CN219059335U - Cloth piece sewing equipment - Google Patents

Abstract

The present utility model relates to a cloth piece sewing device, comprising: the carrying device comprises a manipulator and a grabbing mechanism, and the manipulator drives the grabbing mechanism to move. A sewing machine. And a controller. And the dragging device is used for pulling out and straightening the front end of the elastic band from the sewing machine. The positioning devices are used for fixing the front end and the tail end of the elastic band; the carrying device, the sewing machine, the dragging device and the positioning device are matched to realize the sewing of the elastic band and the cloth piece. Pulling the front end of the elastic band out of the sewing machine through a pulling device and pre-stretching, and fixing the front end of the elastic band through a positioning device after the cloth piece is in place; the carrying device and the sewing machine cooperate to perform sewing operation, after sewing is completed, the tail end of the elastic band is fixed through the positioning device, so that the elastic band can maintain the same degree of relaxation before and after sewing, further, the cloth piece can be kept flat, the edge of other subsequent cloth pieces can be conveniently sewn, and the whole sewing quality of the cloth piece is ensured.

Description

Cloth piece sewing equipment

Technical Field

The utility model relates to the technical field of clothing processing, in particular to cloth piece sewing equipment.

Background

Some garments, such as underpants, have elastic bands sewn to the leg positions, and for briefs, elastic bands sewn to the leg positions. Because the elastic band needs to be pulled to a certain extent when the elastic band is sewn, especially the elastic band at the position of the underpants, the pulling extent is the greatest. After the elastic band is sewn, the edges of the cloth sheets form folds along with the natural tightening of the elastic band. The shrinkage of the elastic has little effect on manual sewing, as it can be pulled flat by hand, but creates problems when facing automated production.

With the improvement of the automation degree of the clothing industry, the cutting of cloth pieces has been automated, such as laser cutting; meanwhile, the automatic carrying of the cut cloth pieces is also gradually mature. The automatic cloth piece carrying device has the advantage of being capable of keeping the cloth piece smooth, but the mode of grabbing the cloth piece at present mostly adopts the absorbing mode, and the cloth piece is easily torn, and on the same cloth piece, the edge that each needs to be sewed up the elastic cord is not the elastic cord to be sewed up in step, after the elastic cord is sewed up on the cloth piece, the roughness of the cloth piece is damaged, the cloth piece is pulled by the elastic cord, and the shape of the cloth piece is changed, so that the follow-up sewing operation is affected. In addition, the sewing of the elastic band is only one step of sewing operation, and then the front and rear panels of the cloth piece are required to be sewn to form the waist of the underpants, and the like, if the flatness of the cloth piece can be ensured, the automatic realization of the subsequent operation can be promoted.

Disclosure of Invention

The utility model aims to provide a piece of cloth sewing equipment, which can automatically sew an elastic band on a piece of cloth, ensure the sewing quality and provide a positioning basis for subsequent operation.

To achieve the above object, the present utility model discloses a cloth piece sewing apparatus, comprising:

the carrying device comprises a manipulator and a grabbing mechanism for grabbing the cloth piece, and the manipulator drives the grabbing mechanism to move.

The sewing machine is arranged in the movable area of the carrying device, and an elastic band supply mechanism is arranged on the sewing machine.

And the dragging device is arranged close to the sewing machine and is used for dragging and straightening the front end of the elastic band out of the sewing machine.

The positioning devices are arranged on the grabbing mechanism and used for fixing the front end of the elastic band at the beginning of the sewing of the elastic band and fixing the tail end of the elastic band after the sewing of the elastic band; the carrying device, the sewing machine, the dragging device and the positioning device are matched to realize the sewing of the elastic band and the cloth piece.

And the controller is connected with the manipulator, the grabbing mechanism, the sewing machine, the dragging device and the positioning device.

Preferably, the grabbing mechanism comprises a connecting frame, a first clamping plate, a second clamping plate and a plurality of grabbing components, wherein the first clamping plate is connected with the manipulator through the connecting frame; the grabbing component is arranged on the first clamping plate and used for grabbing the second clamping plate, the second clamping plate is matched with the first clamping plate, and the second clamping plate is matched with the first clamping plate to clamp and fix the cloth.

Preferably, the grabbing component comprises a grabbing cylinder and a permanent magnet, a seat body of the grabbing cylinder is connected to a first clamping plate, the permanent magnet is connected to a push rod of the grabbing cylinder, and a passageway for the permanent magnet to slide downwards and upwards is formed in the first clamping plate; the second clamping plate is provided with magnetic attraction pieces which are matched with the permanent magnets one by one.

Preferably, the grabbing mechanism further comprises a plurality of adsorption pieces for generating negative pressure and adsorbing the cloth pieces, and the adsorption pieces are arranged on the first clamping plate; the first clamping plate is provided with an air passage matched with the adsorption piece, and the bottom surface of the first clamping plate is provided with a supporting net for covering the air passage; the airway is isolated from the aisle.

Preferably, the dragging device comprises a linear moving module and a clamping assembly, and the linear moving module drives the clamping assembly to approach or separate from the sewing machine; the clamping assembly comprises a clamping cylinder, an upper clamping block and a lower clamping block, and the upper clamping block is hinged to the lower clamping block; the base body of the clamping cylinder is fixed on the lower clamping block, a rotating shaft is arranged on the push rod of the clamping cylinder, and a long round hole which is in sliding fit with the rotating shaft is arranged on the upper clamping block; the clamping cylinder drives the upper clamping block and the lower clamping block to perform clamping action.

Preferably, the dragging device further comprises a lifting cylinder, the linear movement module drives the lifting cylinder to be close to or far away from the sewing machine, and the lifting cylinder drives the clamping assembly to move up and down.

Preferably, the positioning device comprises a fixed seat, a locking cylinder, a rotating plate, a torsion spring and at least one contact pin for puncturing the elastic band, wherein the fixed seat is arranged on the grabbing mechanism; one end of the rotating plate is rotationally connected to the fixed seat through a pin shaft, and the contact pin is arranged at the other end of the rotating plate; the torsion spring is sleeved on the pin shaft, one end of the torsion spring is connected with the fixed seat, and the other end of the torsion spring is connected with the rotating plate; the locking cylinder is arranged on the fixed seat, a locking hole is formed in the rotating plate, and a push rod of the locking cylinder can be inserted into the locking hole.

