CN114645385A - Manipulator sewing machine - Google Patents

Abstract

The invention belongs to the technical field of sewing machines, in particular to a manipulator sewing machine, which comprises a sewing machine body and a manipulator, wherein the sewing machine body comprises an upper head assembly and a lower head assembly positioned right below the upper head assembly, the upper head assembly is matched with the lower head assembly to realize sewing operation, and the tail end execution end of the manipulator is connected with the upper head assembly or the lower head assembly. According to the invention, the sewing machine body is divided in a modularized manner and is respectively provided with the upper head assembly and the lower head assembly, the upper head assembly and the lower head assembly are clamped, transferred and fixed by the two manipulators through the pneumatic clamp, so that the upper head assembly and the lower head assembly can be quickly combined for sewing operation, and meanwhile, the upper head assembly and the lower head assembly can also be automatically sewn, so that compared with the prior art, the cloth does not need to be manually carried, the automation degree is high, the sewing efficiency is effectively improved, and the requirements of modern industrial production are met.

Description

Manipulator sewing machine

Technical Field

The invention belongs to the technical field of sewing machines, and particularly relates to a manipulator sewing machine.

Background

The existing sewing machine is placed at a sewing station in the form of a whole machine, sewing of cloth is carried out by manual control of sewing personnel, and clothes of a complex structure are sewn by the sewing machines of different types, so that the sewing personnel need to carry the cloth among the sewing machines, a large amount of labor cost is needed, meanwhile, the sewing efficiency is seriously influenced, and the requirement of modern industrial production is not met gradually.

Disclosure of Invention

The invention aims to provide a manipulator sewing machine, which is used for modularly dividing the sewing machine, grabbing and transferring the sewing machine through a manipulator, so that modules can be quickly combined for sewing operation, the cloth does not need to be manually carried, meanwhile, automatic sewing can be carried out, the automation degree is high, the sewing efficiency is effectively improved, and the requirement of modern industrial production is met.

The invention is realized by the following steps:

a manipulator sewing machine comprises a sewing machine body and a manipulator, wherein the sewing machine body comprises an upper head assembly and a lower head assembly positioned right below the upper head assembly, the upper head assembly is matched with the lower head assembly to realize sewing operation, and the tail end execution end of the manipulator is connected with the upper head assembly or the lower head assembly; or the manipulator comprises an upper thread manipulator with a tail execution end connected with the upper head assembly and a lower thread manipulator with a tail execution end connected with the lower head assembly.

In the manipulator sewing machine, the tail end of the manipulator is fixed on the sliding seat, the sliding seat is connected to the transverse sliding rail arranged transversely in a sliding manner, the sliding seat is driven by the transverse driving source to move left and right along the axial direction of the transverse sliding rail, the transverse sliding rail is connected to the longitudinal sliding rail arranged longitudinally in a sliding manner, and the transverse sliding rail is driven by the longitudinal driving source to move back and forth along the axial direction of the longitudinal sliding rail.

In the above-mentioned manipulator sewing machine, the upper head assembly includes an upper head housing, a needle rod and a presser foot rod are vertically and vertically slidably connected to the upper head housing, a needle is provided at a lower end of the needle rod, an upper end of the needle rod is in transmission connection with a needle driving assembly, the needle driving assembly drives the needle rod and the needle to vertically move up and down, the presser foot rod is provided at a lower end thereof with a presser foot, the upper end of the presser foot rod is in transmission connection with a presser foot lifting driving assembly, and the presser foot lifting driving assembly drives the presser foot rod and the presser foot to vertically lift the presser foot.

In a foretell manipulator sewing machine, eedle drive assembly is including fixing the eedle driving motor in last aircraft nose casing, and eedle driving motor's output shaft passes through the crank and articulates with the one end of needle bar connecting rod, and the other end of needle bar connecting rod articulates with the connecting post of solid cover in the upper end of needle bar.

