CN117758448A - Intelligent feeding device suitable for multifunctional sewing technology and application method thereof - Google Patents
Intelligent feeding device suitable for multifunctional sewing technology and application method thereof Download PDFInfo
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- CN117758448A CN117758448A CN202410052689.6A CN202410052689A CN117758448A CN 117758448 A CN117758448 A CN 117758448A CN 202410052689 A CN202410052689 A CN 202410052689A CN 117758448 A CN117758448 A CN 117758448A
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- 238000009958 sewing Methods 0.000 title claims abstract description 127
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000005516 engineering process Methods 0.000 title description 5
- 239000004744 fabric Substances 0.000 claims abstract description 100
- 239000012530 fluid Substances 0.000 claims description 23
- 239000000463 material Substances 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000011156 evaluation Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000012840 feeding operation Methods 0.000 description 2
- 238000007373 indentation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000037303 wrinkles Effects 0.000 description 1
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Abstract
The invention discloses intelligent feeding equipment suitable for a multifunctional sewing process and a using method thereof. The invention can solve the problems that the sewing quality cannot be ensured due to excessive dependence on manpower during sewing and feeding cloth, and the flexibility and applicability of the sewing process are lacking.
Description
Technical Field
The invention relates to the technical field of sewing equipment, in particular to intelligent feeding equipment suitable for a multifunctional sewing process and a using method thereof.
Background
Generally, the fabric has the characteristics of flexibility and easy deformation, human eyes are required to observe the sewing track of the fabric when the fabric is sewn and fed, and the pressing force on the fabric and the feeding speed of the human hands are required to be controlled by the human hands, so that the matching of the fabric and the sewing machine head is completed. At present, sewing and feeding can only be finished by means of simple machinery or manual work, and the feeding quality is limited by machinery. For example, when the fabric is fed by the roller, the speed and the force of the mechanical part are not stable enough because the fabric is fed by the roller in a point contact mode, so that wrinkles are generated in the fabric in the conveying process due to uneven stress, and the sewing quality is reduced. In addition, the rigid cloth feeding device lacks flexibility, and quality problems of material mismatch are easy to occur. For example, the template sewing machine adopts templates for fixing fabrics, most of materials are PVC rubber plates, certain hardness exists, the surfaces of the sewn fabrics are easy to generate indentations, and the sewing quality is reduced. Furthermore, the cloth feeding device lacks flexibility and can only sew fixed sewing technology. For example, a template sewing machine requires redesigning the template when the sewing process is replaced; when the cloth is fed by the roller and the conveyor belt, only the linear sewing process can be completed, and the sewing of the curve and other sewing processes cannot be completed.
Disclosure of Invention
The invention provides intelligent feeding equipment suitable for a multifunctional sewing process and a using method thereof, which can solve the problems that the manual work is too dependent and the sewing quality cannot be ensured when the cloth is fed by sewing, and the flexibility and the applicability of the sewing process are lacked.
In order to achieve the above object, in a first aspect, the present invention provides the following technical solutions: the intelligent feeding device suitable for the multifunctional sewing process comprises a workbench, wherein an image acquisition system, a mechanical arm and a sewing machine are arranged on the upper side of the workbench, a flexible finger is arranged at the output end of the mechanical arm, and the intelligent feeding device further comprises a data processing device, wherein data connection is established between the data processing device and the image acquisition system, between the data processing device and the flexible finger, and between the data processing device and between the data processing device and the flexible finger and between the data processing device and the data processing device are arranged on the upper side of the workbench.
Preferably, the image acquisition system is movably arranged above the sewing machine.
Preferably, the image acquisition system comprises an image acquisition device and a light source.
Preferably, the flexible finger comprises a flexible finger body and a generating device, the generating device comprises a fluid driving device and a fluid channel pipe, one end of the fluid channel pipe is communicated with the flexible finger body, the other end of the fluid channel pipe is communicated with the fluid driving device, and the fluid driving device deforms the flexible finger body when fluid is introduced into the flexible finger body.
In a second aspect, a method for using the intelligent cloth feeding device for a multifunctional sewing process according to the first aspect includes the following steps: the image acquisition system acquires an image of an area on the workbench and transmits the image to the data processing equipment, the data processing equipment processes the image acquired by the image acquisition system to obtain pixel coordinates of a sewing track, converts the pixel coordinates into mechanical coordinates, plans a motion track of the mechanical arm, guides the mechanical arm to complete cloth feeding motion according to the obtained mechanical coordinates of the sewing track, controls the cloth feeding speed of the mechanical arm, and simultaneously controls the deformation effect of the flexible finger to adjust the pressing force of the flexible finger on the fabric, so that the flexible finger can simulate the sewing pressing action of a human hand, and can complete sewing by matching with fabrics of different materials.
