阅读说明：本技术 吊挂系统裁片上料方法 (Method for feeding cut pieces of hanging system ) 是由 陈伟强 于 2021-09-18 设计创作，主要内容包括：本发明提供了一种吊挂系统裁片上料方法,机械手从裁片分离装置处获取裁片,然后将裁片挂到衣架上,衣架的衣架本体上开有容纳槽,容纳槽的开口朝下,开口处设有弹簧扣,机械手包括相互连接的移动组件和夹持组件,夹持组件包括动夹爪、驱动机构、定夹爪和辅助夹爪,驱动机构驱动动夹爪靠近或远离定夹爪,夹紧或松开裁片的中部；定夹爪呈杆状,用于悬挂裁片,其长度大于动夹爪的长度；辅助夹爪设置在定夹爪的下方,用于夹紧或松开裁片垂挂下来的两端部；本发明的有益之处在于,采用结构简单、易于组装的机械手来完成裁片上料过程,可以稳定获取多片裁片形成裁片组合,然后将裁片组合一次性挂上衣架,整个过程便捷高效。(The invention provides a cut piece feeding method of a hanging system, wherein a manipulator acquires cut pieces from a cut piece separating device and then hangs the cut pieces on a clothes hanger, an accommodating groove is formed in a clothes hanger body of the clothes hanger, the opening of the accommodating groove faces downwards, a spring buckle is arranged at the opening, the manipulator comprises a moving assembly and a clamping assembly which are mutually connected, the clamping assembly comprises a movable clamping jaw, a driving mechanism, a fixed clamping jaw and an auxiliary clamping jaw, and the driving mechanism drives the movable clamping jaw to be close to or far away from the fixed clamping jaw to clamp or loosen the middle part of the cut pieces; the fixed clamping jaw is in a rod shape and is used for hanging cut pieces, and the length of the fixed clamping jaw is greater than that of the movable clamping jaw; the auxiliary clamping jaw is arranged below the fixed clamping jaw and is used for clamping or loosening two suspended end parts of the cut piece; the clothes hanger has the beneficial effects that the mechanical arm with a simple structure and easiness in assembly is adopted to complete the cut piece feeding process, a plurality of cut pieces can be stably obtained to form a cut piece combination, then the cut piece combination is hung on the clothes hanger at one time, and the whole process is convenient and efficient.)

1. A hanging system cut piece feeding method is characterized in that a manipulator (1) obtains a cut piece from a cut piece separating device (2), then the cut piece is hung on a clothes hanger (7), an accommodating groove (711) is formed in a clothes hanger body (71) of the clothes hanger (7), the opening of the accommodating groove (711) faces downwards, and a spring buckle (72) is arranged at the opening, the hanging system cut piece feeding method is characterized in that the manipulator (1) comprises a moving assembly (5) and a clamping assembly (6) which are connected with each other, the clamping assembly (6) comprises a moving clamping jaw (62), a driving mechanism (63), a fixed clamping jaw (64) and an auxiliary clamping jaw (65), and the driving mechanism (63) drives the moving clamping jaw (62) to be close to or far away from the fixed clamping jaw (64) to clamp or loosen the middle part of the cut piece; the fixed clamping jaw (64) is in a rod shape and is used for hanging cut pieces, and the length of the fixed clamping jaw is greater than that of the movable clamping jaw (62); the auxiliary clamping jaw (65) is arranged below the fixed clamping jaw (64) and is used for clamping or loosening two suspended end parts of the cutting piece; the feeding method comprises the following steps:

after the cut piece separating device (2) grabs and lifts the cut piece I, the moving component (5) drives the clamping component (6) to be close to the cut piece separating device (2), and the fixed clamping jaw (64) is positioned below the cut piece;

the movable clamping jaw (62) clamps the middle part of the first cut piece, the cut piece separating device (2) loosens the cut piece, and the first cut piece is hung on the fixed clamping jaw (64);