In the manipulator sewing machine, the upper machine head shell is fixed with the wire clamp assembly and is rotatably connected with the thread take-up rotating shaft which has the same axis with the output shaft of the needle driving motor, the outer end of the thread take-up rotating shaft extends out of the upper machine head shell and is fixedly sleeved with the thread take-up rotating disc, the inner end of the thread take-up rotating shaft is fixedly sleeved with the linkage disc which is circumferentially fixed with the crank, and the eccentric part of the thread take-up rotating disc is provided with the thread take-up post.

In the manipulator sewing machine, the presser foot lifting drive assembly comprises a presser foot lifting drive motor fixed on the upper head shell, a presser foot lifting cam is fixedly sleeved on an output shaft of the presser foot lifting drive motor, a positioning plate is fixedly sleeved at the upper end of the presser foot rod, a compression spring is arranged between the lower end surface of the positioning plate and the corresponding side wall of the upper head shell, and the elastic force of the compression spring drives the upper end surface of the presser foot rod to abut against the cam surface of the presser foot lifting cam.

In a aforesaid manipulator sewing machine, head assembly is including lower head casing down, is provided with the faller on the lower head casing, has seted up pinhole and walk the cloth tooth's socket on the faller, is provided with the rotating shuttle subassembly corresponding with the pinhole position in the lower head casing, with rotating shuttle subassembly matched with cut wire subassembly and with walk cloth tooth's socket matched with feed dog, do the knotting action by rotating shuttle drive assembly drive rotating shuttle subassembly, do the cut wire action by cutting wire drive assembly drive cut wire subassembly, do the pay-off action by feed dog drive assembly drive feed dog.

In the above-mentioned manipulator sewing machine, the rotating shuttle assembly includes a rotating shuttle rod fixed on the lower head shell and a rotating shuttle fixed at the end of the rotating shuttle rod, the rotating shuttle rod is sleeved and rotatably connected with a rotating shuttle operation shaft sleeve, a crochet hook corresponding to the rotating shuttle is arranged on the rotating shuttle operation shaft sleeve, the rotating shuttle driving assembly includes a rotating shuttle driving motor fixed on the lower head shell, and an output shaft of the rotating shuttle driving motor is in transmission connection with the rotating shuttle operation shaft sleeve.

In the above-mentioned manipulator sewing machine, the thread-cutting assembly includes a large movable blade holder fixed with a large blade and a small movable blade holder fixed with a small blade, the large movable blade holder and the small movable blade holder are both connected on the same axis in a circumferential direction, the thread-cutting driving assembly includes a thread-cutting driving connecting rod and a thread-cutting linear motor fixed in the lower head shell, the thread-cutting driving connecting rod has three end portions, which are respectively a driving end portion, a linkage end portion i and a linkage end portion ii, the telescopic end of the thread-cutting linear motor is slidably connected to an arc-shaped slot hole formed in the driving end portion, the linkage end portion i is hinged to one end of the large connecting rod, the other end of the large connecting rod is hinged to the large movable blade holder, the linkage end portion ii is hinged to one end of the small connecting rod, the other end of the small connecting rod is hinged to the small movable blade holder, the linkage end portion ii is provided with a limit strip-shaped hole slidably matched with the lower head shell, and the second linkage end part extends into a linkage groove arranged on the rotating shaft sleeve of the rotating shuttle, and an extension spring is arranged between the driving end part and the lower machine head shell.

In a foretell manipulator sewing machine, feed dog drive assembly is including slip branch and the middle part articulates on the slip branch seat on the aircraft nose casing down, and the both ends of slip branch are inserted respectively and are established and sliding connection is on the both ends arm of slip branch seat, feed dog sets up the middle part at slip branch, and feed motor around being fixed with on the slip branch seat, the output shaft that feeds the motor around passing through the eccentric wheel and articulated with the one end of feed connecting rod, and the other end of feed connecting rod is articulated with slip branch, is located and is provided with feed motor from top to bottom on the lower aircraft nose casing of slip branch seat below, and feed motor has two outputs from top to bottom, and all solid cover has the feed cam, and the both ends bottom surface of slip branch seat supports respectively to lean on the cam surface that corresponds the feed cam.

