阅读说明：本技术 一种用于柔性轻质高弹面料的上料设备及上料方法 (Feeding equipment and feeding method for flexible light high-elastic fabric ) 是由 贺阳 蔡俊杰 李朝东 郗欣甫 于 2021-08-26 设计创作，主要内容包括：本发明公布一种用于柔性轻质高弹面料的上料设备及上料方法,其中上料设备包括真空吸盘装置和机械臂；所述真空吸盘装置包括第一吸盘和负压机构,所述第一吸盘包括第一吸附面、第一吸附口和第一固定刺,所述负压机构连接所述第一吸附口的一端,所述第一吸附口的另一端连通所述第一吸附面,所述负压机构用于向第一吸附口提供负压,所述固定刺的一端设置在所述第一吸附面上,所述固定刺的另一端用于插入到面料上；所述第一吸盘设置在所述机械臂上,所述机械臂用于带动第一吸盘上升、下降以及倾斜。上料设备具有较高的吸附精准性,可以吸附单片的面料,避免同时吸附多片的面料而影响上料的效率。(The invention discloses feeding equipment and a feeding method for a flexible light high-elastic fabric, wherein the feeding equipment comprises a vacuum chuck device and a mechanical arm; the vacuum sucker device comprises a first sucker and a negative pressure mechanism, wherein the first sucker comprises a first adsorption surface, a first adsorption port and a first fixing thorn, the negative pressure mechanism is connected with one end of the first adsorption port, the other end of the first adsorption port is communicated with the first adsorption surface, the negative pressure mechanism is used for providing negative pressure for the first adsorption port, one end of the fixing thorn is arranged on the first adsorption surface, and the other end of the fixing thorn is used for being inserted into a fabric; the first suction disc is arranged on the mechanical arm, and the mechanical arm is used for driving the first suction disc to ascend, descend and incline. The feeding equipment has high adsorption accuracy, can adsorb single-piece fabrics, and avoids the influence on feeding efficiency caused by the simultaneous adsorption of multiple pieces of fabrics.)

1. A feeding device for flexible light high-elastic fabric is characterized by comprising a vacuum chuck device and a mechanical arm;

the vacuum sucker device comprises a first sucker and a negative pressure mechanism, wherein the first sucker comprises a first adsorption surface, a first adsorption port and a first fixing thorn, the negative pressure mechanism is connected with one end of the first adsorption port, the other end of the first adsorption port is communicated with the first adsorption surface, the negative pressure mechanism is used for providing negative pressure for the first adsorption port, one end of the fixing thorn is arranged on the first adsorption surface, and the other end of the fixing thorn is used for being inserted into a fabric;

the first suction disc is arranged on the mechanical arm, and the mechanical arm is used for driving the first suction disc to ascend, descend and incline.

2. The feeding equipment for the flexible light high-elastic fabric is characterized by further comprising a blanking device and a supporting piece;

the blanking device and the first sucker are arranged on the mechanical arm through a support piece, and the blanking device is used for pressing down the fabric on the fixed thorn so that the fabric falls off and fixes the thorn.

3. The feeding equipment for the flexible light high-elastic fabric according to claim 2, wherein the blanking device comprises a second suction cup and a telescopic mechanism;

the second sucker comprises a second adsorption surface and a second adsorption port, the negative pressure mechanism is connected with one end of the second adsorption port, the other end of the second adsorption port is communicated with the second adsorption surface, and the negative pressure mechanism is used for providing negative pressure for the second adsorption port;

the second sucker is arranged on the support piece through a telescopic mechanism, and the telescopic mechanism is used for driving the second sucker to press down the fabric on the fixed thorn to enable the fabric to fall off.

4. The feeding equipment for the flexible light high-elastic fabric according to claim 3, wherein the telescopic mechanism is a telescopic cylinder, a telescopic oil cylinder or an electric telescopic rod.

5. The feeding equipment for the flexible light high-elastic fabric according to claim 1, wherein the number of the fixing spines is multiple, and the included angle between each fixing spine and the first adsorption surface is the same.

