CN214168335U - Manipulator sewing machine - Google Patents

Abstract

This application belongs to sewing machine technical field, refers in particular to a manipulator sewing machine, including having manipulator and sewing machine body, the manipulator is including end execution end, and end execution end is connected the sewing machine frame that the sewing machine body has is fixed with upper head subassembly and the lower head assembly that is located upper head subassembly below in the sewing machine frame, and upper head subassembly and lower head assembly cooperate in order to realize the sewing operation, upper head subassembly, lower head assembly, manipulator all with sewing machine electrically controlled device electric connection. The beneficial technical effect of this application is through carrying out the modularization with the sewing machine body and cutting apart into upper handpiece subassembly and lower handpiece subassembly, and upper handpiece subassembly and lower handpiece subassembly are fixed on the sewing machine frame, and the last execution end of manipulator controls the sewing machine frame and carries out the curved surface along with upper handpiece subassembly and lower handpiece subassembly and make up, realizes replacing the operation of manual sewing curved surface seam goods, realizes making up of curved surface seam goods on the flush joint machine, the spreading value that has.

Description

Manipulator sewing machine

Technical Field

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

Background

The existing sewing machine is placed at a sewing station in a whole machine mode, sewing of cloth is carried out under the manual control of sewing personnel, a large amount of manual labor is needed, the whole sewing efficiency is low, automatic production cannot be carried out, and meanwhile, the quality of material sewing and the efficiency of material sewing completely depend on the sewing technology and sewing experience of the sewing personnel, so that the sewing quality cannot be guaranteed. The existing sewing machine has the condition that the sewing machine can not sew the sewing product with the curved surface shape, for example, the curved surface sewing product can not work on a flat sewing machine, and needs manual sewing, and the existing sewing machine industry does not have the sewing machine which can implement curved surface sewing.

Disclosure of Invention

The utility model aims at providing a manipulator sewing machine, it carries out the modularization with the sewing machine and cuts apart into upper handpiece subassembly and lower handpiece subassembly, and upper handpiece subassembly and lower handpiece subassembly are fixed on sewing machine frame, are waited to make up the material by the shooting of vision camera lens and control the manipulator and correspond the module and carry out the sewing operation through sewing machine electrically controlled device to the realization is to the automatic sewing purpose of curved surface sewing product, and its degree of automation is high, sewing efficiency is high and the sewing quality is good.

The application is realized as follows: the utility model provides a manipulator sewing machine, its characterized in that, includes manipulator and sewing machine body, the manipulator is including end execution end, and end execution end connects the sewing machine frame that the sewing machine body has is fixed with upper head subassembly and the lower head assembly that is located upper head subassembly below in the sewing machine frame, and upper head subassembly and lower head assembly cooperate in order to realize the sewing operation, upper head subassembly, lower head assembly, manipulator all with sewing machine electric control device electric connection.

Preferably, the upper head assembly is fixedly connected to the upper part of the sewing machine frame, the lower head assembly is fixedly connected to the lower part of the sewing machine frame, and a vision lens for photographing a material to be sewn positioned between the upper head assembly and the lower head assembly is arranged on the upper head assembly or the lower head assembly or on the outer sides of the upper head assembly and the lower head assembly.

Preferably, the visual lens is fixed in the upper machine head shell, a detection port for the visual lens to shoot the material to be sewn is formed in the upper machine head shell, and the visual lens is fixed on the outer side wall of the upper machine head shell through the mounting support.

Preferably, the upper handpiece component comprises an upper handpiece shell, a needle rod and a presser foot rod are vertically and slidably connected to the upper handpiece shell, a presser foot is arranged at the lower end of the presser foot rod, the upper end of the presser foot rod is in transmission connection with a presser foot lifting drive motor, a presser foot lifting cam is fixedly sleeved on an output shaft of the presser foot lifting drive motor, a positioning plate is fixedly sleeved at the upper end of the presser foot rod, a first elastic part is arranged between the lower end face of the positioning plate and the corresponding side wall of the upper handpiece shell, and the elastic force of the first elastic part drives the upper end face of the presser foot rod to abut against the cam face of the presser foot lifting cam.