Compared with the prior art, the invention has the outstanding advantages that:

according to the invention, the sewing machine body is divided in a modularized manner and is respectively provided with the upper machine head assembly and the lower machine head assembly, and the upper machine head assembly and the lower machine head assembly are clamped, transferred and fixed by the manipulator through the pneumatic clamp, so that the upper machine head assembly and the lower machine head assembly can be quickly combined for sewing operation, and meanwhile, the upper machine head assembly and the lower machine head assembly can be automatically sewn.

Drawings

FIG. 1 is an overall perspective view of the present invention;

FIG. 2 is a perspective view of the upper head assembly of the present invention;

FIG. 3 is a perspective view of the upper head assembly of the present invention without the upper head housing;

FIG. 4 is a perspective view of the lower head assembly of the present invention;

FIG. 5 is a perspective view of the rotary shuttle assembly and the rotary shuttle drive assembly of the present invention;

FIG. 6 is a perspective view of the thread trimming assembly and the thread trimming drive assembly of the present invention;

fig. 7 is a perspective view of a feed dog and feed dog drive assembly of the present invention.

Reference numerals: 1. an upper head assembly; 2. a lower head assembly; 3. an online manipulator; 4. a bobbin thread manipulator; 5. a table board; 6. a sliding seat; 7. a transverse slide rail; 8. a lateral drive source; 9. a longitudinal slide rail; 10. a longitudinal driving source; 11. an upper handpiece shell; 12. a needle bar; 13. a presser bar; 14. a needle; 15. a presser foot; 16. a needle driving motor; 17. a crank; 18. a needle bar connecting rod; 19. connecting columns; 20. a wire clamp assembly; 21. a thread take-up rotating shaft; 22. a thread take-up turntable; 23. a linkage disk; 24. selecting a wire column; 25. a presser foot lifting drive motor; 26. lifting a presser foot cam; 27. positioning a plate; 28. a compression spring; 29. a lower handpiece shell; 30. a needle plate; 31. a cloth feeding tooth groove; 32. a feed dog; 33. a rotating shuttle; 34. rotating the rotating shaft sleeve by the rotating shuttle; 35. hooking a needle; 36. a rotating shuttle driving motor; 37. a large blade; 38. a large movable cutter holder; 39. a small blade; 40. a small movable tool apron; 41. a trimming drive link; 42. a trimming linear motor; 43. an arc-shaped slot; 44. a large connecting rod; 45. a small connecting rod; 46. limiting strip-shaped holes; 47. a linkage groove; 48. an extension spring; 49. a sliding support rod; 50. a sliding strut seat; 51. a front and rear feed motor; 52. a cloth feeding connecting rod; 53. an up-and-down feeding motor; 54. a feed cam.

Detailed Description

The preferred embodiments of the present application will be described in detail below with reference to the attached drawings of fig. 1-7, so that the advantages and features of the present application can be more easily understood by those skilled in the art, and the scope of the present application will be clearly and clearly defined.

A manipulator sewing machine comprises a sewing machine body and a manipulator, wherein the sewing machine body comprises an upper machine head assembly 1 and a lower machine head assembly 2 positioned right below the upper machine head assembly 1, the upper machine head assembly 1 is matched with the lower machine head assembly 2 to realize sewing operation, and the tail execution end of the manipulator is connected with the upper machine head assembly 1 or the lower machine head assembly 2; in the embodiment, the manipulator comprises an upper thread manipulator 3 with an end execution end connected with the upper machine head assembly 1 and a lower thread manipulator 4 with an end execution end connected with the lower machine head assembly 1. The upper thread manipulator 3 and the upper machine head component 1, the bottom thread manipulator 4 and the lower machine head component 2 can be connected through a pneumatic clamp, an oil pressure clamp or other common clamps, and the upper machine head component 1 and the lower machine head component 2 can also be directly fixed on the tail execution end of the corresponding manipulators; in the practical application process, a machine table top 5 is arranged between the upper machine head assembly 1 and the lower machine head assembly 2, the machine table top 5 is fixedly provided with a cloth to be sewn, and the upper machine head assembly 1 is matched with the lower machine head assembly 2 to realize the sewing operation of the cloth to be sewn.

