CN214422845U - Manipulator sewing machine controlled by vision - Google Patents

Abstract

The utility model belongs to the technical field of sewing machine, refer in particular to a manipulator sewing machine by visual control. The sewing machine comprises a sewing machine body and a manipulator, wherein the sewing machine body comprises an upper machine head component and a lower machine head component, the manipulator comprises an upper thread manipulator and a bottom thread manipulator, a visual lens is arranged on the upper machine head component, and the visual lens, the upper machine head component, the lower machine head component, the upper thread manipulator and the bottom thread manipulator are all electrically connected with a control assembly. The utility model discloses a carry out the modularization with the sewing machine body and cut apart, press from both sides through pneumatic fixture clamp by the manipulator and get, shift and rotatory top assembly and bottom assembly, simultaneously, top assembly, bottom assembly, top mechanical hand and bottom line manipulator are gone up according to the image control that the vision camera lens was shot by the control assembly to replace current manual sewing operation, realize automatic sewing purpose, its degree of automation is high, sewing efficiency is high and the sewing quality is good.

Description

Manipulator sewing machine controlled by vision

Technical Field

The utility model belongs to the technical field of sewing machine, refer in particular to a manipulator sewing machine by visual control.

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.

Disclosure of Invention

The utility model aims at providing a by vision control's manipulator sewing machine, it carries out the modularization with sewing machine and cuts apart, is shot by the vision camera lens and waits to make up the cloth and control the manipulator and correspond the module through the control assembly and carry out the sewing operation to realize automatic sewing purpose, its degree of automation is high, sewing efficiency is high and the sewing quality is good.

The utility model discloses a realize like this:

a manipulator sewing machine controlled by vision comprises a sewing machine body and a manipulator, wherein the sewing machine body comprises an upper machine head component and a lower machine head component positioned under the upper machine head component, the upper machine head component is matched with the lower machine head component to realize sewing operation, the manipulator comprises an upper thread manipulator with a tail execution end connected with the upper machine head component and a bobbin thread manipulator with a tail execution end connected with the lower machine head component, a vision lens for shooting cloth to be sewn positioned between the upper machine head component and the lower machine head component is arranged on the upper machine head component or on the lower machine head component or on the outer sides of the upper machine head component and the lower machine head component, the vision lens, the upper machine head component, the lower machine head component, the upper thread manipulator and the bobbin thread manipulator are electrically connected with a control assembly, and the control assembly respectively controls the start or stop of the upper machine head component according to images shot by the vision lens, Starting or stopping of the lower head assembly, displacement transformation of the upper line manipulator and the lower line manipulator.

The visual control manipulator sewing machine further comprises a fixed frame, the tail end of the thread feeding manipulator is fixed on an upper sliding seat, the upper sliding seat is connected to an upper transverse sliding rail in a transverse mode, and the upper transverse sliding rail is connected to an upper longitudinal sliding rail which is arranged in a longitudinal mode and fixed on the fixed frame in a sliding mode; the tail end of the bobbin thread manipulator is fixed on the lower sliding seat, the lower sliding seat is connected to a lower longitudinal sliding rail which is longitudinally arranged in a sliding mode, and the lower longitudinal sliding rail is connected to a lower transverse sliding rail which is transversely arranged and fixed on the fixing frame in a sliding mode.

In the visual control manipulator sewing machine, the upper machine head component comprises an upper machine head shell, a needle rod and a presser foot rod are vertically and vertically connected to the upper machine head shell in a sliding mode, a needle is arranged at the lower end of the needle rod, the upper end of the needle rod is in transmission connection with a needle driving component, the needle driving component drives the needle rod and the needle to vertically move up and down, 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 driving component, and the presser foot lifting driving component drives the presser foot rod and the presser foot to vertically lift the presser foot.

In the above-mentioned manipulator sewing machine controlled by vision, the vision lens is fixed on the outer side wall of the upper head shell through a mounting bracket; or the visual lens is fixed in the upper machine head shell, and a detection port for the visual lens to shoot the cloth to be sewn is formed in the upper machine head shell.

In the above-mentioned manipulator sewing machine controlled by vision, the needle driving assembly includes a needle driving motor fixed in the upper head housing, an output shaft of the needle driving motor is hinged to one end of a needle rod connecting rod through a crank, and the other end of the needle rod connecting rod is hinged to a connecting post fixedly sleeved on the upper end of the needle rod.