Preferably, a thread take-up assembly is fixed on the upper machine head shell and provided with a thread take-up turntable, and a thread take-up column is arranged at the eccentric position of the thread take-up turntable.

Preferably, the inner end of a take-up rotating shaft of the take-up assembly is fixedly sleeved with a linkage disk fixed with the crank in the circumferential direction, the crank is rotatably connected with the take-up rotating shaft which has the same axis with the output shaft of the needle driving motor, and the outer end of the take-up rotating shaft extends out of the upper handpiece shell and is fixedly sleeved with a take-up rotating disk.

Preferably, the lower handpiece assembly comprises a lower handpiece shell, a rotating shuttle assembly corresponding to the position of the needle hole is arranged in the lower handpiece shell, the rotating shuttle assembly comprises a rotating shuttle rod fixed on the lower handpiece shell and a rotating shuttle fixed at the end part of the rotating shuttle rod, a rotating shuttle operation shaft sleeve is sleeved outside the rotating shuttle rod and is rotationally connected with the rotating shuttle, a crochet hook corresponding to the position of the rotating shuttle is arranged on the rotating shuttle operation shaft sleeve, the rotating shuttle driving assembly comprises a rotating shuttle driving motor fixed on the lower handpiece shell, and an output shaft of the rotating shuttle driving motor is in transmission connection with the rotating shuttle operation shaft sleeve.

Preferably, the lower machine head assembly comprises a lower machine head shell, a thread cutting assembly which corresponds to the position of the needle hole and is matched with the rotating shuttle assembly is arranged in the lower machine head shell, the thread cutting driving assembly comprises a thread cutting driving connecting rod, the thread cutting driving connecting rod moves and rotates under the matching limitation of the arc-shaped slotted hole, the limiting strip-shaped hole and the elastic piece II, and the thread cutting driving connecting rod is provided with a linkage end part II which extends into a linkage groove formed in the rotating shuttle operation shaft sleeve.

Preferably, the thread cutting assembly further comprises a large movable cutter holder fixed with a large blade and a small movable cutter holder fixed with a small blade, the large movable cutter holder and the small movable cutter holder are both connected on the same axis in a circumferential rotating manner, the thread cutting driving assembly comprises a thread cutting driving connecting rod and a thread cutting linear motor fixed in the lower machine head shell, the thread cutting driving connecting rod is provided with three end parts which are respectively a driving end part, a linkage end part I and a linkage end part II, the linkage end part I is hinged with one end of the large connecting rod, the other end of the large connecting rod is hinged with the large movable cutter holder, the linkage end part II is hinged with one end of the small connecting rod, the other end of the small connecting rod is hinged with the small movable cutter holder, the linkage end part II is provided with a limiting strip-shaped hole in sliding fit with the lower machine head shell, an elastic part II is arranged between the driving end part and the lower machine head shell, the small movable cutter holder and the large movable cutter holder are circumferentially rotated on the rotating shaft, when the telescopic end of the trimming linear motor extends outwards, the trimming driving connecting rod moves and rotates under the matching limitation of the arc-shaped slotted hole, the limiting strip-shaped hole and the second elastic piece.

Preferably, the lower head assembly comprises a lower head shell, a feed dog driving assembly corresponding to the position of the needle hole is arranged in the lower head shell, the feed dog driving assembly comprises a sliding support rod and a sliding support rod seat, the middle part of the sliding support rod seat is hinged on the lower head shell, two ends of the sliding support rod are respectively inserted and connected to two end arms of the sliding support rod seat in a sliding manner, the feed dog is arranged in the middle part of the sliding support rod, a front and rear feeding motor is fixed on the sliding support rod seat, an output shaft of the front and rear feeding motor is hinged with one end of a feed connecting rod through an eccentric wheel, the other end of the feed connecting rod is hinged with the sliding support rod, an upper and lower feeding motor is arranged on the lower head shell below the sliding support rod seat, the upper and lower feeding motor is provided with two output ends and is fixedly sleeved with a feeding cam, and the bottom surfaces of two ends of the sliding support rod seat are respectively abutted against cam surfaces of the corresponding feeding cams, and semicircular contact blocks are arranged on the bottom surfaces of the two ends of the sliding support rod seat and are abutted against the cam surface of the corresponding feeding cam.