Preferably, the positioning device further comprises a jacking mechanism for assisting the contact pin to pierce the elastic band, and the jacking mechanism is arranged between the sewing machine and the dragging device and is close to the sewing machine; the jacking mechanism comprises a jacking cylinder and a jacking plate, and an avoidance port for avoiding the contact pin is formed in the jacking plate.

Preferably, the positioning device comprises a mounting seat, a driving piece, a clamping assembly and a transmission piece; the clamping assembly comprises a swing arm, a connecting rod and a clamping block; the mounting seat is provided with a guide groove; the driving piece is rotationally connected to the mounting seat, and the driving piece is in transmission connection with the driving piece; the transmission part is eccentrically provided with a first chute, one end of the swing arm is provided with a second chute and a guide shaft, the guide shaft is simultaneously and slidably connected in the guide groove and the first chute, and the other end of the swing arm is rotationally connected with the middle section of the clamping block; one end of the connecting rod is provided with a first sliding shaft, the other end of the connecting rod is provided with a third sliding groove, and the first sliding shaft is in sliding connection with the second sliding groove; the one end of grip block is equipped with the second slide shaft, just second slide shaft sliding connection is in the third spout, the other end of grip block cooperates with the swing arm and constitutes the clamping structure that is used for the centre gripping elastic cord, the mounting seat outside is arranged in to the clamping structure, the driving medium drives the clamping assembly rotation and drives the clamping structure closure.

Preferably, the positioning device comprises a mounting seat, a driving piece, a transmission piece and a clamping assembly, wherein the clamping assembly comprises a swing arm, a connecting rod, a clamping block, a first pin shaft, a second pin shaft, a third pin shaft, a fourth pin shaft and an elastic piece for resetting the connecting rod; the mounting seat is provided with a guide groove; the transmission piece is rotationally connected to the mounting seat and is in transmission connection with the driving piece; the transmission part is eccentrically provided with a first chute, one end of the swing arm is provided with a second chute, and the other end of the swing arm is rotationally connected with the middle section of the clamping block; the second pin shaft is rotationally connected to one end of the swing arm, provided with a second chute, and is simultaneously and slidingly connected to the guide groove and the first chute; one end of the connecting rod is rotationally connected with a third pin shaft, and the third pin shaft is slidingly connected in the second chute; a third chute is arranged at the other end of the connecting rod; the connecting rod or the third pin shaft is abutted against the mounting seat; the first pin shaft penetrates through the axis of the transmission piece, the transmission piece is rotationally connected to the mounting seat through the first pin shaft, and meanwhile, the first pin shaft is also slidingly connected in the second sliding groove; one end of the clamping block is connected with a fourth pin shaft, and the fourth pin shaft is connected in the third chute in a sliding way; the other end of the clamping block is matched with the swing arm to form a clamping structure, and the transmission piece drives the clamping assembly to rotate and drives the clamping structure to be closed.

Preferably, the positioning device comprises a mounting seat, a driving piece, a movable piece, a connecting piece, a first clamping block and a second clamping block; the mounting seat is provided with a turntable, the driving piece is fixed at the top of the turntable, and the driving piece is connected with the connecting piece; the movable piece is rotatably sleeved outside the rotary table, and a chute matched with the connecting piece is arranged on the movable piece; the first clamping block is arranged outside the movable piece; the connecting piece is connected in the rotary table in a sliding way, and meanwhile, the connecting piece is also connected with the rotary table in a rotating way, a guide groove matched with the connecting piece is formed in the rotary table, the connecting piece passes through the guide groove and the sliding groove and then is connected with a second clamping block, and the second clamping block is opposite to the first clamping block; the driving piece, the movable piece, the connecting piece, the guide groove and the sliding groove are matched to enable the first clamping block and the second clamping block to synchronously rotate, and the second clamping block is close to or far away from the first clamping block while rotating.

Preferably, the sewing machine and/or the grabbing mechanism is further provided with an air injection assembly for blowing the edges of the cloth pieces flat, and the air injection assembly is connected with the controller.

The utility model has the following beneficial effects:

according to the utility model, the cloth piece can be grabbed by the carrying device, and the edge of the elastic band to be sewn is exposed; the front end of the elastic band can be pulled out of the sewing machine and pre-tensioned through the pulling device, and the front end of the elastic band is fixed through the positioning device after the cloth piece is conveyed to the sewing machine position by the carrying device to be positioned; after the sewing operation is completed, the tail end of the elastic band is fixed through the positioning device, so that the same degree of relaxation of the elastic band can be maintained before and after the sewing operation, the cloth piece can be kept flat, the original posture is maintained, the edge of other subsequent cloth pieces can be conveniently sewn, and the integral sewing quality of the cloth piece is ensured. Because the two ends of the elastic band sewn on the cloth piece are fixed, the cloth piece can be kept flat, and because the fixed point of the elastic band is not on the cloth piece, interference to subsequent operation is not easy to occur. In addition, the fixed points of all the elastic bands also form the positioning points of the cloth pieces, so that the positioning can be provided for subsequent sewing operation, and the automatic realization of the subsequent operation is facilitated.

Drawings

Fig. 1 is a schematic diagram of a first embodiment.

Fig. 2 is a schematic view of a grabbing mechanism and a positioning device according to an embodiment.

Fig. 3 is a schematic view of a grasping mechanism and a positioning device (when the elastic band is sewn).

Fig. 4 is a schematic view of another view of fig. 3.

Fig. 5 is a schematic view illustrating the installation of an absorbent member and a grasping assembly according to an embodiment.

Fig. 6 is a schematic view of a positioning device according to an embodiment (retracted state).

Fig. 7 is a schematic view (working state) of a positioning device according to an embodiment.

Fig. 8 is a schematic diagram of a lifting mechanism according to an embodiment.

FIG. 9 is a schematic diagram illustrating an installation of a jet assembly according to an embodiment.

Fig. 10 is a schematic diagram of a drag device according to an embodiment.

