CN109202927B - Automatic sewing execution robot - Google Patents
Automatic sewing execution robot Download PDFInfo
- Publication number
- CN109202927B CN109202927B CN201811069262.8A CN201811069262A CN109202927B CN 109202927 B CN109202927 B CN 109202927B CN 201811069262 A CN201811069262 A CN 201811069262A CN 109202927 B CN109202927 B CN 109202927B
- Authority
- CN
- China
- Prior art keywords
- swing arm
- plate
- pressing mechanism
- cloth pressing
- driving motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
Abstract
The present invention relates to a sewing machine auxiliary device, and more particularly, to an automatic sewing execution robot which is advantageous in that it can be used for a relatively complicated sewing thread structure. The utility model provides an automatic sewing execution robot, includes the support, connect the horizontal manipulator on the support, install the cloth pressing mechanism on the horizontal manipulator and drive the elevating system of horizontal manipulator up-and-down motion, the horizontal manipulator includes along vertical central line pivoted first swing arm and is located the one end that the center of rotation was kept away from to first swing arm along vertical central line pivoted second swing arm, cloth pressing mechanism is located the one end that first swing arm was kept away from to the second swing arm. The lifting mechanism controls the cloth pressing mechanism to press cloth downwards, and the cloth pressing mechanism can reach any position within a horizontal range in the horizontal direction through the movement of the first swing arm and the second swing arm of the horizontal manipulator. Therefore, the cloth can move along any designed track after being pressed, and the sewing machine is suitable for a relatively complex sewing thread structure.
Description
Technical Field
The present invention relates to a sewing machine auxiliary device, and more particularly, to an automatic sewing execution robot.
Background
A sewing machine is a machine that uses one or more sewing threads to form one or more stitches in a material to be sewn, thereby interweaving or stitching one or more layers of material. The existing sewing machine still needs manual work to finish the cloth conveying in the sewing process, and the sewing effect and the sewing quality are affected due to the fact that the conveying speed is not easy to grasp manually, and the sewing distance is too large or too small easily. Therefore, the existing cloth conveying mechanism of the sewing machine needs to be improved.
The utility model with the publication number of CN207244142U discloses an automatic sewing execution robot for a sewing machine. The utility model discloses a through the riding wheel with from the driving wheel cooperation realization with stable speed transport cloth.
However, the utility model has the following problems: only linear cloth conveyance can be realized, and a relatively complicated suture structure cannot be applied.
Disclosure of Invention
In view of the disadvantages of the prior art, the present invention provides an automatic sewing execution robot, which is advantageous in that it can be used for relatively complicated suture structures.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an automatic sewing execution robot, includes the support, connects horizontal manipulator on the support, installs the cloth pressing mechanism on horizontal manipulator and drives horizontal manipulator up-and-down motion's elevating system, horizontal manipulator includes along vertical central line pivoted first swing arm and is located the one end that the center of rotation was kept away from to first swing arm along vertical central line pivoted second swing arm, cloth pressing mechanism is located the one end that first swing arm was kept away from to the second swing arm.
Through adopting above-mentioned technical scheme, compress tightly the cloth downwards through elevating system control cloth pressing mechanism, make cloth pressing mechanism can reach the optional position in the horizontal direction within the horizontal range through the motion of horizontal manipulator's first swing arm and second swing arm. Therefore, the cloth can move along any designed track after being pressed, and the sewing machine is suitable for a relatively complex sewing thread structure.
The invention is further configured to: the lifting mechanism comprises a vertical movable block driven to move up and down, a first driving motor with a downward output shaft is arranged in the vertical movable block, and a first swing arm is fixedly connected with the output shaft of the first driving motor; and one end of the first swing arm, which is far away from the second swing arm, is provided with a second driving motor with a downward output shaft, and the second swing arm is fixedly connected with the output shaft of the second driving motor.
Through adopting above-mentioned technical scheme, drive vertical movable block up-and-down motion through elevating system, first driving motor drives first swing arm and rotates, and second driving motor drives the rotation of second swing arm.
The invention is further configured to: and a third driving motor with a downward output shaft is arranged at one end, far away from the first swing arm, in the second swing arm, a rotating plate is fixedly arranged on the output shaft of the third driving motor, and the cloth pressing mechanism is fixed on the rotating plate.
Through adopting above-mentioned technical scheme, drive the rotor plate through third driving motor and rotate for install the compress mechanism on the rotor plate and can rotate its angle wantonly.