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

In the vision-controlled manipulator sewing machine, the lower head assembly comprises a lower head shell, a needle plate is arranged on the lower head shell, a needle hole and a cloth feeding tooth groove are formed in the needle plate, a rotating shuttle assembly corresponding to the needle hole, a thread cutting assembly matched with the rotating shuttle assembly and a cloth feeding tooth matched with the cloth feeding tooth groove are arranged in the lower head shell, the rotating shuttle assembly is driven by a rotating shuttle driving assembly to perform sleeving action, the thread cutting assembly is driven by a thread cutting driving assembly to perform thread cutting action, and the cloth feeding tooth driving assembly drives the cloth feeding tooth to perform feeding action.

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

In the visual control manipulator sewing machine, the thread cutting assembly 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 drive assembly comprises a thread cutting drive connecting rod and a thread cutting linear motor fixed in a lower machine head shell, the thread cutting drive connecting rod is provided with three end parts which are respectively a drive end part, a linkage end part I and a linkage end part II, the telescopic end of the thread cutting linear motor is connected on an arc-shaped slotted hole formed in the drive end part in a sliding manner, 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, and a limiting strip-shaped hole in sliding fit with the lower machine head shell is formed in the linkage end part II, and the second linkage end part extends into a linkage groove arranged on the rotating shaft sleeve of the rotating shuttle, and an extension spring is arranged between the driving end part and the lower machine head shell.

In the above-mentioned manipulator sewing machine controlled by vision, the feed dog driving assembly includes a sliding support rod and a sliding support rod seat with a middle part hinged on the lower head shell, two ends of the sliding support rod are respectively inserted and connected on two end arms of the sliding support rod seat in a sliding manner, the feed dog is arranged in the middle 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 has two output ends, and is respectively and fixedly sleeved with a feeding cam, and bottom surfaces of two ends of the sliding support rod seat are respectively abutted against cam surfaces corresponding to the feeding cams.

Compared with the prior art, the utility model outstanding advantage is:

the utility model discloses a cut apart the sewing machine body modularization, and be upper computer subassembly and lower head assembly respectively, press from both sides through pneumatic fixture clamp by the manipulator, shift and rotatory upper computer subassembly and lower head assembly, and simultaneously, treat with the help of the vision camera lens and make up the cloth and shoot, upper computer subassembly according to the image control that the vision camera lens was shot by the control assembly, lower head assembly, go up line manipulator and bottom line manipulator, in order to replace current manual sewing operation, realize automatic sewing purpose, its degree of automation is high, sewing efficiency is high and sewing quality is good.

Drawings

Fig. 1 is a perspective view of a first embodiment of the present invention;

fig. 2 is a perspective view of a second embodiment of the present invention;

FIG. 3 is a perspective view of the upper head assembly of the present invention;

FIG. 4 is a perspective view of the upper head assembly without the upper head housing of the present invention;

FIG. 5 is a perspective view of the lower head assembly of the present invention;

fig. 6 is a perspective view of the rotating shuttle assembly and the rotating shuttle driving assembly of the present invention;

fig. 7 is a perspective view of the thread trimming assembly and the thread trimming driving assembly of the present invention.

Reference numerals: 1. an upper head assembly; 2. a lower head assembly; 3. an online manipulator; 4. a bobbin thread manipulator; 5. a visual lens; 6. a table board; 7. an automobile seat; 8. a fixed mount; 9. an upper sliding seat; 10. an upper transverse slide rail; 11. an upper longitudinal slide rail; 12. a lower sliding seat; 13. A lower longitudinal slide rail; 14. a lower transverse slide rail; 15. an upper handpiece shell; 16. a needle bar; 17. a presser bar; 18. a needle; 19. a presser foot; 20. mounting a bracket; 21. a needle driving motor; 22. a crank; 23. a needle bar connecting rod; 24. connecting columns; 25. a wire clamp assembly; 26. a thread take-up rotating shaft; 27. A thread take-up turntable; 28. a linkage disk; 29. selecting a wire column; 30. a presser foot lifting drive motor; 31. lifting a presser foot cam; 32. positioning a plate; 33. a compression spring; 34. a lower handpiece housing; 35. a needle plate; 36. a cloth feeding tooth groove; 37. a feed dog; 38. a rotating shuttle; 39. rotating the rotating shaft sleeve by the rotating shuttle; 40. hooking a needle; 41. a rotating shuttle driving motor; 42. a large blade; 43. a large movable cutter holder; 44. a small blade; 45. a small movable cutter holder; 46. a trimming drive link; 47. A trimming linear motor; 48. an arc-shaped slot; 49. a large connecting rod; 50. a small connecting rod; 51. limiting strip-shaped holes; 52. a linkage groove; 53. an extension spring; 54. a sliding support rod; 55. a sliding strut seat; 57. a cloth feeding connecting rod; 58. an up-and-down feeding motor; 59. a feed cam.