Fig. 11 is a schematic view of a gripping mechanism and a positioning device according to the second embodiment.

Fig. 12 is an enlarged schematic view of the portion a in fig. 11.

Fig. 13 is a schematic diagram of a positioning device according to a second embodiment.

Fig. 14 is an exploded view of a positioning device according to the second embodiment.

Fig. 15 is a schematic diagram of the initial state of the positioning device according to the second embodiment.

Fig. 16 is a schematic diagram of the second embodiment of the positioning device in a moving state.

Fig. 17 is a schematic view of the second embodiment in a clamped state.

Fig. 18 is a schematic view of a three-way grip mechanism and positioning device according to an embodiment.

Fig. 19 is an enlarged schematic view of a portion B in fig. 18.

Fig. 20 is a schematic perspective view of a third positioning device according to an embodiment.

Fig. 21 is a perspective view showing a state in which the third positioning device is clamped in the embodiment.

Fig. 22 is an exploded view of a third embodiment positioning device.

Fig. 23 is a schematic diagram of a third embodiment of the positioning device in an initial state.

Fig. 24 is a schematic view of the third embodiment in a clamped state.

Fig. 25 is a schematic view of a fourth grasping mechanism and a positioning device according to an embodiment.

Fig. 26 is an enlarged schematic view of a portion C in fig. 26.

Fig. 27 is a schematic diagram of the fourth embodiment of the positioning device in an initial state.

Fig. 28 is a schematic view of the fourth embodiment in a clamped state.

Fig. 29 is an exploded view of a fourth positioning device according to an embodiment.

Main component symbol description:

embodiment one:

the conveying device 10, the manipulator 11, the grabbing mechanism 12, the connecting frame 121, the first clamping plate 122, the passage 1221, the air passage 1222, the supporting net 1223, the second clamping plate 123, the grabbing cylinder 124, the permanent magnet 125, the magnetic attraction piece 126 and the attraction piece 127;

the device comprises a positioning device 20, a fixed seat 21, a locking cylinder 22, a rotating plate 23, a torsion spring 24, a contact pin 25 and a locking hole 26;

a jacking mechanism 30, a jacking cylinder 31, and a jacking plate 32;

a sewing machine 40, an air nozzle 41;

the device comprises a dragging device 50, a linear motor 51, a sliding rail 52, a sliding block 53, a screw 54, a lifting cylinder 55, a clamping cylinder 56, an upper clamping block 57 and a lower clamping block 58;

a cloth piece 61 and an elastic band 62.

Embodiment two:

the positioning device 70, the mounting seat 71, the synchronizing wheel 711, the guide groove 712, the arc-shaped section 713, the straight section 714, the transmission piece 72, the first mounting groove 721, the driving piece 73, the transmission wheel 731, the swing arm 74, the guide shaft 741, the second sliding groove 742, the connecting rod 75, the first sliding shaft 751, the third sliding groove 752, the clamping block 76 and the second sliding shaft 761.

Embodiment III:

positioning device 80, mounting seat 81, mounting groove 811, fixed block 812, guide groove 813, arc-shaped section 814, straight section 815, driving member 82, worm 821, driving member 83, first chute 831, swing arm 84, second chute 841, slide 842, stopper 843, link 85, third chute 851, stopper 852, stopper boss 853, clamp block 86, elastic member 87, first pin 881, second pin 882, third pin 883, and fourth pin 884.

Embodiment four:

the positioning device 90, the mounting seat 91, the turntable 911, the end cover 912, the slide 913, the guide groove 914, the movable member 92, the slide 921, the first clamp block 93, the second clamp block 94, the connecting member 95, the connecting portion 951, the guide portion 952, the bearing 953, the threaded hole 954, and the driving member 96.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent.

Embodiment one:

as shown in fig. 1 to 10, the present embodiment discloses a cloth piece 61 sewing apparatus, which includes: a controller, a carrying device 10, a sewing machine 40, a dragging device 50 and a plurality of positioning devices 20. The controller is a PLC.

The carrying device 10 is used for gripping the cloth 61 and then feeding it to the sewing machine 40 for sewing the elastic band 62. The carrying device 10 comprises a manipulator 11 and a grabbing mechanism 12, wherein the manipulator 11 is a Kawasaki robot, and the manipulator 11 is connected with a controller. The grasping mechanism 12 includes a link 121, a first clamp plate 122, a second clamp plate 123, and a number of grasping assemblies. The first clamping plate 122 is connected with the manipulator 11 through the connecting frame 121, and by providing the connecting frame 121, the top surface of the first clamping plate 122 can have a larger space for installing the grabbing assembly and the positioning apparatus 20. A special station for placing the second clamping plates 123 is arranged between the fixing seat 21 of the manipulator 11 and the sewing machine 40, and a plurality of second clamping plates 123 can be placed at the special placing station for standby.

The grabbing component is arranged on the top surface of the first clamping plate 122 and used for controllably grabbing the second clamping plate 123, and the grabbing component comprises a grabbing cylinder 124 and a permanent magnet 125, and the grabbing cylinder 124 is connected with the controller. The base of the grabbing cylinder 124 is fixedly connected to the top surface of the first clamping plate 122, the permanent magnet 125 is fixedly connected to the push rod of the grabbing cylinder 124, and the first clamping plate 122 is provided with a passage 1221 for the permanent magnet 125 to slide down and up. The permanent magnet 125 is required not to extend out of the passage 1221, so that the cloth piece 61 is prevented from being locally jacked up to cause the flatness to be damaged. The second clamping plate 123 is matched with the first clamping plate 122, and magnetic attraction pieces 126 (made of a material capable of being attracted by the magnets) which are matched with the permanent magnets 125 one by one are arranged on the second clamping plate 123.

