TW202340567A - Automatic sewing machine and curve-sewing method thereof - Google Patents

Abstract

An automatic sewing machine and a curve-sewing method thereof are presented. The automatic sewing machine has a mechanical arm module, a sewing module, a cloth-feeding module and a control module. The mechanical arm module moves cloth(s) on a sewing plane. The sewing module sewing the cloths. The cloth-feeding module conveys the cloths to the sewing plane. The control module acquires a sewing contour, executes a path-transforming on the sewing contour to obtain a sewing path having a plurality of sewing points, controls the mechanical arm module based on the sewing points to move the cloths based to make each sewing point pass through the sewing module along a cloth-feeding direction. The present disclosure may implement a curve-sewing function on the automatic sewing machine.

Description

Automatic sewing machine and curve sewing method

The present invention relates to sewing machines and sewing methods, in particular to an automatic sewing machine and a curve sewing method.

Existing automatic sewing machines, such as overcoat machines, can only realize straight-line sewing due to their linear feeding method, and cannot realize fully-automatic curved sewing, such as corner sewing and rounded corner sewing.

Specifically, when curve sewing (such as curve sewing) is to be performed, the existing automatic sewing machine must be equipped with a professional tailor to arrange the expected sewing position of the fabric into a straight line and slowly feed it into the automatic sewing machine. In this way, curved sewing can be realized on an automatic sewing machine through the tailor's exquisite patchwork technology.

However, the above-mentioned curve sewing method is not only time-consuming and labor-intensive, but its sewing quality is highly dependent on the tailor's patchwork technology, which makes the cost of curve sewing too high and the sewing quality unstable.

Therefore, the curve sewing of existing automatic sewing machines has the above problems, and a more effective solution is urgently needed.

The main purpose of the present invention is to provide an automatic sewing machine and a curve sewing method that can automatically move the cloth so that the sewing points of the cloth are fed to the automatic sewing machine along a straight line.

In one embodiment, an automatic sewing machine with curve sewing function includes: a robot arm module, a sewing module, a cloth feeding module and a control module. The robot arm module is used to move a fabric on a sewing plane. The sewing module is used for sewing the fabric. The cloth feeding module is used to transport the fabric to the sewing module along a cloth feeding direction of the sewing plane. The control module is electrically connected to the robot arm module, the cloth feeding module and the sewing module, and is set to obtain a sewing pattern of the fabric, and perform a path conversion on the sewing pattern to obtain a plurality of sewing points. A sewing path, based on the plurality of sewing points, controls the robot arm module to move the cloth so that the plurality of sewing points pass through the sewing module along the cloth feeding direction.

In one embodiment, a curve sewing method includes: a) obtaining a sewing pattern of a cloth; b) performing a path conversion on the sewing pattern to obtain a sewing path corresponding to the sewing pattern, wherein the sewing path includes a plurality of sewing points; c) In a sewing program, control a cloth feeding module to transport the fabric to a sewing module along a feeding direction of a sewing plane, and control the sewing module to sew the fabric; and, d) In the sewing program, a robot arm module is controlled to move the fabric on a sewing plane based on the multiple sewing points so that the multiple sewing points pass through the sewing module along the fabric feeding direction; wherein, the path conversion It includes: e) performing a discretization transformation on a curve of the sewing pattern to obtain the plurality of sewing points arranged along the curve.

The invention can realize fully automatic curve sewing function on the automatic sewing machine.

A preferred embodiment of the present invention is described in detail below with reference to the drawings.

Please refer to FIG. 1 , which is a structural diagram of an automatic sewing machine according to an embodiment of the present invention.

The present invention proposes an automatic sewing machine 1 with a curve sewing function. The automatic sewing machine 1 mainly includes a robotic arm module 11, a sewing module 12, a cloth feeding module 13, and a control module 10 electrically connected to the above modules.

Robot arm module 11 is used to move fabric on the sewing plane.

In one embodiment, the robotic arm module 11 has multiple degrees of freedom and can move in three-dimensional space to change postures. In different postures, the end of the robot arm module 11 (such as the end effector or the template 17 described below) can be moved to different positions in the three-dimensional space.

In one embodiment, the end of the robot arm module 11 has a mechanism that can fix the cloth, so that the cloth can move (including translation and rotation) with the end of the robot arm module 11 .

