阅读说明：本技术 面料上料系统 (Fabric feeding system ) 是由 庞日军 于 2021-10-28 设计创作，主要内容包括：一种面料上料系统,包括搬运机器人、整形装置和视觉装置,搬运机器人与视觉装置电性连接,搬运机器人用于将面料搬运至整形装置,整形装置用于对面料整平,视觉装置用于识别面料上的面料孔位置,搬运机器人根据视觉装置的识别结果将整平后的面料搬运至夹具上,并使夹具上的第一定位针穿过面料孔。本发明的面料上料系统提高了生产效率,节省了人力。(The utility model provides a surface fabric feeding system, includes transfer robot, shaping device and vision device, transfer robot and vision device electric connection, transfer robot is used for carrying the surface fabric to shaping device, and shaping device is used for the surface fabric flattening, and vision device is used for discerning the surface fabric hole position on the surface fabric, and transfer robot carries the surface fabric after the flattening to anchor clamps according to vision device's recognition result on to make the first pilot pin on the anchor clamps pass the surface fabric hole. The fabric feeding system improves the production efficiency and saves the labor.)

1. The fabric feeding system is characterized by comprising a carrying robot, a shaping device and a visual device, wherein the carrying robot is electrically connected with the visual device, the carrying robot is used for carrying fabric to the shaping device, the shaping device is used for leveling the fabric, the visual device is used for identifying the position of a fabric hole in the fabric, the carrying robot carries the leveled fabric to a clamp according to the identification result of the visual device, and a first positioning needle in the clamp penetrates through the fabric hole.

2. The fabric feeding system of claim 1, wherein the transfer robot comprises a multi-axis robot arm and a material taking mechanism, the material taking mechanism is connected with the multi-axis robot arm, the multi-axis robot arm is used for driving the material taking mechanism to move, and the material taking mechanism is used for clamping or adsorbing the fabric.

3. The fabric feeding system according to claim 2, wherein the material taking mechanism comprises a first vacuum generator, an adapter and a plurality of vacuum suction heads, the first vacuum generator is connected with the adapter, the adapter is provided with a plurality of connector heads communicated with the vacuum suction heads, and the vacuum suction heads are used for sucking the fabric.

4. The fabric feeding system of claim 3, wherein the material taking mechanism further comprises a fixed frame, a movable plate and a material taking driver, the fixed frame is connected with the multi-axis mechanical arm, the adaptor and the material taking driver are fixed on the fixed frame, the movable plate is arranged opposite to the fixed frame, the movable plate is connected with a driving shaft of the material taking driver, and the plurality of vacuum suction heads are connected to the movable plate.

5. The fabric feeding system of claim 4, wherein the material taking mechanism further comprises a flexible pad, the flexible pad is connected to the movable plate, a plurality of through holes are formed in the flexible pad, each through hole corresponds to each vacuum suction head, and the material taking driver can drive the movable plate to move so that the flexible pad is pressed against the fabric.

6. The system for feeding a fabric according to claim 5, wherein the shaping means comprises a carrying plate and a second vacuum generator, the carrying plate is provided with a plurality of air holes, the air suction ports of the second vacuum generator are respectively communicated with the air holes, and when the carrying plate carries the fabric, the second vacuum generator sucks air to flatten and shape the fabric.

7. The fabric feeding system according to claim 6, wherein a second positioning needle is fixed on the fixed frame, a first via hole is formed in the movable plate, a second via hole corresponding to the first via hole is formed in the flexible pad, one end of the second positioning needle penetrates through the first via hole and the second via hole, and when the fabric is adsorbed by the material taking mechanism, the second positioning needle penetrates through the fabric hole.

8. The fabric feeding system of claim 7, wherein the shaping device further comprises a pressing plate and a flattening driving assembly, the pressing plate is connected with the flattening driving assembly, and the flattening driving assembly is used for driving the pressing plate to press on the fabric to flatten and shape the fabric.