According to the invention, the sewing machine body is divided in a modularized manner and is respectively provided with the upper machine head assembly 1 and the lower machine head assembly 2, the upper machine head assembly 1 and the lower machine head assembly 2 are clamped, transferred and fixed by the manipulator through the pneumatic clamp, so that the upper machine head assembly 1 and the lower machine head assembly 2 can be quickly combined for sewing operation, and meanwhile, the upper machine head assembly 1 and the lower machine head assembly 2 can also be automatically sewn, so that compared with the prior art, the cloth does not need to be manually carried, the automation degree is high, the sewing efficiency is effectively improved, and the requirements of modern industrial production are met.

Furthermore, in order to improve the range of motion of the two manipulators, the tail ends of the upper thread manipulator 3 and the bottom thread manipulator 4 are fixed on a sliding seat 6, the sliding seat 6 is connected on a transverse sliding rail 7 which is arranged transversely in a sliding manner, the sliding seat 6 is driven by a transverse driving source 8 to move left and right along the axial direction of the transverse sliding rail 7, the transverse sliding rail 7 is connected on a longitudinal sliding rail 9 which is arranged longitudinally in a sliding manner, and the transverse sliding rail 7 is driven by a longitudinal driving source 10 to move back and forth along the axial direction of the longitudinal sliding rail 9. Namely, the left and right movement of the sliding seat 6 on the transverse sliding rail 7 is utilized to realize the left and right displacement of the line feeding manipulator 3 and the bottom line manipulator 4 in the transverse direction, and the front and back displacement of the line feeding manipulator 3 and the bottom line manipulator 4 in the longitudinal direction is realized through the front and back movement of the transverse sliding rail 7 on the longitudinal sliding rail 9. Meanwhile, the transverse driving source 8 and the longitudinal driving source 10 may adopt a common telescopic cylinder, and in this embodiment, the transverse driving source 8 and the longitudinal driving source 10 both include a servo motor, an output shaft of the servo motor is linked with a transmission screw rod, a nut fixed on the sliding seat 6 or the transverse sliding rail 7 is screwed on the transmission screw rod, and the transmission screw rod is driven by the servo motor to rotate so as to drive the nut and the sliding seat 6 or the transverse sliding rail 7 to move along the axial direction of the corresponding sliding rail.

Furthermore, since the present invention modularly divides the sewing machine body, in order to ensure that the upper head assembly 1 and the lower head assembly 2 can perform normal sewing operation, the upper head assembly 1 should have a specific structure as follows: the upper handpiece component 1 comprises an upper handpiece shell 11, a needle rod 12 and a presser foot rod 13 are vertically and vertically connected to the upper handpiece shell 11 in a sliding mode, a needle 14 is arranged at the lower end of the needle rod 12, the upper end of the needle rod is in transmission connection with a needle driving component, the needle driving component drives the needle rod 12 and the needle 14 to vertically move up and down, a presser foot 15 is arranged at the lower end of the presser foot rod 13, the upper end of the presser foot rod is in transmission connection with a presser foot lifting driving component, and the presser foot lifting driving component drives the presser foot rod 13 and the presser foot 15 to vertically lift the presser foot 15.

The needle driving assembly may adopt a common structure in the prior art, and in this embodiment, the needle driving assembly adopts a specific structure as follows: the needle driving component comprises a needle driving motor 16 fixed in the upper handpiece shell 11, an output shaft of the needle driving motor 16 is hinged with one end of a needle rod connecting rod 18 through a crank 17, the other end of the needle rod connecting rod 18 is hinged with a connecting column 19 fixedly sleeved at the upper end part of the needle rod 12, namely, the needle driving motor 16 drives the crank 17 to rotate circumferentially so as to drive the needle rod 12 and the needle 14 to move vertically through the needle rod connecting rod 18.