Detailed Description

The following detailed description of the preferred embodiments of the present application, taken in conjunction with the accompanying drawings of fig. 1-7, is provided to enable those skilled in the art to more readily understand the advantages and features of the present application and to more clearly and unequivocally define the scope of the present application, which is provided by way of illustration and not of limitation.

The first embodiment is as follows:

a manipulator sewing machine comprises a sewing machine body and a manipulator, wherein the sewing machine body comprises an upper head assembly 1 and a lower head assembly 2 positioned right below the upper head assembly 1, the upper head assembly 1 is matched with the lower head assembly 2 to realize sewing operation, the manipulator comprises an upper thread manipulator 3 with a tail execution end connected with the upper head assembly and a lower thread manipulator 4 with a tail execution end connected with the lower head assembly, wherein the upper thread manipulator 3 is connected with the upper head assembly 1 and the lower thread manipulator 4 is connected with the lower head assembly 2 through a pneumatic clamp or an oil pressure clamp or other common clamps, and the upper head assembly 1 and the lower head assembly 2 can be directly fixed on the tail execution ends of the corresponding manipulators; the visual lens 5 for shooting cloth 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 visual lens 5, the upper machine head assembly 1, the lower machine head assembly 2, the upper thread manipulator 3 and the lower thread manipulator 4 are all electrically connected with the control assembly, and the control assembly respectively controls the starting or stopping of the upper machine head assembly 1, the starting or stopping of the lower machine head assembly 2, the displacement transformation of the upper thread manipulator 3 and the lower thread manipulator 4 according to images shot by the visual lens 5.

In the practical application process of the present embodiment, a machine table top 6 is disposed between the upper machine head assembly 1 and the lower machine head assembly 2, the machine table top 6 is used for fixedly placing a cloth to be sewn, the cloth to be sewn placed on the machine table top 6 is photographed by the vision lens 5, the photographed two-dimensional image is transmitted to the control assembly, the control assembly calculates and plans a sewing route of the cloth according to the two-dimensional image, and then the control assembly respectively controls the upper machine head assembly 1, the lower machine head assembly 2, the upper thread manipulator 3 and the lower thread manipulator 4, so that the upper machine head assembly 1 and the lower machine head assembly 2 can be mutually matched to realize the automatic sewing operation of the cloth to be sewn.

Wherein the vision lens 5 can be arranged on the outer side of the upper handpiece assembly 1, while in the present embodiment the vision lens 5 is arranged on the upper handpiece assembly 1.

The utility model discloses a carry out the modularization with the sewing machine body and cut apart, and be upper computer subassembly 1 and lower aircraft nose subassembly 2 respectively, press from both sides through pneumatic fixture clamp by the manipulator, shift and rotatory upper computer subassembly 1 and lower aircraft nose subassembly 2, and simultaneously, treat with the help of visual camera lens 5 and make up the cloth and shoot, upper computer subassembly 1 is gone up according to the image control that visual camera lens 5 was shot by the control assembly, lower aircraft nose subassembly 2, mechanical hand 3 and bottom line manipulator 4 of going up the line, in order to replace current manual sewing operation, realize automatic sewing purpose, its degree of automation is high, sewing efficiency is high and sewing quality is good.