9. A fabric feeding system according to any one of claims 2 to 8, further comprising a table on which the transfer robot and the reshaping device are mounted, wherein the vision device comprises a first camera mounted on the table or the material taking mechanism for identifying at least one of a fabric hole location of the fabric, a model of the fabric, and a location of the fabric.

10. The fabric feeding system of claim 9, wherein the vision device further comprises a second camera mounted on the table or the take off mechanism for identifying at least one of a fabric hole location of the fabric, a model of the fabric, and a location of the fabric.

Technical Field

The invention relates to the technical field of sewing machines, in particular to a fabric feeding system.

Background

The sewing machine is widely suitable for sewing patterns of various handbags, clothes, textiles, leatherware, bags, shoes, belts, sports equipment and the like. For example, when the fabric is processed, the fabric needs to be manually taken from the storage frame, then the clamp is placed after the fabric is manually leveled, and finally the clamp and the fabric are placed into a sewing machine together for pattern sewing, so that the production efficiency is low, and great manpower is wasted.

Disclosure of Invention

In view of this, the invention provides a fabric feeding system, which improves the production efficiency and saves the labor.

The utility model provides a surface fabric feeding system, includes transfer robot, shaping device and vision device, transfer robot and vision device electric connection, transfer robot is used for carrying the surface fabric to shaping device, and shaping device is used for the surface fabric flattening, and vision device is used for discerning the surface fabric hole position on the surface fabric, and transfer robot carries the surface fabric after the flattening to anchor clamps according to vision device's recognition result on to make the first pilot pin on the anchor clamps pass the surface fabric hole.

In an embodiment of the invention, the carrying robot comprises a multi-shaft mechanical arm and a material taking mechanism, the material taking mechanism is connected with the multi-shaft mechanical arm, the multi-shaft mechanical arm is used for driving the material taking mechanism to move, and the material taking mechanism is used for clamping or adsorbing the fabric.

In an embodiment of the invention, the material taking mechanism comprises a first vacuum generator, an adapter and a plurality of vacuum adsorption heads, the first vacuum generator is connected with the adapter, the adapter is provided with a plurality of pipe connectors communicated with the vacuum adsorption heads, and the vacuum adsorption heads are used for adsorbing the fabric.

In an embodiment of the present invention, the material taking mechanism further includes a fixed frame, a movable plate and a material taking driver, the fixed frame is connected to the multi-axis mechanical arm, the adaptor and the material taking driver are fixed to the fixed frame, the movable plate is disposed opposite to the fixed frame, the movable plate is connected to a driving shaft of the material taking driver, and the plurality of vacuum suction heads are connected to the movable plate.

In an embodiment of the present invention, the material taking mechanism further includes a flexible pad, the flexible pad is connected to the movable plate, a plurality of through holes are disposed on the flexible pad, each through hole is respectively disposed corresponding to each vacuum adsorption head, and the material taking driver can drive the movable plate to move so as to press the flexible pad on the fabric.

In an embodiment of the invention, the shaping device includes a bearing plate and a second vacuum generator, the bearing plate is provided with a plurality of air holes, an air suction port of the second vacuum generator is respectively communicated with each air hole, and when the bearing plate bears the fabric, the second vacuum generator sucks air to level and shape the fabric.

In an embodiment of the invention, a second positioning needle is fixed on the fixed frame, a first via hole is formed in the movable plate, a second via hole corresponding to the first via hole is formed in the flexible pad, one end of the second positioning needle penetrates out of the first via hole and the second via hole, and when the material taking mechanism adsorbs the fabric, the second positioning needle penetrates through the fabric hole.

In an embodiment of the invention, the shaping device further comprises a pressing plate and a flattening driving assembly, the pressing plate is connected with the flattening driving assembly, and the flattening driving assembly is used for driving the pressing plate to press the fabric so as to flatten and shape the fabric.

In an embodiment of the present invention, the fabric feeding system further includes a workbench, the transfer robot and the shaping device are mounted on the workbench, and the vision device includes a first camera, the first camera is mounted on the workbench or the material taking mechanism, and the first camera is configured to identify at least one of a fabric hole position of the fabric, a model of the fabric, and a position of the fabric.

