CN112981734A - Flexible full-automatic sewing robot - Google Patents
Flexible full-automatic sewing robot Download PDFInfo
- Publication number
- CN112981734A CN112981734A CN202110155604.3A CN202110155604A CN112981734A CN 112981734 A CN112981734 A CN 112981734A CN 202110155604 A CN202110155604 A CN 202110155604A CN 112981734 A CN112981734 A CN 112981734A
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- Prior art keywords
- robot
- sewing
- track
- frame
- control box
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- 238000009958 sewing Methods 0.000 title claims abstract description 85
- 239000004744 fabric Substances 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 239000011664 nicotinic acid Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000013473 artificial intelligence Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B19/00—Programme-controlled sewing machines
- D05B19/02—Sewing machines having electronic memory or microprocessor control unit
- D05B19/12—Sewing machines having electronic memory or microprocessor control unit characterised by control of operation of machine
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Textile Engineering (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
The invention relates to the technical field of mechanical automation, in particular to a flexible full-automatic sewing robot, which comprises a workbench, a universal sewing machine arranged on the workbench, a frame positioned at the rear part of the workbench, and a multi-degree-of-freedom robot arranged on the frame, and comprises a robot body, an installation frame for installing and bearing the robot body, a driver for driving the robot to move, and a track for supporting the robot to move, wherein the robot body comprises a control box, mechanical arms arranged at the left side and the right side of the control box, and a robot camera arranged at the top of the control box, and is used for acquiring information contents such as cloth states, seam types and patterns to be sewn, the information is sensed and processed by an artificial intelligence algorithm in the control box, and the control quantity of the mechanical arms is calculated and then is respectively transmitted to the mechanical arms to finish the actions required by sewing, realizing the sewing production of various types of clothes and various sewing types.
Description
Technical Field
The invention relates to the technical field of mechanical automation, in particular to a flexible full-automatic sewing robot.
Background
The sewing machine is a machine which is common and lasts for a long time, people generally control the sewing of cloth, how to utilize automatic machinery to intelligently control the sewing machine to finish sewing is still a difficult problem in the field of intelligent manufacturing.
Aiming at the difficult problem, some people design a template sewing machine to carry out automatic sewing, for example, a fuyi full-automatic template sewing machine, which combines the automatic sewing function in a fuyi garment template CAD software package, when generating an automatic sewing file, the system can generate a plurality of needle track points on the line marked by the laser template through a laser template in the fuyi garment CAD software, and then the needle tracks are generated into a DST file. Can be directly copied into a full-automatic template sewing machine for use. The laser template file can be directly exported to a Fuyi template cutting machine, PVC plates are cut, the templates are finally combined, and then sewing is carried out according to the templates.
Therefore, it is necessary to design a flexible full-automatic sewing robot which can be matched with the existing universal sewing machine to finish various sewing types and manufacture various clothes and has strong expandability.
Disclosure of Invention
The invention breaks through the difficult problems in the prior art, designs the flexible full-automatic sewing robot which can be matched with the existing universal sewing machine to finish various sewing types and manufacture various types of clothes and has strong expandability.
In order to achieve the purpose, the invention designs a flexible full-automatic sewing robot, which comprises a workbench, a general sewing machine arranged on the workbench, a frame positioned at the rear part of the workbench and a multi-degree-of-freedom robot arranged on the frame, and is characterized in that: the multi-degree-of-freedom robot comprises a robot body, a mounting frame, a driver, a track, a first synchronous belt, a second mounting frame, a robot camera and a control box, wherein the mounting frame is used for mounting and bearing the robot body, the driver is used for driving the robot to move, the track is used for supporting the robot to move, the first synchronous belt is arranged above the frame and used for fixing the first driver, the first mounting frame is arranged on the first track, the first driver drives the first mounting frame to move along the first track, the second synchronous belt is arranged above the first mounting frame and used for fixing the second driver, the second mounting frame is arranged on the second track and used for driving the second mounting frame to move along the second track, the robot body is arranged on the second mounting frame and comprises the control box, mechanical arms arranged on the left side and the right side of the control box and the robot camera arranged on the top of the, the robot camera can acquire the cloth state and information contents such as sewing type and patterns needing sewing.
In order to ensure the control connection of communication, power supply and the like, the control box is connected with the universal sewing machine and the multi-degree-of-freedom robot by utilizing the wire harness, and the communication and power supply connection among the universal sewing machine, the multi-degree-of-freedom robot is provided, so that the motion control of the control box on the multi-degree-of-freedom robot is completed.