Furthermore, in order to improve the moving range of the two manipulators, the manipulator device further comprises a fixed frame 8, the tail end of the wire feeding manipulator 3 is fixed on an upper sliding seat 9, the upper sliding seat 9 is slidably connected on an upper transverse sliding rail 10 which is transversely arranged, and the upper transverse sliding rail 10 is slidably connected on an upper longitudinal sliding rail 11 which is longitudinally arranged and fixed on the fixed frame 8; the tail end of the bobbin thread manipulator 4 is fixed on a lower sliding seat 12, the lower sliding seat 12 is connected on a lower longitudinal sliding rail 13 which is longitudinally arranged in a sliding manner, and the lower longitudinal sliding rail 13 is connected on a lower transverse sliding rail 14 which is transversely arranged and fixed on the fixed frame 8 in a sliding manner.

Furthermore, the upper sliding seat 9 is driven by an upper transverse driving source to move left and right along an upper transverse sliding rail 10 so as to realize the left and right displacement of the upper threading manipulator 3 in the transverse direction, and the upper transverse sliding rail 10 is driven by an upper longitudinal driving source to move front and back along an upper longitudinal sliding rail 11 so as to realize the front and back displacement of the upper threading manipulator 3 in the longitudinal direction; the lower sliding seat 12 is driven by a lower longitudinal driving source to move back and forth along a lower longitudinal sliding rail 13 so as to realize the back and forth displacement of the bobbin thread manipulator 4 in the longitudinal direction, and the lower longitudinal sliding rail 13 is driven by a lower transverse driving source to move left and right along a lower transverse sliding rail 14 so as to realize the left and right displacement of the bobbin thread manipulator 4 in the transverse direction. The upper transverse driving source, the upper longitudinal driving source, the lower transverse driving source and the lower longitudinal driving source can adopt common telescopic cylinders, in the embodiment, the upper transverse driving source, the upper longitudinal driving source, the lower transverse driving source and the lower longitudinal driving source all comprise servo motors, output shafts of the servo motors are linked with transmission screw rods, nuts fixed on corresponding sliding seats or corresponding sliding rails are connected onto the transmission screw rods in a threaded mode, and the transmission screw rods are driven to rotate by the servo motors so as to drive the nuts and the corresponding sliding seats or the corresponding sliding rails to move.

Of course, the lower longitudinal sliding rail 13 and the lower transverse sliding rail 14 may also adopt another arrangement: the lower sliding seat 12 is connected with a lower transverse sliding rail 14 which is arranged longitudinally in a sliding way, and the lower transverse sliding rail 14 is connected with a lower longitudinal sliding rail 13 which is arranged longitudinally and fixed on the fixed frame 8 in a sliding way.

Further, because the utility model discloses carry out the modularization to the sewing machine body and cut apart, in order to ensure that upper head subassembly 1 can carry out normal sewing operation with lower head subassembly 2, the concrete structure that upper head subassembly 1 should possess is: the upper head assembly 1 comprises an upper head shell 15, a needle rod 16 and a presser foot rod 17 are vertically and vertically connected to the upper head shell 15 in a sliding mode, a needle 18 is arranged at the lower end of the needle rod 16, the upper end of the needle rod is in transmission connection with a needle driving assembly, the needle driving assembly drives the needle rod 16 and the needle 18 to vertically move up and down, a presser foot 19 is arranged at the lower end of the presser foot rod 17, the upper end of the presser foot rod is in transmission connection with a presser foot lifting driving assembly, and the presser foot lifting driving assembly drives the presser foot rod 17 and the presser foot 19 to vertically lift the presser foot 19.

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 15 through a mounting bracket 20;

of course, the vision lens 5 may also adopt another fixing mode: the vision lens 5 is fixed in the upper head shell 15, and a detection through hole for the vision lens 5 to shoot the cloth to be sewn is formed in the upper head shell 15.

The needle driving assembly may adopt a common structure in the prior art, and in this embodiment, the needle driving assembly adopts a specific structure as follows: the needle driving assembly comprises a needle driving motor 21 fixed in the upper handpiece shell 15, an output shaft of the needle driving motor 21 is hinged with one end of a needle rod connecting rod 23 through a crank 22, the other end of the needle rod connecting rod 23 is hinged with a connecting column 24 fixedly sleeved at the upper end part of the needle rod 16, namely, the needle driving motor 21 drives the crank 22 to rotate circumferentially so as to drive the needle rod 16 and the needle 18 to move vertically through the needle rod connecting rod 23.

