CN204530134U - A kind of coincidence apparatus for sewing - Google Patents
A kind of coincidence apparatus for sewing Download PDFInfo
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- CN204530134U CN204530134U CN201520180290.2U CN201520180290U CN204530134U CN 204530134 U CN204530134 U CN 204530134U CN 201520180290 U CN201520180290 U CN 201520180290U CN 204530134 U CN204530134 U CN 204530134U
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- cut
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- sewing
- feeding unit
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Abstract
The utility model provides a kind of coincidence apparatus for sewing, comprising: be loaded with the controller of sewer's station of the first cut-parts, the feeding unit being loaded with the second cut-parts, manipulator, image acquisition units, the described manipulator of electric connection and image acquisition units and make unit; The device advantage of present patent application is as follows: the accurate alignment that be ensure that multilayer cut-parts by the structure as feeding, and can for the technical guarantee alignment coordinating IMAQ and identification, and single unit system structure is simple, volume is little, cost is low.
Description
Technical field
The utility model relates to stitching process field, particularly relates to a kind of coincidence apparatus for sewing.
Background technology
Along with the development of industrial automation technology, automatic sewing technology has become the problem that each producer is now studied, in actual applications, a difficult problem is still a lot, for example, the automation of making after the alignment of two-layer or two-layer above cloth just completes comparatively difficulty, and does not also have the corollary equipment of a set of good this difficult problem of solution at present.
Summary of the invention
The shortcoming of prior art in view of the above, the purpose of this utility model is to provide a kind of coincidence apparatus for sewing, solves prior art Problems existing.
For realizing above-mentioned target and other related objectives, the utility model provides a kind of coincidence apparatus for sewing, comprising: sewer's station, comprising: for carrying the workspace of the first cut-parts; Carry the feeding unit of the second cut-parts, it is located at described sewer's station movably, and described activity comprises: enter described workspace and be covered on described first cut-parts or shift out described workspace; Manipulator, is located at described sewer's station, for operating described second cut-parts; Image acquisition units, is located at described sewer's station and workspace described in contraposition is arranged; Controller, is electrically connected described manipulator and image acquisition units; Apparatus for sewing, for sewing up described first cut-parts and the second cut-parts.
Optionally, the operation of described manipulator comprises: translation and/or rotation.
Optionally, described manipulator is the second cut-parts described in the inner position of described workspace also, and it is carry out when described location that described feeding unit shifts out workspace.
Optionally, described feeding unit described shift out workspace before, also downwards do the motion close to the first cut-parts.
Optionally, described feeding unit passes in and out described workspace by slide construction.
Optionally, described coincidence apparatus for sewing also comprises: be parallel to each other at least two slide rails being located at described sewer's station; Described feeding unit is tabular, and its both sides are incorporated into described two slide rails respectively.
Optionally, the position in all sides of the first cut-parts in workspace not on the path that described feeding unit passes in and out described workspace is located at by described manipulator.
Optionally, described image acquisition units comprises camera.
As mentioned above, the utility model provides a kind of coincidence apparatus for sewing, comprising: be loaded with the controller of sewer's station of the first cut-parts, the feeding unit being loaded with the second cut-parts, manipulator, image acquisition units, the described manipulator of electric connection and image acquisition units and make unit; The device advantage of present patent application is as follows: the accurate alignment that be ensure that multilayer cut-parts by the structure as feeding, and can for the technical guarantee alignment coordinating IMAQ and identification, and single unit system structure is simple, volume is little, cost is low.
Accompanying drawing explanation
Fig. 1 is shown as the structural representation of the coincidence apparatus for sewing in the utility model one embodiment.
Fig. 2 a to 2d is shown as the structural representation of the application process in the utility model one embodiment.