In an embodiment of the invention, the vision device further includes a second camera, the second camera is installed on the workbench or the material taking mechanism, and the second camera is used for identifying at least one of a position of a fabric hole of the fabric, a model of the fabric and a position of the fabric.

According to the fabric feeding system, the carrying robot is used for carrying the fabric to the shaping device, the vision device is used for identifying the positions of the fabric holes in the fabric, then the carrying robot is used for carrying the leveled fabric to the clamp, the first positioning needles on the clamp penetrate through the fabric holes, the shaping and the clamp feeding of the fabric are completed, the mechanical automatic feeding is realized, the production efficiency is improved, and the manpower is saved.

Drawings

Fig. 1 is a schematic perspective view of a fabric feeding system according to a first embodiment of the present invention.

Fig. 2 is a side view of the material taking mechanism and the clamp according to the first embodiment of the invention.

Fig. 3 is a schematic cross-sectional view of the take off mechanism of fig. 2.

Fig. 4 is an enlarged partial schematic view of the take-off mechanism shown in fig. 3.

Fig. 5 is a schematic perspective view of a fabric feeding system according to a second embodiment of the present invention.

Fig. 6 is a schematic perspective view of a fabric feeding system according to a third embodiment of the present invention.

Fig. 7 is a side view of a third embodiment of a reclaiming mechanism and a clamp apparatus.

Fig. 8 is a schematic cross-sectional view of the take off mechanism of fig. 7.

Fig. 9 is an enlarged partial schematic view of the take-off mechanism shown in fig. 8.

Fig. 10 is a perspective view of a shaping device according to a third embodiment of the present invention.

Fig. 11 is a side view schematically illustrating a shaping device according to a third embodiment of the present invention.

Detailed Description

The invention provides a fabric feeding system.

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to facilitate understanding of those skilled in the art, the present invention provides a specific implementation process of the technical solution provided by the present invention through the following embodiments.

First embodiment

Fig. 1 is a schematic perspective view of a fabric feeding system according to a first embodiment of the present invention, as shown in fig. 1, the fabric feeding system includes a transfer robot 10, a shaping device 20, and a vision device 30, the transfer robot 10 is electrically connected to the vision device 30, the transfer robot 10 is used for transferring a fabric 70 to the shaping device 20, the shaping device 20 is used for flattening the fabric 70, the vision device 30 is used for identifying positions of fabric holes 701 on the fabric 70, the transfer robot 10 transfers the flattened fabric 70 to a clamp 40 according to the identification result of the vision device 30, and a first positioning needle 41 on the clamp 40 passes through the fabric holes 701. In this embodiment, the fabric 70 is provided with at least one fabric hole 701, the fixture 40 is provided with at least one first positioning needle 41, the number of the first positioning needles 41 is the same as or different from the number of the fabric holes 701, for example, the number of the first positioning needles 41 is less than or equal to the number of the fabric holes 701, but not limited thereto.

According to the fabric feeding system, the carrying robot 10 is used for carrying the fabric 70 to the shaping device 20, the vision device 30 is used for identifying the positions of the fabric holes 701 in the fabric 70, then the carrying robot 10 is used for carrying the flattened fabric 70 to the clamp 40, the first positioning needles 41 on the clamp 40 penetrate through the fabric holes 701, the shaping of the fabric 70 and the feeding of the fabric into the clamp 40 are completed, the mechanical automatic feeding is achieved, the production efficiency is improved, and the manpower is saved.

Preferably, the fabric feeding system of the present invention is used for leveling and feeding the shoe upper, and the fabric 70 may be selected from cloth, artificial leather, genuine leather, etc., but is not limited thereto.