The beneficial technical effect of this application is through carrying out the modularization with the sewing machine body and cutting apart into upper handpiece subassembly and lower handpiece subassembly, and upper handpiece subassembly and lower handpiece subassembly are fixed on the sewing machine frame, and the last execution end of manipulator controls the sewing machine frame and carries out the curved surface along with upper handpiece subassembly and lower handpiece subassembly and make up, realizes replacing the operation of manual sewing curved surface seam goods, realizes making up of curved surface seam goods on the flush joint machine, the spreading value that has.

Drawings

FIG. 1 is a perspective view of a robotic sewing machine of the present application;

FIG. 2 is a perspective view of an upper head assembly of a robotic sewing machine according to the present application;

FIG. 3 is a perspective view of an upper head assembly of the upper head housing of a robotic sewing machine according to the present application;

FIG. 4 is a perspective view of a lower head assembly of a robotic sewing machine according to the present application;

FIG. 5 is a perspective view of a robotic sewing machine shuttle assembly according to the present application;

FIG. 6 is a perspective view of a thread trimming assembly of a robotic sewing machine according to the present application;

fig. 7 is a perspective view of a feed dog and a feed dog driving assembly of a manipulator sewing machine according to the present application.

Reference numerals: 1. an upper head assembly; 2. a lower head assembly; 3. an end execution end; 4. material to be sewn; 5. a visual lens; 59. mounting a bracket; 6. a rack; 7. a sewing machine frame; 10. an upper handpiece shell; 11. a needle bar; 12. a needle; 13. a presser bar; 14. a presser foot; 15. a needle driving motor; 16. a crank; 17. a needle bar connecting rod; 19. a thread take-up assembly; 20. a thread take-up rotating shaft; 21. a linkage disk; 22. a thread take-up turntable; 23. selecting a wire column; 24. a presser foot lifting drive motor; 25. lifting a presser foot cam; 26. positioning a plate; 27. a first elastic part; 28. a wire clamping device; 29. a lower handpiece housing; 30. a needle plate; 31. a cloth feeding tooth groove; 32. a feed dog; 33. a rotating shuttle; 34. rotating the rotating shaft sleeve by the rotating shuttle; 35. hooking a needle; 36. a rotating shuttle driving motor; 37. a large blade; 38. a large movable cutter holder; 39. a small blade; 40. a small movable cutter holder; 41. a trimming drive link; 42. a trimming linear motor; 43. an arc-shaped slot; 44. a large connecting rod; 45. a small connecting rod; 46. limiting strip-shaped holes; 47. a linkage groove; 48. a second elastic piece; 49. a sliding support rod; 50. a sliding strut seat; 51. a front and rear feed motor; 52. a cloth feeding connecting rod; 53. an up-and-down feeding motor; 54. a feed cam.

Detailed Description

The following detailed description of the preferred embodiments of the present application, taken in conjunction with the accompanying drawings, is provided to enable those skilled in the art to more readily understand the advantages and features of the present application, and is intended to more clearly and distinctly define the scope of the invention, which is set forth by way of illustration only and is not intended to be limiting of the invention.

Fig. 1 and 2 show a manipulator sewing machine according to the present application, which includes a sewing machine body and a manipulator. The manipulator is including last execution end 3, last execution end 3 connects foretell sewing machine body, and the sewing machine body is fixed with upper handpiece subassembly 1 and lower handpiece subassembly 2 that is located upper handpiece subassembly 1 below including sewing machine frame 7, upper handpiece subassembly 1 and lower handpiece subassembly 2 on the sewing machine frame 7, and upper handpiece subassembly 1 cooperatees with lower handpiece subassembly 2 and realizes sewing work. The upper head assembly 1 is fixedly connected to the upper part of the sewing machine frame 7, the lower head assembly 2 is fixedly connected to the lower part of the sewing machine frame 7, the sewing machine frame 7 is connected with the end execution end 3 of the manipulator, and the end execution end 3 of the manipulator controls the running track of the sewing machine frame 7, so that the operation of the sewing machine body comprising the upper head assembly 1 and the lower head assembly 2 is controlled by the manipulator. A visual lens 5 for shooting the material 4 to be sewn between the upper machine head assembly 1 and the lower machine head assembly 2 is arranged on the upper machine head assembly 1 or the lower machine head assembly 2 or on the outer sides of the upper machine head assembly 1 and the lower machine head assembly 2. The vision lens 5, the upper machine head assembly 1, the lower machine head assembly 2 and the manipulator are electrically connected with the sewing machine electric control device, and the sewing machine electric control device respectively controls the displacement transformation of the sewing machine frame 7, the start or stop of the upper machine head assembly 1 and the start or stop of the lower machine head assembly 2 according to images shot by the vision lens 5. In this embodiment, the fixing manner adopted by the visual lens 5 is as follows: the vision lens 5 is fixed on the outer side wall of the upper handpiece shell 10 through a mounting bracket 59.