The robot camera gathers the positional information of cloth, the positional information that needs the sewing on the cloth, treat that the image information of sewing pattern transmits for the control box, the inside processing of calculating of this part information of control box, accomplish perception and the processing to the information with artificial intelligence algorithm, and calculate the controlled variable of arm and then transmit the controlled variable respectively for arm and first, the second driver, accomplish the action that the sewing needs to be gone on, including but not limited to drive the general sewing machine department that the robot body removed and carried the cloth to the workstation, the position that needs the sewing on the adjustment cloth, make this position aim at the sewing needle position of general sewing machine, later utilize the arm to control general sewing machine and sew the cloth.
Furthermore, first gag lever post is set up respectively at first orbital both ends for it is spacing to carry out the removal of first mounting bracket, surpasss the stroke when preventing that first mounting bracket from removing.
Furthermore, second limiting blocks are arranged at two ends of the second track respectively and used for limiting movement of the second mounting frame and preventing the second mounting frame from exceeding a stroke when moving.
Further, the first rail is an X-axis direction guide rail for supporting the first mounting frame to move in the X-axis direction.
Furthermore, the second track is a guide rail in the Y-axis direction and is used for supporting the second mounting frame to move in the Y-axis direction.
Furthermore, the frame is a lifting frame, and a lifting mechanism is arranged on the frame and used for lifting the robot body in the Z-axis direction.
The establishment of the motion system of the X, Y, Z axes meets the requirement of the multi-degree-of-freedom motion of the sewing robot, and the mechanical arm is specially set as a bionic mechanical arm to match with a control box and a camera to finish various operations of cloth carrying, unfolding, paving, folding and the like, thereby realizing the sewing production of various types of clothes and various sewing types.
Compared with the prior art, the invention designs the full-automatic flexible sewing robot imitating human operation, can realize various operations of cloth carrying, unfolding, paving, folding and the like, and can realize sewing production of various types of clothes and various sewing types in sewing.
Drawings
FIG. 1 is an isometric view of a flexible fully automatic sewing robot in an embodiment.
Wherein, 1 is the workstation, 2 is general sewing machine, 3 is the frame, 4 is first track, 5 is first driver, 6 is first hold-in range, 7 is first mounting bracket, 8 is the second track, 9 is the second driver, 10 is the second hold-in range, 11 is the second mounting bracket, 12 is the control box, 13 is the arm, 14 is the robot camera, 4-1 is first gag lever post.
Detailed Description
The invention will be further described with reference to the accompanying drawings, but is not to be construed as being limited thereto.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention.
In the present invention, terms such as "upper", "lower", "front", "rear", "vertical", "horizontal", "side", "bottom", "top", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only terms of relationships determined for convenience in describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and should not be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
Referring to fig. 1, in a specific embodiment, a flexible full-automatic sewing robot is designed, which includes a workbench 1, a universal sewing machine 2 disposed on the workbench 1, a frame 3 located behind the workbench 1, and a multi-degree-of-freedom robot disposed on the frame 3, and preferably, in a specific embodiment, various types of sewing machines such as a flat sewing machine, a overedger, and the like can be selected according to sewing requirements.
And then, a frame 3 is built beside the workbench 1, the material of the frame 3 can be aluminum profiles, aluminum alloy parts, steel structures and the like, the built frame 3 and the workbench 1 are vertically arranged, and the two are fixedly connected together by using a locking device to prevent relative movement.
The frame 3 is a lifting frame, and a lifting mechanism is arranged on the frame 3 and used for lifting the robot body in the Z-axis direction.
The frame 3 can adopt architectural designs such as diagonal brace bars in the process of building so as to improve the rigidity and stability of the frame 3, and in the specific embodiment, an auxiliary desktop can be connected and built on the edge of the workbench 1 so as to increase the working space.
Referring to fig. 1, the robot with multiple degrees of freedom comprises a robot body, a mounting frame for mounting and carrying the robot body, a driver for driving the robot to move, and a track for supporting the robot to move, wherein a first track 4, a first driver 5, and a first synchronous belt 6 for fixing the first driver 5 are arranged above a frame 3, a first mounting frame 7 is arranged on the first track 4, the first driver 5 drives the first mounting frame 7 to move along the first track 4, the first track 4 is an X-axis guide rail for supporting the first mounting frame 7 to move in the X-axis direction, the length of the first track 4 is designed according to a required stroke, the number of the first tracks 4 is preferably two, in order to improve the rigidity of the first track 4 and avoid the first track from shaking relative to the frame 3, if the load is small, one guide rail can be used, therefore, the specific number can be set according to actual needs.