In one embodiment, the robotic arm module 11 includes multiple transmission mechanisms, multiple motors, and multiple robotic arms. Multiple motors are used to provide power to multiple transmission mechanisms, so that the multiple transmission mechanisms drive multiple robotic arms, so that the robotic arm module 11 can assume different postures.

It is worth mentioning that during the sewing program (such as when the sewing module 12 is executing the sewing process), the robot arm module 11 may be restricted to only move on the sewing plane (such as the X-Y axis plane) and cannot move on the sewing plane. Move in vertical direction (such as Z-axis direction). Thereby, the present invention can avoid sewing failure due to malfunction of the robot arm module 11 pulling the fabric in the vertical direction during the sewing process.

In one embodiment, the reference point of the sewing plane may be the position of the sewing needle, the flange shaft of the robot arm module 11, or other reference devices, without limitation.

The sewing module 12 is used to sew fabrics, such as embroidering stitch patterns on the fabrics (embroidery), or sewing multiple fabrics (sewing). The sewing module 12 can use an existing sewing machine, and can perform sewing through an electric device, a motor, a mechanical structure, a thread feeding module, a sewing needle module, etc.

The cloth feeding module 13 is set with a cloth feeding direction (such as the Y-axis direction, but is not limited thereto), and can transport the cloth to the sewing module 12 along the cloth feeding direction of the sewing plane.

In one embodiment, the cloth feeding module 13 can realize cloth feeding through a motor and a cloth clamping mechanism. Moreover, the cloth feeding speed of the cloth feeding module 13 can be adjusted by adjusting the motor speed.

It is worth mentioning that the sewing technology principles of the sewing module 12 and the cloth feeding module can be easily understood by those with ordinary knowledge in the field of automatic sewing technology, and will not be described again here.

The control module 10 is, for example, a control board, a control computer, etc. with a processor and a programmable storage medium. It is electrically connected to the robot arm module 11, the cloth feeding module 12 and the sewing module 13, and is used to control the robot arm module. 11. Actions of cloth feeding module 12 and sewing module 13.

In one embodiment, the control module 10 can be configured to obtain the sewing pattern of the fabric, perform path conversion on the sewing pattern to obtain a sewing path including multiple sewing points, and control the robot arm module 11 to move the fabric based on the sewing path control. And the cloth feeding module 12 and the sewing module 13 are controlled cooperatively to feed cloth and sew, so as to realize the curved sewing of the present invention.

It is worth mentioning that since the cloth feeding module 13 can only pull cloth in a single direction (such as the Y-axis direction), the present invention uses the robot arm module 11 to spread cloth in other directions on the same plane (such as the X-axis direction, or the X-Y plane). By translating or rotating the fabric in any direction), the relative direction of the fabric to the sewing module 12 can be changed, thereby realizing curved sewing.

Please refer to FIG. 2 , which is a structural diagram of an automatic sewing machine according to an embodiment of the present invention.

In one embodiment, the robotic arm module 11 includes an arm controller 110 . The arm controller 110 is used to control the movement and posture of the robotic arm according to the received arm control commands.

Specifically, the control module 10 can generate and send arm control commands to the arm controller 110 . The aforementioned arm control command can instruct the moving speed, moving direction and/or moving destination of the robotic arm module 11 . The aforementioned moving speed, moving direction and/or moving destination may be vectors or coordinates based on a spatial coordinate system.

The arm controller 110 can convert the received arm control command into the coordinates of the robot coordinate system (such as the angle of each joint or the degree of motor rotation), and adjust the posture of the robot arm module 11 based on these coordinates.

In one embodiment, the sewing module 12 may include a sewing controller 120 . The sewing controller 120 is used to control the motor speed according to the received sewing control command to control the sewing needle speed.

Specifically, the control module 10 can generate and send sewing control commands to the sewing controller 120 . The aforementioned sewing control command can indicate the sewing speed.

The sewing controller 120 can convert the received sewing control command into a corresponding sewing motor speed control signal, and adjust the sewing speed through the sewing motor speed control signal.

In one embodiment, the cloth feeding module 13 may include a cloth feeding controller 130 . The cloth feeding controller 130 is used to control the rotation of the motor according to the received cloth feeding control command to control the cloth feeding speed.

