CN114908483B - Sewing machine with automatic gathering operation and automatic gathering operation method thereof - Google Patents
Sewing machine with automatic gathering operation and automatic gathering operation method thereof Download PDFInfo
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- CN114908483B CN114908483B CN202210446018.9A CN202210446018A CN114908483B CN 114908483 B CN114908483 B CN 114908483B CN 202210446018 A CN202210446018 A CN 202210446018A CN 114908483 B CN114908483 B CN 114908483B
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- 238000009958 sewing Methods 0.000 title claims abstract description 267
- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000000463 material Substances 0.000 claims abstract description 183
- 238000006073 displacement reaction Methods 0.000 claims abstract description 27
- 238000001179 sorption measurement Methods 0.000 claims abstract description 24
- 230000000694 effects Effects 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 71
- 230000005540 biological transmission Effects 0.000 claims description 27
- 238000005286 illumination Methods 0.000 claims description 12
- 239000013589 supplement Substances 0.000 claims description 2
- 239000004744 fabric Substances 0.000 description 10
- 230000006872 improvement Effects 0.000 description 8
- 230000003993 interaction Effects 0.000 description 5
- 239000000047 product Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 239000003356 suture material Substances 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- 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
- D05B19/14—Control of needle movement, e.g. varying amplitude or period of needle movement
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- 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
- D05B19/16—Control of workpiece movement, e.g. modulation of travel of feed dog
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B35/00—Work-feeding or -handling elements not otherwise provided for
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B55/00—Needle holders; Needle bars
- D05B55/02—Devices for fastening needles to needle bars
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B55/00—Needle holders; Needle bars
- D05B55/10—Needle bars for multiple-needle sewing machines
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B69/00—Driving-gear; Control devices
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B79/00—Incorporations or adaptations of lighting equipment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The application discloses a sewing machine with automatic gathering operation and an automatic gathering operation method thereof. The sewing machine comprises: a sewing table; a sewing machine seat; a stitching boundary identifier; calibrating a light emitter for recognizing the boundary of the seam material; a needle tip drive system; a displacement adjustment system; and a signal processing unit. The signal processing unit is used for preparing a needle point positioning and fixing position along the sewing thread in the identified boundary of the sewing material according to the sewing thread; making adsorption points of the suction nozzle to adsorb the seam material; lifting the corresponding needle point, clamping the needle point fixing position into the corresponding needle point, and releasing the suction nozzle; the sewing materials are conveyed to the sewing area, the upper and lower overlapped sewing materials which enter the sewing area and are sewn by the sewing machine seat are fixed by the sewing threads, and the needle point which has lost the fixing effect descends and releases the positioning as the sewing machine seat continuously advances. The application has higher sewing precision, and the sewing thread can be freely set more variously, and the sewing operation is more diversified.
Description
Technical Field
The application relates to a sewing machine, in particular to a sewing machine which automatically gathers sewing materials by taking an image recognition technology as a basis and achieves full-flow automatic operation and an automatic gathering operation method thereof.
Background
At present, the garment processing technology basically realizes automatic operation, but the sewing operation still needs manual operation. Firstly, drawing corresponding position lines on corresponding stitching materials by using a pen according to a template, and then, when manual stitching is performed, performing position correction and turning feeding by an operator according to the trend of the position lines. When the two pieces of sewing materials are sewn, operators push the two pieces of sewing materials simultaneously by using left and right hands, the operators are required to have high proficiency, and once the positions of the sewing materials are deviated, the attractiveness of the sewn products is adversely affected, defective products are generated, the working efficiency is greatly affected, and the manufacturing cost is increased. Along with the continuous rising of labor cost, enterprises are urgent to realize sewing automation, ensure the quality of the products and reduce the labor cost.
Disclosure of Invention
In order to solve the defects and shortcomings, the application provides a sewing machine with automatic gathering operation and an automatic gathering operation method thereof.