6. A feeding device for a flexible light high-elastic fabric according to claim 1 or 5, characterized in that the fixing stabs are inclined to the first adsorption surface.

7. A loading apparatus for a flexible light-weight high-elastic fabric according to claim 1 wherein said vacuum chuck device is a bernoulli vacuum chuck device and said first suction port is annular.

8. The feeding equipment for the flexible light high-elastic fabric is characterized in that the negative pressure mechanism comprises a compressor, a connecting pipe, an electromagnetic valve and a pressure reducing valve;

the compressor is connected with the adsorption port through the connecting pipe, and the electromagnetic valve and the pressure reducing valve are arranged on the connecting pipe.

9. A feeding method is applied to the feeding equipment for the flexible light high-elastic fabric, which is characterized by comprising a control device, wherein the control device is connected with a vacuum chuck device and a mechanical arm of the feeding equipment, and the feeding method comprises the following steps:

the control device controls the mechanical arm to drive the first suction disc to move to the position above the fabric;

the control device controls the negative pressure mechanism to provide negative pressure to the other end of the first adsorption port and enables the first adsorption disc to adsorb the first piece of fabric, and at the moment, the first piece of fabric is fixedly punctured by the fixed stabbing;

the control device controls the mechanical arm to drive the first sucking disc and the fabric on the fixed thorns to move to the feeding position, and controls the mechanical arm to drive the fixed thorns to move so that the fixed thorns are inclined to the horizontal plane;

the control device controls the mechanical arm to drive the first suction disc and the fabric on the fixed thorn to move to the feeding position, the control device controls the fixed thorn to be perpendicular to the horizontal plane, and the control device controls the negative pressure mechanism to stop providing negative pressure to the other end of the first suction port.

10. A loading method as claimed in claim 9, further comprising the steps of:

the control device controls the telescopic mechanism to extend, so that the telescopic mechanism presses the first piece of fabric downwards and the first piece of fabric is separated from the fixed thorns of the first suckers.

Technical Field

The invention relates to the technical field of textile equipment, in particular to feeding equipment and a feeding method for a flexible light high-elastic fabric.

Background

Fabrics of different materials are required in the shoe and clothing industry. Wherein, some surface fabrics gas permeability is better, or the surface fabric that has the hole, can adopt vacuum chuck to absorb, realizes automatic feeding. When the fabric is a flexible light high-elastic fabric, the sucking discs can suck the following fabrics together.

Disclosure of Invention

Therefore, a feeding device and a feeding method for the flexible light high-elastic fabric are needed to be provided, and the problem that a single piece of flexible light high-elastic fabric cannot be accurately sucked by a sucker is solved.

In order to achieve the purpose, the invention provides feeding equipment for flexible light high-elastic fabric, which comprises a vacuum chuck device and a mechanical arm;

the vacuum sucker device comprises a first sucker and a negative pressure mechanism, wherein the first sucker comprises a first adsorption surface, a first adsorption port and a first fixing thorn, the negative pressure mechanism is connected with one end of the first adsorption port, the other end of the first adsorption port is communicated with the first adsorption surface, the negative pressure mechanism is used for providing negative pressure for the first adsorption port, one end of the fixing thorn is arranged on the first adsorption surface, and the other end of the fixing thorn is used for being inserted into a fabric;

the first suction disc is arranged on the mechanical arm, and the mechanical arm is used for driving the first suction disc to ascend, descend and incline.

Further, the device also comprises a blanking device and a supporting piece;

the blanking device and the first sucker are arranged on the mechanical arm through a support piece, and the blanking device is used for pressing down the fabric on the fixed thorn so that the fabric falls off and fixes the thorn.

Further, the blanking device comprises a second sucker and a telescopic mechanism;

the second sucker comprises a second adsorption surface and a second adsorption port, the negative pressure mechanism is connected with one end of the second adsorption port, the other end of the second adsorption port is communicated with the second adsorption surface, and the negative pressure mechanism is used for providing negative pressure for the second adsorption port;

the second sucker is arranged on the support piece through a telescopic mechanism, and the telescopic mechanism is used for driving the second sucker to press down the fabric on the fixed thorn to enable the fabric to fall off.