In the practical application process of the embodiment, the rack 6 is arranged on the outer sides of the upper machine head assembly 1 and the lower machine head assembly 2, the rack 6 is used for fixedly placing the straight or curved material 4 to be sewn, the visual lens 5 shoots the material 4 to be sewn placed on the rack 6, and the shot two-dimensional image is transmitted to the electric control device of the sewing machine. The sewing machine electric control device calculates and plans the sewing route of the cloth according to the two-dimensional image, and then the sewing machine electric control device respectively controls the upper machine head component 1, the lower machine head component 2 and the sewing machine frame 7, so that the upper machine head component 1 and the lower machine head component 2 can be mutually matched to realize curved surface sewing of the material 4 to be sewn on the rack 6, and the high-difficulty curved surface sewing of the sewing machine needle with the manipulator of the application to the sewn article in the curved surface shape is realized. Wherein the above-mentioned vision lens 5 can be arranged on the outer side of the upper handpiece assembly 1, and in the present embodiment, the vision lens 5 is arranged on the upper handpiece assembly 1. Of course, the following fixing method can be adopted for the vision lens 5: the vision lens 5 is fixed in the upper machine head shell 10, and a detection through hole for the vision lens 5 to shoot the material 4 to be sewn is formed in the upper machine head shell 10; alternatively, the vision lens 5 may be fixed to the side of the lower head module 2.

The operation of sewing machine frame 7 is controlled by the manipulator through the sewing machine electric control device, and upper head assembly 1 and lower head assembly 2 thereof, the material 4 to be sewn is shot by means of the visual lens 5, the sewing machine frame 7 is controlled by the sewing machine electric control device according to the image shot by the visual lens 5, and upper head assembly 1 and lower head assembly 2 thereof, so as to replace the existing manual sewing operation of sewing the curved surface sewing article, the purpose of sewing the automatic curved surface sewing article is realized, the sewing automation degree is high, the sewing efficiency is high, and the sewing quality is excellent.

In fig. 3 and 4, further, since the present application modularizes the sewing machine body, in order to ensure that the two modules of the upper head assembly 1 and the lower head assembly 2 can perform normal sewing operation, the upper head assembly 1 should have the following specific structure: comprises an upper head shell 10. The upper handpiece shell 10 is vertically and vertically connected with a needle rod 11 and a presser bar 13 in a sliding manner, the lower end of the needle rod 11 is provided with a needle 12, the upper end of the needle rod 11 is in transmission connection with a needle driving assembly, and the needle driving assembly drives the needle rod 11 and the needle 12 to vertically move up and down. The lower end of the presser bar 13 is provided with a presser foot 14, the upper end of the presser bar 13 is in transmission connection with a presser foot lifting driving assembly, and the presser bar 13 and the presser foot 14 are driven by the presser foot lifting driving assembly to do presser foot lifting action along the vertical direction.

Furthermore, since the present application modularly divides the sewing machine body, in order to ensure that the upper head assembly 1 and the lower head assembly 2 perform normal sewing operations in a modular manner, the upper head assembly 1 should have a specific structure as follows: the upper head assembly 1 includes an upper head housing 10. The upper handpiece shell 10 is vertically and vertically connected with a needle rod 11 and a presser bar 13 in a sliding manner, the lower end of the needle rod 11 is provided with a needle 12, the upper end of the needle rod 11 is in transmission connection with a needle driving assembly, and the needle driving assembly drives the needle rod 11 and the needle 12 to vertically move up and down. The lower end of the presser bar 13 is provided with a presser foot 14, the upper end of the presser bar 13 is in transmission connection with a presser foot lifting driving assembly, and the presser bar 13 and the presser foot 14 are driven by the presser foot lifting driving assembly to do presser foot lifting action along the vertical direction.