the moving component (5) drives the clamping component (6) to be far away from the cut piece separating device (2) and move to a safe area, the auxiliary clamping jaws (65) clamp two end parts of a hung cut piece, and the movable clamping jaws (62) are opened;

after the cutting piece separating device (2) grabs and lifts the cutting piece II, the moving component (5) drives the clamping component (6) to be close to the cutting piece separating device (2), and the cutting piece I is positioned below the cutting piece II;

the movable clamping jaw (62) clamps the middle part of the second cut piece, the auxiliary clamping jaw (65) is opened, the cut piece separating device (2) loosens the cut piece, and the second cut piece is stacked on the first cut piece to form a cut piece combination;

move subassembly (5) drive centre gripping subassembly (6) and move upwards behind the opening part of holding tank (711), decide clamping jaw (64) and drive cut-parts combination and push away snak link (72) and get into holding tank (711) and continue upward movement, wait that snak link (72) reset, move clamping jaw (62) and open, move subassembly (5) drive centre gripping subassembly (6) and keep away from clothes hanger (7).

2. A loading method according to claim 1, wherein said gripping assembly (6) further comprises a bracket (61), said driving mechanism (63), said holding jaw (64) and said auxiliary jaw (65) being mounted on said bracket (61) from top to bottom.

3. The feeding method according to claim 1, characterized in that the driving mechanism (63) comprises a linear driving member (631) and a rotating shaft (633), the movable clamping jaw (62) is L-shaped, the middle part of the movable clamping jaw is rotatably connected with the rotating shaft (633), and one end of the movable clamping jaw is hinged with the linear driving member (631); when the linear driving piece (631) works, the other end of the movable clamping jaw (62) is close to or far away from the fixed clamping jaw (64).

4. A feeding method according to claim 4, characterized in that the movable jaw (62) is located above the fixed jaw (64).

5. A feeding method as claimed in claim 1, wherein said auxiliary gripping jaws (65) are pneumatic gripping jaws or electric gripping jaws.

Technical Field

The invention relates to the technical field of garment sewing, in particular to a method for feeding cut pieces of a hanging system.

Background

In the existing hanging system, a roller is arranged at the upper end of a clothes hanger for clamping cut pieces, a concave groove is arranged on the peripheral surface of the roller, the clothes hanger is arranged on a ring rail in a hanging mode, and the concave groove on the roller is matched with the ring rail. During operation, rely on the manual work to pile up the cut-parts on placing platform, then cut-parts separator snatchs the cut-parts, on the manipulator acquires the cut-parts and hangs the cut-parts to clothes hanger from cut-parts separator, hang good back, this clothes hanger is transported to corresponding workstation by the ring rail, accomplishes the processing to the cut-parts, and next clothes hanger reachs the cut-parts simultaneously and stacks the district, and the work on the clothes hanger is hung to the cut-parts to the repetition, and is gone round and over.

Because a piece of clothing is made of multiple pieces of cut pieces, the manipulator usually needs to take the multiple pieces of cut pieces to form a cut piece combination, and then the cut piece combination is hung on the clothes hanger at one time. But cut-parts separator can only snatch a slice at every turn, consequently has the manipulator of cut-parts to get the in-process of next slice at the centre gripping, and the cut-parts of its centre gripping rocks the drop very easily, and work efficiency is lower. In addition, the dislocation phenomenon also exists easily between the cut-parts, can't guarantee orderly good overlapping effect.

Disclosure of Invention

Aiming at the defects, the invention aims to provide a method for feeding cut pieces of a hanging system, which realizes stable feeding of single cut pieces or cut piece combinations.