The application adopts the following scheme to realize that a sewing machine with automatic gathering operation comprises:
a sewing table;
a sewing machine seat arranged on the sewing table;
the stitching boundary identifier is used for taking stitching on the sewing table and identifying stitching boundaries of the stitching on the sewing table by taking the stitching boundary as a data source;
the light emitter is used for emitting a linear laser beam, and the linear laser beam is projected onto the seam material and can generate a Z-shaped step mark on the boundary of the seam material; the stitching boundary identifier identifies the position of the Z-shaped step mark mapped on the image after taking an image, corrects the stitching boundary closest to the Z-shaped step mark according to the position of the Z-shaped step mark mapped, and translates the corresponding stitching boundary to the position of the Z-shaped step mark mapped;
the needle point transmission system is used for positioning the stitching materials by adopting a liftable needle point; the needle tip transmission system comprises: the needle points are in one-to-one correspondence with the needle points, the needle points are lifted by the lifting mechanisms, and the circulating guide rail mechanism is used for driving the lifting mechanisms to drive the needle points to circularly operate;
the displacement adjusting system is used for moving the stitching materials by adopting the suction nozzle; the displacement adjustment system includes: the suction nozzle comprises a suction nozzle, a suction nozzle driving mechanism for driving the suction nozzle to suck and release, and a displacement adjusting mechanism for driving the corresponding suction nozzle to move;
the signal processing unit drives the seam material boundary identifier, and the seam material boundary identifier identifies the seam material boundary and calibrates the identified seam material boundary according to a Z-shaped step mark formed on the seam material by the linear laser beam emitted by the light emitter; the signal processing unit is used for preparing a needle point positioning and fixing position of a needle point transmission system along the sewing thread in a sewing material boundary identified by a sewing material boundary identifier according to the set sewing thread; the signal processing unit drives the suction nozzle driving mechanism to take a specific point, which is a certain distance away from the needle point positioning fixed position, on the sewing material as an adsorption point of the suction nozzle, the pre-driving lifting mechanism lifts the corresponding needle point, the signal processing unit drives the displacement adjusting mechanism to shift the needle point fixed position closest to the sewing material adsorption point to the corresponding needle point, and the needle point fixed position is clamped into the corresponding needle point; the signal processing unit drives the circulating guide rail mechanism to convey the sewing material to the sewing area, the sewing material which enters the sewing area and is sewn by the sewing machine seat and is overlapped up and down is fixed by the sewing thread, and the signal processing unit drives the needle point which has lost the fixing function to descend and release the positioning while the sewing machine seat continuously advances.
As a further improvement of the scheme, when the sewing material is adsorbed and positioned, the signal processing unit determines the adsorption point of the suction nozzle according to the sewing thread; the suction nozzle adsorbs the first adsorption point corresponding to the sewing starting point of the lower sewing material, and inserts the first positioning point corresponding to the lower sewing material into the first needle point of the needle point transmission system; the suction nozzle adsorbs the first adsorption point corresponding to the sewing starting point of the upper sewing material, and inserts the first positioning point corresponding to the upper sewing material into the first needle point of the needle point transmission system, and the corresponding positioning points of the upper sewing material and the lower sewing material are overlapped in sequence; repeating the two steps, respectively inserting the second, third … … locating points of the upper and lower stitching materials into the second, third … … needle points of the needle point transmission system in sequence for gathering; overlapping stitching materials with positioned needle points are conveyed to a stitching area along with a circulating guide rail mechanism; the upper and lower overlapped stitching materials which enter the stitching area after finishing stitching are fixed by stitching, and the needle point which has lost the fixing effect descends and releases positioning as the stitching machine seat continuously advances; the above work is repeated in turn, and the gathering and sewing work is completed circularly.
As a further improvement of the above-mentioned scheme, the guide rail of the circulating guide rail mechanism is in a loop shape.
As a further improvement of the above, the needle tip is fixed to the corresponding lifting mechanism by an elastic member.
As a further improvement of the above, the displacement adjustment mechanism includes: the suction nozzle is arranged on the auxiliary bracket.
As a further improvement of the above, the sewing machine further comprises an illumination system for illuminating the stitching on the sewing table.
Further, the illumination system adjusts the illumination direction to take an image and supplement light according to the requirement of image acquisition.
As a further improvement of the above, the light emitter is a linear light emitter.
As a further improvement of the scheme, the light emitter and the seam material boundary identifier are an integral installation module which is installed above the sewing table.
As a further improvement of the scheme, the lifting mechanism is a motor, and the needle point is coaxially fixed on an output shaft of the motor.
The application also provides an automatic gathering operation method which is applied to the sewing machine with any automatic gathering operation, and the automatic gathering operation method comprises the following steps:
step one, recognizing a sewing boundary of a sewing material on a sewing table;
step two, calibrating the identified seam material boundary according to a Z-shaped step mark formed on the seam material boundary by the linear laser beam;
thirdly, according to the set sewing thread, aiming at the sewing material, a positioning and fixing position is made along the sewing thread in the identified boundary of the sewing material;
step four, taking a specific point on the sewing material, which is a certain distance away from the needle point positioning fixed position, as an adsorption point;
step five, firstly lifting the corresponding needle points, then adsorbing the suture material aiming at the adsorption points, transferring the suture material, shifting the needle point fixing position closest to the suture material adsorption points to the corresponding needle points, and clamping the needle point fixing position into the corresponding needle points;
step six, conveying the sewing materials to a sewing area, fixing the upper and lower overlapped sewing materials which enter the sewing area and are sewn by a sewing machine seat by a sewing thread, descending the needle point which has lost the fixing function along with the continuous advancing of the sewing machine seat, and releasing and positioning;
and (3) sequentially repeating the first step to the sixth step, and circularly completing the gathering and sewing work.