Compared with the prior art, the invention has the beneficial effects that:
the machine vision technology is adopted, the mechanical arm with the flexible fingers is used for replacing manual cloth feeding, so that working procedure equipment and manual labor are greatly saved while the sewing quality is ensured, the flexible material of the flexible fingers can be matched with the flexible fabric material, the fabric is not damaged by indentation, scratch and the like in the sewing process, and the sewing quality is improved; the flexible finger can simulate the sewing pressing action of a human hand and can be matched with fabrics made of different materials to finish sewing; according to the intelligent cloth feeding device, the processing equipment controls the mechanical arm to feed cloth according to the sewing track obtained by the image acquisition system, intelligent cloth feeding of multifunctional sewing processes such as straight lines, curves and the like can be completed by matching with fabrics with different shapes, and flexible applicability to various sewing processes is realized while the sewing quality is ensured.
Drawings
FIG. 1 is a schematic view of a device according to a first embodiment of the present invention;
fig. 2 is a schematic view of a first fabric to be sewn E composed of a first fabric a and a second fabric b in a first embodiment of the invention;
FIG. 3 is a schematic view showing an operation state of the apparatus at the time of image acquisition in the first embodiment of the present invention;
fig. 4 is a schematic diagram showing the recognition result of the linear sewing track P of the first fabric to be sewn E according to the first embodiment of the present invention;
FIG. 5 is a schematic view showing an operating state of the apparatus for pushing the first fabric E to be sewn to a sewing position according to the first embodiment of the present invention;
FIG. 6 is a schematic view showing the working state of the apparatus when the flexible finger feeds the cloth according to the straight sewing track P in the first embodiment of the present invention;
fig. 7 is a schematic view of a linear sewing stitch M of a first fabric to be sewn E according to the first embodiment of the present invention;
fig. 8 is a schematic view of the apparatus structure in the second embodiment of the present invention;
fig. 9 is a second fabric F to be sewn composed of a third fabric c and a fourth fabric d in the second embodiment of the invention;
fig. 10 is a schematic diagram of an operating state of the device during image acquisition in the second embodiment of the present invention;
fig. 11 is a recognition result of an arc sewing track Q of a second fabric F to be sewn in the second embodiment of the present invention;
fig. 12 is a schematic view of the working state of the apparatus for pushing the second fabric F to be sewn to the sewing position in the second embodiment of the present invention;
FIG. 13 is a schematic view showing the working state of the apparatus when feeding a flexible finger according to an arc sewing track Q in the second embodiment of the present invention;
fig. 14 is a schematic view of an arc sewing stitch N of a second fabric to be sewn F in the second embodiment of the present invention.
Reference numerals: 1. the mechanical arm, 2, the image acquisition system, 3, the data processing equipment, 4, the workbench, 5, the flexible finger, 6, the sewing machine, a, the first fabric, b, the second fabric, c, the third fabric, d, the third fabric, E, the first fabric to be sewn, F, the second fabric to be sewn, M, the straight line sewing stitch, N, the arc sewing stitch, P, the straight line sewing track, Q, the arc sewing track.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1, in order to solve the problems that the sewing quality is too dependent on the manual work and the sewing quality cannot be ensured, and the flexibility and applicability of the sewing process are lacking, the embodiment provides an intelligent cloth feeding device suitable for a multifunctional sewing process, which comprises a workbench 4, wherein an image acquisition system 2, a mechanical arm 1 and a sewing machine 6 are arranged on the upper side of the workbench 4, a flexible finger 5 is arranged at the output end of the mechanical arm 1, and a data processing device 3 is further arranged, data connection is established between the data processing device 3 and the image acquisition system 2, the flexible finger 5 and the sewing machine 6, specifically, the mechanical arm 1 can be realized by adopting a mechanical arm in the prior art, and in the embodiment, the mechanical arm 1 can be realized by adopting a 6-axis mechanical arm of the model UR5 of the unique robot brand.
In some embodiments, the image acquisition system 2 is movably arranged above the sewing machine 6, the image acquisition system 2 can be arranged above the workbench 4 through a rotating rod, and the image acquisition system 2 can be moved to various positions covering the workbench 4 through rotating the rod so as to flexibly meet the sewing operation of cloth with various shapes, wherein the image acquisition system 2 comprises an image acquisition device and a light source, the image acquisition device adopts an industrial camera with higher resolution, and the light source adopts a ring-shaped lamp so as to uniformly irradiate the cloth.
In some embodiments, the data processing device 3 may use a computer to plan a motion track of the mechanical arm 1, complete a cloth feeding motion according to a mechanical coordinate of a sewing track obtained by the processed image acquisition system 2, and control a cloth feeding speed of the mechanical arm 1 and a pressing force of the flexible finger 5 at an output end of the mechanical arm on the fabric.