The needle driving assembly may adopt a common structure in the prior art, and in this embodiment, the needle driving assembly adopts a specific structure as follows: the needle driving assembly comprises a needle driving motor 15 fixed in the upper handpiece shell 10, a crank 16 is installed on an output shaft of the needle driving motor 15 and is hinged with one end of a needle rod connecting rod 17 through the crank 16, the other end of the needle rod connecting rod 17 is hinged with a needle rod 11, namely, the needle driving motor 15 drives the crank 16 to rotate circumferentially so as to drive the needle rod 11 and the needle 12 to move vertically by means of the needle rod connecting rod 17.

Moreover, a thread take-up assembly 19 is arranged on the upper handpiece shell 10, and the specific structure thereof is as follows: a thread take-up assembly 19 is fixed on the upper handpiece shell 10. The thread take-up assembly 19 has a thread take-up rotary table 22 and a thread take-up rotary shaft 20 rotatably connected with the same axis as the output shaft of the needle driving motor 15, the outer end of the thread take-up rotary shaft 20 extends out of the upper machine head shell 10 and is fixedly sleeved with the thread take-up rotary table 22, and the inner end of the thread take-up rotary shaft 20 is fixedly sleeved with a linkage disc 21 fixed with the crank 16 in the circumferential direction. The eccentric position of the take-up rotary disc 22 is provided with a take-up column 23, the crank 16 is driven by the needle driving motor 15 to rotate circumferentially, and the take-up rotary disc 22 is driven by the linkage disc 21 and the take-up rotary shaft 20. When the sewing upper thread is wound from one thread clamping device 28 to the sleeved thread picking column 23, and then the sewing upper thread is wound from the thread picking column 23 to the other thread clamping device 28, the thread picking column 23 rotates in the circumferential direction to change the upper position and the lower position in the circumferential rotation of the thread picking rotary disc 22, so that the thread picking action of the sewing upper thread is realized.

Furthermore, the presser foot lifting driving assembly may also adopt a common structure in the prior art, and in this embodiment, the specific structure adopted by the presser foot lifting driving assembly is as follows: the presser foot lifting drive assembly includes a presser foot lifting drive motor 24 secured to the upper head housing 10. A pressure foot lifting cam 25 is fixedly sleeved on an output shaft of the pressure foot lifting driving motor 24, a positioning plate 26 is fixedly sleeved at the upper end of the pressure foot rod 13, a first elastic part 27 is arranged between the lower end surface of the positioning plate 26 and the corresponding side wall of the upper head shell 10, the upper end surface of the pressure foot rod 13 is driven by the elastic force of the first elastic part 27 to abut against the cam surface of the pressure foot lifting cam 25, the cam surface of the pressure foot lifting cam 25 is provided with a lifting surface and a pressing surface, and the pressure foot lifting driving motor 24 drives the pressure foot lifting cam 25 to rotate so as to lift or press the pressure foot rod 13 and the pressure foot 14.

In fig. 4, in order to ensure that the upper head assembly 1 and the lower head assembly 2 can perform normal sewing operation, the lower head assembly 2 should have a specific structure as follows: the lower machine head assembly 2 comprises a lower machine head shell 29, a needle plate 30 is arranged on the lower machine head shell 29, a needle hole and a cloth feeding tooth groove 31 are formed in the needle plate 30, a rotating shuttle assembly corresponding to the position of the needle hole, a thread cutting assembly matched with the rotating shuttle assembly and a cloth feeding tooth driving assembly are arranged in the lower machine head shell 29, the rotating shuttle assembly is driven by the rotating shuttle driving assembly to perform sleeving action, the thread cutting assembly is driven by the thread cutting driving assembly to perform thread cutting action, the cloth feeding tooth 32 is driven by the cloth feeding tooth driving assembly to perform feeding action, and the cloth feeding tooth 32 is matched with the cloth feeding tooth groove 31.