The second clamping plate 123 is placed in a special placing station, the cut cloth piece 61 of the laser automatic cutting machine is positioned and placed on the second clamping plate 123 through a manual or existing automatic cloth piece 61 conveying device 10, then the first clamping plate 122 is moved to the position right above the second clamping plate 123 through the manipulator 11 and is pressed down, the first clamping plate 122 and the second clamping plate 123 clamp the cloth piece 61, then the grabbing cylinder 124 stretches out, the permanent magnet 125 is close to the magnetic attraction piece 126, and the second clamping plate 123 is fixed at the bottom of the first clamping plate 122 in an adsorption mode. The clamped cloth piece 61 can be prevented from being greatly pulled by the stretching of the elastic band 62 by arranging a plurality of grabbing components and the matched magnetic attraction pieces 126, and the arrangement is more beneficial to sewing the bent edges. And the first clamping plate 122 and the second clamping plate 123 are matched in a mode that edges of the cloth pieces 61 are exposed completely, so that interference is not easy to cause. After the suturing is completed, the second clamping plate 123 can be separated by controlling the push rod of the grasping cylinder 124 to retract, and the permanent magnet 125 no longer adsorbs the magnetic attraction member 126.

As another alternative, a plurality of suction members 127 for generating negative pressure to suck the cloth pieces 61 may be provided on the grasping mechanism 12, the suction members 127 may be a high-speed fan or an exhaust fan or other negative pressure generator, and the suction members 127 are connected to a controller. The first clamping plate 122 is provided with an air passage 1222 matched with the adsorbing member 127, the air passage 1222 is communicated to the bottom surface of the first clamping plate 122, and meanwhile, the bottom surface of the first clamping plate 122 is provided with a supporting net 1223 covering the air passage 1222, so that the bottom surface of the first clamping plate 122 is level, and the adsorbed cloth piece 61 is kept level. The air passage 1222 and the passageway 1221 are isolated from each other, avoiding the arrangement of the passageway 1221 from affecting the adsorption effect. After this arrangement, the carrying device 10 of the present utility model can directly adsorb and grasp the cloth piece 61 from the laser automatic cutting machine, then move the cloth piece 61 to the special placement station of the second clamping plate 123, and after the permanent magnet 125 adsorbs the second clamping plate 123, the adsorbing member 127 can stop working, so as to reduce energy consumption (because the cloth piece 61 has a certain air permeability, the negative pressure needs to be continuously provided to adsorb the cloth piece 61 to ensure that the cloth piece 61 is continuously adsorbed). After this, the utilization rate of the conveying device 10 is higher, and the production line production requirement can be satisfied even when the operation rate of the robot 11 is high.

The positioning device 20 is provided on the top surface of the first clamping plate 122 for clamping the front end of the elastic band 62 at the beginning of the sewing of the elastic band 62 and clamping the end of the elastic band 62 after the sewing of the elastic band 62. For example, four elastic bands 62 are sewn on the cloth piece 61 of the underpants, so that eight sets of positioning devices 20 are provided on the first clamping plate 122.

The positioning device 20 comprises a fixed seat 21, a locking cylinder 22, a rotating plate 23, a torsion spring 24 and at least one contact pin 25, wherein the locking cylinder 22 is connected with the controller. The fixing base 21 is locked on the top surface of the first clamping plate 122 through screws, and the base body of the locking cylinder 22 is fixedly connected to the fixing base 21. One end of the rotating plate 23 is connected with the rotating shaft of the fixed seat 21 through a pin shaft, and the contact pin 25 is arranged at the other end of the rotating plate 23. The torsion spring 24 is also sleeved on the pin shaft, one end of the torsion spring 24 is connected with the fixed seat 21, and the other end is connected with the rotating plate 23. Under the action of the torsion spring 24, the rotating plate 23 is vertical to the fixed seat 21, a jacking block matched with the rotating plate 23 can be arranged at the edge position of the workbench, the rotating plate 23 is moved to the upper part of the jacking block through the carrying device 10 and gradually pressed down, the rotating plate 23 can be enabled to rotate upwards against the elastic force of the torsion spring 24, when the rotating plate 23 rotates to a designated position, the locking cylinder 22 acts, a push rod of the locking cylinder is inserted into a locking hole 26 arranged on the rotating plate 23, the rotating plate 23 is locked, and at the moment, the positioning device 20 is in a preparation state. When the elastic band 62 needs to be fixed, the push rod of the locking cylinder 22 is retracted, and after the rotating plate 23 loses the blocking of the locking cylinder 22, the rotating plate 23 rapidly rotates downwards under the acting force of the torsion spring 24, so that the contact pin 25 can pierce the elastic band 62.

In order to avoid deformation of the elastic cord 62, more than 2 pins 25 are preferably provided, and the pins 25 are distributed. For two sets of positioning devices 20 that are close to each other, a single holder 21 may be shared for ease of connection. During the period of the loose elastic 62, the rotating plate 23 is retracted by the cooperation of the ejector blocks, so that the contact pin 25 is retracted above the fixed seat 21, and the normal operation of the carrying device 10 is not interfered, and the contact pin cannot interfere with the sewing machine 40.

Since the elastic band 62 has a certain elasticity, there is a possibility that the puncture failure of the pin 25 occurs, and thus the lifting mechanism 30 for assisting the pin 25 in puncturing the elastic band 62 is also provided. The jacking mechanism 30 is disposed between the sewing machine 40 and the pulling device 50 and is disposed close to the sewing machine 40, and includes a jacking cylinder 31 and a jacking plate 32, the jacking cylinder 31 being connected to the controller. The jacking plate 32 is fixedly connected to a push rod of the jacking cylinder 31, and an avoidance port for avoiding the contact pin 25 is formed in the jacking plate 32. The jack plate 32 provides a bottom support for the elastic 62 to facilitate penetration of the pins 25.

The sewing machine 40 is a sewing machine 40 of a candelabra, which is placed in the movable area of the carrying device 10, and the sewing machine 40 is provided with an elastic band 62 supplying mechanism and electric scissors, which are the prior art and will not be described again. The sewing machine 40 and the electric scissors are connected with a controller.