The automatic gathering sewing machine can realize the automation of gathering operation of the sewing process, judge the cloth boundary through image recognition, save the process of drawing the overlapping line through presetting the sewing line in the signal processing unit, truly realize the full-flow automation of the sewing operation, and the sewing line can meet the customized demands of different customers for diversified curves.
Drawings
Fig. 1 is a schematic perspective view of a sewing machine according to a preferred embodiment of the present application.
Fig. 2 is an enlarged partial schematic view of the sewing machine of fig. 1.
Fig. 3 is a schematic perspective view of a displacement adjusting system of the sewing machine of fig. 1.
Fig. 4 is a schematic perspective view of a needle tip transmission system of the sewing machine of fig. 1.
Fig. 5 is a schematic diagram of the principle of laser line secondary recognition by the seam boundary identifier of the sewing machine in fig. 1.
FIG. 6 is a schematic top view of the application of the stitching of FIG. 5 for laser line secondary identification.
Fig. 7 is a schematic diagram of a perspective application of the slit material in fig. 5 for laser line secondary identification.
FIG. 8 is a schematic view of the stitch, needle positioning point and suction nozzle suction point of the stitch of FIG. 5.
Fig. 9 is a schematic view of the stitch, needle positioning point and suction nozzle attachment point of the stitch of fig. 5 on a sewing machine.
FIG. 10 is a flow chart of a method of automatically closing the sewing machine of FIG. 1.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Please refer to fig. 1, which is a schematic diagram of a three-dimensional structure of a sewing machine according to a preferred embodiment of the present application, in order to better show a main structure portion, a bottom portion is not shown, and more canvas is left for the main structure portion. The sewing machine is mainly used for automatic gathering operation and comprises a sewing table 1, a sewing machine seat 2, a sewing material boundary identifier 4, a signal processing unit 5, a displacement adjusting system 6, a light emitter 7 and a needle tip transmission system 8.
Referring to fig. 2,3, 4 and 5, the sewing machine base 2 is mounted on the sewing table 1, and the sewing machine base 2 includes a machine body 20, a needling mechanism 21, a feeding mechanism 22, a thread take-up mechanism (not shown) and a shuttle mechanism (not shown). The machine body 20 is mounted on the sewing table 1, and the needling mechanism 21 is mounted at the bottom of one end of the machine body 20. The feeding mechanism 22 is installed below the needling mechanism 21 and is mounted on the sewing table 1 in a sinking manner. The needling mechanism 21 is positioned on the table top of the sewing table 1, the feeding mechanism 22 is positioned under the table top of the sewing table 1, and the sewing needle of the needling mechanism 21 is combined with the shuttle mechanism and the thread picking mechanism to realize the sewing of the sewing materials in the sewing area on the sewing table 1. This block is well known to those skilled in the art and will not be described in detail herein.
When the upper stitching material and the lower stitching material are placed on the table top of the sewing table 1, the stitching material boundary of the upper stitching material and the lower stitching material can be identified by the stitching material boundary identifier 4. The stitch boundary identifier 4 takes the stitch on the sewing table 1 as a data source to identify the stitch boundary of the stitch on the sewing table 1. When the light of the light emitter 7 is shone on the upper or lower sewing material as shown in fig. 6 and 7, the normal condition is as shown in fig. 6, however, since the upper or lower sewing material and the table top of the sewing table 1 have a fall, and the mediums are different, a fold line as shown in fig. 7 is formed, and the turning point is the boundary of the sewing material. That is, the light emitter 7 is used for emitting a linear laser beam, the linear laser beam is projected onto the stitching material, a Z-shaped step mark is generated on the stitching material boundary, the stitching material boundary identifier 4 identifies the position mapped on the image according to the Z-shaped step mark, and the identified stitching material boundary is calibrated, so that the identification of the stitching material boundary by the camera of the stitching material boundary identifier 4 can be greatly improved. If the position of the Z-shaped step mark is found by taking an image, the seam material boundary identifier 4 can know that the Z-shaped step mark is theoretically on one of the seam material boundaries, and if the position of the Z-shaped step mark is not on one of the seam material boundaries, the seam material boundary identifier 4 considers that the identified corresponding seam material boundary has errors, and calibration is needed. In calibration, the stitch boundary identifier 4 only needs to translate the stitch boundary nearest to the Z-shaped step mark to the position mapped by the Z-shaped step mark, and the general error is not very large, and the error precision is 0.5mm, so that the stitch boundary nearest to the Z-shaped step mark can be considered as the stitch boundary which should theoretically have the Z-shaped step mark. In addition, the laser beam is not limited to one straight line, and can be a plurality of laser straight line beams, and boundary judgment can be performed from multiple dimensions. Since the whole is translational, after one piece of the seam material boundary is calibrated, the rest of the seam material boundary is naturally calibrated.