Set up second hold-in range 10 of second track 8, second driver 9 and fixed second driver 9 above first mounting bracket 7, set up second mounting bracket 11 on the second track 8, second driver 9 drives second mounting bracket 11 and moves along second track 8, second track 8 is Y axle direction guide rail for support second mounting bracket 11 and move on Y axle direction, the same with first track 4, length, the quantity of second track 8 all can calculate the setting according to actual need, do not specially limit.
Preferably, the two ends of the first track 4 are respectively provided with a first limiting rod 4-1 for limiting the movement of the first mounting frame 7, and correspondingly, the two ends of the second track 8 are respectively provided with a second limiting block for limiting the movement of the second mounting frame 11, so that the two mounting tables are prevented from exceeding the stroke in the moving process.
Set up the robot on the second mounting bracket 11 for operation cloth and sewing machine, the robot includes control box 12, the bionical arm 13 of setting in the control box 12 left and right sides, sets up the robot camera 14 at control box 12 top, the position information that needs the sewing on the cloth, the cloth are gathered to the robot camera 14, treat that the image information of sewing pattern transmits for control box 12, and control box 12 is inside to carry out calculation processing to the information, transmits respectively for arm 13 and first, second driver 9, and the general sewing machine 2 department on drive robot body removes and carries the cloth to workstation 1, adjusts the position that needs the sewing on the cloth, makes this position aim at general sewing machine 2's seam needle position, utilizes arm 13 to control general sewing machine 2 afterwards to carry out the pattern sewing to the cloth.
The control box 12 is connected with the universal sewing machine 2 and the multi-degree-of-freedom robot by utilizing a wire harness, and provides communication and power supply connection among the universal sewing machine 2, the multi-degree-of-freedom robot;
in a specific embodiment, a plurality of different sewing machines may be used, the plurality of sewing machines may be sequentially placed on the table 1 at certain intervals, and then each sewing machine may be connected to the control box 12 of the robot of the present invention, so that the control box 12 of the present invention may control the movement of each sewing machine to accomplish the sewing of different types of clothes.
In a specific embodiment, the first driver 5 and the second driver 9 are selected from commercially available driving devices such as motors and motors, and the specific selection can be calculated and selected according to factors such as actual transmission speed (robot working efficiency) and working load (robot weight, friction coefficient, etc.), and an appropriate auxiliary driving device such as a reducer can be added when necessary.
Claims (7)
1. The utility model provides a flexible full-automatic sewing machine people, includes workstation (1), sets up general sewing machine (2) on workstation (1), is located frame (3) at workstation (1) rear, sets up the multi freedom robot on frame (3), its characterized in that: the multi-degree-of-freedom robot comprises a robot body, a mounting frame for mounting and bearing the robot body, a driver for driving the robot to move, and a track for supporting the robot to move, wherein a first track (4), a first driver (5) and a first synchronous belt (6) for fixing the first driver (5) are arranged above a frame (3), a first mounting frame (7) is arranged on the first track (4), the first driver (5) drives the first mounting frame (7) to move along the first track (4), a second track (8), a second driver (9) and a second synchronous belt (10) for fixing the second driver (9) are arranged above the first mounting frame (7), a second mounting frame (11) is arranged on the second track (8), and the second driver (9) drives the second mounting frame (11) to move along the second track (8), a robot body is arranged on the second mounting frame (11), and the robot body comprises a control box (12), mechanical arms (13) arranged on the left side and the right side of the control box (12) and a robot camera (14) arranged at the top of the control box (12); the control box (12) is connected with the universal sewing machine (2) and the multi-degree-of-freedom robot by utilizing a wire harness, and provides communication and power supply connection among the universal sewing machine, the multi-degree-of-freedom robot;
position information of cloth is gathered to robot camera (14), the position information that needs the sewing on the cloth, treat that the image information of sewing pattern transmits for control box (12), control box (12) inside is calculated the processing to the information, transmit respectively for arm (13) and first, second driver (9), drive the robot body and remove and carry the cloth to general sewing machine (2) department on workstation (1), the position that needs the sewing on the adjustment cloth, make this position aim at the seam needle position of general sewing machine (2), later utilize arm (13) to control general sewing machine (2) and carry out the pattern sewing to the cloth.