Because some of the cloth pieces 61 are soft, the edges of the cloth pieces 61 exposed from the grabbing mechanism 12 may collapse, so that the edges of the cloth pieces 61 cannot enter the sewing machine 40 smoothly, and the following design is made: an air injection assembly is arranged on the feeding side of the sewing machine 40, the air injection assembly can be an air nozzle 41 communicated with an air source, the air nozzle 41 is preferably a prolate port, and the air nozzle 41 is used for controlling the outward blowing air through an electromagnetic valve, and the electromagnetic valve is connected with a controller. The air nozzle 41 may be provided directly on the table of the sewing machine 40 without interfering with the handling device 10. The air nozzle 41 may be oriented vertically upward and may spread outward after the air flow is blocked by the second clamping plate 123, thereby flattening the edge of the cloth. Of course, a set of air injection assembly can be arranged on the grabbing mechanism 12, and the edge can be flatter by simultaneously blowing air on the upper surface and the lower surface of the cloth piece 61 to prevent the cloth piece 61 from being blown.

The pulling device 50 is disposed near the sewing machine 40 for pulling and straightening the front end of the elastic band 62 from the sewing machine 40 so as to be fixed by the positioning device 20. The dragging device 50 comprises a linear movement module, a lifting cylinder 55 and a clamping assembly, wherein the linear movement module is in the prior art, and generally comprises a linear motor 51, a sliding rail 52, a sliding block 53 and a screw 54, and the linear motor 51 is connected with a controller. The sliding block 53 is slidably connected to the sliding rail 52, while the sliding block 53 is in threaded connection with the screw 54, and the linear motor 51 is in driving connection with the screw 54. The linear motion module drives the clamp assembly toward and away from the sewing machine 40. The lifting cylinder 55 is connected with the controller, and the base body of the lifting cylinder 55 is fixedly connected to the sliding block 53. The lifting cylinder 55 can be a double-push rod cylinder to ensure the lifting stability and the installation is more convenient. The lifting cylinder 55 is provided to avoid interference between the tractor 50 and the carrier 10.

The clamping assembly includes a clamping cylinder 56, an upper clamping block 57 and a lower clamping block 58, wherein the clamping cylinder 56 is connected to the controller. The lower clamping block 58 is fixedly connected to the push rod of the lifting air cylinder 55, the upper clamping block 57 is hinged to the lower clamping block 58, the base body of the clamping air cylinder 56 is fixed to the lower clamping block 58, a rotating shaft is arranged on the push rod of the clamping air cylinder 56, and a slotted hole in sliding fit with the rotating shaft is arranged on the upper clamping block 57. The upper clamp block 57 and the lower clamp block 58 cooperate for clamping action by actuation of the clamping cylinder 56.

Embodiment two:

the difference between the present embodiment and the first embodiment is that the structure of the positioning device 70 is changed, and at the same time, for the sake of convenience of viewing, only four sets of positioning devices 70 are used in the present embodiment because the elastic bands 62 are sewn at the positions of the underpants in the present embodiment.

Specifically, as shown in fig. 11 to 17, the positioning device 70 of the present embodiment includes a mounting base 71, a driving member 73, a clamping assembly, and two transmission members 72, and preferably, the two transmission members 72 are gears.

The mounting base 71 is a combination to facilitate the mounting of the components, and the mounting base 71 is locked to the top surface of the first clamping plate 122 by bolts. A synchronizing wheel 711 is rotatably connected to the mounting base 71, and the synchronizing wheel 711 is simultaneously engaged with the two transmission members 72, and the two transmission members 72 are identical to each other, so that synchronous rotation can be ensured. The driving member 73 is a motor or a rotary cylinder, preferably the former. The output shaft of the motor is connected with a driving wheel 731, the driving wheel 731 is meshed with the synchronizing wheel 711, so that the driving piece 73 is in transmission connection with the driving piece 72, and the motor rotates to drive the two driving pieces 72 to synchronously act (rotate clockwise or anticlockwise). Alternatively, the driving member 73 may be a linear cylinder, and a rack is disposed on a push rod of the linear cylinder, and the rack is meshed with the synchronizing wheel 711, so as to implement transmission connection.

The clamping assembly comprises a swing arm 74, a connecting rod 75 and a clamping block 76, one end of the swing arm 74 is in limit sliding fit with one end of the connecting rod 75, the mounting seat 71 and the transmission piece 72 respectively, and the other end of the swing arm 74 is rotationally connected with the middle section of the clamping block 76. One end of the connecting rod 75 in limit sliding fit with the swing arm 74 is also rotatably connected with the mounting seat 71, the other end of the connecting rod 75 is in limit sliding fit with one end of the clamping block 76, and the other end of the clamping block 76 is matched with the swing arm 74 to form a clamping structure for clamping the elastic band 62.

Specifically, the mount 71 is provided with two guide grooves 712, and the trajectories of the guide grooves 712 are identical and correspond to each other. A first chute is eccentrically provided on the transmission member 72, and the length direction of the first chute is directed to the center of the transmission member 72. The first sliding grooves on the two transmission pieces 72 are consistent in length and always correspond to each other. A guide shaft 741 and two corresponding second sliding grooves 742 are provided at one end of the swing arm 74, and a first mounting fork is provided at the other end of the swing arm 74. One end of the connecting rod 75 is provided with a first sliding shaft 751, and the other end is provided with a third sliding groove 752. The middle section of the clamping block 76 is provided with a bolt hole, and one end is provided with a second mounting fork, and a second sliding shaft 761 is arranged on the second mounting fork in a penetrating manner. The diameter of the guide shaft 741 is adapted to the groove width of the guide groove 712 and the groove width of the first sliding groove, and the guide shaft 741 is always slidingly connected in the guide groove 712 and the first sliding groove. The connecting rod 75 is disposed between the two second sliding grooves 742, and the first sliding shaft 751 on the connecting rod 75 is always slidingly connected in the second sliding groove 742. A bolt is arranged on the first mounting fork in a penetrating way, and the bolt passes through a bolt hole on the clamping block 76, so that the clamping block 76 is rotationally connected to the first mounting fork. The second slide shaft 761 on the clamping block 76 is always slidably connected in the third slide groove 752, and a part of the connecting rod 75 can be placed in the second mounting fork.