The sewing material boundary identifier 4 stores a pre-designed sewing track line of the upper sewing material or the lower sewing material, and can identify the contour line of the upper sewing material or the lower sewing material from an image through gray processing after photographing, and the position of the upper sewing material or the lower sewing material can be accurately mastered by the aid of the light emitter 7. The stitch boundary identifier 4 may then map the stitch trajectory onto the identified corresponding stitch, drive the displacement adjustment system 6 to adjust the position of the corresponding stitch for the point on the stitch trajectory, shift the nearest needle tip fixing position of the stitch adsorption point onto the corresponding needle tip 81 on the needle tip transmission system 8, and clip the needle tip fixing position into the corresponding needle tip 81.
The sewing material boundary identifier 4 may control a core control component of the operation of the sewing machine, or may separately provide a data processor, such as a signal processing unit 5, where the signal processing unit 5 is a core control component for controlling the operation of the sewing machine, and is equivalent to a CPU. The signal processing unit 5 can receive the image and perform image recognition, and can also output control signals to control the displacement adjusting system 6 and the needle tip transmission system 8. The signal processing unit 5 controls the stitching boundary identifier 4 to identify the upper stitching and the lower stitching. According to the stitching boundary, the signal processing unit projects the preset X-Y two-dimensional coordinate system, the stitching starting point and the target stitching line into the corresponding real object image, but in actual operation, deviation is likely to exist, if the deviation is relatively large, the effect after gathering operation is quite unsatisfactory, sales can be influenced if serious, and even the defective products are correspondingly processed. Therefore, the present application increases the laser line to improve the recognition rate.
Please refer to fig. 5, 6, and 7, how the laser line increases the boundary recognition rate is described. As shown in fig. 6, the laser emitter emits a linear laser beam to the stitch a and the sewing table C, and an x distance is known between the stitch a and the sewing table, so that the linear laser beam is mapped to an image on the camera imaging element through the camera imaging lens, and there is a ray crease of Δy distance. Further, as shown in fig. 7, the laser beam is projected onto the sewing material a and the sewing table C, and the laser beam is seen from the direction of the boundary identifier 4. As shown in fig. 5, when the laser beam is projected onto the sewing material a and the sewing table C, the image (passing through the lens 44 of the sewing material boundary identifier 4) is obtained from the direction of the camera 41 of the sewing material boundary identifier 4 when the laser beam is at an angle θ, and there is a ray crease of Δy distance. By the method, the boundary of the stitching material can be accurately identified, and the identification rate is greatly improved. The signal processing unit 5 controls the light emitter 7 to respectively punch two laser lines intersecting with the X axis and the Y axis on the seam material boundary of the X axis and the Y axis, so as to form xy two-dimensional boundary judgment. Therefore, in this embodiment, the light emitter 7 is configured to emit a linear laser beam, where the linear laser beam is projected onto the slit material, and a Z-shaped step mark, that is, a fold line feature, is generated at the edge of the slit material, so that the difference between the camera and the edge of the slit material can be greatly improved.
The signal processing unit 5 compares the corresponding re-identified stitching boundaries for the stitching boundaries of the X axis and the Y axis respectively, and adjusts the X-Y two-dimensional coordinate system according to the re-identified stitching boundary if the corresponding stitching boundary error is not within the preset error range so as to readjust the target stitching thread and the target stitching starting point until the corresponding stitching boundary error is within a preset error range I and the corresponding stitching starting point error is within a preset error range II; if the corresponding stitch boundary error is within a preset error range and the corresponding stitch start error is within a preset error range II, the displacement adjustment system 6 is started.
In practical applications, many sewing machines are self-contained, so that all image processing can be displayed by the display. Some sewing machines also have a man-machine interaction station through which a user interacts with a signal processing unit 5 inside the sewing machine, such as modifying parameters, or installing new programs, etc. In this embodiment, as shown in fig. 1, the sewing machine is provided with a man-machine interaction table, which can be formed as a module with the signal processing unit 5. The man-machine interaction platform is provided with a display 51 and a control panel 52, wherein the display 51 can be in a touch control function or not, and man-machine interaction is carried out only through a plurality of keys on the control panel 52 of the man-machine interaction platform. These are all configurable according to the actual needs of the environment of use.
In this embodiment, the sewing machine may further be provided with an illumination system, and the illumination system adjusts the illumination direction to perform image capturing and light supplementing according to the requirement of image acquisition. If the lighting system can comprise more than 2 lighting lamps, the lighting lamps can adjust the lighting direction according to the requirement of the camera for collecting pictures. In order to avoid the influence of surrounding illumination on camera image acquisition, more than 2 illumination lamps can be additionally arranged, and the illumination direction of the lamps can be adjusted to adapt to the requirement of image acquisition, so that the image acquisition and judgment of the seam material boundary are more convenient.