Element numbers explanation
1 sewer's station
11 workspaces
2 first cut-parts
3 feeding units
4 second cut-parts
5 manipulators
6 image acquisition units
7 extension rods
Detailed description of the invention
Below by way of specific instantiation, embodiment of the present utility model is described, those skilled in the art the content disclosed by this description can understand other advantages of the present utility model and effect easily.The utility model can also be implemented or be applied by detailed description of the invention different in addition, and the every details in this description also can based on different viewpoints and application, carries out various modification or change not deviating under spirit of the present utility model.It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.
As shown in Figure 1, the utility model provides a kind of coincidence apparatus for sewing, comprising: sewer's station 1, feeding unit 3, manipulator 5, image acquisition units 6, controller (not shown) and make unit (not shown).
Described sewer's station 1, comprising: for carrying the workspace 11 of the first cut-parts 2.In one embodiment, the described workspace 11 i.e. operating space of sewing operation, the work of making can complete in described operating space, and described first cut-parts 2 can be placed in described workspace 11 by position in advance, first cut-parts 2 can have predetermined edge to be aligned, such as illustrated limit A to be stapled.
Described feeding unit 3, it is located at described sewer's station 1 movably, described activity comprises: enter described workspace 11 and be covered on described first cut-parts 2 or shift out feeding unit 3 described in described workspace 112 for carrying the second cut-parts 4, described second cut-parts 4 have the limit B to be stapled of the predetermined edge in described first cut-parts 2 to be aligned.In one embodiment, preferably, described feeding unit 3 at least can complete the action moving into or shift out described workspace 11, can utilize the mode of slide construction to realize, for example, described sewer's station 1 can arrange slide rail in 11 weeks sides, described workspace, described feeding unit 3 can be tabular (flat board of such as square plate or other shapes), can be moved along slide rail in conjunction with described slide rail by the mode such as bearing, concavo-convex combination, thus the second cut-parts 4 are transported into described workspace 11, or transport described workspace 11, both are combined by the mode such as bearing, concavo-convex combination and realize sliding, thus the second cut-parts 4 are transported into described workspace 11, or transport described workspace 11, described coincidence apparatus for sewing also can comprise be located at described sewer's station 1 to being applied to the elevating mechanism (not shown) being elevated described feeding unit 3, after described feeding unit 3 enters workspace 11, it is covered in the top of the first cut-parts 2, and the top of feeding unit 3 carries the second cut-parts 4, in order to the impact of the position on the second cut-parts 4 can be reduced in the process of extracting feeding unit 3 out, so that in its coincident stacked described first cut-parts 2 in ground, therefore to decline described feeding unit 3 and make it after the first cut-parts 2 to preset space length by described elevating mechanism, shift out described feeding unit 3 again.
Described manipulator 5, is located at described sewer's station 1.In one embodiment, described manipulator 5 is provided at the side of workspace 11, preferably, in order to avoid feeding unit 3, the position in workspace 11 in first cut-parts, 2 weeks sides not on the path that described feeding unit 3 passes in and out described workspace 11 is located at by described manipulator 5, namely be not located at feeding unit 3 pass in and out the approaching side of the first cut-parts 2 in workspace 11 or shift out side in the embodiment in figure 1, approaching side is one with shifting out side, but in other embodiments, approaching side with shift out side and can be relative both sides, therefore in the present embodiment, described manipulator 5 can also be arranged on the opposite side that feeding unit 3 passes in and out side, and described approaching side with shift out in side is relative both sides, described feeding unit 3 only can be arranged at the other both sides of workspace 11, therefore the technical solution of the utility model is not for restriction with the embodiment of Fig. 1.
Described image acquisition units 6, it can comprise camera, be located at described sewer's station 1 and the corresponding image information gathered in described workspace 11, described image information comprises: the first image information comprising described first cut-parts 2 image when described feeding unit 3 does not enter described workspace 11; And the second image information comprising described second cut-parts 4 image after described feeding unit 3 enters described workspace 11; Described first image information can extract the positional information of the predetermined edge of the first cut-parts 2, for successive image identification.