The clamping structure is required to be always placed outside the mounting seat 71 to ensure that the clamping structure can smoothly clamp the elastic band 62. The guide groove 712 includes an arc-shaped section 713 and a straight section 714 that are mutually communicated, and the arc-shaped section 713 and the straight section 714 are used for corresponding to the moving track of the swing arm 74, namely, rotating first and then translating. Specifically, when the guide shaft 741 is positioned at an end of the arc-shaped section 713 away from the flat section 714, the swing arm 74 is disposed at an angle to the bottom surface of the mount 71, and the clamping device is in an initial state as shown in fig. 15. When the guide shaft 741 moves from the arc section 713 to the straight section 714, the angle between the swing arm 74 and the bottom surface of the mounting seat 71 is gradually reduced until zero, and when zero, the guide shaft 741 is located in the straight section 714, and the swing arm 74 is parallel to the bottom surface of the mounting seat 71, which is in a moving state, as shown in fig. 16. When the guide shaft 741 continues to move from the intersection point of the arc-shaped section 713 and the straight section 714 to the straight section 714, the swing arm 74 and the connecting rod 75 relatively move, so as to drive the suspended end of the clamping block to rotate towards the swing arm 74, the clamping structure is gradually closed, and when the clamping structure is positioned at the end of the straight section 714 far away from the arc-shaped section 713, the clamping structure is closed, and the clamping state is shown in fig. 17.

Embodiment III:

the difference between the present embodiment and the first embodiment is that the structure of the positioning device 80 is changed, and at the same time, for the sake of convenience of viewing, only four sets of positioning devices 80 are used in the present embodiment because the elastic bands 62 are sewn at the positions of the underpants in the present embodiment.

Specifically, as shown in fig. 18 to 24, the positioning device 80 of the present embodiment includes a mount 81, a driving member 82, a transmission member 83, and a clamping assembly.

The mounting seat 81 is locked on the top surface of the first clamping plate 122 through bolts, a mounting groove 811 and a fixing block 812 are arranged on the mounting seat 81, the transmission member 83 and the clamping assembly are mounted in the mounting groove 811, the fixing block 812 is connected at the notch position of the mounting groove 811 through bolts, and the driving member 82 is connected on the fixing plate through bolts. The driving member 82 is a motor, a worm 821 is arranged on an output shaft of the motor, the transmission member 83 is a worm wheel matched with the worm 821, and the driving member 82 and the transmission member 83 are connected through the worm 821.

The clamping assembly comprises a swing arm 84, a connecting rod 85, a clamping block 86 and an elastic piece 87 for resetting the connecting rod 85, one end of the swing arm 84 is in limit sliding fit with the mounting seat 81 and the transmission piece 83 respectively, and the other end of the swing arm 84 is rotationally connected with the middle section of the clamping block 86. One end of the connecting rod 85 is slidably connected to the swing arm 84, the other end of the connecting rod 85 is in limit sliding fit with one end of the clamping piece, and the other end of the clamping piece is matched with the swing arm 84 to form a clamping structure. The link 85 abuts the mount 81. The driving member 83 drives the clamping assembly to rotate and drives the clamping structure to close.

Specifically, the clamping assembly further includes a first pin 881, a second pin 882, a third pin 883, and a fourth pin 884, each having a circular cross-sectional shape. The mount 81 is provided with a guide groove 813. A first chute 831 is eccentrically provided on the transmission member 83, and a longitudinal direction of the first chute 831 is directed toward an axial center of the transmission member 83. A second sliding groove 841 is arranged at one end of the swing arm 84 in limit sliding fit with the connecting rod 85. One end of the connecting rod 85, which is in limit sliding fit with the clamping block 86, is provided with a third sliding groove 851. The first pin 881 passes through the axle center of the transmission member 83, and the transmission member 83 is rotatably connected to the mounting seat 81 through the first pin 881; meanwhile, the first pin 881 is also slidably connected to the second chute 841. The second pin 882 is rotatably coupled to the swing arm 84, and the second pin 882 is slidably coupled to both the guide slot 813 and the first runner 831. One end of the connecting rod 85, which is close to the transmission member 83, is connected with a third pin 883 (either fixedly connected or rotatably connected), and the third pin 883 is slidably connected in the second chute 841; the link 85 is abutted against the groove side of the mounting groove 811 by the third pin 883. The clamping block 86 is connected with a fourth pin 884, and the fourth pin 884 is slidably connected in the third chute 851.

To facilitate the installation of the restoring member, a sliding track 842 is provided on a section of the swing arm 84 near the transmission member 83, and a limiting block 843 is provided on an end of the sliding track 842 near the clamping block 86. A stop 852 is arranged at one end of the connecting rod 85 close to the transmission member 83, a limit protrusion 853 is further arranged at the middle section of the connecting rod 85, the stop 852 is slidably connected in the sliding way 842, the limit protrusion 853 is arranged outside the sliding way 842, and the limit protrusion 853 can be blocked by limit. The elastic member 87 is preferably a spring that is sleeved on the link 85, and has one end abutting against the stopper 852 and the other end abutting against the stopper 843.

When the driving member 82 rotates, the second pin shaft 882 slides from one end of the guide groove 813 to the other end, the guide groove 813 includes an arc section 814 and a straight section 815 which are mutually communicated, and when the second pin shaft 882 is located at one end of the arc section 814 away from the straight section 815, the swing arm 84 is disposed at an angle with the bottom surface of the mounting seat 81, and can be disposed above the mounting seat 81, so as to avoid interference, as shown in fig. 23. When the second pin 882 enters the straight section 815 from the arcuate section 814, the swing arm 84 is parallel to the bottom surface of the mount 81 such that the clamp structure is in place and is now in an open position. When the second pin 882 is positioned at the end of the straight segment 815 remote from the arcuate segment 814, the clamping structure is closed, completing the clamping action, as shown in FIG. 24.

Embodiment four:

the difference between the present embodiment and the first embodiment is that the structure of the positioning device 90 is changed, and at the same time, for the sake of convenience of viewing, only four sets of positioning devices 90 are used in the present embodiment because only the positions of the underpants are stitched with elastic bands in the present embodiment.