And, be provided with the take-up assembly on last aircraft nose casing 11, its concrete structure is: the upper machine head shell 11 is fixed with a wire clamp assembly 20 and a wire picking rotating shaft 21 which is rotatably connected with an output shaft of the machine needle driving motor 16 and has the same axis, the outer end of the wire picking rotating shaft 21 extends out of the upper machine head shell 11 and is fixedly sleeved with a wire picking rotating disc 22, the inner end of the wire picking rotating shaft 21 is fixedly sleeved with a linkage disc 23 which is circumferentially fixed with a crank 17, a wire picking column 24 is arranged at the eccentric position of the wire picking rotating disc 22, the crank 17 is driven to circumferentially rotate by the machine needle driving motor 16, and the wire picking rotating shaft 21, the wire picking rotating disc 22 and the wire picking column 24 are driven to circumferentially rotate by the linkage disc 23.

Furthermore, the presser foot lifting driving assembly may also adopt a common structure in the prior art, and in this embodiment, the specific structure adopted by the presser foot lifting driving assembly is as follows: the presser foot lifting driving assembly comprises a presser foot lifting driving motor 25 fixed on the upper head shell 11, a presser foot lifting cam 26 is fixedly sleeved on an output shaft of the presser foot lifting driving motor 25, a positioning plate 27 is fixedly sleeved at the upper end of the presser foot rod 13, a compression spring 28 is arranged between the lower end surface of the positioning plate 27 and the corresponding side wall of the upper head shell 11, the upper end surface of the presser foot rod 13 is driven by the elastic force of the compression spring 28 to abut against the cam surface of the presser foot lifting cam 26, the cam surface of the presser foot lifting cam 26 is provided with a lifting surface and a pressing surface, and the presser foot lifting driving motor 25 drives the presser foot lifting cam 26 to rotate so as to lift or press the presser foot rod 13 and the presser foot 15.

Meanwhile, in order to ensure that the upper head assembly 1 and the lower head assembly 2 can perform normal sewing operation, the lower head assembly 2 should have a specific structure as follows: the lower machine head assembly 2 comprises a lower machine head shell 29, a needle plate 30 is arranged on the lower machine head shell 29, a needle hole and a cloth feeding tooth groove 31 are formed in the needle plate 30, a rotating shuttle assembly corresponding to the position of the needle hole, a thread cutting assembly matched with the rotating shuttle assembly and a cloth feeding tooth 32 matched with the cloth feeding tooth groove 31 are arranged in the lower machine head shell 29, the rotating shuttle assembly is driven by the rotating shuttle driving assembly to perform sleeving action, the thread cutting assembly is driven by the thread cutting driving assembly to perform thread cutting action, and the cloth feeding tooth 32 is driven by the cloth feeding tooth driving assembly to perform feeding action. In addition, in the present embodiment, the table top 5 is directly fixed on the upper end surface of the lower head housing 29, so that the bobbin thread manipulator 4 transfers the lower head assembly 2 and simultaneously transfers the table top 5, thereby realizing the transfer of the sewing station. Of course, the table top 5 can also be directly fixed on an external device, and the two manipulators are only responsible for transferring the upper head assembly 1 and the lower head assembly 2.

Furthermore, the rotating shuttle assembly and the rotating shuttle driving assembly may adopt the common structure of the prior art, and in this embodiment, the specific structure adopted by the rotating shuttle assembly and the rotating shuttle driving assembly is as follows: the rotating shuttle component comprises a rotating shuttle rod fixed on the lower machine head shell 29 and a rotating shuttle 33 fixed at the end part of the rotating shuttle rod, the rotating shuttle rod is sleeved outside and is connected with a rotating shuttle movement shaft sleeve 34 in a rotating mode, a crochet hook 35 corresponding to the rotating shuttle 33 in position is arranged on the rotating shuttle movement shaft sleeve 34, the rotating shuttle driving component comprises a rotating shuttle driving motor 36 fixed on the lower machine head shell 29, and an output shaft of the rotating shuttle driving motor 36 is in transmission connection with the rotating shuttle movement shaft sleeve 34.