The invention provides a cut piece feeding method of a hanging system, wherein a manipulator acquires cut pieces from a cut piece separating device and then hangs the cut pieces on a clothes hanger, an accommodating groove is formed in a clothes hanger body of the clothes hanger, the opening of the accommodating groove faces downwards, a spring buckle is arranged at the opening, the manipulator comprises a moving assembly and a clamping assembly which are mutually connected, the clamping assembly comprises a movable clamping jaw, a driving mechanism, a fixed clamping jaw and an auxiliary clamping jaw, and the driving mechanism drives the movable clamping jaw to be close to or far away from the fixed clamping jaw to clamp or loosen the middle part of the cut pieces; the fixed clamping jaw is in a rod shape and is used for hanging cut pieces, and the length of the fixed clamping jaw is greater than that of the movable clamping jaw; the auxiliary clamping jaw is arranged below the fixed clamping jaw and is used for clamping or loosening two suspended end parts of the cut piece; the feeding method comprises the following steps:

after the cut piece separating device grabs and lifts the cut piece I, the moving assembly drives the clamping assembly to be close to the cut piece separating device, and the positioning clamping jaw is positioned below the cut piece;

the movable clamping jaw clamps the middle part of the first cut piece, the cut piece separating device loosens the cut piece, and the first cut piece is hung on the fixed clamping jaw;

the moving assembly drives the clamping assembly to be far away from the cut piece separating device and move to a safe area, the auxiliary clamping jaws clamp two hung end parts of a cut piece, and the movable clamping jaws are opened;

after the second cut piece is grabbed and lifted by the second cut piece separating device, the moving assembly drives the clamping assembly to be close to the second cut piece separating device, and the first cut piece is positioned below the second cut piece;

the movable clamping jaw clamps the middle part of the cutting piece II, the auxiliary clamping jaw is opened, the cutting piece separating device loosens the cutting piece, and the cutting piece II is stacked on the cutting piece I to form a cutting piece combination;

the movable assembly drives the clamping assembly to move upwards after moving to the opening of the accommodating groove, the fixed clamping jaw drives the cut piece combination to push open the spring fastener to enter the accommodating groove and continue to move upwards, and when the spring fastener resets, the movable clamping jaw is opened, and the movable assembly drives the clamping assembly to keep away from the clothes hanger.

Preferably, the clamping assembly further comprises a bracket, and the driving mechanism, the fixed clamping jaw and the auxiliary clamping jaw are mounted on the bracket from top to bottom.

Preferably, the driving mechanism comprises a linear driving piece and a rotating shaft, the movable clamping jaw is L-shaped, the middle part of the movable clamping jaw is rotatably connected with the rotating shaft, and one end of the movable clamping jaw is hinged with the linear driving piece; when the linear driving piece works, the other end of the movable clamping jaw is close to or far away from the fixed clamping jaw.

Preferably, the movable clamping jaw is positioned above the fixed clamping jaw.

Preferably, the auxiliary clamping jaw is a pneumatic clamping jaw or an electric clamping jaw.

The invention has the beneficial effects that the mechanical arm with simple structure and easy assembly is adopted to complete the cut piece feeding process, wherein the shorter movable clamping jaw, the longer fixed clamping jaw and the auxiliary clamping jaw are combined to fix the middle part and the two hung end parts of the cut piece, so that the cut piece is prevented from shaking or falling off in the feeding process. The longer fixed clamping jaw can play a role in hanging and supporting the cut pieces and is convenient to extend into the clothes hanger accommodating groove; the short movable clamping jaw can avoid the clothes hanger, prevent collision and can be opened in time to complete the feeding process; the auxiliary clamping jaws clamp the two hanging end parts of the cut pieces, so that the subsequent cut pieces can be accurately stacked. The feeding method can stably obtain a plurality of cut pieces to form a cut piece combination, and then the cut piece combination is hung on the clothes hanger at one time, so that the whole process is convenient and efficient.

Drawings

FIG. 1 is a schematic view of the working state of a robot;

FIG. 2 is a schematic view of a construction of the garment hanger;

FIG. 3 is a schematic view of the robot;

fig. 4 is a schematic structural view of the clamping assembly.

