the fabric, and the adaptability is good.

[0015] Preferably, the gripper is a vacuum suction cup. The driving actuator drives the moving block to move, and drives the flipping seat to flip in the vertical direction through a connecting rod, so that the vacuum suction cup faces downward or distributes to one side. Using a vacuum suction cup to grip the cut piece has the following advantages: the suction cup and the fabric are in flexible contact, which is not easy to damage the fabric, and it is simple, easy to use and low in cost.

[0016] Preferably, there is one or more grippers, and multiple grippers are arranged on the same side of the flipping seat, and the multiple grippers are arranged side by side or staggered. The number of grippers can be arranged according to actual needs. Multiple grippers can achieve a better gripping effect and are beneficial to adapting to the application of large cut piece areas or complex shapes.

[0017] Preferably, a fixing block is provided on the mounting seat, and the flipping seat is rotatably arranged on the fixing block so as to be able to flip in the vertical direction. In this way, it is convenient to install the flipping seat.

[0018] Preferably, the fixing block is fixed to the mounting seat by bolts. In this way, it is convenient to install the fixing block and the flipping seat.

[0019] Preferably, there are two connecting rods, and the two connecting rods are parallel to each other. In this way, the stability of the mechanism operation can be improved.

[0020] Preferably, the driving actuator is a cylinder or an electric cylinder.

[0021] The beneficial effect of the present utility model is: it is beneficial for the gripper of the subsequent manipulator to grip the cut piece after separation, and effectively avoids the problem that the edge of the cut piece is folded in the gripper of the manipulator, resulting in the folding indentation and hemming phenomenon of the cut piece. Description of the Drawings

[0022] Figure 1 is a three-dimensional structure schematic diagram of an embodiment of a flipping type cut piece separation and gripping device of the present utility model, and there is one gripper in this figure.

[0023] Figure 2 is a side view of an embodiment of a flipping type cut piece separation and gripping device of the present utility model, and there is one gripper in this figure.

[0024] Figure 3 is a front view of another embodiment of a flipping type cut piece separation and gripping device of the present utility model, and there are two grippers in this figure.

[0025] In the figure:

[0026] Mounting seat 1;

[0027] Driving actuator 2;

[0028] Moving block 3;

[0029] Connecting rod 4;

[0030] Tilting seat 5, rotating shaft 5.1;

[0031] Gripper 6;

[0032] Mounting bracket 7;

[0033] Fixed block 8. Specific implementation mode

[0034] Specific embodiment 1, as Figure 1 , Figure 2 shown, a flip-type cutting piece separation and grasping device, including a mounting seat 1, a tilting seat 5, a gripper 6, a moving block 3, a connecting rod 4 and a driving and executing mechanism 2.

[0035] The tilting seat 5 is rotatably arranged on the mounting seat 1, and the tilting direction of the tilting seat 5 is a flip along the up and down directions.

[0036] The gripper 6 is used for grasping the cutting piece. The gripper 6 is arranged on the tilting seat 5.

[0037] One end of the connecting rod 4 is hinged to the moving block 3, and the other end of the connecting rod 4 is hinged to the tilting seat 5.

[0038] The driving and executing mechanism 2 is arranged on the mounting seat 1. The driving and executing mechanism 2 drives the moving block 3 to move. During the process of the driving and executing mechanism 2 driving the moving block 3 to move, the tilting seat 5 is driven to flip upwards or downwards through the connecting rod 4 (that is, the tilting seat 5 is driven to flip along the up and down directions through the connecting rod 4).

[0039] Specifically, the driving and executing mechanism 2 is a cylinder or an electric cylinder. The telescopic rod of the cylinder or the electric cylinder is fixedly connected to the moving block 3. Of course, it should be noted that the driving and executing mechanism 2 can also be other mechanisms in the prior art, such as an electric push rod, a linear motor, etc. In this embodiment, the driving and executing mechanism 2 is an electric cylinder. In this way, not only can the tilting seat 5 be driven to flip upwards or downwards through the electric cylinder; but also the tilting angle of the tilting seat 5 flipping upwards or downwards can be set as required. For example, during the upward movement or after the upward movement of the gripper 6, the electric cylinder can control the moving distance of the moving block 3 to control the tilting angle of the tilting seat 5 flipping upwards, so that a part of the edge of the cutting piece grasped by the gripper 6 faces forward or upwards or obliquely upwards.