And, be provided with the take-up assembly on last aircraft nose casing 15, its concrete structure is: the upper machine head shell 15 is fixed with a wire clamp assembly 25 and a take-up rotating shaft 26 which is rotatably connected with the same axis as the output shaft of the machine needle driving motor 21, the outer end of the take-up rotating shaft 26 extends out of the upper machine head shell 15 and is fixedly sleeved with a take-up rotating disc 27, the inner end of the take-up rotating shaft 26 is fixedly sleeved with a linkage disc 28 which is circumferentially fixed with the crank 22, a take-up column 29 is arranged at the eccentric position of the take-up rotating disc 27, the crank 22 is driven to circumferentially rotate by the machine needle driving motor 21, and the take-up rotating shaft 26, the take-up rotating disc 27 and the take-up column 29 are driven to circumferentially rotate by the linkage disc 28.

Furthermore, the presser foot lifting driving assembly may also adopt a common structure in the prior art, and in this embodiment, the specific structure adopted by the presser foot lifting driving assembly is as follows: the presser foot lifting driving assembly comprises a presser foot lifting driving motor 30 fixed on the upper machine head shell 15, a presser foot lifting cam 31 is fixedly sleeved on an output shaft of the presser foot lifting driving motor 30, a positioning plate 32 is fixedly sleeved at the upper end of the presser foot rod 17, a compression spring 33 is arranged between the lower end surface of the positioning plate 32 and the corresponding side wall of the upper machine head shell 15, the upper end surface of the presser foot rod 17 is driven by the elastic force of the compression spring 33 to abut against the cam surface of the presser foot lifting cam 31, the cam surface of the presser foot lifting cam 31 is provided with a lifting surface and a pressing surface, and the presser foot lifting driving motor 30 drives the presser foot lifting cam 31 to rotate so as to lift or press the presser foot rod 17 and the presser foot 19.

Meanwhile, in order to ensure that the upper head assembly 1 and the lower head assembly 2 can perform normal sewing operation, the lower head assembly 2 should have a specific structure as follows: the lower machine head assembly 2 comprises a lower machine head shell 34, a needle plate 35 is arranged on the lower machine head shell 34, a needle hole and a cloth feeding tooth groove 36 are formed in the needle plate 35, a rotating shuttle assembly corresponding to the position of the needle hole, a wire cutting assembly matched with the rotating shuttle assembly and a cloth feeding tooth 37 matched with the cloth feeding tooth groove 36 are arranged in the lower machine head shell 34, the rotating shuttle assembly is driven by the rotating shuttle driving assembly to perform sleeving action, the wire cutting assembly is driven by the wire cutting driving assembly to perform wire cutting action, and the cloth feeding tooth 37 is driven by the cloth feeding tooth driving assembly to perform feeding action. In addition, in the embodiment, the table top 6 is directly fixed on the upper end surface of the lower head housing 34, so that the bobbin thread manipulator 4 transfers the table top 6 while transferring the lower head assembly 2, thereby realizing the transfer of the sewing station. Of course, the table top 6 can also be directly fixed on the external device, and the two manipulators are only responsible for transferring the upper head assembly 1 and the lower head assembly 2.

Furthermore, the rotating shuttle assembly and the rotating shuttle driving assembly may adopt the common structure of the prior art, and in this embodiment, the specific structure adopted by the rotating shuttle assembly and the rotating shuttle driving assembly is as follows: the rotating shuttle component comprises a rotating shuttle rod fixed on the lower machine head shell 34 and a rotating shuttle 38 fixed at the end part of the rotating shuttle rod, the rotating shuttle rod is sleeved outside and is connected with a rotating shuttle movement shaft sleeve 39 in a rotating mode, a crochet hook 40 corresponding to the rotating shuttle in position is arranged on the rotating shuttle movement shaft sleeve 39, the rotating shuttle driving component comprises a rotating shuttle driving motor 41 fixed on the lower machine head shell 34, and an output shaft of the rotating shuttle driving motor 41 is in transmission connection with the rotating shuttle movement shaft sleeve 39. That is, the rotating shuttle driving motor 41 directly drives the rotating shuttle operation shaft sleeve 39 and the crochet hook 40 to rotate circumferentially, so that the crochet hook 40 hitches the upper thread and the lower thread.