Further, the telescopic mechanism is a telescopic cylinder, a telescopic oil cylinder or an electric telescopic rod.

Further, the fixed thorns are multiple, and the included angle between each fixed thorn and the first adsorption surface is the same.

Further, the fixing pricks are inclined to the first adsorption surface.

Further, the vacuum chuck device is a bernoulli vacuum chuck device, and the first suction port is annular.

Further, the negative pressure mechanism comprises a compressor, a connecting pipe, an electromagnetic valve and a pressure reducing valve;

the compressor is connected with the adsorption port through the connecting pipe, and the electromagnetic valve and the pressure reducing valve are arranged on the connecting pipe.

The invention also provides a feeding method, which is applied to the feeding equipment for the flexible light high-elastic fabric in any one of the embodiments, the feeding equipment further comprises a control device, the control device is connected with a vacuum chuck device and a mechanical arm of the feeding equipment, and the feeding method comprises the following steps:

the control device controls the mechanical arm to drive the first suction disc to move to the position above the fabric;

the control device controls the negative pressure mechanism to provide negative pressure to the other end of the first adsorption port and enables the first adsorption disc to adsorb the first piece of fabric, and at the moment, the first piece of fabric is fixedly punctured by the fixed stabbing;

the control device controls the mechanical arm to drive the first sucking disc and the fabric on the fixed thorns to move to the feeding position, and controls the mechanical arm to drive the fixed thorns to move so that the fixed thorns are inclined to the horizontal plane;

the control device controls the mechanical arm to drive the first suction disc and the fabric on the fixed thorn to move to the feeding position, the control device controls the fixed thorn to be perpendicular to the horizontal plane, and the control device controls the negative pressure mechanism to stop providing negative pressure to the other end of the first suction port.

Further, the method also comprises the following steps:

the control device controls the telescopic mechanism to extend, so that the telescopic mechanism presses the first piece of fabric downwards and the first piece of fabric is separated from the fixed thorns of the first suckers.

Be different from prior art, above-mentioned technical scheme negative pressure mechanism is used for providing the negative pressure and making first absorption mouth can adsorb the surface fabric of the first piece of the top to the first absorption mouth of first sucking disc, and fixed thorn can insert the surface fabric of the first piece of the top, prevents that the surface fabric of first piece from droing, arm alright remove to predetermined position with driving first absorption dish, and the arm makes the slope of first absorption dish make fixed thorn perpendicular to horizontal plane, and then lets the surface fabric of first piece drop and lower from fixed thorn by gravity. Therefore, the feeding equipment has high adsorption accuracy, can adsorb single-piece fabrics, and avoids the influence on the feeding efficiency caused by the simultaneous adsorption of multiple pieces of fabrics.

Drawings

FIG. 1 is a schematic cross-sectional view of a vacuum chuck device according to this embodiment;

FIG. 2 is a second schematic cross-sectional view of the vacuum chuck device in this embodiment;

FIG. 3 is a schematic cross-sectional view of a loading apparatus in this embodiment;

FIG. 4 is a partially enlarged view of the fixing pin of the present embodiment, which is inclined to the horizontal plane;

FIG. 5 is a second enlarged view of the fixing pin inclined to the horizontal plane in the present embodiment;

FIG. 6 is a second schematic cross-sectional view of the feeding apparatus in this embodiment;

FIG. 7 is a partial enlarged view of the fixing pin of the present embodiment taken perpendicular to the horizontal plane;

FIG. 8 is a second enlarged view of the fixing pin of the present embodiment taken perpendicular to the horizontal plane.