[0040] The specific working process of the flip-type cutting piece separation and grasping device of this embodiment is as follows,

[0041] The driving actuator 2 drives the moving block 3 to move, and drives the flipping seat 5 to flip downward through the connecting rod 4, so that the gripper 6 is distributed downward. In this state, the gripper 6 is used to grip the uppermost cut piece (the uppermost cut piece among the cut pieces in the stacked state); when the gripper 6 grips the cut piece, the lifting mechanism (such as an electric cylinder or a pneumatic cylinder) of the cut piece separating structure can be used to drive the mounting seat 1 to move upward, and then drive the gripper 6 to move upward; during or after the upward movement of the gripper 6, the driving actuator 2 drives the moving block 3 to move, and drives the flipping seat 5 to flip upward by a set angle (generally 90 degrees upward) through the connecting rod 4, so that a part of the edge of the cut piece gripped by the gripper 6 faces forward or upward or obliquely upward; thus, during the subsequent process of the gripper of the manipulator gripping and separating the cut piece, since a part of the edge of the cut piece faces forward or upward or obliquely upward, this part of the edge of the cut piece facing forward or upward or obliquely upward can enter the gripper straight, effectively avoiding the problem that the edge of the cut piece bends and folds when entering the gripper, is difficult to enter the gripper straight, and easily causes the edge of the cut piece to fold in the gripper of the manipulator, resulting in the problem of folding marks and hemming of the cut piece.

[0042] Specific Embodiment 2, as Figure 1 、 Figure 2 shown, a flip - type cut piece separating and gripping device includes a mounting seat 1, a flipping seat 5, a gripper 6, a moving block 3, a connecting rod 4 and a driving actuator 2. The flipping seat 5 is rotatably arranged on the mounting seat 1, and the rotation direction of the flipping seat 5 is to flip along the up - and - down direction. Specifically, the flipping seat 5 is rotatably arranged on the mounting seat 1 through a rotating shaft 5.1, and the rotating shaft 5.1 is horizontally distributed.

[0043] The gripper 6 is arranged on the flipping seat 5. The gripper 6 is used to grip the cut piece.

[0044] One end of the connecting rod 4 is hinged to the moving block 3, and the other end of the connecting rod 4 is hinged to the flipping seat 5.

[0045] The driving actuator 2 is arranged on the mounting seat 1. The driving actuator 2 drives the moving block 3 to move. During the process of the driving actuator 2 driving the moving block 3 to move, the flipping seat 5 is driven to flip upward or downward through the connecting rod 4 (that is, the flipping seat 5 is driven to flip along the up - and - down direction through the connecting rod 4).

[0046] In one implementation of this embodiment, the gripper 6 is a needle-punching suction cup, which includes a number of needles. The driving and executing mechanism 2 drives the moving block 3 to move, and drives the flipping seat 5 to flip in the up and down direction through the connecting rod 4, so that the needles of the needle-punching suction cup face downward or to one side. In this implementation, the needles of the needle-punching suction cup facing to one side can be any side in the front, back, left or right direction. The advantages of using a needle-punching suction cup to grasp the cut pieces are as follows: the needle-punching stroke is adjustable to adapt to different fabric thicknesses, the fixture has good versatility; the grasping force is large, and it can effectively overcome the adhesion phenomenon such as fiber entanglement; there are no requirements for the elasticity, air permeability, material and knitting method of the fabric, and the adaptability is good.

[0047] In another implementation of this embodiment, the gripper 6 is a vacuum suction cup. The driving and executing mechanism 2 drives the moving block 3 to move, and drives the flipping seat 5 to flip in the up and down direction through the connecting rod 4, so that the vacuum suction cup faces downward or to one side. In this implementation, the needles of the needle-punching suction cup facing to one side can be any side in the front, back, left or right direction. The advantages of using a vacuum suction cup to grasp the cut pieces are as follows: the suction cup is in flexible contact with the fabric and is not easy to damage the fabric, and it is simple to use and has a low cost.

[0048] Of course, it should be noted that the gripper 6 can also be other grasping structures in the prior art. For example, an electrostatic adsorption device, etc. The electrostatic adsorption device uses the principle of electrostatic adsorption to adsorb the fabric.

[0049] The specific operation of a flipping type cut piece separating and grasping device in this embodiment is as follows.