Simultaneously, common structure of prior art can all be adopted to trimming subassembly and trimming drive assembly, and in this embodiment, the concrete structure that trimming subassembly and trimming drive assembly adopted is: the thread cutting assembly comprises a large movable cutter seat 38 fixed with a large blade 34 and a small movable cutter seat 40 fixed with a small blade 39, the large movable cutter seat 38 and the small movable cutter seat 40 are both connected on the same axis in a circumferential rotating manner, the thread cutting driving assembly comprises a thread cutting driving connecting rod 41 and a thread cutting linear motor 42 fixed in the lower head shell 29, the thread cutting driving connecting rod 41 is provided with three end parts which are respectively a driving end part, a linkage end part I and a linkage end part II, the telescopic end of the thread cutting linear motor 42 is connected on an arc-shaped slotted hole 43 arranged on the driving end part in a sliding manner, the linkage end part I is hinged with one end of a large connecting rod 44, the other end of the large connecting rod 44 is hinged with the large movable cutter seat 38, the linkage end part II is hinged with one end of a small connecting rod 45, the other end of the small connecting rod 45 is hinged with the small movable cutter seat 40, a limiting strip-shaped hole 46 in sliding fit with the lower head shell 29 is arranged on the linkage end part II, and the second linkage end part extends into a linkage groove 47 formed on the rotating shuttle operation shaft sleeve 34, and an extension spring 48 is arranged between the driving end part and the lower machine head shell 29. In this embodiment, the small movable blade holder 40 and the large movable blade holder 38 rotate circumferentially on the rotating shuttle movement shaft sleeve 34, when the extension end of the thread trimming linear motor 42 extends outward, the thread trimming driving link 41 moves and rotates under the restriction of the arc-shaped slot hole 43, the limiting strip-shaped hole 46 and the extension spring 48, and meanwhile, the rotating shuttle movement shaft sleeve 34 applies a circumferential acting force to the second linkage end portion through the linkage slot 47, so that the thread trimming driving link can rotate circumferentially, and then the small movable blade holder 40 and the large movable blade holder 38 are driven to rotate in opposite directions through the small link 45 and the large link 44, respectively, so that the large blade 34 and the small blade 39 move in a matched manner to realize thread trimming.

Further, the feed dog driving assembly may adopt a common structure in the prior art, and in the present embodiment, the feed dog driving assembly adopts a specific structure as follows: the feed dog driving assembly comprises a sliding support rod 49 and a sliding support rod seat 50, the middle of the sliding support rod seat 50 is hinged to the lower machine head shell 29, two ends of the sliding support rod 49 are respectively inserted and connected to two end arms of the sliding support rod seat 50 in a sliding mode, the feed dog 32 is arranged in the middle of the sliding support rod 49, a front-back feeding motor 51 is fixed to the sliding support rod seat 50, an output shaft of the front-back feeding motor 51 is hinged to one end of a feed connecting rod 52 through an eccentric wheel, the other end of the feed connecting rod 52 is hinged to the sliding support rod 49, an up-down feeding motor 53 is arranged on the lower machine head shell 29 below the sliding support rod seat 50, the up-down feeding motor 53 is provided with two output ends, a feeding cam 54 is fixedly sleeved on the up-down feeding motor 53, and bottom surfaces of two ends of the sliding support rod seat 50 respectively abut against cam surfaces of the corresponding feeding cam 54. Wherein, the bottom surfaces of the two ends of the sliding support rod seat 50 are provided with semicircular contact blocks which are contacted with the cam surface of the corresponding feeding cam 54, the eccentric wheel is driven by the front and back feeding motor 51 to rotate, and the sliding support rod 49 is driven by the cloth feeding connecting rod 52 to slide left and right in a reciprocating way along the axial direction; the two feed cams 54 are driven by the up-down feed motor 53 to rotate, so that the left and right ends of the sliding support base 50 can swing up and down around the hinge joint of the sliding support base 50 and the lower head housing 29, thereby realizing the feed motion of the feed dog 32.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (10)