The invention is further configured to: the cloth pressing mechanism comprises a trapezoidal plate fixedly connected with the rotating plate, hinge rods rotatably connected with the trapezoidal plate are arranged on two sides of the trapezoidal plate, a triangular plate rotatably connected with the two hinge rods is installed between the two hinge rods and close to the lower end of the triangular plate, a mounting plate is fixedly arranged on a bottom plate of the triangular plate, and a friction plate is detachably connected to the lower side of the mounting plate.
Through adopting above-mentioned technical scheme, it has the articulated friction plate that fixes and articulates at the lower extreme of articulated arm to set up cloth pressing mechanism, compresses tightly the cloth through the friction plate. The arrangement of the hinge rod allows a larger feed range of the friction plate.
The invention is further configured to: all there is great static friction resistance between articulated rod and trapezoidal plate, the set square, the articulated rod slope sets up.
Through adopting above-mentioned technical scheme, it all has great static frictional resistance to set up between articulated rod and trapezoidal plate, the set-square for the articulated rod can not directly swing down under the effect of dead weight when cloth pressing mechanism rises.
The invention is further configured to: the cloth pressing mechanism further comprises an upper limiting spring and a lower limiting spring, the upper limiting spring passes through the lower bottom edge of the trapezoidal plate, and two ends of the upper limiting spring are connected with one side of the two hinged rods, which is deviated from the lower bottom edge; the lower limiting spring passes through one side of the triangular plate facing upwards, and two ends of the lower limiting spring are connected with the same side faces of the two hinge rods.
Through adopting above-mentioned technical scheme, when setting up spacing spring and making the great angle of the upwards upset of hinge bar, go up spacing spring and can push down the hinge bar, lower spacing spring makes the set-square cooperation push down for mounting panel and the friction plate of installing on the set-square can closely laminate and compress tightly the cloth.
The invention is further configured to: an electromagnet is embedded in the bottom of the mounting plate, and an iron block is fixedly arranged on the upper side of the friction plate.
Through adopting above-mentioned technical scheme, set up the electro-magnet and conveniently change different friction plates and adapt to and compress tightly different cloth.
The invention is further configured to: the lifting mechanism comprises a rodless cylinder arranged in the vertical direction, and the vertical movable block is fixedly connected with a sliding block of the rodless cylinder.
Through adopting above-mentioned technical scheme, set up rodless cylinder and regard as the drive power that drives vertical movable block up-and-down motion, the silence is noiseless in the use.
The invention is further configured to: the lifting mechanism comprises a lifting motor and a chain wheel driven by the lifting motor to rotate, a chain is meshed on the chain wheel along the horizontal direction at the central shaft of the chain wheel, the chain moves up and down along the vertical direction, and the vertical movable block is fixedly connected with one of the chain links.
Through adopting above-mentioned technical scheme, set up elevator motor, sprocket and chain cooperation as elevating system for provide the lift that electric energy just can control elevating system, avoid the trouble of air feed.
In conclusion, the invention has the following beneficial effects:
1. the lifting mechanism controls the cloth pressing mechanism to press cloth downwards, and the cloth pressing mechanism can reach any position in a horizontal range in the horizontal direction through the movement of the first swing arm and the second swing arm of the horizontal manipulator, so that the cloth pressing mechanism can move along any designed track after the cloth is pressed;
2. when setting up spacing spring and making the great angle of the upwards upset of hinge bar, go up spacing spring and can make the set-square cooperation push down with the hinge bar, lower spacing spring for mounting panel and the friction plate of installing on the set-square can closely laminate and compress tightly the cloth.
Drawings
FIG. 1 is a schematic structural diagram of the first embodiment;
FIG. 2 is a schematic cross-sectional view of the first embodiment;
FIG. 3 is a schematic structural view of a cloth pressing mechanism according to an embodiment;
FIG. 4 is a schematic sectional view of the second embodiment;
fig. 5 is an enlarged view at a in fig. 4.
Reference numerals: 1. a support; 2. a horizontal manipulator; 3. a cloth pressing mechanism; 4. a lifting mechanism; 5. a base; 6. a hollow upright post; 7. a track hole; 8. a rodless cylinder; 9. a vertical movable block; 10. inserting a block; 11. a first drive motor; 12. a first swing arm; 13. a second drive motor; 14. a second swing arm; 15. a third drive motor; 16. a rotating plate; 17. a trapezoidal plate; 18. a hinged lever; 19. a fixed block; 20. an upper limiting spring; 21. a set square; 22. a lower limiting spring; 23. mounting a plate; 24. a friction plate; 25. a lifting motor; 26. a sprocket; 27. a chain; 28. an electromagnet; 29. and (4) iron blocks.