As shown in Figure 1, preferably, described image acquisition units 6 is arranged at also shooting downwards directly over workspace 11 by an extension rod 7, thus obtain video or the picture of best angle, more meet the requirement of setting up plane coordinate system, described extension rod 7 can be hollow, the inner circuit laying the described image acquisition units 6 of connection and controller.
Described controller, is electrically connected described manipulator 5 and image acquisition units 6, and according to described first image information and the second image information, control manipulator 5 operates described second cut-parts 4 and aligns by predetermined edge to the first cut-parts 2.In one embodiment, described controller can comprise single-chip microcomputer or CPU processor and peripheral function circuit, it can carry out the process of image recognition, such as, plane coordinate system is set up in the plane of sewer's station 1 or the plane of only workspace 11, the coordinate information of the predetermined edge of the first cut-parts 2 when the feeding unit 3 gathered by described image acquisition units 6 not yet enters workspace 11, thus can after the second cut-parts 4 enter, the edge that control manipulator 5 moves the second cut-parts 4 and makes it to be aligned is consistent with the coordinate information of the predetermined edge of described first cut-parts 2, namely above-mentioned alignment has been reached, described movement comprises: perform translation and one or both operations combined in rotating.
And, in conjunction with above-mentioned, the position of mobile second cut-parts 4 is unlikely in order to shift out feeding unit 3 after the second cut-parts 4 and the first cut-parts 2 alignment, therefore in the process of described feeding unit 3, described controller can control described manipulator 5 and locate described second cut-parts 4, described location comprises: such as compress cloth downwards, or holds described cloth etc. by negative pressure and all can.
Specifically be, the mode of the image recognition of above-mentioned controller is prior art, those skilled in the art should unambiguously realize according to above-mentioned teaching of the present utility model, such as can with reference to following prior art: Chinese Patent Application No. is 201410261331.0, name is called " a kind of vision positioning method for sewing and system ", it discloses " a kind of vision positioning method for sewing and system, also process to obtain by shooting sewer station image and treat sewing cloth image, sewer's station is preset with datum mark, with sewer's station image for coordinate plane is being treated to obtain the centre of form coordinate treating sewing cloth in sewing cloth image, play seam point coordinates, and current sewing direction, with sewer's station for actual position coordinate plane, the centre of form coordinate in sewing work 1 image and a seam point coordinates are converted to the actual position coordinate of sewer's station by the actual position coordinate obtaining datum mark in coordinate plane, to rotate for center of rotation with the actual position coordinate of the centre of form and treat that sewing cloth is parallel to predetermined sewing direction to current sewing direction, calculated mobile route between seam point and datum mark, and moved according to mobile route and treat that sewing cloth is corresponding with datum mark to carry out sewing operation to playing seam point, utilize visual pattern process to position, the original automatic sewing of good solution locates bad problem."; Or being Chinese Patent Application No. is 201410260360.5, name is called " a kind of vision correction methods for sewing and system ", it discloses " a kind of vision correction methods for sewing and system, by moving do teaching by predetermined sewing reference direction in sewer's station; Generating reference image is moved in the teaching of taking in described sewer's station, and will form the teaching motion track of corresponding described teaching movement on described reference picture; In sewing process, intercept the cloth cutting picture in described reference picture; The line default to be corrected of cloth cut-parts is obtained through image procossing; Whether the line default to be corrected of cloth cutting picture described in comparison is corresponding with described teaching motion track; If corresponding, then maintain described sewing process; If not corresponding, then stop described sewing process, the cloth calibration in utilizing visual pattern process to sew, the original automatic sewing of good solution cannot detect the whether crooked problem of cloth.”
So, hardware unit of the present utility model can realize in conjunction with the visual pattern recognition technology of sewing operation in above-mentioned existing document the technical scheme that automatic reclosing makes operation, comprise such as: identify the position of the suture A of the first cut-parts, identify the position of the second pattern sewing line B, and whether align both judging (as coordinate overlaps) etc.