The sewing machine 6 may be a multifunctional computer sewing machine, in this embodiment, the multifunctional computer sewing machine 6 is a multifunctional computer sewing machine of model M7 of the jasome brand, and has multiple automatic functions such as an automatic sewing switch and an automatic thread breakage, and the highest sewing speed can reach 1300r/min.
In this embodiment, as shown in fig. 1, the flexible finger 5 includes a flexible finger body and a generating device, the generating device includes a fluid driving device and a fluid channel tube, one end of the fluid channel tube is connected with the flexible finger body, the other end of the fluid channel tube is connected with the fluid driving device, the flexible finger body deforms when the fluid driving device lets in the fluid into the flexible finger body, the fluid driving device and the fluid channel tube can be an air pump and an air pipe, the flexible finger body can adopt a pneumatic flexible finger, and the pressing force of the flexible finger body is controlled by controlling the air quantity and the strength of the air entering into the pneumatic flexible finger.
In this embodiment, the method for using the intelligent cloth feeding device suitable for the multifunctional sewing process includes the following steps:
the image acquisition system 2 is used for acquiring an image of an area on the workbench 4 and transmitting the image to the data processing equipment 3, the data processing equipment 3 is used for processing the image acquired by the image acquisition system 2 to obtain pixel coordinates of a sewing track, converting the pixel coordinates into mechanical coordinates, planning the motion track of the mechanical arm 1, guiding the mechanical arm 1 to complete cloth feeding motion according to the obtained mechanical coordinates of the sewing track, controlling the cloth feeding speed of the mechanical arm 1, and simultaneously controlling the deformation effect of the flexible finger 5 to adjust the pressing force of the flexible finger 5 on the fabric, so that the flexible finger 5 can simulate the sewing pressing action of hands, and can be matched with fabrics of different materials to complete sewing.
As specific example 1:
taking a straight line with a seam of 1cm as an example of a flat seam sewing method, the working process of the intelligent cloth feeding device suitable for the multifunctional sewing technology is described. The first fabric to be sewn E is composed of a first fabric a and a second fabric b, wherein the two layers of the first fabric a and the second fabric b are stacked up and down in alignment and placed on the workbench 4, as shown in fig. 2, and table 1 is a performance parameter of the first fabric to be sewn E.
First, the data processing device 3 triggers the image acquisition system 2 to obtain the mechanical coordinates of the linear sewing track P of the first fabric E to be sewn. Fig. 3 is a schematic diagram of the working state of the process equipment, and fig. 4 is a schematic diagram of the recognition result of the straight line sewing track P.
After obtaining the mechanical coordinates of the linear sewing track P, the data processing apparatus 3 controls the generating device of the flexible finger 5 to generate positive pressure of 40Kpa and keep the air pressure unchanged, so that the flexible finger 5 generates stable open deformation. Then, the data processing device 3 controls the mechanical arm 1 to drive the flexible finger 5 with the tail end generating stable open deformation to press on the first fabric to be sewn E under the pressure of 50N, and pushes the first fabric to be sewn E to the sewing position of the sewing machine 6, so that the linear sewing track P is aligned with the sewing position of 1cm of the sewing machine 6, and the sewing is ready, and the working state of the device in the process is schematically shown in fig. 5.
Subsequently, the sewing machine 6 was started to perform sewing at a sewing speed of 200 r/min. At this time, the data processing device 3 triggers the mechanical arm 1 to drive the flexible finger 5 pressed on the first fabric E to be sewn to feed the fabric according to the mechanical coordinates of the linear sewing track P, and the working state of the device during feeding the fabric is shown in fig. 6. The data processing equipment 3 controls the tool speed of the linear feeding cloth of the mechanical arm 1 to be 6mm/s and the tool acceleration to be 1200mm/s 2 The pressing force of the flexible finger 5 is controlled to be 50N, so that the first fabric E to be sewn can be smoothly fed into the sewing machine 6 until the fabric feeding operation is completed according to the recognized straight line sewing track P. The linear finished product after the first fabric to be sewn E is sewn and the linear stitch M are shown in fig. 7. The evaluation result of the linear stitch M of the linear finished product was 5-level.
As specific example 2:
as shown in fig. 8, the same intelligent cloth feeding device is adopted in this specific embodiment 2 and specific embodiment 1, and the working process of the intelligent cloth feeding device suitable for the multifunctional sewing process is described by taking the example that a flat seam sewing method is adopted to sew an arc line with a seam of 1 cm. The second fabric to be sewn F is composed of a third fabric c and a fourth fabric d, wherein the third fabric c and the fourth fabric d are stacked up and down in alignment and placed on the workbench 4, as shown in fig. 9, and table 1 shows performance parameters of the second fabric to be sewn F.
First, the processing device 3 triggers the image acquisition system 2 to obtain the mechanical coordinates of the arc sewing track Q of the fabric F to be sewn. Fig. 10 is a schematic diagram of the operating state of the process equipment, and fig. 11 is a recognition result of an arc sewing track Q.