Description of reference numerals:

1. a vacuum chuck device;

11. a first suction cup;

111. a first adsorption port; 112. a first adsorption face; 113. fixing the spine;

12. a second suction cup;

13. a negative pressure mechanism;

131. a compressor; 132. a connecting pipe; 133. an electromagnetic valve; 134. a pressure reducing valve;

2. a mechanical arm;

21. a support member;

3. a telescoping mechanism;

4. the face fabric of the first sheet.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

The flexible light high-elastic fabric means that the fabric has the characteristics of softness, thinness and elasticity, when the fabric is adsorbed, a plurality of pieces of flexible light high-elastic fabric are easily adsorbed together, and in one process of the loading engineering, only one piece of flexible light high-elastic fabric needs to be transferred, so how should the problem be solved?

In order to solve the above problems, referring to fig. 1 to 8, the feeding apparatus for flexible light high elastic fabric of the present embodiment includes a vacuum chuck device 1 and a robot arm 2. The vacuum chuck device 1 includes a first chuck 11 and a negative pressure mechanism 13. The first suction pad 11 includes a first suction surface 112, a first suction port 111, and a fixing barb 113. The negative pressure mechanism 13 is connected with one end of the first adsorption port 111, the other end of the first adsorption port 111 is communicated with the first adsorption surface 112, and the negative pressure mechanism 13 is used for providing negative pressure to the first adsorption port 111 and enabling the first adsorption port 111 to adsorb the fabric. One end of the fixing thorn 113 is arranged on the first absorption surface 112, the other end of the fixing thorn 113 is used for being inserted into the fabric absorbed by the first absorption port 111, and the fixing thorn 113 is inclined to the first absorption surface 112. The first suction disc 11 is arranged on the mechanical arm 2, and the mechanical arm 2 is used for driving the first suction disc 11 to ascend, descend and incline. The lengths of the fixed spines 113 are controlled so that only the uppermost first sheet of fabric 4 can be needled into the second sheet of fabric, which is positioned below the first sheet of fabric 4, but not the second sheet of fabric.

Above-mentioned technical scheme negative pressure mechanism is used for providing the negative pressure and making first absorption mouth can adsorb the surface fabric of the first piece of the top to the first absorption mouth of first sucking disc, and fixed thorn can insert the surface fabric of the first piece of the top, prevents that the surface fabric of first piece from droing, the arm alright with drive first absorption dish and remove to predetermined position, the arm makes the slope of first absorption dish make fixed thorn be the perpendicular to horizontal plane, and then lets the surface fabric of first piece drop and lower from fixed thorn depending on gravity. Therefore, the feeding equipment has high adsorption accuracy, can adsorb single-piece fabrics, and avoids the influence on the feeding efficiency caused by the simultaneous adsorption of multiple pieces of fabrics.

In this embodiment, the fixing ribs 113 may be perpendicular to the first surface 112, or the fixing ribs 113 may be inclined to the first surface 112, and the included angle between the inclined fixing ribs 113 and the first surface 112 is an acute angle. When the fixing spines 113 are perpendicular to the first adsorption surface 112, after the fixing spines 113 are controlled to be inserted into the uppermost first fabric 4, the mechanical arm 2 is made to incline the first adsorption plate 11, so that the fixing spines 113 are perpendicular to the horizontal plane, and thus the fixing spines 113 can hang the fabrics, and the structure is as shown in fig. 3, 4 and 5; when the fixing stabs 113 are inclined to the first suction surface 112, the robot arm 2 is first inclined to the first suction plate 11 so that the fixing stabs 113 are perpendicular to the horizontal plane, which facilitates the insertion of the fixing stabs 113 into the uppermost first piece of fabric 4, and the structure is shown in fig. 6, 7 and 8.

Fig. 4 is a partially enlarged view of a portion a in fig. 3, and fig. 5 is a partially enlarged view of a portion B in fig. 4. Fig. 7 is a partially enlarged view of a portion C in fig. 6, and fig. 8 is a partially enlarged view of a portion D in fig. 7.

It should be noted that the fixing spine 113 may be provided in plural, and the included angle between each fixing spine 113 and the first suction surface 112 is the same. For example, when the fixing hooks 113 are inclined to the first suction surface 112, the plurality of fixing hooks 113 are inclined to the first suction surface 112 at the same angle, and the plurality of fixing hooks 113 on the first suction plate 11 are inclined in the same direction, as shown in fig. 4, 5, 7 and 8.