The positions of the sewing threads line1 and line2 are set by the signal processing unit 5, and the needle point fixing positions a1, a2, a3, a4, a5 and a6 corresponding to the upper sewing material and the needle point fixing positions b1, b2, b3, b4, b5 and b6 corresponding to the lower sewing material are set, and the upper sewing material suction nozzle adsorption positions ad1, ad2, ad3, ad4, ad5 and ad6 and the lower sewing material suction nozzle adsorption positions bd1, bd2, bd3, bd4, bd5 and bd6 are set. The working sequence is as follows: the signal processing system 5 projects the set point to the corresponding positions of the upper and lower stitching materials which are already set, the displacement regulating system 6 firstly uses the suction nozzle to adsorb the bd1 point, the stitching material point b1 is clamped into the first needle point, then the displacement regulating system 6 adsorbs the ad1 point again to clamp the a1 point into the second needle point, and the following steps are carried out: adsorbing bd2 point, clamping b2 point to the second needle point, adsorbing ad2 point, clamping a2 point to the second needle point; adsorbing bd3 point, clamping b3 point to the third needle point, adsorbing ad3 point, clamping a3 point to the third needle point; the operation is continued in this order.
As shown in fig. 9, the actual state that b1 and a1, b2 and a2 have been snapped into the needle tip is shown, where b1 and a1 have been overlapped and fixed on the needle tip one, b2 and a2 have been overlapped and fixed on the needle tip two, and line2 and line1 have been overlapped on the section a1 to a2, so that b1 and a1, b2 and a2, b3 and a3, b4 and a4, b5 and a5, b6 and a6, … … are continuously fixed, and the gathering operation is performed by continuously feeding the stitch material 31 and feeding the stitch material 32, so that line2 and line1 are completely overlapped and transferred to the needling mechanism through the needle tip transmission system, and line2 and line1 are sewn together through the needling mechanism.
In the present embodiment, the displacement adjustment mechanism 63 may include: the main bracket 631 and the sub-bracket 632 movable in the direction of the main bracket 631. The sub-rack 632 is provided with more than 1 suction nozzles 61 which can be extended and retracted up and down, and is used for sucking cloth to move and correcting the position. For sewing two pieces of stitching materials, the optimal scheme is to arrange two suction nozzles 61, firstly suck the upper stitching material A by one suction nozzle 61, expose the lower stitching material B in the visual range of a camera, then suck the lower stitching material B by the other suction nozzle 61, fix the lower stitching material B on the corresponding needle point 81, then move the auxiliary bracket 632 and fix the upper stitching material on the same needle point 81 by the suction nozzle 61.
The needle tip transmission system 8 functions as follows: the needle tip transmission system 8 is used for positioning the overlapped upper and lower stitching materials in the positioning area before the upper stitching materials are fed into the sewing area of the sewing machine. The needle tip transmission system 8 includes a first control unit (not shown), a plurality of needle tips 81, a plurality of elevating mechanisms 82, and a circulating rail mechanism 83.
The first control unit is used for defining a plurality of positioning points on a target sewing thread, such as a1, a2, a3, a4, a5 and a6 … … on an upper sewing material A and B1, B2, B3, B4, B5 and B6 … … on a lower sewing material B shown in fig. 8; and setting a positioning point closest to the target sewing starting point as a starting point positioning point.
The plurality of needle points 81 are in one-to-one correspondence with the plurality of positioning points for positioning the corresponding positioning points. The needle point 81 has an up-down telescopic function, when the cloth needs to be fixed, the needle point 81 stretches out of the table top 1 of the sewing machine, when the upper cloth and the lower cloth are sewn, the needle point 81 is contracted downwards, the needle point 81 can be pulled out of the sewn materials, and the mechanism collision is avoided. The needle tip 81 can be mounted on a corresponding lifting mechanism 82, and the up-down telescoping function is realized through the lifting mechanism 82. Each needle tip 81 may be mounted on a corresponding lifting mechanism 82 by a respective resilient member 84. The elastic member 84 may be made of an elastic material, and mainly serves to buffer the needle tip 81 when the needle tip 81 is subjected to a large external force. The plurality of lifting mechanisms 82 are in one-to-one correspondence with the plurality of needle points 81, and are used for lifting the corresponding needle points 81, and the lifting mechanisms 82 can adopt lifting motors, mini cylinders and the like. The circulating guide rail mechanism 83 is used for driving the lifting mechanism 82 to drive the corresponding needle point 81 to circularly transmit between the positioning area and the sewing area. The guide 831 of the endless guide 83 is preferably in the form of a loop, and the needle of the needling mechanism is located in the middle of the straight section of the guide. The needle point 81 can be sequentially conveyed to a sewing area below the needle by the circulating guide rail mechanism 83, the space between the needle point 81 and the needle of the needling mechanism is staggered, and the needle point 81 and the needle of the needling mechanism are not interfered, so that the movement of the needle point 81 does not influence the operation of the needle, and the needle point is circulated back through the circulating guide rail mechanism 83 to be used as the returning operation of next upper and lower sewing materials.