1. The utility model provides a manipulator sewing machine which characterized in that: the sewing machine comprises a sewing machine body and a manipulator, wherein the sewing machine body comprises an upper machine head assembly (1) and a lower machine head assembly (2) positioned under the upper machine head assembly (1), the upper machine head assembly (1) is matched with the lower machine head assembly (2) to realize sewing operation, and the tail execution end of the manipulator is connected with the upper machine head assembly (1) or the lower machine head assembly (2); or the manipulator comprises an upper thread manipulator (3) with a tail execution end connected with the upper machine head component (1) and a lower thread manipulator (4) with a tail execution end connected with the lower machine head component (1).

2. The manipulator sewing machine according to claim 1, characterized in that: the tail end of the manipulator is fixed on a sliding seat (6), the sliding seat (6) is connected to a transverse sliding rail (7) which is transversely arranged, the transverse driving source (8) drives the sliding seat (6) to move left and right along the axial direction of the transverse sliding rail (7), the transverse sliding rail (7) is connected to a longitudinal sliding rail (9) which is longitudinally arranged in a sliding mode, and the longitudinal driving source (10) drives the transverse sliding rail (7) to move back and forth along the axial direction of the longitudinal sliding rail (9).

3. The manipulator sewing machine according to claim 1, characterized in that: the upper handpiece component (1) comprises an upper handpiece shell (11), a needle rod (12) and a presser foot rod (13) are vertically and vertically connected to the upper handpiece shell (11) in a sliding manner, a needle (14) is arranged at the lower end of the needle rod (12), the upper end of the needle rod is in transmission connection with a needle driving component, the needle rod (12) and the needle (14) are driven by the needle driving component to vertically move up and down, a presser foot (15) is arranged at the lower end of the presser foot rod (13), the upper end of the presser foot rod is in transmission connection with the presser foot lifting driving component, and the presser foot rod (13) and the presser foot (15) are driven by the presser foot lifting driving component to lift the presser foot (15) along the vertical action.

4. The robot sewing machine according to claim 3, characterized in that: the needle driving component comprises a needle driving motor (16) fixed in an upper handpiece shell (11), an output shaft of the needle driving motor (16) is hinged with one end of a needle rod connecting rod (18) through a crank (17), and the other end of the needle rod connecting rod (18) is hinged with a connecting column (19) fixedly sleeved at the upper end part of a needle rod (12).

5. The robot sewing machine according to claim 4, characterized in that: the thread take-up mechanism is characterized in that a wire clamp assembly (20) is fixed on the upper machine head shell (11), a thread take-up rotating shaft (21) which is connected with an output shaft of the machine needle driving motor (16) in a rotating mode is arranged on the output shaft of the upper machine head shell (11), the outer end of the thread take-up rotating shaft (21) extends out of the upper machine head shell (11) and is fixedly sleeved with a thread take-up rotating disc (22), the inner end of the thread take-up rotating shaft is fixedly sleeved with a linkage disc (23) which is circumferentially fixed with the crank (17), and a thread take-up column (24) is arranged at the eccentric position of the thread take-up rotating disc (22).

6. The robot sewing machine according to claim 3, characterized in that: the presser foot lifting driving assembly comprises a presser foot lifting driving motor (25) fixed on the upper machine head shell (11), a presser foot lifting cam (26) is fixedly sleeved on an output shaft of the presser foot lifting driving motor (25), a positioning plate (27) is fixedly sleeved at the upper end of the presser foot rod (13), a compression spring (28) is arranged between the lower end face of the positioning plate (27) and the corresponding side wall of the upper machine head shell (11), and the upper end face of the presser foot rod (13) is driven by the elastic force of the compression spring (28) to abut against the cam surface of the presser foot lifting cam (26).