Further, the transfer robot 10 includes a multi-axis robot arm 11 and a material taking mechanism 12, the material taking mechanism 12 is connected to the multi-axis robot arm 11, the multi-axis robot arm 11 is used for driving the material taking mechanism 12 to move, and the material taking mechanism 12 is used for clamping or adsorbing the fabric 70. In this embodiment, the multi-axis robot arm 11 uses a servo motor and a stepping motor as basic working units, and uses a ball screw, a synchronous belt, and a gear rack as transmission structures to perform transmission, and the multi-axis robot arm 11 can complete reaching and following a controllable motion track at any point in the X, Y, Z three-dimensional coordinate system, and please refer to the prior art for details of the structure and the driving method, which is not described herein again.

Further, fig. 2 is a schematic side view of a material taking mechanism and a clamp according to a first embodiment of the present invention, fig. 3 is a schematic cross-sectional view of the material taking mechanism shown in fig. 2, fig. 4 is a schematic partial enlarged view of the material taking mechanism shown in fig. 3, referring to fig. 1 to 4, the material taking mechanism 12 includes a first vacuum generator (not shown), an adaptor 121, and a plurality of vacuum suction heads 122, the first vacuum generator is connected to the adaptor 121, the adaptor 121 is provided with a plurality of connectors 1211 connected to the vacuum suction heads 122, the vacuum suction heads 122 are used for sucking the fabric 70, and the first vacuum generator is, for example, a vacuum pump, but not limited thereto. In this embodiment, the first vacuum generator is connected to the adapter 121 through a first hose (not shown), the plurality of connectors 1211 are connected to the plurality of vacuum suction heads 122 through a plurality of second hoses, and when the first vacuum generator is activated, the opening of each vacuum suction head 122 generates the negative pressure suction fabric 70.

In another preferred embodiment, the material taking mechanism 12 includes a first gripper arm, a second gripper arm, and a drive assembly for urging the first gripper arm and the second gripper arm toward each other to grip the web 70.

Further, referring to fig. 1 to 4, the material taking mechanism 12 further includes a fixed frame 123, a movable plate 124 and a material taking driver 125, the fixed frame 123 is connected to the multi-axis robot arm 11, the adaptor 121 and the material taking driver 125 are fixed to the fixed frame 123, the movable plate 124 is disposed opposite to the fixed frame 123, the movable plate 124 is connected to a driving shaft of the material taking driver 125, and the plurality of vacuum suction heads 122 are connected to the movable plate 124. In the present embodiment, the material taking driver 125 is, for example, a cylinder or a motor, and the material taking driver 125 is used for driving the movable plate 124 to move toward or away from the fabric 70.

The fabric feeding system comprises the following feeding steps:

step one, a multi-shaft mechanical arm 11 drives a material taking mechanism 12 to move to a material storage station;

step two, the material taking driver 125 drives the movable plate 124 to move towards the direction close to the fabric 70 until the vacuum adsorption head 122 sucks the fabric 70;

step three, the material taking driver 125 drives the movable plate 124 to return, and simultaneously the multi-axis mechanical arm 11 drives the material taking mechanism 12 to move to the shaping device 20;

step four, the vacuum adsorption head 122 breaks vacuum (the negative pressure is reduced or disappears), the fabric 70 is placed on the shaping device 20, and the shaping device 20 conducts suction leveling and/or flattening shaping on the fabric 70;

step five, the multi-axis mechanical arm 11 drives the material taking mechanism 12 to move to the shaping device 20, and then the material taking driver 125 drives the movable plate 124 to move towards the direction close to the fabric 70 until the vacuum adsorption head 122 sucks the fabric 70;

sixthly, the multi-axis mechanical arm 11 drives the material taking mechanism 12 to move to the vision device 30, and the vision device 30 identifies the position of a fabric hole 701 on the fabric 70;

and step seven, the fabric 70 is conveyed to the clamp 40 by the multi-axis mechanical arm 11 according to the identification result of the vision device 30, at this time, the fabric hole 701 of the fabric 70 corresponds to the first positioning needle 41 of the clamp 40, finally, the vacuum suction head 122 breaks the vacuum, the fabric 70 falls onto the clamp 40, and the first positioning needle 41 penetrates through the fabric hole 701.