The first control unit is further configured to drive the corresponding needle points 81 to respectively position the positioning points of the lower stitching material a by controlling the plurality of lifting mechanisms 82, and when the displacement adjustment system 6 stacks the upper stitching material a on the lower stitching material B, position the positioning points of the upper stitching material a on the corresponding needle points 81, so that the corresponding positioning points of the upper stitching material and the lower stitching material are sequentially overlapped; the first control unit is also used for releasing and positioning the starting point positioning point which is firstly sent into the sewing area in a mode of driving the corresponding needle point 81 to descend when the overlapped upper and lower sewing materials are subjected to gathering operation, and releasing and positioning the positioning points which are sequentially sent into the sewing area along with the sewing progress of the sewing machine.
In this embodiment, the displacement adjusting system 6 is used for correcting the position of the cloth, and the needle tip transmission system 8 is used for fixing the corrected cloth and transmitting the corrected cloth to the needling mechanism 22 for sewing. The displacement regulating system 6 uses the suction nozzle 61 to adsorb the lower sewing material and fix the lower sewing material to the corresponding needle point 81 according to the sewing requirement, then adsorbs the upper sewing material and fix the upper sewing material to the same needle point 81 according to the sewing requirement, and the needle point fixes two sewing materials to the same needle point 81 according to the sewing requirement until the sewing is completed by conveying to the needling mechanism 22. Besides, the application is also applicable to sewing operation of more than 2 pieces of cloth except sewing two pieces of sewing materials.
The needle tip transmission system 8 is preferably a rigid needle tip transmission system, the needle tip 81 is rigid and inflexible, the needle tip 81 is fixed on a guide rail 831 in the feeding direction, and after the cloth is rectified by the displacement adjustment system 6, the displacement adjustment system is fixed on the corresponding needle tip 81 and moves towards the needling mechanism 22 along the guide rail 831. Thus, the sewing materials to be sewn are sequentially fixed on the needle points of numbers 1,2 and 3 … …, after the sewing of the fixed sewing materials is finished, the needle point 81 is pulled out from the sewing materials to enter a to-be-used state, and returns to the vicinity of the displacement adjusting system 6 again after one cycle to wait for the fixed sewing materials.
Since the movement of the needle tip transmission system 8 is independent of the feeding movement of the sewing machine, the movement of the circulating guide rail mechanism 83 can be discontinuous, and one single needle tip 81 can stop when reaching the same horizontal line position of the displacement adjustment system 6 and wait for the sewing material to be fixed on the needle tip 81 and then move, but the program must plan the time difference of the two movement systems so that the sewing speed of the closing execution unit of the needling mechanism 22 can be synchronous with the movement speed of the feeding system.
The needle tip 81 in the needle tip transmission system 8 can move left and right along with the vertical direction of the track feeding direction besides the up-and-down telescopic movement. The needle tip moves along with the guide rail 831 to the needling mechanism 22, and meanwhile, the needle tip 81 can also move left and right in addition to up and down telescopic movement, so that the left and right movement of the suction nozzle 61 can be partially replaced, and the more efficient stitching effect can be achieved.
The sewing machine of the embodiment realizes an automatic gathering operation method, as shown in fig. 10, which comprises the following steps:
step one, recognizing a stitching boundary. The signal processing unit 5 drives the stitching boundary identifier 4, and the stitching boundary identifier 4 can take an image for stitching on the sewing table 1 after being started and perform stitching boundary identification.
And secondly, calibrating the identified seam material boundary according to a Z-shaped step mark formed on the seam material boundary by the linear laser beam. The signal processing unit 5 drives the light emitter 7 to emit a linear laser beam to form a Z-shaped step mark on the seam material boundary, and when the Z-shaped step mark is not on the recognized seam material boundary, the recognition of the seam material boundary is considered to have errors, and calibration is needed. And translating the seam material boundary line nearest to the Z-shaped step mark onto the Z-shaped step mark. Of course, the light emitters 7 are not installed very far apart during operation.
And thirdly, according to the set sewing thread, aiming at the sewing material, setting a positioning and fixing position along the sewing thread in the identified boundary of the sewing material. The positioning and fixing position refers in this embodiment to the positioning and fixing position of the needle tip 81 of the needle tip transmission system 8. The signal processing unit 5 makes a needle tip positioning and fixing position of the needle tip transmission system 8 along the sewing thread in the sewing material boundary identified by the sewing material boundary identifier 4 according to the set sewing thread.