Element number description:

1 mechanical arm

2 cut-parts separator

3 placing platform

4 cut piece pile

5 moving assembly

6 clamping assembly

61 support

62 move the clamping jaw

63 drive mechanism

631 linear actuator

632 connector

633 rotating shaft

64 fixed clamping jaw

65 auxiliary clamping jaw

651 clamping jaw

7 clothes hanger

71 clothes hanger body

711 accommodating groove

72 spring fastener

73 roller

Detailed Description

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and are not intended to limit the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 and 2, in the hanging system, a roller 73 is provided at the upper end of the clothes hanger 7 for holding the cut pieces, a concave groove is provided on the outer peripheral surface of the roller 73, the clothes hanger 7 is suspended on a circular rail (not shown), and the concave groove on the roller 73 is matched with the circular rail. The during operation, rely on the manual work to pile up the cut-parts on place the platform 3, cut-parts separator 2 snatchs the cut-parts that are located cut-parts and pile 4 the superiors, manipulator 1 obtains the cut-parts and hangs the cut-parts on clothes hanger 7 from cut-parts separator 2, hang the back, this clothes hanger 7 is transported to corresponding workstation by the circular orbit, accomplishes the processing to the cut-parts, next clothes hanger 7 reachs the cut-parts and stacks the district simultaneously, 1 repeated work of hanging the cut-parts on clothes hanger 7 of manipulator, and the cycle is repeated.

The clothes hanger 7 comprises a clothes hanger body 71 connected with a roller 73, a plurality of accommodating grooves 711 for accommodating cut pieces are formed in the bottom of the clothes hanger body 71, the accommodating grooves 711 are downward in opening, spring buckles 72 are arranged at the openings of the accommodating grooves 711, and one ends of the spring buckles 72 are hinged to the clothes hanger body 71. When the manipulator 1 puts the cut piece into the receiving groove 711, the other end of the spring button 72 can press the cut piece into the receiving groove 711, so that the cut piece can be hung on the clothes hanger 7.

The manipulator adopted by the invention is shown in figures 1 and 3 and comprises a moving component 5 and a clamping component 6 which are connected with each other, wherein the moving component 5 drives the clamping component 6 to rotate and displace, and drives the clamping component 6 to be close to the placing platform 3 or the clothes hanger 7, and the manipulator can be an industrial manipulator, a cooperative manipulator or a link mechanism. The clamping assembly 6 is shown in fig. 4 and comprises a movable clamping jaw 62, a driving mechanism 63, a fixed clamping jaw 64 and an auxiliary clamping jaw 65 which are arranged on a bracket 61, wherein the bracket 61 is connected with the moving assembly 5. Wherein the driving mechanism 63 drives the movable clamping jaw 62 to move close to or away from the fixed clamping jaw 64 to clamp or release the middle part of the cut piece. The fixed clamping jaw 64 is in a rod shape and is used for hanging cut pieces, the length of the fixed clamping jaw 64 is larger than that of the movable clamping jaw 62, the fixed clamping jaw 64 is convenient to carry the cut pieces into the accommodating groove 711 due to the longer length, and the movable clamping jaw 62 is prevented from colliding with the clothes hanger 7. The auxiliary clamping jaw 65 is arranged below the fixed clamping jaw 64 and is used for clamping or loosening two end parts of the hanging cut piece.