Specifically, the control module 10 can generate and send a cloth feeding control command to the cloth feeding controller 130 . The aforementioned cloth feeding control command can indicate the cloth feeding speed, cloth feeding length, etc.

The cloth feeding controller 130 can convert the received cloth feeding control command into a corresponding cloth feeding motor speed control signal, and adjust the cloth feeding speed and cloth feeding length through the cloth feeding motor speed control signal.

Thereby, the present invention can adjust the seam pitch by adjusting the sewing speed and cloth feeding speed.

In one embodiment, the control module 10 can simultaneously control the arm controller 110 , the sewing controller 120 and the cloth feeding controller 130 through the aforementioned commands to control the speed at which the robot arm module 11 moves the cloth and the speed at which the sewing module 12 moves. The sewing speed and the cloth feeding speed of the cloth feeding module 13 reach the most harmonious state, and the sewing pattern is completed on the cloth.

In one embodiment, when the cloth feeding speed and cloth feeding length are fixed, the control module 10 can calculate the rotation angle and/or displacement corresponding to each sewing point based on the calculated multiple sewing points of the fabric and the trigonometric function.

In one embodiment, the automatic sewing machine 1 may include a template 17 . The template 17 is used to fix the fabric so that the fabric is flat against the workbench (corresponding to the sewing plane) to facilitate sewing.

Furthermore, the end of the robot arm module 11 can be connected to the template 17 . Thereby, the robot arm module 11 can translate and rotate the fabric by moving the template 17 on the workbench.

In one embodiment, the automatic sewing machine 1 may include an image capture module 14, such as a visible light camera. The image capture module 14 is used to photograph the finished fabric to obtain the resulting image of the fabric. The aforementioned result image can be used to perform sewing quality confirmation and sewing correction.

In one embodiment, the automatic sewing machine 1 may include a human-machine interface 15 . The human-machine interface 15 is used to accept user operations and provide information, and may include an input interface and an output interface. The input interface may be, for example, a keyboard, a mouse, a trackpad, and/or other input interfaces. The output interface may be, for example, a display, a buzzer, a speaker, a printer, and/or other output interfaces.

In one embodiment, the automatic sewing machine 1 may include a storage module 16 . The storage module 16 is used to store data.

Please refer to FIG. 3 , which is an architecture diagram of a control module according to an embodiment of the present invention. In the present invention, the control module 10 of the automatic sewing machine 1 may include a pattern acquisition module 20, a discrete processing module 21, a movement control module 22 and a correction processing module 23 for implementing different functions.

The pattern acquisition module 20 is configured to read the sewing pattern of the fabric from the storage module 16 .

In one embodiment, the aforementioned sewing graphics are stored in a 2D/3D graphics file format, and can be designed through clothing pattern making software, such as AutoCAD DXF or other CAD file formats, without limitation.

The discretization processing module 21 is configured to perform discretization processing on the curve of the sewing pattern to convert the curve into multiple sewing points.

The movement control module 22 is configured to calculate and determine the movement mode of the robot arm module 11, and realize the movement of the robot arm module 11 through control commands.

The correction processing module 23 is configured to calculate the current sewing offset based on the result image, and correct the movement of the robot arm module 11 based on the offset, so that the correction robot arm module 11 can accurately change the fabric and sewing module. 12 to accurately send the sewing point of the fabric to the sewing module 13 along the fabric feeding direction.

It is worth mentioning that the aforementioned graphics acquisition module 20, discrete processing module 21, movement control module 22 and correction processing module 23 are connected to each other (can be electrical connection or information connection), and can be a hardware module. Groups (such as electronic circuit modules, integrated circuit modules, SoC, etc.), software modules or mix and match of software and hardware modules are not limited.

When the aforementioned graphics acquisition module 20, discrete processing module 21, movement control module 22 and/or correction processing module 23 are software modules (such as firmware, operating system or application), the storage of the automatic sewing machine 1 The module 16 may include a non-transitory computer-readable recording medium. The aforementioned non-transitory computer-readable recording medium stores a computer program. The computer program records computer-executable program code. When the control device 10 executes the aforementioned program code , can realize the functions of the aforementioned graphics acquisition module 20, discrete processing module 21, movement control module 22 and/or correction processing module 23.

Please refer to FIG. 4 , which is a schematic diagram of an automatic sewing machine according to an embodiment of the present invention.