Simultaneously, common structure of prior art can all be adopted to trimming subassembly and trimming drive assembly, and in this embodiment, the concrete structure that trimming subassembly and trimming drive assembly adopted is: the thread trimming assembly comprises a large movable cutter holder 43 fixed with a large blade 42 and a small movable cutter holder 45 fixed with a small blade 44, the large movable cutter holder 43 and the small movable cutter holder 45 are both connected on the same axis in a circumferential rotating manner, the thread trimming driving assembly comprises a thread trimming driving connecting rod 46 and a thread trimming linear motor 47 fixed in the lower head shell 34, the thread trimming driving connecting rod 46 is provided with three end parts which are respectively a driving end part, a linkage end part I and a linkage end part II, the telescopic end of the thread trimming linear motor 47 is connected on an arc-shaped slotted hole 48 arranged on the driving end part in a sliding manner, the linkage end part I is hinged with one end of a large connecting rod 49, the other end of the large connecting rod 49 is hinged with the large movable cutter holder 43, the linkage end part II is hinged with one end of a small connecting rod 50, the other end of the small connecting rod 50 is hinged with the small movable cutter holder 45, the linkage end part II is provided with a limiting strip-shaped hole 51 in sliding fit with the lower head shell 34, and the second linkage end part extends into a linkage groove 52 formed on the rotating shuttle operation shaft sleeve 39, and an extension spring 53 is arranged between the driving end part and the lower machine head shell 34. In this embodiment, the small movable blade holder 45 and the large movable blade holder 43 rotate circumferentially on the fixed shaft sleeve, the fixed shaft sleeve is sleeved on the rotating shuttle rod, when the telescopic end of the thread trimming linear motor 47 extends outwards, the thread trimming driving connecting rod 46 moves and rotates under the coordination of the arc-shaped slot hole 48, the limiting strip-shaped hole 51 and the extension spring 53, and meanwhile, the rotating shuttle movement shaft sleeve applies a circumferential acting force to the linkage end portion two through the linkage slot 52, so that the thread trimming driving connecting rod 46 can rotate circumferentially, and then the small connecting rod 50 and the large connecting rod 49 respectively drive the small movable blade holder 45 and the large movable blade holder 43 to rotate in opposite directions, so that the large blade 42 and the small blade 44 move in a matched manner to realize thread trimming.

Further, the feed dog driving assembly may adopt a common structure in the prior art, and in the present embodiment, the feed dog driving assembly adopts a specific structure as follows: the feed dog driving assembly comprises a sliding support rod 54 and a sliding support rod seat 55, the middle of the sliding support rod seat 55 is hinged to the lower machine head shell 34, two ends of the sliding support rod 54 are respectively inserted and connected to two end arms of the sliding support rod seat 55 in a sliding mode, the feed dog 37 is arranged in the middle of the sliding support rod 54, a front feeding motor and a rear feeding motor are fixed on the sliding support rod seat 55, an output shaft of the front feeding motor and the rear feeding motor is hinged to one end of a feed connecting rod 57 through an eccentric wheel, the other end of the feed connecting rod 57 is hinged to the sliding support rod 54, an upper feeding motor 58 and a lower feeding motor 58 are arranged on the lower machine head shell 34 below the sliding support rod seat 55, the upper feeding motor 58 and the lower feeding motor 58 are provided with two output ends, feed cams 59 are fixedly sleeved on the upper feeding motor and the lower feeding motor 59, and bottom surfaces of two ends of the sliding support rod seat 55 respectively abut against cam surfaces corresponding to the feed cams 59. Wherein, the bottom surfaces of the two ends of the sliding support rod seat 55 are provided with semicircular contact blocks which are contacted with the cam surface of the corresponding feeding cam 59, the eccentric wheel is driven by the front and back feeding motor to rotate, and the sliding support rod 54 is driven by the cloth feeding connecting rod 57 to slide left and right along the axial direction; the two feed cams 59 are driven by the up-down feed motor 58 to rotate, so that the left and right ends of the sliding support rod seat 55 can swing up and down around the hinged position of the sliding support rod seat 55 and the lower head shell 34, thereby realizing the feed motion of the feed dog 37.