In fig. 5, further, the rotating shuttle assembly and the rotating shuttle driving assembly may adopt the conventional structure in the prior art, and in this embodiment, the specific structure adopted by the rotating shuttle assembly and the rotating shuttle driving assembly is as follows: the rotating shuttle component comprises a rotating shuttle rod fixed on the lower machine head shell 29 and a rotating shuttle 33 fixed at the end part of the rotating shuttle rod, the rotating shuttle rod is sleeved outside and is rotatably connected with a rotating shuttle movement shaft sleeve 34, a crochet hook 35 corresponding to the rotating shuttle 33 is arranged on the rotating shuttle movement shaft sleeve 34, the rotating shuttle driving component comprises a rotating shuttle driving motor 36 fixed on the lower machine head shell 29, an output shaft of the rotating shuttle driving motor 36 is in transmission connection with the rotating shuttle movement shaft sleeve 34, and the rotating movement shaft sleeve 34 drives the crochet hook 35 to hook an upper line and a bottom line to form a hitch knot.

In fig. 6, the thread cutting assembly and the thread cutting driving assembly can adopt the common structure of the prior art, and in this embodiment, the specific structure adopted by the thread cutting assembly and the thread cutting driving assembly is as follows: the thread trimming assembly comprises a large movable cutter seat 38 fixed with a large blade 37 and a small movable cutter seat 40 fixed with a small blade 39, and the large movable cutter seat 38 and the small movable cutter seat 40 are both connected on the same axis in a circumferential rotating mode. The trimming driving assembly comprises a trimming driving connecting rod 41 and a trimming linear motor 42 fixed in the lower head shell 29, the trimming driving connecting rod 41 is provided with three end parts which are respectively a driving end part, a linkage end part I and a linkage end part II, a telescopic end of the trimming linear motor 42 is slidably connected to an arc-shaped slotted hole 43 formed in the driving end part, the linkage end part I is hinged to one end of a large connecting rod 44, the other end of the large connecting rod 44 is hinged to the large knife base 38, the linkage end part II is hinged to one end of a small connecting rod 45, the other end of the small connecting rod 45 is hinged to the small knife base 40, a limiting strip-shaped hole 46 in sliding fit with the lower head shell 29 is formed in the linkage end part II, the linkage end part II extends into a linkage groove 47 formed in the rotating shaft sleeve 34 of the rotating shuttle, and an elastic part II 48 is arranged between the driving end part and the lower head shell 29. In this embodiment, the small movable blade holder 40 and the large movable blade holder 38 rotate circumferentially on the rotating shuttle movement shaft sleeve 34, when the telescopic end of the thread trimming linear motor 42 extends outward, the thread trimming driving link 41 moves and rotates under the restriction of the arc-shaped slot hole 43, the limiting strip-shaped hole 46 and the second elastic element 48, and meanwhile, the rotating shuttle movement shaft sleeve 34 applies a circumferential acting force to the second linkage end through the linkage slot 47, so that the thread trimming driving link 41 can rotate circumferentially, and then the small movable blade holder 40 and the large movable blade holder 38 are driven to rotate oppositely through the small link 45 and the large link 44, respectively, so that the large blade 37 and the small blade 39 move cooperatively to realize thread trimming.