Further, as shown in fig. 2, fig. 3 and fig. 4, the material taking mechanism 12 further includes a flexible pad 126, the flexible pad 126 is connected to the movable plate 124, the flexible pad 126 is provided with a plurality of through holes 101, each through hole 101 is respectively disposed corresponding to each vacuum suction head 122, and the material taking driver 125 can drive the movable plate 124 to move so that the flexible pad 126 presses the fabric 70. In this embodiment, the fixing frame 123 is not provided with a positioning pin, and after the shaping device 20 shapes the fabric 70, the material taking driver 125 can drive the movable plate 124 to move so as to press the flexible pad 126 on the fabric 70, so as to flatten and shape the fabric 70, and a flattening mechanism for flattening and shaping the fabric 70 is not required to be additionally arranged, thereby reducing the manufacturing cost. Further, as shown in fig. 1, the shaping device 20 includes a carrier plate 21 and a second vacuum generator (not shown), wherein a plurality of air holes (not shown) are formed on the carrier plate 21, and an air exhaust opening of the second vacuum generator is respectively communicated with each air hole, when the carrier plate 21 carries the fabric 70, the second vacuum generator exhausts air to flatten and shape the fabric 70, and the second vacuum generator is, for example, a vacuum pump, but not limited thereto. In this embodiment, the carrying plate 21 includes a carrying surface and a bottom surface disposed opposite to each other, and each air hole penetrates through the carrying surface and the bottom surface, the carrying robot 10 can place the fabric 70 on the carrying surface, and when the second vacuum generator exhausts air, a negative pressure is generated at a side of each air hole close to the fabric 70, so as to flatten and shape the fabric 70.

Further, as shown in fig. 1, the fabric feeding system further includes a table 50, the transfer robot 10 and the shaping device 20 are mounted on the table 50, the vision device 30 includes a first camera 31, the first camera 31 is mounted on the table 50 or the material taking mechanism 12, and the first camera 31 is configured to identify at least one of a position of the fabric hole 701 of the fabric 70, a model of the fabric 70, and a position of the fabric 70. In this embodiment, when the first camera 31 is installed on the workbench 50, the material taking mechanism 12 clamps or adsorbs the leveled fabric 70, and at this time, the multi-axis mechanical arm 11 drives the material taking mechanism 12 to move above the first camera 31, so that the first camera 31 recognizes the position of the fabric hole 701 of the fabric 70; when the first camera 31 is installed on the material taking mechanism 12, after the shaping device 20 finishes flattening and/or suction shaping of the fabric 70, the multi-axis mechanical arm 11 drives the material taking mechanism 12 to move to the upper side of the shaping device 20 and the fabric 70, so that the first camera 31 identifies the position of the fabric hole 701 of the fabric 70.

Further, the fabric feeding system further comprises a computer sewing machine (not shown), and the computer sewing machine is used for sewing the fabric 70.

Further, surface fabric feeding system still includes storage platform 60, and storage platform 60 sets up in the storage station of workstation 50, is equipped with a plurality of guide posts 61 on the storage platform 60, and surface fabric 70 places between guide post 61. In this embodiment, the storage station is disposed on the workbench 50, or the storage station is disposed outside the workbench 50, and can be freely selected according to actual needs.

Second embodiment

Fig. 5 is a schematic perspective view of a fabric feeding system according to a second embodiment of the present invention, and as shown in fig. 5, the fabric feeding system of this embodiment has substantially the same structure as the fabric feeding system according to the first embodiment, and is different in that the vision device 30 further includes a second camera 32.

Specifically, the second camera 32 is installed on the workbench 50 or the material taking mechanism 12, and the second camera 32 is used for identifying at least one of the position of the fabric hole 701 of the fabric 70, the model of the fabric 70, and the position of the fabric 70, that is, the first camera 31 and the second camera 32 are respectively installed on the workbench 50 and the material taking mechanism 12, for example, the first camera 31 is installed on the workbench 50, the second camera 32 is installed on the material taking mechanism 12, or the second camera 32 is installed on the workbench 50, and the first camera 31 is installed on the material taking mechanism 12.