Example two:

the structure of the present embodiment is substantially the same as that of the above embodiment, and the main difference is: be provided with spatial structure's car seat support 7 between last aircraft nose subassembly 1 and lower aircraft nose subassembly 2, shoot car seat support 7 by vision camera lens 5, and in transmitting the three-dimensional image of shooing for the control assembly, calculate and plan out the route of making up of this car seat support 7 by the control assembly according to this three-dimensional image, and then it controls upper aircraft nose subassembly 1 respectively, lower aircraft nose subassembly 2, go up line manipulator 3 and bottom line manipulator 4, make upper aircraft nose subassembly 1 and lower aircraft nose subassembly 2 can mutually support, in order to realize the automatic operation of making up to spatial structure's car seat support 7.

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. A manipulator sewing machine by visual control, characterized in that: the sewing machine comprises a sewing machine body and a manipulator, wherein the sewing machine body comprises an upper machine head component (1) and a lower machine head component (2) positioned under the upper machine head component (1), the upper machine head component (1) is matched with the lower machine head component (2) to realize sewing operation, the manipulator comprises an upper thread manipulator (3) with a tail execution end connected with the upper machine head component (1) and a bobbin thread manipulator (4) with a tail execution end connected with the lower machine head component (2), a visual lens (5) for shooting cloth to be sewn positioned between the upper machine head component (1) and the lower machine head component (2) is arranged on the upper machine head component (1) or on the lower machine head component (2) or on the outer sides of the upper machine head component (1) and the lower machine head component (2), and the visual lens (5), the upper machine head component (1), the lower machine head component (2), the upper thread manipulator (3) and the bobbin thread manipulator (4) are electrically connected with a control assembly, the control assembly respectively controls the start or stop of the upper handpiece component (1), the start or stop of the lower handpiece component (2), the displacement transformation of the thread feeding manipulator (3) and the thread laying manipulator (4) according to the image shot by the visual lens (5).

2. A vision-controlled robot sewing machine according to claim 1, wherein: the automatic feeding device is characterized by further comprising a fixing frame (8), wherein the tail end of the feeding manipulator (3) is fixed on an upper sliding seat (9), the upper sliding seat (9) is connected onto an upper transverse sliding rail (10) which is transversely arranged in a sliding mode, and the upper transverse sliding rail (10) is connected onto an upper longitudinal sliding rail (11) which is longitudinally arranged and fixed on the fixing frame (8) in a sliding mode; the tail end of the bobbin thread manipulator (4) is fixed on a lower sliding seat (12), the lower sliding seat (12) is connected on a lower longitudinal sliding rail (13) which is longitudinally arranged in a sliding mode, and the lower longitudinal sliding rail (13) is connected on a lower transverse sliding rail (14) which is transversely arranged and fixed on a fixed frame (8) in a sliding mode.

3. A vision-controlled robot sewing machine according to claim 1, wherein: the upper handpiece component (1) comprises an upper handpiece shell (15), a needle rod (16) and a presser foot rod (17) are vertically and vertically connected to the upper handpiece shell (15) in a sliding mode, a needle (18) is arranged at the lower end of the needle rod (16), the upper end of the needle rod is in transmission connection with a needle driving component, the needle driving component drives the needle rod (16) and the needle (18) to vertically move up and down, a presser foot (19) is arranged at the lower end of the presser foot rod (17), the upper end of the presser foot rod is in transmission connection with the presser foot lifting driving component, and the presser foot lifting rod (17) and the presser foot (19) vertically lift the presser foot (19) to move.

4. A vision-controlled robot sewing machine according to claim 3, wherein: the visual lens (5) is fixed on the outer side wall of the upper handpiece shell (15) through a mounting bracket (20); or the visual lens (5) is fixed in the upper machine head shell (15), and a detection through hole for the visual lens (5) to shoot the cloth to be sewn is formed in the upper machine head shell (15).

5. A vision-controlled robot sewing machine according to claim 3, wherein: the needle driving component comprises a needle driving motor (21) fixed in an upper handpiece shell (15), an output shaft of the needle driving motor (21) is hinged with one end of a needle rod connecting rod (23) through a crank (22), and the other end of the needle rod connecting rod (23) is hinged with a connecting column (24) fixedly sleeved at the upper end part of a needle rod (16).