In this embodiment, the end of the robot arm module 11 is connected to the template 17 . The template 17 is used to fix the fabric 30 on the workbench 31 .

When the cloth feeding module 13 starts to transport the cloth 30 along the cloth feeding direction D1, the sewing module 12 starts sewing the cloth 30 passing through the sewing needle.

At the same time, the robot arm module 11 can rotate the fabric 30 corresponding to the rotating template 17, so that each sewing point set on the fabric 30 passes through the sewing module 12 along the fabric feeding direction D1 to complete curve sewing.

In one embodiment, when applied to sewing multiple fabrics, other fabrics other than the fabric 30 can be transported by the cloth feeding module 13 in the sewing plane, and the robot arm module 11 moves the fabric 30 to match the other fabrics. When the joint passes through the sewing module 12 along the cloth feeding direction D1, the sewing can be completed.

Please refer to FIG. 5 , which is a schematic diagram of an automatic sewing machine according to an embodiment of the present invention.

In this embodiment, two sets of robot arm modules 111 and 112 can be used to move the two fabrics 300 and 301 respectively, thereby realizing sewing of the two fabrics 300 and 301.

Specifically, on one side of the workbench 31 (such as the upper side), the robot arm module 111 is connected to the template 170, and the template 170 is used to fix the cloth 300 above. The robot arm module 111 can change the relative direction between the fabric 300 and the sewing module 12 by moving the template 170 .

On the other side of the workbench 31 (as shown below), the robot arm module 112 is connected to the template 171, and the template 171 is used to fix the fabric 301 below. The robot arm module 112 can change the relative direction between the fabric 301 and the sewing module 12 by moving the template 171 .

Then, through the cooperative movement of the cloth feeding module 13, the robot arm module 111 and the robot arm module 112, the joint (with a sewing point set) of the cloth 300 and the cloth 301 can be made to pass through the sewing module 12 along the cloth feeding direction D1. , and can complete the sewing of the joints.

Please refer to FIG. 6 and FIG. 7 . FIG. 6 is a schematic diagram of an automatic sewing machine according to an embodiment of the present invention. Figure 7 is a schematic diagram of an automatic sewing machine according to an embodiment of the present invention. Figures 6 and 7 respectively show schematic views of the automatic sewing machine from different perspectives.

As shown in the figure, the sewing module 12 includes a presser foot 121 and a sewing needle 122 .

In one embodiment, in order to be more suitable for curved sewing, the area of the presser foot 121 of the present invention can be further reduced, thereby reducing the resistance caused by the presser foot 121 when the fabric 30 is rotated.

The sewing pattern 40 of the fabric 30 may include straight lines and curves. The present invention uses the robot arm module 11 to translate or rotate the cloth 30 so that each position of the sewing pattern 40 moves along the cloth feeding direction D1 when passing through the presser foot 121 and sewing needle 122 of the sewing module 12 .

Please refer to FIG. 10 , which is a flow chart of a curve sewing method according to an embodiment of the present invention. The curve sewing method of each embodiment of the present invention can be applied to the automatic sewing machine 1 of any embodiment.

The curve sewing method of this embodiment may include steps S10-S12.

In step S10 , the control module 10 obtains the sewing pattern of the cloth through the pattern acquisition module 20 .

In step S11, the control module 10 performs path conversion on the sewing pattern through the discrete processing module 21 to obtain the sewing path corresponding to the sewing pattern. The aforementioned sewing path contains multiple sewing points. Multiple sewing points are respectively corresponding to the expected sewing positions (virtual set positions) of the fabric.

In one embodiment, the plurality of sewing points have fixed sewing pitches.

In one embodiment, the sewing pitch of the plurality of sewing points is adjustable and corresponds to the set sewing speed and cloth feeding speed.

Moreover, when the sewing speed and cloth feeding speed change, the speed at which the robot arm module 11 moves the cloth must also change accordingly.

In an embodiment, the path conversion of step S11 may include step S20, or may include step S20 and step S21.

In step S20 , the control module 10 performs discretization processing of the curve through the discretization processing module 21 to perform discretization conversion on the curve of the sewing pattern to obtain multiple sewing points arranged along the curve.