When the first camera 31 is installed on the workbench 50 and the second camera 32 is installed on the material taking mechanism 12, the multi-axis mechanical arm 11 drives the material taking mechanism 12 to move to the material storage station, at this time, the second camera 32 can identify the type of the fabric 70 and the position of the fabric 70, then the material taking mechanism 12 adsorbs the non-shaped fabric 70, and the fabric 70 is placed on the shaping device 20; after the shaping device 20 finishes flattening and/or sucking and shaping the fabric 70, the multi-axis mechanical arm 11 drives the material taking mechanism 12 to move to the upper part of the shaping device 20 and the fabric 70, so that the second camera 31 identifies the position of the fabric hole 701 of the fabric 70; then, the material taking mechanism 12 adsorbs, flattens and/or flatly sucks the shaped fabric 70, then the multi-axis mechanical arm 11 drives the material taking mechanism 12 to move to the position above the first camera 31, so that the first camera 31 recognizes the position of the fabric hole 701 of the fabric 70 again, and the positions of the fabric holes 701 of the fabric 70 are recognized twice according to the first camera 31 and the second camera 32, which is beneficial to improving the precision of placing the fabric 70 into the fixture 40.

Third embodiment

Fig. 6 is a schematic perspective view of a fabric feeding system according to a third embodiment of the present invention, and as shown in fig. 6, the fabric feeding system of this embodiment has substantially the same structure as the fabric feeding system of the first embodiment, and is different in the structure of the fixing frame 123.

Specifically, fig. 7 is a schematic side view of a material taking mechanism and a clamp according to a third embodiment of the present invention, fig. 8 is a schematic cross-sectional structure of the material taking mechanism shown in fig. 7, fig. 9 is a schematic partial enlarged view of the material taking mechanism shown in fig. 8, referring to fig. 6 to 9, a second positioning pin 1231 is fixed on the fixing frame 123, a first via hole 102 is arranged on the movable plate 124, a second via hole 103 corresponding to the first via hole 102 is arranged on the flexible pad 126, one end of the second positioning pin 1231 penetrates through the first via hole 102 and the second via hole 103, and when the material taking mechanism 12 adsorbs the fabric 70, the second positioning pin 1231 penetrates through the fabric hole 701; when the multi-axis robot 11 carries the fabric 70 to the upper side of the clamp 40, the material taking driver 125 drives the movable plate 124 to move toward the direction close to the clamp 40 until the end of the first positioning pin 41 and the end of the second positioning pin 1231 contact or are oppositely arranged, at this time, the vacuum absorption head 122 breaks the vacuum, the fabric 70 falls onto the clamp 40, and the first positioning pin 41 passes through the fabric hole 701.

Further, fig. 10 is a schematic perspective view of a shaping device according to a third embodiment of the present invention, and fig. 11 is a schematic side view of the shaping device according to the third embodiment of the present invention, as shown in fig. 6, fig. 10 and fig. 11, the shaping device 20 further includes a pressing plate 22 and a flattening driving assembly 23, the pressing plate 22 is connected to the flattening driving assembly 23, and the flattening driving assembly 23 is configured to drive the pressing plate 22 to press on the fabric 70 to flatten and shape the fabric 70. In the present embodiment, the flattening plate 22 is located above the worktable 50, and the loading plate 21 is disposed on the worktable 50, i.e. the bottom surface of the loading plate 21 is in contact with or connected to the worktable 50.

Further, as shown in fig. 6, 10 and 11, the flattening driving assembly 23 includes a first lift driver 231, a second lift driver 232, a mounting plate 233 and a traverse driver 234, the first lift driver 231 and the second lift driver 232 are fixed on the mounting plate 233 at intervals, lift driving shafts of the first lift driver 231 and the second lift driver 232 are connected with the flattening plate 22, the flattening plate 22 is disposed opposite to the mounting plate 233 up and down, the first lift driver 231 and the second lift driver 232 are used for driving the flattening plate 22 to press the fabric 70 or driving the flattening plate 22 to move in a direction away from the fabric 70, a traverse driving shaft of the traverse driver 234 is connected with the mounting plate 233, and the traverse driver 234 is used for driving the mounting plate 233 to move in a direction away from or close to the bearing plate 21. When the carrying robot 10 places the fabric 70 on the bearing plate 21, the second vacuum generator exhausts air to suck and shape the fabric 70, then the transverse moving driver 234 drives the mounting plate 233 to move to the lower part of the bearing plate 21, the pressing plate 22 is located above the bearing plate 21, and then the first lifting driver 231 and the second lifting driver 232 drive the pressing plate 22 to press the fabric 70, so that the fabric 70 is pressed and shaped; finally, the first lifting driver 231 and the second lifting driver 232 drive the pressing plate 22 to move back, and the traverse driver 234 drives the mounting plate 233 to move back.

Further, the first elevating driver 231 and/or the second elevating driver 232 are cylinders or motors; the traverse actuator 234 is a cylinder or a motor, and can be freely selected according to actual needs.

Further, the shaping device 20 further includes a fixing plate 24, the fixing plate 24 is installed in the worktable 50, a first rail 241 and a second rail 242 are connected to the fixing plate 24, and the mounting plate 233 is slidably connected to the first rail 241 and the second rail 242.

Further, a first movable hole 104 and a second movable hole 105 are arranged on the workbench 50, the first movable hole 104 and the second movable hole 105 are waist-shaped holes, the first movable hole 104 is arranged corresponding to the first lifting driver 231, and a lifting driving shaft of the first lifting driver 231 extends out of the first movable hole 104 and is connected with the pressing plate 22; the second movable hole 105 is disposed corresponding to the second elevating driver 232, and the elevating driving shaft of the second elevating driver 232 extends from the second movable hole 105 and is connected to the pressing plate 22.

Further, the vision device 30 further includes a second camera 32, the second camera 32 is installed on the workbench 50 or the material taking mechanism 12, the second camera 32 is used for identifying at least one of the position of the fabric hole 701 of the fabric 70, the model of the fabric 70 and the position of the fabric 70, that is, the first camera 31 and the second camera 32 are respectively installed on the workbench 50 and the material taking mechanism 12, for example, the first camera 31 is installed on the workbench 50, the second camera 32 is installed on the material taking mechanism 12, or the second camera 32 is installed on the workbench 50, and the first camera 31 is installed on the material taking mechanism 12.

When the first camera 31 is installed on the workbench 50 and the second camera 32 is installed on the material taking mechanism 12, the multi-axis mechanical arm 11 drives the material taking mechanism 12 to move to the material storage station, at this time, the second camera 32 can identify the type of the fabric 70 and the position of the fabric 70, then the material taking mechanism 12 adsorbs the non-shaped fabric 70, and the fabric 70 is placed on the shaping device 20; after the shaping device 20 finishes flattening and/or sucking and shaping the fabric 70, the multi-axis mechanical arm 11 drives the material taking mechanism 12 to move to the upper part of the shaping device 20 and the fabric 70, so that the second camera 31 identifies the position of the fabric hole 701 of the fabric 70; then, the material taking mechanism 12 adsorbs, flattens and/or flatly sucks the shaped fabric 70, then the multi-axis mechanical arm 11 drives the material taking mechanism 12 to move to the position above the first camera 31, so that the first camera 31 recognizes the position of the fabric hole 701 of the fabric 70 again, and the positions of the fabric holes 701 of the fabric 70 are recognized twice according to the first camera 31 and the second camera 32, which is beneficial to improving the precision of placing the fabric 70 into the fixture 40.

It should be noted that the first camera 31 and the second camera 32 can be selected alternatively, and can be freely selected according to actual needs.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention. The various features described in the foregoing detailed description may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.