And step four, taking a specific point on the stitching material, which is a certain distance away from the needle point positioning fixed position, as a moving point. The moving point is the place where the stitching material is gripped when moving, in this embodiment the suction point of the suction nozzle 61. The signal processing unit 5 drives the suction nozzle driving mechanism 62 to take a specific point on the slit material, which is a certain distance from the needle tip positioning fixed position, as the adsorption point of the suction nozzle 61.
Step five, firstly lifting the corresponding needle points 81, then adsorbing the seam material aiming at the adsorption points, transferring the seam material, shifting the needle point fixing position closest to the seam material adsorption points to the corresponding needle points 81, and clamping the needle point fixing positions into the corresponding needle points 81. In this embodiment, the signal processing unit 5 drives the lifting mechanism 82 to lift the corresponding needle tip 81, and drives the displacement adjusting mechanism 63 to shift the needle tip fixing position closest to the stitch adsorption point onto the corresponding needle tip 81, so as to clamp the needle tip fixing position into the corresponding needle tip 81.
Step six, conveying the sewing material to a sewing area, fixing the vertically overlapped sewing material which enters the sewing area and is sewn by the sewing machine seat 2 by a suture, descending the needle point which has lost the fixing effect along with the continuous advancing of the sewing machine seat 2, and releasing the positioning. In this embodiment, the signal processing unit 5 drives the circulation guide rail mechanism 83 to convey the sewing material to the sewing region, the sewing material which is sewn by the needling mechanism 21 and is overlapped up and down and enters the sewing region is fixed by the sewing thread, and the signal processing unit 5 drives the needle point 81 which has lost the fixing function to descend and release the positioning while the circulation guide rail mechanism 83 continuously advances.
And repeating the above work in sequence, and circularly completing the gathering and sewing work until the sewing of the sewing thread is finished.
The application relates to a sewing machine for automatic gathering operation, in particular to a sewing machine which uses an image recognition technology as a basis to automatically gather materials to achieve full-flow automatic operation, and has the advantages of simple structure, low cost and high application value.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (10)
1. A sewing machine with automatic gathering operation, comprising:
a sewing table (1);
a sewing machine seat (2) arranged on the sewing table (1);
the stitching boundary identifier (4) is used for taking stitching on the sewing table (1) as a data source to identify the stitching boundary of the stitching on the sewing table (1);
the signal processing unit (5) is used for driving the sewing machine seat (2) to sew the sewing materials on the sewing table (1);
the sewing machine is characterized by further comprising:
a light emitter (7) for emitting a linear laser beam, the linear laser beam being projected onto the slit material, a Z-shaped step mark being generated at the slit material boundary; the stitching boundary identifier (4) identifies the position of the Z-shaped step mark mapped on the image after image capturing, corrects the stitching boundary closest to the Z-shaped step mark according to the position of the Z-shaped step mark mapped, and translates the corresponding stitching boundary to the position of the Z-shaped step mark mapped;
the needle point transmission system (8) is used for adopting a liftable needle point (81) to position the stitching materials; the needle tip transmission system (8) comprises: the needle comprises a plurality of needle points (81), a plurality of lifting mechanisms (82) which are in one-to-one correspondence with the needle points (81) and are used for lifting the corresponding needle points (81), and a circulating guide rail mechanism (83) which is used for driving the lifting mechanisms (82) to drive the corresponding needle points (81) to circularly operate;
a displacement adjusting system (6) for moving the stitching material by using a suction nozzle (61); the displacement adjustment system (6) comprises: a suction nozzle (61), a suction nozzle driving mechanism (62) for driving the suction nozzle (61) to suck and release, and a displacement adjusting mechanism (63) for driving the corresponding suction nozzle (61) to move;
the signal processing unit (5) drives the seam material boundary identifier (4), and the seam material boundary identifier (4) identifies the seam material boundary and calibrates the identified seam material boundary according to the Z-shaped step mark; the signal processing unit (5) is used for preparing a needle point positioning and fixing position of a needle point transmission system (8) along a sewing thread in a sewing material boundary identified by the sewing material boundary identifier (4) according to the set sewing thread; the signal processing unit (5) drives the suction nozzle driving mechanism (62) to take a specific point, which is a certain distance away from the needle point positioning fixed position, on the seam material as an adsorption point of the suction nozzle (61), the pre-driving lifting mechanism (82) lifts the corresponding needle point (81), the signal processing unit (5) controls the suction nozzle driving mechanism (62) to drive the suction nozzle (61) to adsorb the corresponding adsorption point, thereby adsorbing the seam material and transferring, the signal processing unit (5) drives the displacement adjusting mechanism (63) to shift the needle point fixed position closest to the seam material adsorption point onto the corresponding needle point (81), and the needle point fixed position is clamped into the corresponding needle point (81); the signal processing unit (5) drives the circulating guide rail mechanism (83) to convey the sewing material to the sewing area, the upper and lower overlapped sewing material which enters the sewing area and is sewn by the sewing machine seat (2) is fixed by a sewing thread, and the signal processing unit (5) drives the needle point (81) which is not fixed to descend and releases positioning when the sewing machine seat (2) continuously advances.