Describedly make unit, be located at described sewer's station 1, after described feeding unit 3 shifts out workspace 11, perform the quilting jobs of the first cut-parts 2 and the second cut-parts 4.In one embodiment, described in make unit such as Sewing machines etc., can be located in sewer's station 1, also can be located at other positions and move to sewer's station 1 place, only need to carry out sewing operation in workspace 11.
As shown in Fig. 2 a to 2d, show enforcement principle of the present utility model by instantiation:
As shown in Figure 2 a, camera and controller composition visual identifying system, carry out location recognition according to the first image information to the first cut-parts 2 in workspace 11, to obtain the positional information of the predetermined edge (such as limit A to be stapled) of the first cut-parts 2; Afterwards, material handling unit enters workspace 11 by the diagram G direction of arrow;
As shown in Figure 2 b, second cut-parts 4 are delivered in workspace 11 by material handling unit, visual identifying system according to gather the to be stapled limit B of the second image information to the second cut-parts 4 on material handling unit and carry out location recognition, and carry out position versus with the reference tape edge A obtained before;
As shown in Figure 2 c, manipulator 5 is caught the second cut-parts 4 and is adjusted the position of the second cut-parts 4, the limit B to be stapled of the second cut-parts 4 on feeding unit 3 is adjusted to A position, the limit to be stapled consistency from top to bottom with the first cut-parts 2; Afterwards, material handling unit enters workspace 11 by the diagram H direction of arrow;
As shown in Figure 2 d, feeding unit 3 drops to as far as possible close to the height of the first cut-parts 2, manipulator 5 compresses the second cut-parts 4 simultaneously, feeding unit 3 detaches workspace 11, make the first cut-parts 2 overlap superimposed with the second cut-parts 4 by limit A to be stapled and limit A to be stapled, manipulator 5 catches the first cut-parts 2 and the second cut-parts 4 to coordinate apparatus for sewing to make.
It should be noted that, when sewing tech requires the operation only needing repetition Fig. 2 b ~ 2d during three or more sheet pattern sewings.
In sum, the utility model provides a kind of coincidence apparatus for sewing, comprised the first image information of the first cut-parts image by image acquisition units collection, the feeding unit of carrying second cut-parts is sent in sewer's station and be placed with in the workspace of the first cut-parts, and be placed in the first cut-parts; By comprising the second image information of the second cut-parts image in collecting work district of image acquisition units institute, Robot actions second cut-parts are controlled to aliging by predetermined edge with the first cut-parts according to the first image information and the second image information, when locating the second cut-parts, feeding unit is shifted out described workspace, and then perform the quilting jobs of the first cut-parts and the second cut-parts; The advantage of present patent application is as follows: the accurate alignment that be ensure that multilayer cut-parts by the structure as feeding, and ensures alignment by the visual identity of cloth, and single unit system structure is simple, volume is little, cost is low.
Above-described embodiment is illustrative principle of the present utility model and effect thereof only, but not for limiting the utility model.Any person skilled in the art scholar all without prejudice under spirit of the present utility model and category, can modify above-described embodiment or changes.Therefore, such as have in art and usually know that the knowledgeable modifies or changes not departing from all equivalences completed under the spirit and technological thought that the utility model discloses, must be contained by claim of the present utility model.
Claims (8)
1. a coincidence apparatus for sewing, is characterized in that, comprising:
Sewer's station, comprising: for carrying the workspace of the first cut-parts;
Carry the feeding unit of the second cut-parts, it is located at described sewer's station movably, and described activity comprises: enter described workspace and be covered on described first cut-parts or shift out described workspace;
Manipulator, is located at described sewer's station;
Image acquisition units, is located at described sewer's station and workspace described in contraposition is arranged;
Controller, is electrically connected described manipulator and image acquisition units;
Apparatus for sewing, for sewing up described first cut-parts and the second cut-parts.
2. coincidence apparatus for sewing according to claim 1, is characterized in that, the operation of described manipulator comprises: translation and/or rotation.