In step S21, the control module 10 uses the discretization processing module 21 to perform discretization processing of straight lines to discretize the straight lines of the sewing pattern to obtain multiple sewing points arranged along the straight lines.

Please refer to FIG. 8 which is a schematic diagram of path conversion according to an embodiment of the present invention.

In the embodiment of FIG. 8 , discretization transformation is only performed on the curves in the sewing pattern 40 to obtain multiple sewing points P0 - P27 arranged along the curves.

For the straight line in the sewing pattern 40, the present invention does not perform discretization conversion, but directly sets the sewing points P27 and P28 at the starting point and end point of the straight line respectively, thereby reducing the amount of calculation.

Referring again to FIG. 10 , in step S12 , the control module 10 executes the sewing program through the movement control module 22 .

In one embodiment, the control module 10 can simultaneously execute steps S30-S32 during the sewing process.

In step S30 , the control module 10 controls the cloth feeding module 13 to transport the cloth to the sewing module 12 along the cloth feeding direction D1 of the sewing plane through the movement control module 22 .

In step S31, the control module 10 controls the sewing module 12 to sew the cloth through the movement control module 22.

In step S32, the control module 10 controls the robot arm module 11 to move the cloth through the movement control module 22.

In one embodiment, the control module 10 controls the robot arm module 11 to move the fabric on the sewing plane through the movement control module 22 based on the set multiple sewing points, so that the multiple sewing points are sequentially sewed along the cloth feeding direction D1. Mod 12.

Thereby, the present invention can realize curved sewing.

Please refer to FIG. 10 and FIG. 11 . FIG. 11 is a flow chart for controlling a robot arm to move cloth according to an embodiment of the present invention.

Step S32 of the curve sewing method of this embodiment may include the following steps S40-S42.

In step S40 , the control module 10 calculates sewing vectors of multiple sewing points through the movement control module 22 .

In step S41 , the control module 10 determines the movement vector or movement coordinate of the robot arm module 11 through the movement control module 22 .

In one embodiment, the control module 10 can determine by moving the control module 22 based on at least one of the preset seam distance, the preset seam speed and the preset needle lowering time slot and the sewing vector determined in step S40 The movement vector or movement coordinates of the robot arm module 11.

The aforementioned preset sewing distance, preset sewing speed and preset needle lowering time slot can be preset by the user, or can be automatically determined by the automatic sewing machine 1 .

In step S42, the control module 10 uses the movement control module 22 to control the robot arm module 11 to move the cloth based on the movement vector or movement coordinate determined in step S41, so as to adjust the sewing vectors of the plurality of sewing points set on the cloth. Parallel feeding direction D1.

In one embodiment, the control module 10 can control the robot arm module 11 through the movement control module 22 to move the template 17 to translate and rotate the fabric in the sewing plane.

In one embodiment, the multiple movement coordinates may be multiple destination coordinates of the robotic arm module 11 for multiple sewing points. The control module 10 can control the robot arm module 11 to move to each movement coordinate sequentially through the movement control module 22, so that the corresponding sewing vector when each sewing point passes through the sewing module 12 is parallel to the cloth feeding direction.

In one embodiment, the multiple movement vectors may be multiple velocity vectors of the robotic arm module 11 for multiple sewing points. Each velocity vector includes a first velocity component and an angular velocity component. The first speed component is parallel to the feeding direction. The first velocity component and the angular velocity component are both vectors on the sewing plane.

The control module 10 can control the robot arm module 11 to move the fabric through the movement control module 22 based on the first speed component and angular velocity component corresponding to each sewing point, so that each sewing point set on the fabric passes through the sewing module 12 , whose sewing vector is parallel to the cloth feeding direction.

It is worth mentioning that in order to solve the internal stress problem of elastic fabrics when sewing curves, the present invention can adopt the coordinate system of r-θ, where r is the velocity vector, θ is the angular velocity component, and r-θ can be obtained The first velocity component r' (described in detail later).

Please refer to FIGS. 10 to 12 . FIG. 12 is a flow chart of performing discretization processing on a curve according to an embodiment of the present invention.

Step S20 of the curve sewing method of this embodiment may include the following steps S50-S51.

It is worth mentioning that the discretization process shown in steps S50-S51 can also be used for straight lines without limitation.

In step S50 , the control module 10 divides the curve into a plurality of discrete line segments through the discrete processing module 21 .