It should be noted that the middle of the fixing spike 113 is straight, and the end of the fixing spike 113 is sharp, which is shown in fig. 4, 5, 7 and 8. Therefore, the fixing spines 113 can be conveniently inserted into the fabric, and the fabric is less damaged.

Referring to fig. 3 to 8, in this embodiment, in order to prevent the first suction tray from tilting under the driving of the robot arm 2 and from falling off the fabric off the fixing spine 113, the feeding apparatus further includes a discharging device and a supporting member 21. The blanking device and the first suction cup 11 are both arranged on the mechanical arm 2 through a support part 21. The support 21 is a part that supports the first suction pad 11 and the blanking device on the robot arm 2. The blanking device is used for pressing the fabric on the fixed thorns 113 downwards and enabling the fabric to fall off the fixed thorns 113, so that the blanking device can play a role in assisting in controlling the fabric to fall off due to the fact that the fabric is separated from the fixed thorns.

Referring to fig. 2, fig. 3, fig. 4, fig. 6 and fig. 7, in the present embodiment, in order to improve the absorption efficiency, the first absorption plates 11 are multiple, the multiple first absorption plates 11 are uniformly distributed on the supporting member 21, and the multiple first absorption surfaces 112 are located on the same plane. When the first suction cups 11 suck the fabric, the fabric can be attached to the first suction surface 112.

Referring to fig. 4 and 7, in this embodiment, the feeding device includes a telescopic mechanism 3, and the telescopic mechanism 3 may be a telescopic cylinder, or an electric telescopic rod. When the fabric is hung by the fixing thorns 113 and the fabric is in the moving process, the telescopic mechanism 3 does not touch the fabric; when the fixed thorns 113 hang the fabric and the fabric cannot fall down by gravity, the stretching mechanism 3 is controlled to extend, the end of the stretching mechanism 3 presses down the fabric and the fabric falls off the fixed thorns 113. The following description will be given taking a telescopic cylinder as an example: the telescopic oil cylinder comprises a cylinder body, a piston and a piston rod. One end of the piston rod is arranged on the piston, the piston is movably arranged in the cylinder body, the other end of the piston rod is arranged on the second sucker 12, and the piston rod is a telescopic end of the telescopic mechanism 3.

In the present embodiment, in order to improve the blanking efficiency, the plurality of blanking devices, that is, the plurality of telescopic mechanisms 3, are uniformly distributed on the support 21, and the structure is shown in fig. 4 and 6.

Referring to fig. 4 and 6, in the present embodiment, the blanking device also has an adsorption function, and the blanking device further includes a second suction cup 12. The second sucking disc 12 includes second adsorption plane and second adsorption port, negative pressure mechanism 13 connects the one end of second adsorption port, the other end intercommunication of second adsorption port the second adsorption plane, negative pressure mechanism 13 is used for providing the negative pressure to the second adsorption port. The second sucker 12 is arranged on the mechanical arm 2 through a telescopic mechanism 3, and the telescopic mechanism 3 is used for driving the second sucker 12 to ascend and descend and pressing down the fabric on the fixed thorn 113 to enable the fabric to fall off. The second suction cup 12 is different from the first suction cup 11 in that the second suction surface of the second suction cup 12 is not provided with the fixing hooks 113. So, unloader has unloading and absorbent effect simultaneously to optimize first sucking disc and unloader's quantity, save space and manufacturing cost.

Referring to fig. 1, in the present embodiment, the vacuum chuck device 1 is a bernoulli vacuum chuck device, and the first suction port 111 is annular. The bernoulli vacuum chuck device utilizes the conical inner wall of the first chuck 11 to spray high-speed airflow from the annular first adsorption port 111, so that negative pressure is generated below the first adsorption port 111, upward suction is generated on the fabric, and non-contact suction is realized.