In fig. 7, further, the feed dog driving assembly may adopt a conventional structure in the prior art, and in this embodiment, the feed dog driving assembly adopts a specific structure as follows: the feed dog driving assembly comprises a sliding support rod 49 and a sliding support rod seat 50, the middle of the sliding support rod seat 50 is hinged to the lower machine head shell 29, two ends of the sliding support rod 49 are respectively inserted and connected to two end arms of the sliding support rod seat 50 in a sliding mode, the feed dog 32 is arranged in the middle of the sliding support rod 49, a front-back feeding motor 51 is fixed to the sliding support rod seat 50, an output shaft of the front-back feeding motor 51 is hinged to one end of a feed connecting rod 52 through an eccentric wheel, the other end of the feed connecting rod 52 is hinged to the sliding support rod 49, and an up-down feeding motor 53 is arranged on the lower machine head shell 29 below the sliding support rod seat 50. The up-down feeding motor 53 has two output ends, and is fixedly sleeved with the feeding cam 54, and the bottom surfaces of the two ends of the sliding support rod seat 50 are respectively abutted against the cam surfaces of the corresponding feeding cam 54. Wherein, the bottom surfaces of the two ends of the sliding support rod seat 50 are provided with semicircular contact blocks which are contacted with the cam surface of the corresponding feeding cam 54, the eccentric wheel is driven by the front and back feeding motor 51 to rotate, and the sliding support rod 49 is driven by the cloth feeding connecting rod 52 to slide left and right in a reciprocating way along the axial direction; the two feed cams 54 are driven by the up-down feed motor 53 to rotate, so that the left and right ends of the sliding support base 50 can swing up and down around the hinge joint of the sliding support base 50 and the lower head housing 29, thereby realizing the feed motion of the feed dog 32.

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

Claims (10)

1. The utility model provides a manipulator sewing machine, its characterized in that, includes manipulator and sewing machine body, the manipulator is including end execution end (3), and end execution end (3) are connected sewing machine frame (7) that the sewing machine body has are fixed with upper handpiece subassembly (1) and lower handpiece assembly (2) that are located upper handpiece subassembly (1) below on sewing machine frame (7), and upper handpiece subassembly (1) cooperatees with lower handpiece assembly (2) in order to realize the sewing operation, upper handpiece subassembly (1), lower handpiece assembly (2), manipulator all with sewing machine electric control device electric connection.

2. The manipulator sewing machine according to claim 1, wherein the upper head assembly (1) is fixedly connected to the upper portion of the sewing machine frame (7), the lower head assembly (2) is fixedly connected to the lower portion of the sewing machine frame (7), and a vision lens (5) for photographing the material (4) to be sewn between the upper head assembly (1) and the lower head assembly (2) is disposed on the upper head assembly (1) or on the lower head assembly (2) or on the outer sides of the upper head assembly (1) and the lower head assembly (2).

3. The manipulator sewing machine according to claim 2, wherein the vision lens (5) is fixed in the upper machine head shell (10), a detection through hole for the vision lens (5) to shoot the material to be sewn (4) is formed in the upper machine head shell (10), and the vision lens (5) is fixed on the outer side wall of the upper machine head shell (10) through a mounting bracket (59).

4. The manipulator sewing machine according to claim 1, wherein the upper head assembly (1) comprises an upper head housing (10), a needle bar (11) and a presser bar (13) are vertically and slidably connected to the upper head housing (10), a presser foot (14) is disposed at a lower end of the presser bar (13), an upper end of the presser bar (13) is in transmission connection with a presser foot lifting drive motor (24), a presser foot lifting cam (25) is fixedly sleeved on an output shaft of the presser foot lifting drive motor (24), a positioning plate (26) is fixedly sleeved at an upper end of the presser bar (13), a first elastic member (27) is disposed between a lower end surface of the positioning plate (26) and a corresponding side wall of the upper head housing (10), and an elastic force of the first elastic member (27) drives the upper end surface of the presser bar (13) to abut against a cam surface of the presser foot lifting cam (25).

5. A manipulator sewing machine according to claim 3, wherein a thread take-up assembly (19) is fixed on the upper head shell (10), the thread take-up assembly (19) is provided with a thread take-up rotary disc (22), and a thread take-up column (23) is arranged at an eccentric position of the thread take-up rotary disc (22).

6. A manipulator sewing machine according to claim 5, wherein the take-up assembly (19) has a take-up spindle (20) having an inner end fixedly sleeved with a linkage disk (21) circumferentially fixed to the crank (16), the crank (16) is rotatably connected with the take-up spindle (20) having the same axis as the output shaft of the needle driving motor (15), and an outer end of the take-up spindle (20) extends out of the upper head housing (10) and is fixedly sleeved with a take-up turntable (22).