In one embodiment of the present invention, the driving mechanism 63 includes a linear driving member 631 and a rotating shaft 633, and the movable jaw 62 is L-shaped. The linear actuator 631 is not limited in form and may be a linear motor or a telescopic cylinder, the output shaft of which is hinged to one end of the movable jaw 62 by a connector 632, preferably a Y-joint. The rotating shaft 633 is fixed on the bracket 61 through a mounting plate, and the middle part of the movable clamping jaw 62 is rotatably connected with the rotating shaft 633. When the linear actuator 631 is operated, the output shaft thereof drives the movable jaw 62 to rotate about the rotating shaft 633, and the other end of the movable jaw 62 approaches or moves away from the fixed jaw 64. The movable clamping jaw 62 can be positioned above the fixed clamping jaw 64, and can also be arranged at two sides of the fixed clamping jaw 64, and the several arrangement modes can realize the function of clamping the middle part of the cutting piece. Besides, the driving mechanism 63 can also be a rotary driving member, such as a rotary motor or a rotary cylinder, and the L-shaped or rod-shaped movable clamping jaw 62 is directly driven to rotate by an output shaft of the rotary driving member, so that the aforementioned functions can be achieved. The auxiliary jaw 65 comprises two clamping jaws 651, which may be pneumatic clamping jaws, electric clamping jaws or a combination of two clamping jaws 651, a connecting rod and a drive, which are preferably pneumatic clamping jaws, each clamping jaw 651 having a rotation angle of 90 °, the angle between the two clamping jaws 651 in the open state being 180 °, and the angle between the two clamping jaws in the clamped state being 0 °. The auxiliary clamping jaws 65 clamp the hanging part at the bottom of the existing cut piece and then obtain the next cut piece, so that the cut pieces can be stacked layer by layer to form the cut piece combination.

With reference to fig. 1-4, the method for loading cut pieces of the hanging system of the invention comprises the following steps:

s1, after the cut piece separating device 2 grabs and lifts the cut piece I, the moving component 5 of the manipulator 1 drives the clamping component 6 to be close to the cut piece separating device 2, at the moment, the fixed clamping jaw 64 is positioned below the middle part of the cut piece I, and the cut piece I is positioned between the fixed clamping jaw 64 and the movable clamping jaw 62;

s2, the movable clamping jaw 62 is driven by the driving mechanism 63 to be close to the fixed clamping jaw 64 to clamp the middle part of the cut piece; after clamping, the first cut piece is loosened by the cut piece separating device 2, hung on the fixed clamping jaw 64 and dropped downwards at two ends to form a folded shape;

s3, the moving component 5 drives the clamping component 6 to be far away from the cut piece separating device 2 and move to a safe area, and the auxiliary clamping jaws 65 clamp the two hung end parts of the first cut piece to prevent the bottom of the first cut piece from swinging or falling off to influence the subsequent stacking; then the movable clamping jaw 62 is driven by the driving mechanism 63 to be away from the fixed clamping jaw 64, and the middle part of the cut piece is not clamped any more;

s4, after the cut piece II is grabbed and lifted by the cut piece separating device 2, the moving component 5 of the manipulator 1 drives the clamping component 6 to be close to the cut piece separating device 2, so that the cut piece I is positioned under the cut piece II, and the cut piece II is positioned between the cut piece I and the movable clamping jaw 62;

s5, the movable clamping jaw 62 is driven by the driving mechanism 63 to be close to the fixed clamping jaw 64, and the middle part of the second cut piece is clamped; after clamping, the auxiliary clamping jaws 65 are opened, the two hanging end parts of the first cut piece are not clamped, the second cut piece is loosened by the cut piece separating device 2, and the second cut piece is stacked on the first cut piece, so that a cut piece combination is formed.

S6, if the number of the cut pieces contained in the cut piece combination is more than 2, repeating the steps S3-S5 to enable the third cut piece … … and the second cut piece n to be sequentially overlapped on each other;

s7, treat that clamping component 6 obtains the last cut-parts, move the middle part back that clamping jaw 62 pressed from both sides the cut-parts combination, moving component 5 drives clamping component 6 and moves up after moving to the opening part of holding tank 711, fixed clamping jaw 64 drives the cut-parts combination and pushes open spring buckle 72, the middle part of cut-parts combination gets into in the holding tank 711, fixed clamping jaw 64 continues the certain distance that moves up, treat that spring buckle 72 resets, spring buckle 72 presses the cut-parts combination in holding tank 711, it keeps away from fixed clamping jaw 64 to move clamping jaw 62 under actuating mechanism 63' S drive this moment, moving component 5 drives clamping component 6 and keeps away from clothes hanger 7, fixed clamping jaw 64 and cut-parts combination separation, accomplish the material loading of cut-parts combination.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.