Specifically, as shown in fig. 25 to 29, the positioning device 90 of the present embodiment includes a mount 91, a driving member 96, a movable member 92, a first clamp block 93, a second clamp block 94, and a connecting member 95. The mounting seat 91 is locked on the top surface of the first clamping plate 122 through bolts, a turntable 911 and an end cover 912 are arranged on the mounting seat 91, a slide way 913 is arranged at the axial center position of the turntable 911, two guide grooves 914 corresponding to each other are arranged on the upper side wall of the turntable 911, the guide grooves 914 are communicated with the slide way 913, and the guide grooves 914 are spirally arranged on the side wall of the turntable 911. A line intersecting the turntable 911 at a position corresponding to the two guide grooves 914 in the cross section passes through the axial center of the turntable 911. The end cap 912 is removably secured to the table top of the turntable 911 by screws and blocks the slide 913. The driver 96 is mounted on the end cap 912.

The movable piece 92 is sleeved on the rotary table 911, and the movable piece 92 is rotationally connected with the rotary table 911, and the movable piece 92 can be limited by matching the mounting seat 91 with the end cover 912, so that the movable piece 92 is prevented from falling off. The first clamping block 93 is integrally formed on the outer side of the movable member 92, and of course, the first clamping block 93 may be fixed on the outer side of the movable member 92 by a screw or the like. Two sliding grooves are further arranged on the movable piece 92, the two sliding grooves correspond to each other, and one sliding groove is located right above the first clamping block 93.

The connecting piece 95 comprises a connecting portion 951 and two guiding portions 952, wherein the connecting portion 951 is matched with the slideway 913, the connecting portion 951 is slidably connected in the slideway 913, and the connecting portion 951 is rotatably connected with the slideway 913. The two guiding portions 952 are disposed on two sides of the connecting portion 951, respectively, and the connection line of the two guiding portions 952 passes through the axis of the connecting portion 951. The two guiding portions 952 are slidably connected to a guiding slot 914 through a bearing 953, and the two guiding portions 952 are slidably connected to a sliding slot. This arrangement ensures smooth and reliable movement of the connector 95. The guide 952 passing through the chute above the first clamp block 93 is detachably connected (e.g., by means of a locking screw) to the second clamp block 94. The second clamping block 94 can always face the first clamping block 93 by the limitation of the sliding groove.

The driving member 96 is connected to the connecting member 95 to provide driving force so that the connecting member 95 can slide along the track of the guide slot 914. Specifically, the driving member 96 is a motor, an external thread is disposed on an output shaft of the motor, a threaded hole 954 is disposed on the connecting member 95 in a penetrating manner, and the output shaft of the motor is in threaded connection with the connecting member 95.

The first clamping block 93 and the second clamping block 94 are synchronously rotated through the cooperation of the driving piece 96, the movable piece 92, the connecting piece 95, the guide groove 914 and the sliding groove, and the second clamping block 94 is close to or far away from the first clamping block 93 while rotating, so that the clamping or releasing effect is realized. Because the first clamp block 93 and the second clamp block 94 are rotatable, they can be rotated to a position that does not interfere with the operation of other components when clamping is not required.

The operation steps of the utility model are as follows:

the cloth piece 61 is grabbed: the cloth piece 61 is grasped by the carrying device 10, and the edges of the elastic band 62 need to be sewn to the cloth piece 61 to expose the first clamping plate 122 and the second clamping plate 123.

The elastic band 62 is pre-tensioned: the front end of the elastic band 62 is pushed out by the sewing machine 40 (the feeding function of the sewing machine 40) so as to be clamped by the dragging device 50, and after the dragging device 50 clamps, the front end of the elastic band 62 is pulled out for a certain distance, and at this time, the elastic band 62 can be conveniently fixed by the positioning device 20/70/80/90.

The cloth piece 61 is in place: the edge of the cloth piece 61 sucked and grasped by the carrying device 10 is moved to the sewing machine 40, and the positioning device 20 fixes the front end of the elastic band 62, and the pulling device 50 is withdrawn.

The elastic band 62 is sewn: the sewing machine 40 and the carrying device 10 are operated synchronously, so that the elastic band 62 is sewn to the cloth piece 61.

Shaping the elastic band 62: after the stitching is completed, the sewing machine 40 continues to release a section of the elastic band 62, and simultaneously the carrying device 10 moves synchronously to maintain the consistency of the relaxation degree of the elastic band 62; the end of the elastic band 62 is then fixed by another positioning device 20.

The elastic band 62 is cut off, the next piece 61 is ready for sewing the elastic band at the edge, and the above steps are repeated.

The present utility model is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present utility model are intended to be included in the scope of the present utility model.

Claims (12)

1. A cloth piece sewing apparatus, characterized by comprising:

the carrying device comprises a manipulator and a grabbing mechanism for grabbing cloth pieces, and the manipulator drives the grabbing mechanism to move;

the sewing machine is arranged in the movable area of the carrying device, and an elastic band supply mechanism is arranged on the sewing machine;

the dragging device is arranged close to the sewing machine and is used for dragging and straightening the front end of the elastic band out of the sewing machine;

the positioning devices are arranged on the grabbing mechanism and used for fixing the front end of the elastic band at the beginning of the sewing of the elastic band and fixing the tail end of the elastic band after the sewing of the elastic band; the carrying device, the sewing machine, the dragging device and the positioning device are matched to realize the sewing of the elastic band and the cloth piece;

and the controller is connected with the manipulator, the grabbing mechanism, the sewing machine, the dragging device and the positioning device.

2. The cloth piece sewing apparatus of claim 1, wherein: the grabbing mechanism comprises a connecting frame, a first clamping plate, a second clamping plate and a plurality of grabbing components, and the first clamping plate is connected with the manipulator through the connecting frame; the grabbing component is arranged on the first clamping plate and used for grabbing the second clamping plate, the second clamping plate is matched with the first clamping plate, and the second clamping plate is matched with the first clamping plate to clamp and fix the cloth.

3. The cloth piece sewing apparatus of claim 2, wherein: the grabbing component comprises a grabbing cylinder and a permanent magnet, a seat body of the grabbing cylinder is connected to a first clamping plate, the permanent magnet is connected to a push rod of the grabbing cylinder, and a passageway for the permanent magnet to slide downwards and upwards is formed in the first clamping plate; the second clamping plate is provided with magnetic attraction pieces which are matched with the permanent magnets one by one.