[0050] The driving and executing mechanism 2 drives the moving block 3 to move, and drives the flipping seat 5 to flip downward through the connecting rod 4, so that the gripper 6 is in a downward distribution state. In this state, the gripper 6 is used to grasp the topmost cut piece (the topmost cut piece among the stacked cut pieces); after the gripper 6 grasps the cut piece, the lifting mechanism (such as an electric cylinder or a cylinder) of the cut piece separating structure can be used to drive the mounting seat 1 to move upward, and then drive the gripper 6 to move upward; during or after the gripper 6 moves upward, the driving and executing mechanism 2 drives the moving block 3 to move, and drives the flipping seat 5 to flip upward by a set angle (generally 90 degrees upward) through the connecting rod 4, so that a part of the edge of the cut piece grasped by the gripper 6 faces forward or upward or obliquely upward; in this way, during the subsequent process of the gripper of the manipulator grasping and separating the cut piece, since a part of the edge of the cut piece faces forward or upward or obliquely upward, this part of the edge of the cut piece facing forward or upward or obliquely upward can enter the gripper straight, effectively avoiding the problem that when the edge of the cut piece enters the gripper, it will bend and fold, and it is difficult to enter the gripper straight, and it is easy to have the problem that the edge of the cut piece is folded in the gripper of the manipulator, resulting in the folding indentation and hemming phenomenon of the cut piece.

[0051] In this embodiment, the mounting base 1 is lifted by the lifting mechanism of the sheet separating structure (the lifting mechanism of the sheet separating structure is not shown in the figure). The lifting mechanism of the sheet separating structure can be a vertically distributed electric cylinder, air cylinder, linear motor, etc. For example, the mounting base 1 is mounted on the slider of the linear motor by bolts, and the linear motor drives the mounting base 1 to move up and down. Specifically, during operation,

[0052] Before the gripper 6 grabs the sheet, the lifting mechanism drives the mounting base 1 and the gripper 6 to move up to a specified position; then, the driving actuator 2 drives the moving block 3 to move, and drives the flipping seat 5 to flip downwards through the connecting rod 4, so that the gripper 6 is in a downward distribution state. In this state, the gripper 6 is used to grab the topmost sheet (the topmost sheet among the stacked sheets); then, the lifting mechanism drives the mounting base 1 and the gripper 6 to move down to a specified position, so that the gripper 6 grabs the topmost sheet; after the gripper 6 grabs the sheet, the lifting mechanism drives the mounting base 1 and the gripper 6 to move up. During the upward movement of the gripper 6 or after the upward movement, the driving actuator 2 drives the moving block 3 to move, and drives the flipping seat 5 to flip upwards by a set angle (generally 90 degrees upwards), so that a part of the edge of the sheet grabbed by the gripper 6 faces forward, upwards, or obliquely upwards.

[0053] In one implementation manner of this embodiment, as Figure 1 、 Figure 2 shown, there is one gripper 6. Using one gripper 6 to grab the sheet has a simple structure and can reduce the manufacturing cost.

[0054] In another implementation manner of this embodiment, as Figure 3 shown, there are multiple grippers 6. For example, there are two, three, four, or more grippers 6. The multiple grippers 6 are arranged on the same side of the flipping seat 5.

[0055] In one example, the multiple grippers 6 are arranged side by side. The number of grippers 6 can be arranged according to actual needs. The multiple grippers 6 can achieve a better grabbing effect and are beneficial to applications in cases where the sheet area is large or the shape is complex.

[0056] In one example, the multiple grippers 6 are arranged staggeredly. The number of grippers 6 can be arranged according to actual needs. The multiple grippers 6 can achieve a better grabbing effect and are beneficial to applications in cases where the sheet area is large or the shape is complex.

[0057] In this embodiment, the mounting base 1 is plate-shaped. Of course, the mounting base 1 can also be block-shaped, bracket-structured, etc.

[0058] In this embodiment, a limiting surface is provided on the mounting base 1. When the flipping base abuts against the limiting surface, the gripper 6 is distributed downward. In this state, the gripper 6 is used to grip the uppermost layer of cut pieces. The driving actuator 2 drives the moving block 3 to move up and down. When the driving actuator 2 drives the moving block 3 to move upward, the moving block 3 drives the flipping base 5 to flip upward through the connecting rod 4 until the flipping base abuts against the limiting surface. At this time, the gripper 6 is distributed downward. When the driving actuator 2 drives the moving block 3 to move downward, the moving block 3 drives the flipping base 5 to flip downward through the connecting rod 4.

[0059] Further, as Figure 1 、 Figure 2 shown, the driving actuator 2 is a cylinder or an electric cylinder. The telescopic rod of the cylinder or electric cylinder is fixedly connected to the moving block 3. Of course, it should be noted that the driving actuator 2 can also be other mechanisms in the prior art, such as an electric push rod, a linear motor, etc. In this embodiment, the driving actuator 2 is an electric cylinder. In this way, not only can the flipping base 5 be driven to flip upward or downward by the electric cylinder; but also the flipping angle of the flipping base 5 to flip upward or downward can be set as needed. For example, during or after the upward movement of the gripper 6, the electric cylinder can control the moving distance of the moving block 3 to control the flipping angle of the flipping base 5 to flip upward, so that a part of the edge of the cut piece grabbed by the gripper 6 faces forward or upward or obliquely upward.