Detailed Description
The invention is further illustrated with reference to the accompanying drawings.
The first embodiment is as follows:
as shown in fig. 1 and 2, an automatic sewing execution robot includes a support 1, a horizontal manipulator 2 connected to the support 1, a cloth pressing mechanism 3 mounted on the horizontal manipulator 2, and a lifting mechanism 4 driving the horizontal manipulator 2 to move up and down.
As shown in fig. 1, the bracket 1 includes a base 5 and a hollow upright 6 located above the base 5, and one side of the hollow upright 6 is provided with two rail holes 7 extending in the vertical direction side by side.
As shown in fig. 2, the lifting mechanism 4 includes a rodless cylinder 8 located inside the hollow column 6 and facing between the two rail holes 7. The rodless cylinder 8 is installed along the vertical direction, and two insertion blocks 10 are formed on one side of a vertical movable block 9 positioned on the side surface of the hollow upright post 6 and inserted into the hollow upright post 6 from the rail hole 7; the fastening bolt penetrates through the inserting block 10 and then is fixedly connected with the sliding block of the rodless cylinder 8, so that the vertical movable block 9 moves up and down along with the sliding block of the rodless cylinder 8.
As shown in fig. 2, the horizontal manipulator 2 includes a first driving motor 11 installed in the vertical movable block 9, an output shaft of the first driving motor 11 faces downward, and a first swing arm 12 is fixedly connected to the output shaft; a second driving motor 13 is installed at one end, far away from the vertical movable block 9, in the first swing arm 12, an output shaft of the second driving motor 13 faces downwards, and a second swing arm 14 is fixedly connected to the output shaft; a third driving motor 15 is installed at one end of the second swing arm 14 far away from the first swing arm 12, an output shaft of the third driving motor 15 faces downwards, a rotating plate 16 is fixedly connected to the output shaft of the third driving motor, and a cloth pressing mechanism 3 is fixedly connected to the lower side of the rotating plate 16.
As shown in fig. 2 and 3, the cloth pressing mechanism 3 includes a trapezoidal plate 17 fixedly connected to the rotating plate 16, and an upper bottom edge of the trapezoidal plate 17 is fixedly connected to the rotating plate 16. Two side surfaces of the trapezoidal plate 17 are provided with a bolt respectively near the junction of the upper bottom edge and the bevel edge, the bolts penetrate through the hinge rods 18 to be rotatably connected to the trapezoidal plate 17, and the positions of the two hinge rods 18 near the lower end are connected together through the fixing blocks 19. The bolt compression causes large static friction resistance between the hinge rod 18 and the trapezoidal plate 17, and the hinge rod 18 cannot rotate under the action of self weight. The upper end of the hinge rod 18 is provided with an upper limiting spring 20, and after the upper limiting spring 20 passes through the lower bottom edge side of the trapezoidal plate 17, the two ends are connected with the side of the two hinge rods 18 which are opposite.
As shown in fig. 3, two hinge rods 18 are connected to the junction of the bottom edge and the side edge of the triangular plate 21 through two bolts passing through the hinge rods 18 at a position near the lower end, so that the hinge rods 18 are rotatably connected to the triangular plate 21. The bolt compression enables large static friction resistance between the hinge rod 18 and the triangular plate 21, and the triangular plate 21 cannot rotate under the action of self weight. The position on the hinge rod 18 close to the lower end is provided with a lower limiting spring 22, and the two ends of the lower limiting spring 22 are connected to the same side surface of the hinge rod 18 after passing through the side surface of the triangular plate 21. The lower limit spring 22 is located on the upward side of the inclined hinge lever 18 so that the triangle 21 is restricted in rotation by the lower limit spring 22 when rotated to a state of abutting against the spring. The bottom side of the triangular plate 21 is adhered with a mounting plate 23, and a friction plate 24 is fixedly connected on the mounting plate 23 through bolts.
The specific working process is as follows:
when the feeding mechanism is driven to feed the cloth, the lifting mechanism 4 drives the mechanical arm to press downwards so that the friction plate 24 compresses the cloth. At this time, the hinge rod 18 is turned upwards, so that the upper limiting spring 20 is stretched, and the upper limiting spring 20 applies a downward pressing force to the hinge rod 18, so that a larger pressure is applied to the cloth to press the cloth, and the cloth can be driven to move together. The lower limiting spring 22 drives the triangular plate 21 to turn downwards, and the friction plate 24 is matched with the working table to be attached to the working table, so that the whole surface of the friction plate 24 can be attached to compress cloth.