6. A vision-controlled robot sewing machine according to claim 3, wherein: the presser foot lifting driving assembly comprises a presser foot lifting driving motor (30) fixed on an upper machine head shell (15), a presser foot lifting cam (31) is fixedly sleeved on an output shaft of the presser foot lifting driving motor (30), a positioning plate (32) is fixedly sleeved at the upper end of a presser foot rod (17), a compression spring (33) is arranged between the lower end face of the positioning plate (32) and the corresponding side wall of the upper machine head shell (15), and the upper end face of the presser foot rod (17) is driven by the elastic force of the compression spring (33) to abut against the cam surface of the presser foot lifting cam (31).

7. A vision-controlled robot sewing machine according to claim 1, wherein: the lower machine head assembly (2) comprises a lower machine head shell (34), a needle plate (35) is arranged on the lower machine head shell (34), a needle hole and a cloth feeding tooth groove (36) are formed in the needle plate (35), a rotating shuttle assembly corresponding to the position of the needle hole, a wire cutting assembly matched with the rotating shuttle assembly and a cloth feeding tooth (37) matched with the cloth feeding tooth groove (36) are arranged in the lower machine head shell (34), the rotating shuttle assembly is driven by the rotating shuttle driving assembly to perform sleeving action, the wire cutting driving assembly drives the wire cutting assembly to perform wire cutting action, and the cloth feeding tooth driving assembly drives the cloth feeding tooth (37) to perform feeding action.

8. A vision-controlled robot sewing machine according to claim 7, wherein: the rotating shuttle assembly comprises a rotating shuttle rod fixed on the lower machine head shell (34) and a rotating shuttle (38) 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 (39), a crochet hook (40) corresponding to the rotating shuttle (38) in position is arranged on the rotating shuttle movement shaft sleeve (39), the rotating shuttle driving assembly comprises a rotating shuttle driving motor (41) fixed on the lower machine head shell (34), and an output shaft of the rotating shuttle driving motor (41) is in transmission connection with the rotating shuttle movement shaft sleeve (39).

9. A vision-controlled robotic sewing machine as claimed in claim 8, wherein: the trimming component comprises a large movable cutter holder (43) fixed with a large blade (42) and a small movable cutter holder (45) fixed with a small blade (44), the large movable cutter holder (43) and the small movable cutter holder (45) are both connected on the same axis in a circumferential rotating manner, the trimming driving component comprises a trimming driving connecting rod (46) and a trimming linear motor (47) fixed in a lower head shell (34), the trimming driving connecting rod (46) is provided with three end parts which are respectively a driving end part, a linkage end part I and a linkage end part II, the telescopic end of the trimming linear motor (47) is connected on an arc-shaped slotted hole (48) formed in the driving end part in a sliding manner, the linkage end part I is hinged with one end of the large connecting rod (49), the other end of the large connecting rod (49) is hinged with the large movable cutter holder (43), the linkage end part II is hinged with one end of the small connecting rod (50), and the other end of the small connecting rod (50) is hinged with the small movable cutter holder (45), and a limiting strip-shaped hole (51) in sliding fit with the lower head shell (34) is formed in the linkage end part II, the linkage end part II extends into a linkage groove (52) formed in the rotating shaft sleeve (39) of the rotating shuttle, and an extension spring (53) is arranged between the driving end part and the lower head shell (34).

10. A vision-controlled robot sewing machine according to claim 7, wherein: the feed dog driving component comprises a sliding support rod (54) and a sliding support rod seat (55) the middle part of which is hinged on the lower machine head shell (34), two ends of the sliding support rod (54) are respectively inserted and connected on two end arms of the sliding support rod seat (55) in a sliding way, the cloth feeding tooth (37) is arranged in the middle of the sliding support rod (54), a front and rear feeding motor is fixed on the sliding support rod seat (55), an output shaft of the front and rear feeding motor is hinged with one end of a cloth feeding connecting rod (57) through an eccentric wheel, the other end of the cloth feeding connecting rod (57) is hinged with the sliding support rod (54), an upper feeding motor (58) and a lower feeding motor (58) are arranged on a lower handpiece shell (34) below the sliding support rod seat (55), the upper feeding motor and the lower feeding motor (58) are provided with two output ends and are respectively and fixedly sleeved with a feeding cam (59), and bottom surfaces of two ends of the sliding support rod seat (55) are respectively abutted against cam surfaces corresponding to the feeding cams (59).

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