3. coincidence apparatus for sewing according to claim 1, is characterized in that, described manipulator is the second cut-parts described in the inner position of described workspace also, and it is carry out when described location that described feeding unit shifts out workspace.
4. coincidence apparatus for sewing according to claim 1, is characterized in that, described feeding unit described shift out workspace before, also downwards do the motion close to the first cut-parts.
5. coincidence apparatus for sewing according to claim 1, is characterized in that, described feeding unit passes in and out described workspace by slide construction.
6. coincidence apparatus for sewing according to claim 5, is characterized in that, also comprise: be parallel to each other at least two slide rails being located at described sewer's station; Described feeding unit is tabular, and its both sides are incorporated into described two slide rails respectively.
7. coincidence apparatus for sewing according to claim 1, is characterized in that, the position in all sides of the first cut-parts in workspace not on the path that described feeding unit passes in and out described workspace is located at by described manipulator.
8. coincidence apparatus for sewing according to claim 1, is characterized in that, described image acquisition units comprises camera.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520180290.2U CN204530134U (en) | 2015-03-27 | 2015-03-27 | A kind of coincidence apparatus for sewing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520180290.2U CN204530134U (en) | 2015-03-27 | 2015-03-27 | A kind of coincidence apparatus for sewing |
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| CN204530134U true CN204530134U (en) | 2015-08-05 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104727022A (en) * | 2015-03-27 | 2015-06-24 | 杰克缝纫机股份有限公司 | Overlapping sewing device and method |
| CN107237059A (en) * | 2017-07-25 | 2017-10-10 | 宁波慈星股份有限公司 | A kind of sewing track method for correcting error and device sewed based on robot 3D |
| CN107909594A (en) * | 2017-11-27 | 2018-04-13 | 常州市新创智能科技有限公司 | A kind of positioner and method of automatic discrimination quilting starting origin |
| CN110077891A (en) * | 2019-05-17 | 2019-08-02 | 常州纺织服装职业技术学院 | A kind of Corrugating Machine automatic document feeder |
| CN117585476A (en) * | 2024-01-19 | 2024-02-23 | 中储粮成都储藏研究院有限公司 | Method and system for automatically aligning grain to window during warehouse entry |
-
2015
- 2015-03-27 CN CN201520180290.2U patent/CN204530134U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104727022A (en) * | 2015-03-27 | 2015-06-24 | 杰克缝纫机股份有限公司 | Overlapping sewing device and method |
| CN107237059A (en) * | 2017-07-25 | 2017-10-10 | 宁波慈星股份有限公司 | A kind of sewing track method for correcting error and device sewed based on robot 3D |
| CN107909594A (en) * | 2017-11-27 | 2018-04-13 | 常州市新创智能科技有限公司 | A kind of positioner and method of automatic discrimination quilting starting origin |
| CN107909594B (en) * | 2017-11-27 | 2021-09-03 | 常州市新创智能科技有限公司 | Positioning device and method for automatically distinguishing quilting starting original point |
| CN110077891A (en) * | 2019-05-17 | 2019-08-02 | 常州纺织服装职业技术学院 | A kind of Corrugating Machine automatic document feeder |
| CN117585476A (en) * | 2024-01-19 | 2024-02-23 | 中储粮成都储藏研究院有限公司 | Method and system for automatically aligning grain to window during warehouse entry |
| CN117585476B (en) * | 2024-01-19 | 2024-04-16 | 中储粮成都储藏研究院有限公司 | Method and system for automatically aligning grain to window during warehouse entry |
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Address after: 318010 No. 1008, east section of Donghai Avenue, Sanjia, Jiaojiang District, Taizhou City, Zhejiang Province Patentee after: Jack Technology Co.,Ltd. Address before: 318010 No. 15 Airport South Road, Jiaojiang District, Zhejiang, Taizhou Patentee before: JACK SEWING MACHINE Co.,Ltd. |