2. The flexible full-automatic sewing robot of claim 1, wherein: two ends of the first track (4) are respectively provided with a first limiting rod (4-1) for limiting the movement of the first mounting rack (7).
3. The flexible full-automatic sewing robot of claim 1, wherein: and two ends of the second track (8) are respectively provided with a second limiting block for limiting the movement of the second mounting rack (11).
4. The flexible full-automatic sewing robot of claim 1, wherein: the first track (4) is an X-axis direction guide rail and is used for supporting the first mounting rack (7) to move in the X-axis direction.
5. The flexible full-automatic sewing robot of claim 1, wherein: the second track (8) is a guide rail in the Y-axis direction and is used for supporting the second mounting rack (11) to move in the Y-axis direction.
6. The flexible full-automatic sewing robot of claim 1, wherein: the frame (3) is a lifting frame, and a lifting mechanism is arranged on the frame (3) and used for lifting the robot body in the Z-axis direction.
7. The flexible full-automatic sewing robot of claim 1, wherein: the mechanical arm (13) is a bionic mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110155604.3A CN112981734A (en) | 2021-02-04 | 2021-02-04 | Flexible full-automatic sewing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110155604.3A CN112981734A (en) | 2021-02-04 | 2021-02-04 | Flexible full-automatic sewing robot |
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| Publication Number | Publication Date |
|---|---|
| CN112981734A true CN112981734A (en) | 2021-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110155604.3A Pending CN112981734A (en) | 2021-02-04 | 2021-02-04 | Flexible full-automatic sewing robot |
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| Country | Link |
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| CN (1) | CN112981734A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114411342A (en) * | 2022-01-26 | 2022-04-29 | 泉州市姚鑫智能科技有限公司 | Automatic feeder and automatic clothes feeding method |
| CN114808281A (en) * | 2022-05-18 | 2022-07-29 | 易麦斯智能科技(无锡)有限公司 | Intelligent 3D visual identification sewing machine and application method thereof |
| WO2024055202A1 (en) * | 2022-09-14 | 2024-03-21 | Centre For Garment Production Limited | Systems and methods for sewing and un-wrinkling fabrics |
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|---|---|---|---|---|
| JP2018042882A (en) * | 2016-09-16 | 2018-03-22 | Juki株式会社 | Sewing system |
| CN207405320U (en) * | 2017-10-20 | 2018-05-25 | 杰克缝纫机股份有限公司 | Sewing machine and its feed device |
| CN109072520A (en) * | 2016-04-28 | 2018-12-21 | 株式会社松屋R&D | Apparatus for sewing and method of sewing |
| CN208933630U (en) * | 2018-05-17 | 2019-06-04 | 梁华红 | A kind of automation feeder apparatus suitable for sewing device loading and unloading |
| KR20200059357A (en) * | 2018-11-20 | 2020-05-29 | 한국생산기술연구원 | Precision machining device using robot arm and its operation method |
-
2021
- 2021-02-04 CN CN202110155604.3A patent/CN112981734A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109072520A (en) * | 2016-04-28 | 2018-12-21 | 株式会社松屋R&D | Apparatus for sewing and method of sewing |
| JP2018042882A (en) * | 2016-09-16 | 2018-03-22 | Juki株式会社 | Sewing system |
| CN207405320U (en) * | 2017-10-20 | 2018-05-25 | 杰克缝纫机股份有限公司 | Sewing machine and its feed device |
| CN208933630U (en) * | 2018-05-17 | 2019-06-04 | 梁华红 | A kind of automation feeder apparatus suitable for sewing device loading and unloading |
| KR20200059357A (en) * | 2018-11-20 | 2020-05-29 | 한국생산기술연구원 | Precision machining device using robot arm and its operation method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114411342A (en) * | 2022-01-26 | 2022-04-29 | 泉州市姚鑫智能科技有限公司 | Automatic feeder and automatic clothes feeding method |
| CN114808281A (en) * | 2022-05-18 | 2022-07-29 | 易麦斯智能科技(无锡)有限公司 | Intelligent 3D visual identification sewing machine and application method thereof |
| WO2024055202A1 (en) * | 2022-09-14 | 2024-03-21 | Centre For Garment Production Limited | Systems and methods for sewing and un-wrinkling fabrics |
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Application publication date: 20210618 |