Sewing track error correction method and device based on 3D robot sewing

Abstract

The invention discloses a sewing track error correction method and device based on 3D robot sewing. The device comprises a sewing machine head and a mechanical arm, wherein the sewing machine head is mounted on the mechanical arm; a needle is arranged on the sewing machine head; a laser line scanner is mounted on the sewing machine head; the mechanical arm drives the sewing machine head to be wholly moved to a set position; and the laser line scanner starts to perform fixed-point or continuous scanning on sewed workpiece characteristics, and the scanning result and deviation of the original sewing track of the sewing machine head are fed back to a robot control program, so that the needle of the sewing machine head can perform accurate sewing on the deviation-corrected track of the sewed workpiece. According to the method and device disclosed by the invention, the sewing guide characteristics are scanned by utilizing the laser line scanner, and after the deviation is obtained, the sewing machine head corrects the actual sewing track according to the deviation so as to perform sewing.

Description

technical field [0001] The invention belongs to the technical field of robot sewing, and in particular relates to a method and device for correcting sewing track deviation based on robot 3D sewing. Background technique [0002] The existing sewing process generally adopts the working mode of material movement and sewing machine not moving. When placing the material, the workpiece is positioned and placed, and then the workpiece is sewed according to the predetermined movement track. At this time, the deviation of the placement of the material also determines the deviation of the sewing stitch. However, when some materials have strict requirements on the sewing track, the accuracy requirements for the placement of the materials are significantly improved, especially in the case of 3D sewing, the difficulty of placing the space surface is further increased. [0003] If manual feeding is used in the workpiece movement mode, then a worker's sense of responsibility and skills wil...

AI Technical Summary

Problems solved by technology

However, when some materials have strict requirements on the sewing track, the accuracy requirements for the placement of the materials are significantly improved, especially in the case of 3D sewing, the difficulty of placing the space surface is further increased

[0003] If manual feeding is used in the workpiece movement mode, then a worker's sense of responsibility and skills will completely affect the stability of feeding, and the feeding path must be constantly changed during the feeding process, which will seriously affect the speed and the accuracy of the sewing position, and even cause The product is scrapped due to the location of the stitches

At the same time, because people are the biggest unstable factor in work, factors such as people's working status, mood, fatigue, and continuous working time all affect the final work results, which has a great impact on the accuracy of workpiece placement.

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