[0060] Specifically, a connection port is provided on the moving block 3 on the side facing the electric cylinder. The end of the telescopic rod of the electric cylinder extends into the connection port, and the telescopic rod of the electric cylinder is fixedly connected to the moving block 3.

[0061] Further, as Figure 1 、 Figure 2 shown, a mounting bracket 7 is provided on the flipping base 5. The gripper 6 is mounted on the mounting bracket 7. In this way, the structure and size of the mounting bracket 7 can be adjusted as needed, thereby facilitating the adjustment of the mounting position of the gripper 6 to meet the needs of different gripping parts of the gripper 6 for different cut pieces.

[0062] In one example, the gripper 6 is mounted on the mounting bracket 7 by bolts. In this way, the installation, disassembly and replacement of the gripper 6 are convenient.

[0063] Of course, the gripper 6 can also be mounted on the mounting bracket 7 by welding, riveting or bonding.

[0064] Further, as Figure 1 、 Figure 2 shown, a fixed block 8 is provided on the mounting base 1. The flipping base 5 is rotatably arranged on the fixed block 8 so as to be able to flip in the up and down direction. In this way, the installation of the flipping base 5 is facilitated.

[0065] Specifically, the fixed block 8 is provided with an installation opening which is rectangular. The flipping seat 5 is provided with a convex block which is also rectangular. The convex block extends into the installation opening, and the rotating shaft 5.1 passes through the installation opening and the convex block, enabling the flipping seat 5 to flip in the up and down directions.

[0066] In one example, the fixed block 8 is fixed to the mounting seat 1 by bolts. In this way, it is convenient to install the fixed block 8 and the flipping seat 5.

[0067] Of course, the fixed block 8 can also be installed on the mounting seat 1 by means of welding, riveting, bonding or the like.

[0068] Furthermore, as Figure 1 、 Figure 2 shown, there are two connecting rods 4, and the two connecting rods 4 are parallel to each other. The two connecting rods 4 are distributed on the opposite sides of the moving block 3. In this way, the stability of the mechanism operation can be improved. Of course, there can also be one connecting rod 4.

[0069] The above description is only a preferred embodiment of the present invention and does not impose any limitations on the present invention. Any simple modification, change and equivalent transformation made to the above embodiments according to the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A flip-type piece separation and grasping device, characterized in that, Comprising: Mounting base; Flipping seat, which is rotatably arranged on the mounting base and can flip in the up and down direction; Gripper for gripping cut pieces, which is arranged on the flipping seat; Moving block and driving actuator arranged on the mounting base; Link rod, one end of which is hinged to the moving block, and the other end of which is hinged to the flipping seat; the driving actuator drives the moving block to move, and drives the flipping seat to flip in the up and down direction through the link rod.

2. The flip-type piece separation and grasping device according to claim 1, characterized in that, An installation bracket is provided on the flipping seat, and the gripper is installed on the installation bracket.

3. The flip-type piece separation and grasping device according to claim 2, wherein The gripper is installed on the installation bracket by bolts.

4. A flip-type piece separation and grasping device according to claim 1 or 2 or 3, characterized in that, The gripper is a needle-punching suction cup, which includes a number of needles. The driving actuator drives the moving block to move, and drives the flipping seat to flip in the up and down direction through the link rod, so that the needles of the needle-punching suction cup face downward or to one side.

5. A flip-type piece separation and grasping device according to claim 1 or 2 or 3, characterized in that, The gripper is a vacuum suction cup. The driving actuator drives the moving block to move, and drives the flipping seat to flip in the up and down direction through the link rod, so that the vacuum suction cup faces downward or to one side.

6. A flip-type cutting piece separation and grasping device according to claim 1 or 2 or 3, characterized in that, There is one or more grippers, and multiple grippers are arranged on the same side of the flipping seat, and the multiple grippers are arranged side by side or staggered.

7. A flip-type cutting piece separation and grasping device according to claim 1 or 2 or 3, characterized in that, A fixing block is provided on the mounting base, and the flipping seat is rotatably arranged on the fixing block and can flip in the up and down direction.

8. A flip-type cutting piece separation and grasping device according to claim 7, characterized in that, The fixing block is fixed to the mounting base by bolts.

9. A flip-type cutting piece separation and grasping device according to claim 1 or 2 or 3, characterized in that, There are two link rods, and the two link rods are parallel to each other.

10. A flip-type cutting piece separation and grasping device according to claim 1 or 2 or 3, characterized in that, The driving actuator is a cylinder or an electric cylinder.

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