In one embodiment, the lengths of the discrete line segments may be the same or different, and are not limited thereto.

In one embodiment, the length of each of the discrete line segments is no greater than a preset fixed seam distance.

In step S51, the control module 10 uses the discrete processing module 21 to perform linear interpolation on multiple discrete line segments to obtain multiple sewing points corresponding to the multiple discrete line segments.

In one embodiment, the linear interpolation determines the starting point and end point of each discrete line segment as the plurality of sewing points.

In one embodiment, the linear interpolation is based on the starting point and the end point of each discrete line segment to determine the middle point of each discrete line segment as the aforementioned sewing point.

Please refer to FIG. 8 and FIG. 9 . FIG. 9 is a schematic diagram of vector analysis according to an embodiment of the present invention.

In this embodiment, the presser foot 121 has a presser foot area A1.

The front end of the sewing pattern 40 can be divided into discrete line segments C1 and C2. Sewing points P0-P2 can be obtained by interpolating discrete line segments C1 and C2.

Next, the present invention can calculate the sewing vector V10 of the sewing point P0-P1 and the sewing vector V21 of the sewing point P1-P2. The sewing vectors V10 and V21 can be displacement vectors or speed vectors, without limitation.

For example, the sewing vector V10 is the same as the speed vector r ₁ that the robot arm module 11 should use. When the velocity vector r ₁ is rotated by the angular velocity component θ ₁ , the first velocity component r ₁ ' parallel to the cloth feeding direction D1 can be obtained (that is, the rotated sewing vector V10 can be parallel to the cloth feeding direction D1).

When it is desired that the sewing point P1 passes through the sewing needle along the cloth feeding direction D1, the robot arm module 11 must independently provide the cloth with a rotation corresponding to the angular velocity component θ ₁ , and together with the cloth feeding module 13, must provide the first speed component r ₁ to the cloth. ' (or the cloth feeding module 13 alone provides the cloth with the movement corresponding to the first speed component r ₁ '). In other words, the robot arm module 11 can be parallel to the cloth feeding direction D1 after rotating the angle θ ₁ , and move the first speed component r ₁ ′ based on the attitude parallel to the cloth feeding direction D1 so that the sewing point P1 passes through the needle.

Next, the sewing vector V21 is the same as the speed vector r ₂ that the robot arm module 11 should adopt. After rotating the velocity vector r ₂ by the angular velocity component θ ₂ , the first velocity component r ₂ ' parallel to the cloth feeding direction D1 can be obtained (that is, the rotated sewing vector V21 can be parallel to the cloth feeding direction D1).

When the sewing point P2 is expected to pass through the sewing needle in the cloth feeding direction D1, the robot arm module 11 must independently provide the cloth with a rotation corresponding to the angular velocity component θ ₂ , and together with the cloth feeding module 13, must provide the first speed component r ₂ to the cloth. ' (or the cloth feeding module 13 alone provides the cloth with the movement corresponding to the first speed component r ₂ '). In other words, the robot arm module 11 can be parallel to the cloth feeding direction D1 after rotating the angle θ ₂ , and move the first speed component r ₂ ' based on the attitude parallel to the cloth feeding direction D1 to allow the sewing point P2 to pass the sewing needle, And so on.

The present invention uses the sewing needle as the center and uses the r-θ motion control method to achieve the technical effect of minimizing the internal stress of the elastic fabric during the curved sewing process.

Please refer to FIGS. 10 to 13 . FIG. 13 is a flow chart of a correction process according to an embodiment of the present invention.

The curve sewing method of this embodiment can execute the following steps S60-S61 while executing step S12 (sewing program) or after executing the step S60-S61 to calibrate the robot arm module 11 immediately or afterwards.

In step S60, the control module 10 controls the image capture module 14 through the correction processing module 23 to capture the sewn fabric to obtain the result image.

In step S61, the control module 10 calculates the offset based on the result image through the correction processing module 23.

In one embodiment, the control module 10 can identify the actual sewing position of each sewing point on the fabric in the result image, and calculate the offset between the actual sewing position of each sewing point and the expected sewing position to obtain the offset amount. .

In one embodiment, the control module 10 can identify the actual sewing pattern in the result image, and calculate the deviation between it and the virtual sewing pattern used in step S10 to obtain the offset amount.