After obtaining the mechanical coordinates of the arc sewing track Q, the data processing device 3 controls the generating device of the flexible finger 5 to generate positive pressure 40Kpa air pressure and keep the air pressure unchanged, so that the flexible finger 5 generates stable open deformation. Then, the data processing device 3 controls the mechanical arm 1 to drive the flexible finger 5 with the tail end generating stable open deformation to press on the second fabric to be sewn F under the pressure of 50N, and pushes the second fabric to be sewn F to the sewing position of the sewing machine 6, so that the arc sewing track Q is aligned with the sewing position of 1cm of the sewing machine 6, and the sewing is ready, and the working state of the device in the process is schematically shown in fig. 12.
Subsequently, the sewing machine 6 was started to perform sewing at a sewing speed of 200 r/min. At this time, the data processing device 3 triggers the mechanical arm 1 to drive the flexible finger 5 pressed on the second fabric F to be sewn to feed the fabric according to the mechanical coordinates of the arc sewing track Q, the working state schematic diagram of the device during feeding is shown in fig. 13, and the data processing device 3 controls the tool speed of the arc feeding of the mechanical arm 1 to be 6mm/s and the tool acceleration to be 1200mm/s 2 The pressing force of the flexible finger 5 is controlled to be 50N, so that the second fabric F to be sewn can be stably fed into the sewing machine 6 until the fabric feeding operation is completed according to the recognized arc sewing track Q. The finished product of the arc sewing and the arc sewing stitch N of the second fabric F to be sewn after sewing are shown in fig. 14. And through evaluation, the evaluation result of the arc sewing stitch N of the arc sewing finished product is 5 grades.
TABLE 1
It should be noted that all directional indicators (such as up, down, left, right, front, and rear are used in the embodiments of the present invention) are merely for explaining the relative positional relationship, movement conditions, and the like between the components in a certain specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicators are changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
Claims (5)
1. An intelligent cloth feeding device suitable for a multifunctional sewing process, which is characterized by comprising:
the automatic sewing machine comprises a workbench (4), wherein an image acquisition system (2), a mechanical arm (1) and a sewing machine (6) are arranged on the upper side of the workbench (4), a flexible finger (5) is arranged at the output end of the mechanical arm (1), the automatic sewing machine further comprises a data processing device (3), and data connection is established between the data processing device (3) and the image acquisition system (2), the flexible finger (5) and the sewing machine (6).
2. The intelligent cloth feeding device suitable for the multifunctional sewing process according to claim 1, wherein: the image acquisition system (2) can be movably arranged above the sewing machine (6).
3. The intelligent cloth feeding device suitable for the multifunctional sewing process according to claim 2, wherein: the image acquisition system (2) comprises an image acquisition device and a light source.
4. The intelligent cloth feeding device suitable for the multifunctional sewing process according to claim 1, wherein: the flexible finger (5) comprises a flexible finger body and a generating device, the generating device comprises a fluid driving device and a fluid channel pipe, one end of the fluid channel pipe is communicated with the flexible finger body, the other end of the fluid channel pipe is communicated with the fluid driving device, and the flexible finger body deforms when fluid is introduced into the flexible finger body by the fluid driving device.
5. A method of using the intelligent cloth feeding apparatus according to any one of claims 1-4, adapted for a multifunctional sewing process, characterized by the specific steps of: the image acquisition system (2) is used for acquiring images of the area on the workbench (4) and transmitting the images to the data processing equipment (3), the data processing equipment (3) is used for processing the images acquired by the image acquisition system (2) to obtain pixel coordinates of a sewing track, the pixel coordinates are converted into mechanical coordinates, the motion track of the mechanical arm (1) is planned, the mechanical arm (1) is guided to complete cloth feeding motion according to the obtained mechanical coordinates of the sewing track, the cloth feeding speed of the mechanical arm (1) is controlled, and meanwhile, the deformation effect of the flexible finger (5) is controlled to adjust the pressing force of the flexible finger (5) on the fabric, so that the flexible finger (5) can simulate the sewing pressing action of hands and can be matched with fabrics of different materials to complete sewing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410052689.6A CN117758448A (en) | 2024-01-15 | 2024-01-15 | Intelligent feeding device suitable for multifunctional sewing technology and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410052689.6A CN117758448A (en) | 2024-01-15 | 2024-01-15 | Intelligent feeding device suitable for multifunctional sewing technology and application method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN117758448A true CN117758448A (en) | 2024-03-26 |
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ID=90310858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410052689.6A Pending CN117758448A (en) | 2024-01-15 | 2024-01-15 | Intelligent feeding device suitable for multifunctional sewing technology and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117758448A (en) |
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2024
- 2024-01-15 CN CN202410052689.6A patent/CN117758448A/en active Pending
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