4. The cloth piece sewing apparatus of claim 2, wherein: the grabbing mechanism further comprises a plurality of adsorption pieces which are used for generating negative pressure and adsorbing the cloth pieces, and the adsorption pieces are arranged on the first clamping plate; the first clamping plate is provided with an air passage matched with the adsorption piece, and the bottom surface of the first clamping plate is provided with a supporting net for covering the air passage; the airway is isolated from the aisle.

5. The cloth piece sewing apparatus of claim 1, wherein: the dragging device comprises a linear moving module and a clamping assembly, and the linear moving module drives the clamping assembly to approach or separate from the sewing machine; the clamping assembly comprises a clamping cylinder, an upper clamping block and a lower clamping block, and the upper clamping block is hinged to the lower clamping block; the base body of the clamping cylinder is fixed on the lower clamping block, a rotating shaft is arranged on the push rod of the clamping cylinder, and a long round hole which is in sliding fit with the rotating shaft is arranged on the upper clamping block; the clamping cylinder drives the upper clamping block and the lower clamping block to perform clamping action.

6. The cloth piece sewing apparatus of claim 5, wherein: the dragging device further comprises a lifting cylinder, the linear movement module drives the lifting cylinder to be close to or far away from the sewing machine, and the lifting cylinder drives the clamping assembly to move up and down.

7. The cloth piece sewing apparatus of claim 1, wherein: the positioning device comprises a fixing seat, a locking cylinder, a rotating plate, a torsion spring and at least one contact pin for puncturing the elastic band, wherein the fixing seat is arranged on the grabbing mechanism; one end of the rotating plate is rotationally connected to the fixed seat through a pin shaft, and the contact pin is arranged at the other end of the rotating plate; the torsion spring is sleeved on the pin shaft, one end of the torsion spring is connected with the fixed seat, and the other end of the torsion spring is connected with the rotating plate; the locking cylinder is arranged on the fixed seat, a locking hole is formed in the rotating plate, and a push rod of the locking cylinder can be inserted into the locking hole.

8. The cloth piece sewing apparatus of claim 7, wherein: the positioning device also comprises a jacking mechanism for assisting the contact pin to puncture the elastic band, and the jacking mechanism is arranged between the sewing machine and the dragging device and is close to the sewing machine; the jacking mechanism comprises a jacking cylinder and a jacking plate, and an avoidance port for avoiding the contact pin is formed in the jacking plate.

9. The cloth piece sewing apparatus of claim 1, wherein: the positioning device comprises a mounting seat, a driving piece, a clamping assembly and a transmission piece; the clamping assembly comprises a swing arm, a connecting rod and a clamping block; the mounting seat is provided with a guide groove; the driving piece is rotationally connected to the mounting seat, and the driving piece is in transmission connection with the driving piece; the transmission part is eccentrically provided with a first chute, one end of the swing arm is provided with a second chute and a guide shaft, the guide shaft is simultaneously and slidably connected in the guide groove and the first chute, and the other end of the swing arm is rotationally connected with the middle section of the clamping block; one end of the connecting rod is provided with a first sliding shaft, the other end of the connecting rod is provided with a third sliding groove, and the first sliding shaft is in sliding connection with the second sliding groove; the one end of grip block is equipped with the second slide shaft, just second slide shaft sliding connection is in the third spout, the other end of grip block cooperates with the swing arm and constitutes the clamping structure that is used for the centre gripping elastic cord, the mounting seat outside is arranged in to the clamping structure, the driving medium drives the clamping assembly rotation and drives the clamping structure closure.

10. The cloth piece sewing apparatus of claim 1, wherein: the positioning device comprises a mounting seat, a driving piece, a transmission piece and a clamping assembly, wherein the clamping assembly comprises a swing arm, a connecting rod, a clamping block, a first pin shaft, a second pin shaft, a third pin shaft, a fourth pin shaft and an elastic piece for resetting the connecting rod; the mounting seat is provided with a guide groove; the transmission piece is rotationally connected to the mounting seat and is in transmission connection with the driving piece; the transmission part is eccentrically provided with a first chute, one end of the swing arm is provided with a second chute, and the other end of the swing arm is rotationally connected with the middle section of the clamping block; the second pin shaft is rotationally connected to one end of the swing arm, provided with a second chute, and is simultaneously and slidingly connected to the guide groove and the first chute; one end of the connecting rod is rotationally connected with a third pin shaft, and the third pin shaft is slidingly connected in the second chute; a third chute is arranged at the other end of the connecting rod; the connecting rod or the third pin shaft is abutted against the mounting seat; the first pin shaft penetrates through the axis of the transmission piece, the transmission piece is rotationally connected to the mounting seat through the first pin shaft, and meanwhile, the first pin shaft is also slidingly connected in the second sliding groove; one end of the clamping block is connected with a fourth pin shaft, and the fourth pin shaft is connected in the third chute in a sliding way; the other end of the clamping block is matched with the swing arm to form a clamping structure, and the transmission piece drives the clamping assembly to rotate and drives the clamping structure to be closed.

11. The cloth piece sewing apparatus of claim 1, wherein: the positioning device comprises a mounting seat, a driving piece, a movable piece, a connecting piece, a first clamping block and a second clamping block; the mounting seat is provided with a turntable, the driving piece is fixed at the top of the turntable, and the driving piece is connected with the connecting piece; the movable piece is rotatably sleeved outside the rotary table, and a chute matched with the connecting piece is arranged on the movable piece; the first clamping block is arranged outside the movable piece; the connecting piece is connected in the rotary table in a sliding way, and meanwhile, the connecting piece is also connected with the rotary table in a rotating way, a guide groove matched with the connecting piece is formed in the rotary table, the connecting piece passes through the guide groove and the sliding groove and then is connected with a second clamping block, and the second clamping block is opposite to the first clamping block; the driving piece, the movable piece, the connecting piece, the guide groove and the sliding groove are matched to enable the first clamping block and the second clamping block to synchronously rotate, and the second clamping block is close to or far away from the first clamping block while rotating.

12. The cloth piece sewing apparatus of claim 1, wherein: the sewing machine and/or the grabbing mechanism are/is further provided with an air injection assembly for blowing the edges of the cloth pieces flat, and the air injection assembly is connected with the controller.

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