In step S62, the control module 10 determines whether the offset meets the preset correction conditions through the correction processing module 23.

In one embodiment, the correction condition may include that the offset is not zero, that is, there is any offset.

In one embodiment, the correction condition may include the offset exceeding a preset offset threshold. That is, there is a significant offset.

If the offset does not meet the preset correction conditions, this correction will end.

If the offset meets the preset correction conditions, step S63 is executed. In step S63, the control module 10 corrects the movement of the robot arm module 11 based on the offset through the correction processing module 23.

In one embodiment, the control module 10 can decompose the offset into an X-axis component and a Y-axis component (such as the cloth feeding direction). And the movement of the robot arm module 11 is compensated respectively according to the X-axis component and the Y-axis component to compensate for the offset.

In one embodiment, the control module 10 can add the offset amount to the reference posture of the robotic arm module 11 to correct all postures of the robotic arm module 11 (swing based on the reference posture) by compensating the reference posture.

The above are only preferred specific examples of the present invention, and do not limit the patentable scope of the present invention. Therefore, all equivalent changes made by applying the content of the present invention are equally included in the scope of the present invention. Chen Ming.

1: Automatic sewing machine 10:Control module 11: Robot arm module 110:Arm controller 111:The first robot arm module 112: Second robotic arm module 12:Sewing module 120:Sewing controller 121:presser foot 122: stitches 13: Cloth feeding module 130: Feed controller 14:Image capture module 15: Human-computer interface 16:Storage module 17: Template 170:First template 171: Second template 20: Graphic acquisition module 21: Discrete processing module 22:Mobile control module 23: Correction processing module 30:fabric 300:First fabric 301:Second cloth 31:Workbench 40: Sewing graphics A1: presser foot area C1, C2: discrete line segments D1: Feeding direction P0-P28: sewing point V10, V21: vector V10a, V10b, V20a, V20b: component S10-S12: Automatic sewing steps S20-S21: Path conversion steps S30-S31: Sewing steps S40-S42: Control movement steps S50-S51: discretization steps S60-S63: Calibration steps

Figure 1 is a structural diagram of an automatic sewing machine according to an embodiment of the present invention.

Figure 2 is a structural diagram of an automatic sewing machine according to an embodiment of the present invention.

FIG. 3 is an architectural diagram of a control module according to an embodiment of the present invention.

Figure 4 is a schematic diagram of an automatic sewing machine according to an embodiment of the present invention.

Figure 5 is a schematic diagram of an automatic sewing machine according to an embodiment of the present invention.

Figure 6 is a schematic diagram of an automatic sewing machine according to an embodiment of the present invention.

Figure 7 is a schematic diagram of an automatic sewing machine according to an embodiment of the present invention.

Figure 8 is a schematic diagram of path conversion according to an embodiment of the present invention.

Figure 9 is a schematic diagram of vector analysis according to an embodiment of the present invention.

Figure 10 is a flow chart of a curve sewing method according to an embodiment of the present invention.

Figure 11 is a flow chart for controlling a robot arm to move cloth according to an embodiment of the present invention.

FIG. 12 is a flow chart for performing discretization processing on curves according to an embodiment of the present invention.

FIG. 13 is a flowchart of correction processing according to an embodiment of the present invention.

1: Automatic sewing machine

10:Control module

11: Robot arm module

12:Sewing module

13: Cloth feeding module

Claims (14)