2. The sewing machine for automatic gathering as claimed in claim 1, wherein the signal processing unit (5) determines the suction point of the suction nozzle (61) according to the sewing thread when the sewing material is sucked and positioned; the suction nozzle (61) adsorbs a first adsorption point corresponding to the sewing starting point of the lower stitching material, and inserts a first positioning point corresponding to the lower stitching material into a first needle point of the needle point transmission system (8); the suction nozzle (61) adsorbs a first adsorption point corresponding to the sewing starting point of the upper sewing material, and inserts a first positioning point corresponding to the upper sewing material into a first needle point of the needle point transmission system (8), and the corresponding positioning points of the upper sewing material and the lower sewing material are overlapped in sequence; repeating the two steps, respectively inserting the second, third … … locating points of the upper and lower stitching materials into the second, third … … needle points of the needle point transmission system (8) in sequence for gathering; the overlapped stitching materials with the needle points positioned are conveyed to a stitching area along with a circulating guide rail mechanism (83); the upper and lower overlapped stitching materials which enter the stitching area after finishing stitching are fixed by stitching, and the needle point (81) which has lost the fixing effect descends and releases the positioning as the stitching machine seat (2) continuously advances; the above work is repeated in turn, and the gathering and sewing work is completed circularly.
3. The sewing machine of the automatic gathering operation as recited in claim 1, characterized in that the guide rail of the endless guide rail mechanism (83) is in a loop shape.
4. The sewing machine of the automatic gathering operation as claimed in claim 1, characterized in that the needle tip (81) is fixed to the respective lifting mechanism (82) by means of an elastic member (84).
5. The sewing machine of the auto-closing operation according to claim 1, wherein the displacement adjusting mechanism (63) includes: a main bracket (631) and a sub-bracket (632) which can move along the direction of the main bracket (631), and a suction nozzle (61) is arranged on the sub-bracket (632).
6. The automatic gathering sewing machine of claim 1, further comprising an illumination system for illuminating the stitching on the sewing table (1).
7. The automatic gathering sewing machine of claim 6 wherein the illumination system adjusts illumination direction for image capture and light supplement based on image acquisition requirements.
8. The sewing machine of the automatic gathering operation as claimed in claim 1, characterized in that the light emitter (7) is a linear light emitter.
9. The automatic gathering sewing machine of claim 1 wherein the light emitter (7) and the stitch boundary identifier (4) are an integral mounting module mounted above the sewing table (1).
10. An automatic gathering method for use in the sewing machine of the automatic gathering operation as recited in any one of claims 1 to 9, characterized in that the automatic gathering method comprises the steps of:
step one, recognizing a sewing boundary of a sewing material on a sewing table (1);
step two, calibrating the identified seam material boundary according to a Z-shaped step mark formed on the seam material boundary by the linear laser beam;
thirdly, according to the set sewing thread, aiming at the sewing material, a positioning and fixing position is made along the sewing thread in the identified boundary of the sewing material;
step four, taking a specific point on the sewing material, which is a certain distance away from the needle point positioning fixed position, as an adsorption point;
step five, firstly lifting corresponding needle points (81), then adsorbing the sewing material aiming at the adsorption points, transferring the sewing material, shifting the needle point fixing position closest to the sewing material adsorption points to the corresponding needle points (81), and clamping the needle point fixing position into the corresponding needle points (81);
step six, conveying the sewing material to a sewing area, fixing the sewing material which enters the sewing area and is sewn by a sewing machine seat (2) and is overlapped up and down by a suture, descending a needle point (81) which has lost the fixing function while the sewing machine seat (2) continuously advances, and releasing the positioning;
and step five and step six are sequentially repeated, and the gathering and sewing work is circularly completed until the sewing of the sewing thread is completed.
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| CN202210446018.9A CN114908483B (en) | 2022-04-26 | 2022-04-26 | Sewing machine with automatic gathering operation and automatic gathering operation method thereof |
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| CN202210446018.9A CN114908483B (en) | 2022-04-26 | 2022-04-26 | Sewing machine with automatic gathering operation and automatic gathering operation method thereof |
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| CN114908483B true CN114908483B (en) | 2023-11-10 |
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| CN114908483A (en) | 2022-08-16 |
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