7. The manipulator sewing machine according to claim 1, wherein the lower head assembly (2) comprises a lower head housing (29), a rotating shuttle assembly corresponding to the position of the needle hole is arranged in the lower head housing (29), the rotating shuttle assembly comprises a rotating shuttle rod fixed on the lower head housing (29) and a rotating shuttle (33) fixed at the end of the rotating shuttle rod, a rotating shuttle rotating shaft sleeve (34) is sleeved outside the rotating shuttle rod and is rotatably connected with the rotating shuttle rotating shaft sleeve (34), a crochet hook (35) corresponding to the position of the rotating shuttle (33) is arranged on the rotating shuttle rotating shaft sleeve (34), the rotating shuttle driving assembly comprises a rotating shuttle driving motor (36) fixed on the lower head housing (29), and an output shaft of the rotating shuttle driving motor (36) is in transmission connection with the rotating shuttle rotating shaft sleeve (34).

8. The manipulator sewing machine according to claim 1, wherein the lower head assembly (2) comprises a lower head shell (29), a thread cutting assembly matched with the rotating shuttle assembly and corresponding to the position of the needle hole is arranged in the lower head shell (29), the thread cutting driving assembly comprises a thread cutting driving connecting rod (41), the thread cutting driving connecting rod (41) moves and rotates under the matching limitation of an arc-shaped slotted hole (43), a limiting strip-shaped hole (46) and a second elastic piece (48), and the thread cutting driving connecting rod (41) is provided with a linkage end portion (II) which extends into a linkage groove (47) formed in a rotating shaft sleeve (34) of the rotating shuttle.

9. The manipulator sewing machine according to claim 8, wherein the thread trimming assembly further comprises a large movable cutter holder (38) to which a large blade (37) is fixed and a small movable cutter holder (40) to which a small blade (39) is fixed, the large movable cutter holder (38) and the small movable cutter holder (40) are both circumferentially and rotatably connected on the same axis, the thread trimming driving assembly comprises a thread trimming driving connecting rod (41) and a thread trimming linear motor (42) fixed in the lower head housing (29), the thread trimming driving connecting rod (41) has three end portions which are respectively a driving end portion, a linkage end portion I and a linkage end portion II, the linkage end portion I is hinged to one end of the large connecting rod (44), the other end of the large connecting rod (44) is hinged to the large movable cutter holder (38), the linkage end portion II is hinged to one end of the small connecting rod (45), the other end of the small connecting rod (45) is hinged to the small movable cutter holder (40), the second linkage end part is provided with a limiting strip-shaped hole (46) in sliding fit with the lower machine head shell (29), the second linkage end part is provided with a second elastic part (48) between the driving end part and the lower machine head shell (29), the small movable tool apron (40) and the large movable tool apron (38) rotate circumferentially on the rotating shuttle operation shaft sleeve (34), and when the telescopic end of the trimming linear motor (42) extends outwards, the trimming driving connecting rod (41) moves and rotates under the limitation of the matching of the arc-shaped slotted hole (43), the limiting strip-shaped hole (46) and the second elastic part (48).

10. A manipulator sewing machine according to claim 1, wherein the lower head assembly (2) comprises a lower head housing (29), a feed dog driving assembly corresponding to the position of the needle hole is arranged in the lower head housing (29), the feed dog driving assembly comprises a sliding support rod (49) and a sliding support rod seat (50) with the middle hinged on the lower head housing (29), two ends of the sliding support rod (49) are respectively inserted and connected to the two end arms of the sliding support rod seat (50) in a sliding manner, the feed dog (32) is arranged in the middle of the sliding support rod (49), a front and rear feeding motor (51) is fixed on the sliding support rod seat (50), the output shaft of the front and rear feeding motor (51) is hinged with one end of a feed connecting rod (52) through an eccentric wheel, and the other end of the feed connecting rod (52) is hinged with the sliding support rod (49), an upper feeding motor (53) and a lower feeding motor (53) are arranged on the lower handpiece shell (29) below the sliding support rod seat (50), the upper feeding motor and the lower feeding motor (53) are provided with two output ends and are fixedly sleeved with feeding cams (54), the bottom surfaces of the two ends of the sliding support rod seat (50) are respectively abutted against the cam surfaces of the corresponding feeding cams (54), semicircular abutting blocks are arranged on the bottom surfaces of the two ends of the sliding support rod seat (50), and the semicircular abutting blocks are abutted against the cam surfaces of the corresponding feeding cams (54).

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