An automatic sewing machine with curve sewing function, including: A robotic arm module used to move a fabric on a sewing plane; a sewing module for sewing the fabric; a cloth feeding module for transporting the fabric to the sewing module along a cloth feeding direction of the sewing plane; and A control module, electrically connected to the robot arm module, the cloth feeding module and the sewing module, is set to obtain a sewing pattern of the fabric, perform a path conversion on the sewing pattern to obtain a sewing pattern including multiple sewing patterns. A sewing path of points, based on the plurality of sewing points, the robot arm module is controlled to move the cloth so that the plurality of sewing points pass through the sewing module along the cloth feeding direction. The automatic sewing machine as claimed in claim 1, wherein the plurality of sewing points have a fixed sewing distance; Wherein, the control module includes a discrete processing module, which is set to divide the curve into multiple discrete line segments, and perform linear interpolation on the multiple discrete line segments to obtain the corresponding multiple discrete line segments. The plurality of sewing points, the length of each discrete line segment is not greater than the fixed sewing distance. The automatic sewing machine of claim 1, wherein the control module includes a movement control module configured to calculate a sewing vector of the plurality of sewing points based on a preset sewing distance, a preset sewing speed and a At least one of the preset stitch down time slots and the sewing vector determine a movement vector or a movement coordinate of the robot arm module, and control the movement of the robot arm module based on the movement vector or the movement coordinate to make the robot arm module move. The sewing vector is parallel to the feed direction. The automatic template sewing machine as claimed in claim 3, wherein the movement vector is a speed vector and includes a first speed component and a second speed component, the first speed component being parallel to the cloth feeding direction; Wherein, the movement control module is set to control the movement of the robot arm module based on the first speed component and the second speed component to make the plurality of sewing points pass through the sewing module. The sewing vector is parallel to the feed direction. The automatic sewing machine as described in claim 3, wherein the movement coordinates are the destination coordinates of the robot arm module; Wherein, the movement control module is set to control the robot arm module to move to the movement coordinate, so that the sewing vectors of the plurality of sewing points are parallel to the cloth feeding direction when the plurality of sewing points pass through the sewing module. The automatic sewing machine of claim 1 further includes a template for fixing the fabric. The robot arm module is connected to the template and moves the template to translate and rotate the fabric on the sewing plane. The automatic sewing machine as claimed in claim 1 further includes an image capture module for capturing a result image of the fabric; Wherein, the control module includes a correction processing module, which is configured to correct the robot arm model based on the offset when detecting that an offset of the plurality of sewing points in the result image meets a correction condition. Group movement. A curve sewing method, including: a) Obtain a sewing pattern of a fabric; b) Perform a path conversion on the sewing graphic to obtain a sewing path corresponding to the sewing graphic, where the sewing path includes multiple sewing points; c) In a sewing program, control a cloth feeding module to transport the fabric to a sewing module along a cloth feeding direction on a sewing plane, and control the sewing module to sew the fabric; and d) In the sewing program, control a robotic arm module to move the fabric on a sewing plane based on the multiple sewing points so that the multiple sewing points pass through the sewing module along the fabric feeding direction; Among them, the path conversion includes: e) Perform a discretization transformation on a curve of the sewing pattern to obtain the plurality of sewing points arranged along the curve. The curve sewing method as claimed in claim 8, wherein the plurality of sewing points have a fixed sewing distance; Among them, the discretization transformation includes: f1) Divide the curve into multiple discrete line segments, where the length of each discrete line segment is not greater than the fixed seam distance; and f2) Perform linear interpolation on the multiple discrete line segments to obtain the multiple sewing points corresponding to the multiple discrete line segments. The curve sewing method as described in claim 8, wherein step d) includes: d1) Calculate a sewing vector of the multiple sewing points; d2) Determine a movement vector or a movement coordinate of the robot arm module based on at least one of a preset sewing distance, a preset sewing speed, and a preset needle lowering time slot and the sewing vector; and d3) Control the movement of the robot arm module based on the movement vector or the movement coordinates to make the sewing vector parallel to the cloth feeding direction. The curve sewing method according to claim 10, wherein the movement vector is a speed vector and includes a first speed component and an angular speed component, and the first speed component is parallel to the cloth feeding direction; Wherein, the step d3) is to control the movement of the robot arm module based on the first speed component and the angular velocity component, so that the sewing vectors of the multiple sewing points are parallel to the feed when the multiple sewing points pass through the sewing module. cloth direction. The curve sewing method as described in claim 10, wherein the movement coordinates are the destination coordinates of the robot arm module; Wherein, step d3) is to control the robot arm module to move to the moving coordinate so that the sewing vectors of the plurality of sewing points are parallel to the cloth feeding direction when the plurality of sewing points pass through the sewing module. The curved sewing method of claim 8, wherein step d) is to control the robot arm module to move a template used to fix the fabric to translate and rotate the fabric on the sewing plane. The curve sewing method as described in claim 8 further includes: g1) In the sewing process, capture a result image through an image capture module; and g2) When detecting an offset of the plurality of sewing points in the result image that meets a correction condition, correct the movement of the robot arm module based on the offset.

Images