Example two:
as shown in fig. 4, an automatic sewing execution robot is different from the first embodiment in that a lifting mechanism 4 drives a sprocket 26 whose center axis is in a horizontal direction to rotate using a lifting motor 25, a chain 27 engaged with the sprocket 26 moves up and down in a vertical direction at a side close to a track hole 7, and a vertical movable block 9 is fixedly connected with one of links.
As shown in fig. 5, an electromagnet 28 is embedded in the bottom of the mounting plate 23, an iron block 29 is fixed on the upper side of the friction plate 24, and the electromagnet 28 attracts the iron block 29 to fix the friction plate 24 to the mounting plate 23. Different friction plates 24 can be conveniently replaced by the way of attracting the electromagnet 28 so as to adapt to different fabrics.
The directions given in the present embodiment are merely for convenience of describing positional relationships between the respective members and the relationship of fitting with each other. The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (5)
1. An automatic sewing execution robot is characterized in that: the cloth pressing mechanism comprises a support (1), a horizontal mechanical arm (2) connected to the support (1), a cloth pressing mechanism (3) installed on the horizontal mechanical arm (2) and a lifting mechanism (4) driving the horizontal mechanical arm (2) to move up and down, wherein the horizontal mechanical arm (2) comprises a first swing arm (12) rotating along a vertical central line and a second swing arm (14) rotating along the vertical central line and positioned at one end, far away from a rotation center, of the first swing arm (12), and the cloth pressing mechanism (3) is positioned at one end, far away from the first swing arm (12), of the second swing arm (14); a third driving motor (15) with an output shaft facing downwards is arranged at one end, far away from the first swing arm (12), in the second swing arm (14), a rotating plate (16) is fixedly arranged on the output shaft of the third driving motor (15), and the cloth pressing mechanism (3) is fixed on the rotating plate (16); the cloth pressing mechanism (3) comprises a trapezoidal plate (17) fixedly connected with the rotating plate (16), hinge rods (18) rotatably connected with the trapezoidal plate (17) are arranged on two sides of the trapezoidal plate (17), a triangular plate (21) rotatably connected with the two hinge rods (18) is arranged between the two hinge rods (18) and close to the lower end of the two hinge rods, an installation plate (23) is fixedly arranged on the bottom plate of the triangular plate (21), and a friction plate (24) is detachably connected to the lower side of the installation plate (23); the cloth pressing mechanism (3) further comprises an upper limiting spring (20) and a lower limiting spring (22), the upper limiting spring (20) passes through the lower bottom edge of the trapezoidal plate (17), and two ends of the upper limiting spring are connected with one side of the two hinged rods (18) which deviates from each other; the lower limiting spring (22) passes through the upward side of the triangular plate (21), and two ends of the lower limiting spring are connected with the same side surface of the two hinge rods (18); the lifting mechanism (4) comprises a vertical movable block (9) driven to move up and down, a first driving motor (11) with a downward output shaft is arranged in the vertical movable block (9), and a first swing arm (12) is fixedly connected with the output shaft of the first driving motor (11); one end, far away from second swing arm (14), in first swing arm (12) is equipped with output shaft second driving motor (13) down, second swing arm (14) and second driving motor's (13) output shaft fixed connection.
2. The automatic sewing execution robot according to claim 1, wherein: all there is static friction resistance between articulated rod (18) and trapezoidal plate (17), set square (21), articulated rod (18) slope sets up.
3. The automatic sewing execution robot according to claim 1, wherein: an electromagnet (28) is embedded at the bottom of the mounting plate (23), and an iron block (29) is fixedly arranged on the upper side of the friction plate (24).
4. The automatic sewing execution robot according to claim 1, wherein: the lifting mechanism (4) comprises a rodless cylinder (8) arranged in the vertical direction, and the vertical movable block (9) is fixedly connected with a sliding block of the rodless cylinder (8).