Referring to fig. 2, in the present embodiment, the suction force of the first suction port 111 increases with the increase of the air supply pressure, and is approximately linear. The magnitude of the suction force can be controlled by adjusting the pressure of the negative pressure mechanism 13. The negative pressure mechanism 13 includes a compressor 131, a connection pipe 132, and a solenoid valve 133. The compressor 131 is connected to the first suction port 111 or the second suction port through the connection pipe 132, and the solenoid valve 133 is provided in the connection pipe 132. A pressure reducing valve 134 is also provided on the connection pipe 132 between the compressor 131 and the solenoid valve 133.

It should be noted that the mechanical arm also has a rotation function, so that the fabric moves to the feeding position in an accurate manner.

In this embodiment, the feeding apparatus further includes a control device 9 (not shown), and the control device connects the vacuum chuck device 1, the mechanical arm 2, and the blanking device. The control device is a component for controlling the operation of the vacuum chuck device 1, the mechanical arm 2 and the blanking device, and the control device can be a Programmable Logic Controller (abbreviated as PLC), which is a digital operation Controller with a microprocessor and used for automatic control, and can load control instructions into a memory at any time for storage and execution.

Referring to fig. 1 to 8, the present embodiment further provides a feeding method, which is applied to the feeding apparatus for a flexible, light and high elastic fabric according to any one of the above embodiments. The fabric feeding method comprises the following steps:

the control device controls the mechanical arm 2 to drive the first suction disc 11 to move above the fabric; the step is specifically that the mechanical arm 2 drives the first suction disc 11 to move transversely and longitudinally, so that the first suction disc 11 moves to the position above the material taking position, the distance between the first suction disc and the fabric is appropriate, and the fabric is conveniently adsorbed by the first suction disc 11.

The control device controls the negative pressure mechanism 13 to provide negative pressure to the other end of the first adsorption port 111 and enables the other end of the first adsorption port 111 to adsorb the fabric, and meanwhile, the fixing pricks 113 penetrate the fabric; specifically, the electromagnetic valve 133 is opened, the pressure reducing valve 134 maintains the air pressure at the first preset pressure value P1, so that the suction cup generates a suction force F, which is slightly greater than the weight of the fabric, and at this time, the suction cup can suck the first piece of fabric 4 but is not enough to suck the next piece of fabric (the second piece of fabric). After the first suction cup 11 sucks the first piece of fabric 4, the pressure reducing valve 134 rapidly increases the air pressure to the second preset pressure value P2, and the suction force F2 generated by the suction cup can firmly suck the fabric.

The first preset pressure value P may be 0.3Mpa, 0.4Mpa, or the like, depending on the weight of the fabric. The second preset pressure value P2 is greater than the first preset pressure value P1, and the second preset pressure value P2 may be 0.5Mpa to 0.6 Mpa.

Referring to fig. 3, 4 and 5, the fixed thorns 113 are kept inclined to the horizontal plane, so that the end portions of the fixed thorns are tilted upwards and hang the first piece of fabric 4, and the control device controls the mechanical arm 2 to drive the first suction disc 11 and the fabric on the fixed thorns 113 to move to the feeding position; specifically, the mechanical arm 2 drives the first suction cup 11 to move transversely and longitudinally, so that the first suction cup 11 moves above the feeding position.

Referring to fig. 6, 7 and 8, the control device controls the mechanical arm 2 to drive the fixing spines 113 on the first adsorption surface 112 to incline, so that the fixing spines 113 are vertical to the horizontal plane, and then the negative pressure mechanism 13 stops providing negative pressure to the other end of the first adsorption port 111, so that the fabric falls to the loading position along with the fixing spines 113; the step is specifically that the electromagnetic valve 133 is closed, the vacuum degree of the first suction cup 11 disappears, and the fabric is separated and falls down.

In this embodiment, when the fabric is hung by the fixing thorns 113 and cannot fall off, the control device controls the blanking device to press the fabric on the fixing thorns 113 downward so that the fabric falls off the fixing thorns 113; specifically, the control device controls the extension of the stretching mechanism 3, so that the end of the stretching mechanism 3 or the second suction cup 12 connected to the stretching mechanism 3 presses down the first piece of fabric 4, and the fabric can be separated from the fixed thorn 113 by the downward acting force.

It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.