7. The manipulator sewing machine according to claim 1, wherein: the lower machine head component (2) comprises a lower machine head shell (29), a needle plate (30) is arranged on the lower machine head shell (29), a needle hole and a cloth feeding tooth groove (31) are formed in the needle plate (30), a rotating shuttle component corresponding to the position of the needle hole, a thread cutting component matched with the rotating shuttle component and a cloth feeding tooth (32) matched with the cloth feeding tooth groove (31) are arranged in the lower machine head shell (29), the rotating shuttle component is driven by the rotating shuttle driving component to perform sleeving action, the thread cutting component is driven by the thread cutting driving component to perform thread cutting action, and the cloth feeding tooth (32) is driven by the cloth feeding tooth driving component to perform feeding action.

8. The manipulator sewing machine according to claim 7, wherein: the rotating shuttle assembly comprises a rotating shuttle rod fixed on the lower machine head shell (29) and a rotating shuttle (33) fixed at the end part of the rotating shuttle rod, the rotating shuttle rod is sleeved outside and is rotatably connected with a rotating shuttle movement shaft sleeve (34), a crochet hook (35) corresponding to the rotating shuttle (33) in position is arranged on the rotating shuttle movement shaft sleeve (34), the rotating shuttle driving assembly comprises a rotating shuttle driving motor (36) fixed on the lower machine head shell (29), and an output shaft of the rotating shuttle driving motor (36) is in transmission connection with the rotating shuttle movement shaft sleeve (34).

9. The robot sewing machine according to claim 8, characterized in that: the trimming component comprises a large movable cutter holder (38) fixed with a large blade (37) and a small movable cutter holder (40) fixed with a small blade (39), the large movable cutter holder (38) and the small movable cutter holder (40) are both connected on the same axis in a circumferential rotating manner, the trimming driving component comprises a trimming driving connecting rod (41) and a trimming linear motor (42) fixed in a lower machine head shell (29), the trimming driving connecting rod (41) is provided with three end parts which are respectively a driving end part, a linkage end part I and a linkage end part II, the telescopic end of the trimming linear motor (42) is connected on an arc-shaped slotted hole (43) formed in the driving end part in a sliding manner, the linkage end part I is hinged with one end of the large connecting rod (44), the other end of the large connecting rod (44) is hinged with the large movable cutter holder (38), the linkage end part II is hinged with one end of the small connecting rod (45), and the other end of the small connecting rod (45) is hinged with the small movable cutter holder (40), and a limiting strip-shaped hole (46) in sliding fit with the lower head shell (29) is formed in the linkage end part II, the linkage end part II extends into a linkage groove (47) formed in the rotating shaft sleeve (34) of the rotating shuttle, and an extension spring (48) is arranged between the driving end part and the lower head shell (29).

10. The manipulator sewing machine according to claim 7, wherein: the feed dog driving component comprises a sliding support rod (49) and a sliding support rod seat (50) the middle part of which is hinged on the lower machine head shell (29), two ends of the sliding support rod (49) are respectively inserted and connected on two end arms of the sliding support rod seat (50) in a sliding way, the cloth feeding teeth (32) are arranged in the middle of the sliding support rod (49), a front and rear feeding motor (51) is fixed on the sliding support rod seat (50), an output shaft of the front and rear feeding motor (51) is hinged with one end of the cloth feeding connecting rod (52) through an eccentric wheel, the other end of the cloth feeding connecting rod (52) is hinged with the sliding support rod (49), an upper and lower feeding motor (53) is arranged on the lower handpiece shell (29) below the sliding support rod seat (50), the upper and lower feeding motor (53) is provided with two output ends and is fixedly sleeved with a feeding cam (54), and bottom surfaces of two ends of the sliding support rod seat (50) are respectively abutted against cam surfaces corresponding to the feeding cam (54).

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