5. The automatic sewing execution robot according to claim 1, wherein: the lifting mechanism (4) comprises a lifting motor (25) and a chain wheel (26) driven by the lifting motor (25) to rotate, a chain (27) is meshed on the chain wheel (26) along the horizontal direction at the central shaft of the chain wheel (26), the chain (27) moves up and down along the vertical direction, and the vertical movable block (9) is fixedly connected with one of the chain links.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811069262.8A CN109202927B (en) | 2018-09-13 | 2018-09-13 | Automatic sewing execution robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811069262.8A CN109202927B (en) | 2018-09-13 | 2018-09-13 | Automatic sewing execution robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109202927A CN109202927A (en) | 2019-01-15 |
| CN109202927B true CN109202927B (en) | 2021-03-02 |
Family
ID=64983673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811069262.8A Active CN109202927B (en) | 2018-09-13 | 2018-09-13 | Automatic sewing execution robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109202927B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5640883A (en) * | 1994-04-21 | 1997-06-24 | Sony Corporation | Industrial robot |
| CN201405354Y (en) * | 2009-05-22 | 2010-02-17 | 秦皇岛市运通玻璃机电技术有限公司 | Horizontal stacking manipulator for glass production line |
| CN202193956U (en) * | 2011-08-10 | 2012-04-18 | 新杰克缝纫机股份有限公司 | Automatic material feeding device of sewing machine |
| CN103352329A (en) * | 2013-07-12 | 2013-10-16 | 广东溢达纺织有限公司 | Sewing machine, sewing auxiliary device and sewing method |
| JP2015123566A (en) * | 2013-12-10 | 2015-07-06 | 上銀科技股▲分▼有限公司 | Horizontal multi-joint mechanical arm |
| CN105719394A (en) * | 2016-01-26 | 2016-06-29 | 橙果信息技术有限公司 | Goods taking manipulator of vending machine |
| CN107803829A (en) * | 2017-12-12 | 2018-03-16 | 慧灵科技（深圳）有限公司 | A kind of flat articulated mechanical arm of novel and multifunctional straight expelling water |
-
2018
- 2018-09-13 CN CN201811069262.8A patent/CN109202927B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5640883A (en) * | 1994-04-21 | 1997-06-24 | Sony Corporation | Industrial robot |
| CN201405354Y (en) * | 2009-05-22 | 2010-02-17 | 秦皇岛市运通玻璃机电技术有限公司 | Horizontal stacking manipulator for glass production line |
| CN202193956U (en) * | 2011-08-10 | 2012-04-18 | 新杰克缝纫机股份有限公司 | Automatic material feeding device of sewing machine |
| CN103352329A (en) * | 2013-07-12 | 2013-10-16 | 广东溢达纺织有限公司 | Sewing machine, sewing auxiliary device and sewing method |
| JP2015123566A (en) * | 2013-12-10 | 2015-07-06 | 上銀科技股▲分▼有限公司 | Horizontal multi-joint mechanical arm |
| CN105719394A (en) * | 2016-01-26 | 2016-06-29 | 橙果信息技术有限公司 | Goods taking manipulator of vending machine |
| CN107803829A (en) * | 2017-12-12 | 2018-03-16 | 慧灵科技（深圳）有限公司 | A kind of flat articulated mechanical arm of novel and multifunctional straight expelling water |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109202927A (en) | 2019-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102975199B (en) | Feeding manipulator for shot blasting machine of automobile half bridge shell | |
| CN110629536B (en) | Cloth cutting machine | |
| CN109202927B (en) | Automatic sewing execution robot | |
| CN210102959U (en) | Stacking clamp and robot | |
| CN209652560U (en) | A kind of sewing machine feed dog avoiding device | |
| CN108032060B (en) | Feeding device in assembly line | |
| CN206029183U (en) | Valve body encloses rotatory loading attachment with rubber circle assembly devices's valve body with rubber | |
| CN108952055B (en) | Galvanized steel sheet that can intelligently fix on wall body | |
| CN109057222B (en) | Galvanized steel sheet convenient to fix on wall body | |
| CN216189145U (en) | Turnover feeding mechanism | |
| CN202830441U (en) | Material-pressing device of closure machine | |
| CN106112452B (en) | The valve body and rubber ring rotary charging device of valve body and rubber ring assemble mechanism | |
| CN210826627U (en) | Pneumatic routing and presser foot lifting mechanism of sewing machine | |
| KR102093617B1 (en) | Swing device for double-raschel knitting machine for forming floating pile yarn | |
| CN212714048U (en) | Hemming machine's trimming and lift presser foot mechanism and hemming machine | |
| CN106862883B (en) | The bearing feeder structure of grass trimmer head section kludge | |
| CN104790127A (en) | Novel spindle high-speed quilting machine | |
| CN108500583B (en) | Automatic change profile shapes and remove gyration assembly devices | |
| CN208826629U (en) | A kind of new mechanical hand | |
| CN209554717U (en) | A kind of three cylinders elevator end to end | |
| CN204589526U (en) | One is new-type shuttle express stitcher | |
| CN219010634U (en) | Sewing device capable of automatically sewing circular track | |
| CN211734703U (en) | Direct drive sliding block rod assembly device of sewing machine | |
| CN106493535B (en) | The flower tooth shaft feeding device of grass trimmer head section kludge | |
| CN211620803U (en) | Intelligent control variable-interval spiral track sewing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |