Manipulator sewing method and device, sewing equipment, computer readable storage medium and computer program product

Abstract

The invention relates to a manipulator sewing method and device, sewing equipment, a computer readable storage medium and a computer program product, and relates to the technical field of sewing. The method comprises the steps that based on a sewing drawing of a to-be-sewn cutting piece, moving track information of a mechanical arm in the sewing process of the to-be-sewn cutting piece is determined; the to-be-sewn cutting piece is sewn through the sewing machine, and the manipulator is controlled to press and move the to-be-sewn cutting piece in the sewing process of the to-be-sewn cutting piece based on the moving track information; the moving speed of the mechanical arm in the sewing process of the to-be-sewn cutting piece is obtained; based on the moving speed and a preset stitch length corresponding to the to-be-sewn cutting piece, the sewing speed of the sewing machine is adjusted, so that the actual stitch length on the to-be-sewn cutting piece is consistent with the preset stitch length. By adopting the method, the sewing qualification rate can be improved.

Description

Technical Field

[0001] The present application relates to the field of sewing technology, and in particular to a robot sewing method, device, sewing equipment, computer-readable storage medium and computer program product. Background Art

[0002] With the development of industrial robots, more and more factories are beginning to use robots for sewing.

[0003] However, the robot does not move at a uniform speed when moving in a curve, which causes the stitch length on the cut piece to not meet the preset stitch length requirements, thereby reducing the sewing qualification rate. Summary of the invention

[0004] Based on this, it is necessary to provide a robot sewing method, device, sewing equipment, computer-readable storage medium and computer program product that can improve the sewing pass rate in order to address the above-mentioned technical problem of low sewing pass rate.

[0005] In a first aspect, the present application provides a robot sewing method, which is applied to a sewing device, wherein the sewing device includes a robot and a sewing machine, including:

[0006] Based on the sewing drawing of the piece to be sewn, determining the moving track information of the manipulator during the sewing process of the piece to be sewn;

[0007] Sewing the cut piece to be sewn by the sewing machine, and controlling the manipulator to press and move the cut piece to be sewn during the sewing process of the cut piece to be sewn based on the movement trajectory information;

[0008] Acquiring the moving speed of the manipulator during the sewing process of the cut piece to be sewn;

[0009] Based on the moving speed and the preset needle length corresponding to the piece to be sewn, the sewing speed of the sewing machine is adjusted so that the actual needle length on the piece to be sewn is consistent with the preset needle length.

[0010] In one of the embodiments, the sewing device further comprises a driving motor for driving the sewing machine to sew;

[0011] The adjusting the sewing speed of the sewing machine based on the moving speed and the preset stitch length corresponding to the cut piece to be sewn comprises:

[0012] Determining an expected rotation speed of the drive motor based on the moving speed and the preset needle distance;

[0013] Based on the number of pulses per revolution of the driving motor and the expected rotation speed, the pulse frequency of the driving motor is adjusted to adjust the sewing speed of the sewing machine.

[0014] In one embodiment, determining the expected rotation speed of the driving motor based on the moving speed and the preset needle distance includes:

[0015] Determine a ratio between the moving speed and the preset needle distance, and determine the ratio as the expected rotation speed of the driving motor;

[0016] The step of adjusting the pulse frequency of the drive motor based on the number of pulses per revolution of the drive motor and the expected speed includes:

[0017] The product between the number of pulses per revolution and the expected rotational speed is determined, and the pulse frequency of the drive motor is adjusted to the product.

[0018] In one embodiment, the sewing device further comprises a die pressing mechanism connected to the manipulator; the die pressing mechanism comprises a die pressing sheet and a code changing motor, the manipulator presses the cut piece to be sewn through the die pressing sheet, and the code changing motor is used to adjust the opening and closing size of the die pressing sheet;

[0019] Before the sewing machine is used to sew the cut piece to be sewn and the manipulator is controlled to press and move the cut piece to be sewn during the sewing process of the cut piece to be sewn based on the movement trajectory information, the method further includes:

[0020] Determining the die size required for the piece to be sewn based on the piece size of the piece to be sewn;

[0021] The code-changing motor is controlled to adjust the opening and closing size of the die pressing sheet to the die size.

[0022] In one embodiment, obtaining the moving speed of the manipulator during the sewing process of the piece to be sewn includes:

[0023] Determining the linear velocity of the sewing track on the piece to be sewn when it is tangent to the needle of the sewing machine;

[0024] The linear velocity is used as the moving velocity of the robot.

[0025] In one embodiment, the determining, based on the sewing drawing of the piece to be sewn, the moving track information of the manipulator during the sewing process of the piece to be sewn includes:

[0026] Scattering the sewing track on the sewing drawing into a plurality of sewing points at equal distances;

[0027] For each sewing point, determine the coordinate information and angle information of the manipulator when the sewing machine needle coincides with the sewing point and the moving direction of the manipulator is consistent with the sewing direction of the sewing track during the sewing process;

[0028] The coordinate information and the angle information of the manipulator at each sewing point are determined as the movement track information of the manipulator.

[0029] In a second aspect, the present application also provides a robot sewing device, comprising:

[0030] A trajectory determination module, used to determine the movement trajectory information of the manipulator in the sewing equipment during the sewing process of the piece to be sewn based on the sewing drawing of the piece to be sewn;

[0031] A piece sewing module, used for sewing the piece to be sewn by a sewing machine in the sewing device, and controlling the manipulator to press and move the piece to be sewn during the sewing process of the piece to be sewn based on the movement trajectory information;

[0032] A speed acquisition module, used for acquiring the moving speed of the manipulator during the sewing process of the cut piece to be sewn;

[0033] The speed adjustment module is used to adjust the sewing speed of the sewing machine based on the moving speed and the preset stitch length corresponding to the piece to be sewn, so that the actual stitch length on the piece to be sewn is consistent with the preset stitch length.

[0034] In a third aspect, the present application further provides a sewing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0035] Based on the sewing drawing of the piece to be sewn, determining the moving track information of the manipulator during the sewing process of the piece to be sewn;

[0036] Sewing the cut piece to be sewn by the sewing machine, and controlling the manipulator to press and move the cut piece to be sewn during the sewing process of the cut piece to be sewn based on the movement trajectory information;

[0037] Acquiring the moving speed of the manipulator during the sewing process of the cut piece to be sewn;

[0038] Based on the moving speed and the preset needle length corresponding to the piece to be sewn, the sewing speed of the sewing machine is adjusted so that the actual needle length on the piece to be sewn is consistent with the preset needle length.

[0039] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0040] Based on the sewing drawing of the piece to be sewn, determining the moving track information of the manipulator during the sewing process of the piece to be sewn;

[0041] Sewing the cut piece to be sewn by the sewing machine, and controlling the manipulator to press and move the cut piece to be sewn during the sewing process of the cut piece to be sewn based on the movement trajectory information;

[0042] Acquiring the moving speed of the manipulator during the sewing process of the cut piece to be sewn;

[0043] Based on the moving speed and the preset needle length corresponding to the piece to be sewn, the sewing speed of the sewing machine is adjusted so that the actual needle length on the piece to be sewn is consistent with the preset needle length.

[0044] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0045] Based on the sewing drawing of the piece to be sewn, determining the moving track information of the manipulator during the sewing process of the piece to be sewn;

[0046] Sewing the cut piece to be sewn by the sewing machine, and controlling the manipulator to press and move the cut piece to be sewn during the sewing process of the cut piece to be sewn based on the movement trajectory information;

[0047] Acquiring the moving speed of the manipulator during the sewing process of the cut piece to be sewn;

[0048] Based on the moving speed and the preset needle length corresponding to the piece to be sewn, the sewing speed of the sewing machine is adjusted so that the actual needle length on the piece to be sewn is consistent with the preset needle length.

[0049] The above-mentioned robot sewing method, device, sewing equipment, computer-readable storage medium and computer program product, first, the sewing equipment determines the movement trajectory information of the robot during the sewing process of the piece to be sewn based on the sewing drawing of the piece to be sewn; then, the sewing equipment sews the piece to be sewn through the sewing machine, and based on the movement trajectory information, controls the robot to press and move the piece to be sewn during the sewing process of the piece to be sewn; then, the sewing equipment obtains the movement speed of the robot during the sewing process of the piece to be sewn; finally, the sewing equipment adjusts the sewing speed of the sewing machine based on the movement speed and the preset stitch length corresponding to the piece to be sewn, so that the stitch length on the piece to be sewn is consistent with the preset stitch length. In this way, the sewing equipment can adjust the sewing speed of the sewing machine based on the movement speed of the manipulator during the sewing process of the piece to be sewn and the preset stitch length corresponding to the piece to be sewn, so that the stitch length on the piece to be sewn is consistent with the preset stitch length, that is, the preset stitch length requirements are met, thereby improving the sewing pass rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0051] FIG1 is a schematic structural diagram of a sewing device in one embodiment;

[0052] FIG2 is a schematic diagram of a process flow of a robot sewing method in one embodiment;

[0053] FIG3 is a flow chart of the steps of adjusting the sewing speed of a sewing machine based on the moving speed and the preset stitch length corresponding to the pieces to be sewn in one embodiment;

[0054] 4 is a flow chart of the steps of adjusting the sewing speed of the sewing machine based on the moving speed and the preset stitch length corresponding to the pieces to be sewn in another embodiment;

[0055] FIG5 is a schematic diagram of the structure of a manipulator in one embodiment;

[0056] FIG6 is a schematic flow chart of the steps of adjusting the opening and closing size of the compression mold and compression sheet in one embodiment;

[0057] FIG. 7 is a schematic flow chart of the steps of obtaining the moving speed of the manipulator during the sewing process of the pieces to be sewn in one embodiment;

[0058] 8 is a flowchart of steps for determining movement trajectory information of a manipulator during the sewing process of a piece to be sewn based on a sewing drawing of the piece to be sewn in one embodiment;

[0059] FIG9 is a schematic diagram of a sewing process in one embodiment;

[0060] FIG10 is a schematic flow chart of a robot sewing method in another embodiment;

[0061] FIG11 is a schematic flow chart of a method for sewing using a robot in one embodiment;

[0062] FIG12 is a block diagram of a robot sewing device in one embodiment;

[0063] FIG. 13 is a diagram showing the internal structure of a sewing device in one embodiment. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0065] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0066] The robot sewing method provided in the embodiment of the present application can be applied to the sewing device as shown in Figure 1. The sewing device includes a robot and a sewing machine. The robot is used to press and move the pieces to be sewn during the sewing process, and the sewing machine is used to sew the pieces to be sewn during the sewing process.

[0067] It is easy to understand that the sewing device includes a memory and a processor, the memory stores a computer program, and the processor implements the various steps of the robot sewing method provided in the present application when executing the computer program.

[0068] Furthermore, there is a programmable logic controller PLC (Programmable Logic Controller) inside the sewing equipment, and the sewing equipment communicates with various components in the sewing equipment (including a robot, a code-changing motor for adjusting the opening and closing size of the die pressing sheet, a drive motor for driving the sewing machine for sewing, etc.) through the programmable logic controller PLC.

[0069] Furthermore, the robot sewing method provided in the embodiment of the present application can also be applied to a server or terminal that is communicatively connected to the sewing device as shown in Figure 1; wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services; the terminal can be but is not limited to various personal computers, laptops, smart phones, tablet computers, etc.

[0070] Specifically, first, the sewing equipment determines the movement trajectory information of the manipulator during the sewing process of the piece to be sewn based on the sewing drawing of the piece to be sewn; then, the sewing equipment sews the piece to be sewn through the sewing machine, and based on the movement trajectory information, controls the manipulator to press and move the piece to be sewn during the sewing process of the piece to be sewn; then, the sewing equipment obtains the movement speed of the manipulator during the sewing process of the piece to be sewn; finally, the sewing equipment adjusts the sewing speed of the sewing machine based on the movement speed and the preset stitch length corresponding to the piece to be sewn, so that the actual stitch length on the piece to be sewn is consistent with the preset stitch length.

[0071] In an exemplary embodiment, as shown in FIG2 , a robot sewing method is provided, which is described by taking the method applied to the sewing device in FIG1 as an example, and includes the following steps:

[0072] Step S202, based on the sewing drawing of the piece to be sewn, determining the movement trajectory information of the robot during the sewing process of the piece to be sewn.

[0073] The pieces to be sewn refer to the fabrics to be sewn.

[0074] The sewing drawing includes the sewing trajectory of the pattern to be sewn on the piece to be sewn and the center point of the end axis of the robot.

[0075] Among them, the center point of the manipulator end axis is used to represent the relative position of the sewing track on the piece to be sewn and the manipulator end axis when the manipulator moves during the sewing process. If the center point of the manipulator end axis is closer to the sewing track in the sewing drawing, the manipulator end axis will be closer to the sewing machine needle during sewing, and then the mold pressing sewing machine needle will be closer, and vice versa.

[0076] In practical applications, the determination of the center point of the manipulator's terminal axis often requires the installation of a suitable die pressing plate, and then selecting a position that neither causes the die pressing plate to collide with the sewing machine needle nor causes the die pressing plate to be too far away from the sewing machine needle as the center point of the manipulator's terminal axis.

[0077] The movement trajectory information of the manipulator is the coordinate information and angle information of the manipulator when it moves, specifically the coordinates and angles of the end axis of the manipulator.

[0078] Specifically, the sewing equipment obtains a sewing drawing of the piece to be sewn, and based on the sewing trajectory in the sewing drawing and the center point of the manipulator's end axis, determines the coordinates and angles of the manipulator's end axis during the sewing process of the piece to be sewn, and obtains the movement trajectory information of the manipulator.

[0079] Step S204, sewing the pieces to be sewn by means of a sewing machine, and based on the movement trajectory information, controlling the manipulator to press and move the pieces to be sewn during the sewing process.

[0080] Specifically, the sewing equipment controls the robot to press down the piece to be sewn, moves the piece to be sewn to under the needle of the sewing machine, and then controls the sewing machine to sew the piece to be sewn; and during the sewing process, based on the movement trajectory information, continues to control the robot to press down and move the piece to be sewn, so that the sewing trajectory of the sewing machine on the piece to be sewn is consistent with the sewing trajectory on the sewing drawing.

[0081] Step S206, obtaining the moving speed of the robot during the sewing process of the cut piece to be sewn.

[0082] The moving speed of the robot arm can be characterized by the moving speed of the piece to be sewn; further, the moving speed of the robot arm can be characterized by the moving speed of the sewing track on the piece to be sewn.

[0083] Specifically, the robot outputs a moving speed in real time during the sewing process of the cut piece to be sewn; and the sewing device obtains the moving speed output by the robot in real time.

[0084] Step S208, adjusting the sewing speed of the sewing machine based on the moving speed and the preset stitch length corresponding to the piece to be sewn, so that the actual stitch length on the piece to be sewn is consistent with the preset stitch length.

[0085] Among them, the sewing speed of the sewing machine refers to the frequency at which the needle falls on the piece to be sewn to sew each time.

[0086] The preset stitch length is the expected distance between adjacent stitches on the piece to be sewn.

[0087] The actual stitch length is the distance between adjacent stitches on the piece to be sewn at the moving speed of the robot.

[0088] Specifically, the sewing equipment determines whether the moving speed of the robot and the sewing speed of the sewing machine match, and if they do not match, adjusts the sewing speed of the sewing machine based on the moving speed and the preset stitch length corresponding to the piece to be sewn, so that the actual stitch length on the piece to be sewn is consistent with the preset stitch length, and then the stitch length on the sewn piece can meet the preset stitch length requirement, thereby improving the sewing pass rate.

[0089] In the above-mentioned robot sewing method, first, the sewing device determines the movement trajectory information of the robot during the sewing process of the piece to be sewn based on the sewing drawing of the piece to be sewn; then, the sewing device sews the piece to be sewn through the sewing machine, and based on the movement trajectory information, controls the robot to press and move the piece to be sewn during the sewing process of the piece to be sewn; then, the sewing device obtains the movement speed of the robot during the sewing process of the piece to be sewn; finally, the sewing device adjusts the sewing speed of the sewing machine based on the movement speed and the preset stitch length corresponding to the piece to be sewn, so that the actual stitch length on the piece to be sewn is consistent with the preset stitch length. In this way, based on the movement speed of the robot during the sewing process of the piece to be sewn and the preset stitch length corresponding to the piece to be sewn, the sewing device can adjust the sewing speed of the sewing machine, thereby making the stitch length on the piece to be sewn consistent with the preset stitch length, that is, meeting the preset stitch length requirements, thereby improving the sewing qualification rate.

[0090] In an exemplary embodiment, referring to FIG. 1 , the sewing device further comprises a driving motor for driving the sewing machine to perform sewing.

[0091] In a specific application, the driving motor is a servo motor.

[0092] In practical applications, since the sewing equipment needs to communicate with the drive motor through PLC, it is necessary to replace the motor of the sewing machine with a servo motor so as to accurately control the sewing speed of the sewing machine through the servo motor.

[0093] As shown in FIG. 3 , the above step S208, adjusting the sewing speed of the sewing machine based on the moving speed and the preset stitch length corresponding to the piece to be sewn, specifically includes the following steps:

[0094] Step S302, determining the expected rotation speed of the driving motor based on the moving speed and the preset needle distance.

[0095] Step S304, based on the number of pulses per revolution of the driving motor and the expected rotation speed, the pulse frequency of the driving motor is adjusted to adjust the sewing speed of the sewing machine.

[0096] Among them, the speed of the driving motor determines the sewing speed of the sewing machine. In a specific application, the driving motor will drive the sewing machine to sew one stitch every time it rotates one circle.

[0097] The expected rotation speed is the rotation speed of the driving motor at the moving speed of the manipulator in order to make the actual stitch length on the sewing piece consistent with the preset stitch length.

[0098] The pulse number per revolution (Pulse Per Revolution, PPR) of the drive motor refers to the number of pulses required for the drive motor to rotate one circle. For example, if the drive motor requires 1000 pulses to rotate one circle, the pulse number per revolution of the drive motor is 1000.

[0099] Specifically, the sewing device determines the number of revolutions per second that the drive motor needs to rotate at the moving speed of the manipulator in order to make the actual stitch length on the sewn piece consistent with the preset stitch length according to the moving speed of the manipulator and the preset stitch length of the piece to be sewn, and this number of revolutions is the expected speed of the drive motor; then, the sewing device adjusts the pulse frequency of the drive motor based on the number of pulses per revolution of the drive motor and the expected speed, so that the number of revolutions per second of the drive pulse reaches the expected speed, and then adjusts the sewing speed of the sewing device so that the actual stitch length of the piece to be sewn at the moving speed of the manipulator is consistent with the preset stitch length.

[0100] In this embodiment, the sewing equipment can determine the expected rotation speed of the driving motor at the moving speed of the manipulator through the moving speed of the manipulator and the preset stitch length of the piece to be sewn, and then adjust the pulse frequency of the driving motor based on the number of pulses per revolution of the driving motor, thereby adjusting the sewing speed of the sewing equipment and ensuring that the actual stitch length of the piece to be sewn at the moving speed of the manipulator is consistent with the preset stitch length.

[0101] In an exemplary embodiment, the above step S302 determines the expected rotation speed of the driving motor based on the moving speed and the preset needle distance, and specifically includes the following contents: determining the ratio between the moving speed and the preset needle distance, and determining the ratio as the expected rotation speed of the driving motor.

[0102] The above step S304, based on the number of pulses per revolution of the driving motor and the expected speed, adjusts the pulse frequency of the driving motor, specifically including the following contents: determining the product between the number of pulses per revolution and the expected speed, and adjusting the pulse frequency of the driving motor to the product.

[0103] Specifically, the sewing device calculates the ratio between the moving speed of the manipulator and the preset stitch length of the piece to be sewn, and the ratio is the expected rotation speed of the drive motor under the moving speed of the manipulator and the preset stitch length of the piece to be sewn. For example, if the moving speed of the manipulator is 100 mm / s and the preset stitch length is 2 mm, the drive motor needs to rotate 50 times per second, so the sewing device determines the expected rotation speed of the drive motor to be 100 / 2=50 times.

[0104] Then, the sewing device calculates the product between the number of pulses per drive motor and the expected speed of the drive motor. This product is the expected pulse frequency of the drive motor at the moving speed of the manipulator in order to make the actual stitch length on the sewing piece consistent with the preset stitch length. Therefore, the sewing device adjusts the pulse frequency of the drive motor to this product. For example, assuming that the number of pulses per drive motor is 1000 pulses, the pulse frequency of the drive motor should be adjusted to 1000×50=50000Hz.

[0105] In summary, as shown in FIG. 4 , the above step S108 adjusts the sewing speed of the sewing machine based on the moving speed and the preset stitch length corresponding to the piece to be sewn, which may further include the following steps:

[0106] Step S402, determining the ratio between the moving speed and the preset needle distance, and determining the ratio as the expected rotation speed of the driving motor.

[0107] Step S404, determining the product between the number of pulses per revolution and the expected rotation speed, and adjusting the pulse frequency of the driving motor to the product to adjust the sewing speed of the sewing machine.

[0108] In this embodiment, the sewing equipment can determine the expected rotational speed of the driving motor at the moving speed of the manipulator through the ratio of the moving speed of the manipulator to the preset stitch length of the piece to be sewn, and then adjust the pulse frequency of the driving motor based on the product of the number of pulses per revolution of the driving motor and the expected rotational speed, thereby adjusting the sewing speed of the sewing equipment and ensuring that the actual stitch length of the piece to be sewn at the moving speed of the manipulator is consistent with the preset stitch length.

[0109] In an exemplary embodiment, as shown in Figure 5, which is a schematic diagram of a manipulator, the sewing equipment also includes a die pressing mechanism connected to the manipulator; the die pressing mechanism includes a die pressing plate and a code changing motor, the manipulator presses the cut piece to be sewn through the die pressing plate, and the code changing motor is used to adjust the opening and closing size of the die pressing plate.

[0110] In practical applications, the die pressing sheet is replaceable, and die pressing sheets of different shapes can be selected for installation according to the sewing requirements of the cut pieces to be sewn.

[0111] 5 , there are at least two compression mold sheets, and the opening and closing size of the compression mold sheets refers to the distance between every two compression mold sheets.

[0112] As shown in FIG. 6 , in the above step S204, the sewing machine is used to sew the sewing piece, and based on the movement trajectory information, the manipulator is controlled to press and move the sewing piece during the sewing process of the sewing piece, and the following steps are specifically included to adjust the opening and closing size of the die pressing piece:

[0113] Step S602, determining the die size required for the piece to be sewn based on the piece size of the piece to be sewn.

[0114] Step S604, controlling the code-changing motor to adjust the opening and closing size of the die and sheet to the die size.

[0115] Among them, the piece size refers to the area of ​​the piece to be sewn.

[0116] The size of the pressing die is slightly smaller than the size of the cut piece so as to press as much of the cut piece to be sewn as possible.

[0117] Specifically, referring to Figure 5, the sewing equipment also includes a die pressing mechanism connected to the manipulator, the die pressing mechanism includes a die pressing plate and a code changing motor, the manipulator presses the to-be-sewed pieces through the die pressing plate, and the sewing equipment adjusts the opening and closing size of the die pressing plate through the code changing motor so as to press as wide a range of to-be-sewed pieces as possible; before starting to sew, the sewing equipment also needs to determine the piece size of the to-be-sewed pieces, and then determine a die size slightly smaller than the piece size, and then the code changing motor adjusts the opening and closing size of the die pressing plate to the determined die size, and then sews.

[0118] In a specific application, the sewing device can determine the size of the piece to be sewn according to the sewing trajectory in the sewing drawing.

[0119] In actual application, referring to FIG5 , the code-changing motor is also connected to a lead screw and a track; the code-changing motor rotates to drive the lead screw, and the die pressing sheet moves along the lead screw and the track to achieve the purpose of adjusting the opening and closing size.

[0120] In this embodiment, the sewing device can also adjust the opening and closing size of the die pressing sheet to adapt to different sewing requirements of different pieces to be sewn.

[0121] In an exemplary embodiment, as shown in FIG. 7 , the above step S106, obtaining the moving speed of the manipulator during the sewing process of the cut piece to be sewn, specifically includes the following steps:

[0122] Step S702, determining the linear speed of the sewing track on the piece to be sewn when it is tangent to the needle of the sewing machine.

[0123] Step S704, taking the linear velocity as the moving velocity of the robot.

[0124] Specifically, during the sewing process of the piece to be sewn, the robot obtains in real time the linear speed of the sewing track on the piece to be sewn when it is tangent to the needle of the sewing machine and outputs it; the mechanical equipment obtains the linear speed output by the robot as the moving speed of the robot.

[0125] In this embodiment, the sewing equipment uses the linear speed of the sewing trajectory on the piece to be sewn when it is tangent to the needle of the sewing machine as the moving speed of the manipulator, which can accurately measure the movement of the manipulator, and then accurately adjust the sewing speed of the sewing machine, ensuring that the actual stitch length on the piece to be sewn is consistent with the preset stitch length, thereby improving the sewing qualification rate.

[0126] In an exemplary embodiment, as shown in FIG8 , based on the sewing drawing of the piece to be sewn, determining the movement track information of the manipulator during the sewing process of the piece to be sewn specifically includes the following steps:

[0127] Step S802, dispersing the sewing track on the sewing drawing into a plurality of sewing points at equal distances.

[0128] Step S804, for each sewing point, determine the coordinate information and angle information of the manipulator when the needle of the sewing machine coincides with the sewing point and the moving direction of the manipulator is consistent with the sewing direction of the sewing trajectory during the sewing process.

[0129] Step S806, determining the coordinate information and angle information of the manipulator at each sewing point as the movement track information of the manipulator.

[0130] Specifically, the sewing equipment disperses the sewing trajectory on the sewing drawing into multiple sewing points at equal distances, and for each sewing point, calculates the coordinates and angles of the terminal axis of the manipulator during the sewing process when the needle of the sewing machine coincides with the sewing point and the moving direction of the manipulator is consistent with the sewing direction of the sewing trajectory. The coordinates and angle information of the manipulator are used as the coordinate information and angle information of the manipulator. The coordinate system and angle information of the manipulator at each sewing point are the movement trajectory information of the manipulator.

[0131] FIG9 is a schematic diagram of the sewing process; the sewing direction is the tangent direction of the sewing track.

[0132] In practical applications, the sewing drawings are CAD drawings (Computer Aided Design); the sewing equipment first outputs the CAD drawings as DXF files (Drawing Exchange Format, a CAD data file format for exchanging CAD data with other software), and then discretizes the sewing trajectory in the CAD drawings into multiple equidistant sewing points based on the DXF file, and calculates the coordinates and angles of the robot end axis at each sewing point as the point position information of the robot at each sewing point; the point position information of the robot at each sewing point constitutes the movement trajectory information of the robot.

[0133] In this embodiment, the sewing equipment uses the linear speed of the sewing trajectory on the piece to be sewn when it is tangent to the needle of the sewing machine as the moving speed of the manipulator, which can accurately measure the movement of the manipulator, and then accurately adjust the sewing speed of the sewing machine, ensuring that the actual stitch length on the piece to be sewn is consistent with the preset stitch length, thereby improving the sewing qualification rate.

[0134] In an exemplary embodiment, as shown in FIG. 10 , another robot sewing method is provided, which is described by taking the method applied to the sewing device shown in FIG. 1 as an example, and includes the following steps:

[0135] Step S1002, dispersing the sewing track on the sewing drawing into a plurality of sewing points at equal distances.

[0136] Step S1004, determining that during the sewing process, when the needle of the sewing machine coincides with each sewing point and the moving direction of the manipulator is consistent with the sewing direction of the sewing trajectory, the coordinate information and angle information of the manipulator are used as the moving trajectory information of the manipulator.

[0137] Step S1006, determining the die size required for the cut piece to be sewn based on the cut piece size of the cut piece to be sewn, and controlling the code-changing motor to adjust the opening and closing size of the die and the cut piece to the die size.

[0138] Step S1008, sewing the pieces to be sewn by means of a sewing machine, and based on the movement trajectory information, controlling the manipulator to press and move the pieces to be sewn during the sewing process.

[0139] Step S1010, determining the linear speed of the sewing track on the piece to be sewn when it is tangent to the needle of the sewing machine as the moving speed of the manipulator.

[0140] Step S1012, determining the ratio between the moving speed and the preset needle distance, and determining the ratio as the expected rotation speed of the driving motor.

[0141] Step S1014, determining the product between the number of pulses per revolution and the expected rotation speed, and adjusting the pulse frequency of the driving motor to the product, so that the actual stitch length on the piece to be sewn is consistent with the preset stitch length.

[0142] In this embodiment, the sewing equipment can adjust the sewing speed of the sewing machine based on the movement speed of the manipulator during the sewing process of the piece to be sewn and the preset stitch length corresponding to the piece to be sewn, so that the stitch length on the piece to be sewn is consistent with the preset stitch length, that is, the preset stitch length requirement is met, thereby improving the sewing pass rate.

[0143] In order to more clearly illustrate the robot sewing method provided by the embodiment of the present application, the robot sewing method is specifically described below with a specific embodiment, but it should be understood that the embodiment of the present application is not limited thereto. As shown in FIG. 11 , in one of the exemplary embodiments, the present application also provides a method for sewing with a robot, which specifically includes the following contents:

[0144] 1. Use CAD drawings to construct the sewing trajectory of the robot, and then parse the trajectory into a series of point information.

[0145] Specifically, the analysis method is to output the CAD drawing as a DXF file, and then perform point calculation based on the DXF file, divide each line in the drawing into straight lines and curves according to the slope, and discretize it into multiple discrete points with equal distances, and then calculate the coordinates and angles of the manipulator's end axis during the sewing process when the sewing machine's needle coincides with each discrete point and the manipulator's moving direction is consistent with the sewing direction of the sewing trajectory.

[0146] 2. Replace the sewing machine's built-in motor with an external servo motor to achieve precise control of the sewing machine.

[0147] 3. A replaceable pressing die mechanism is installed at the end of the manipulator to press the pieces to be sewn. The pressing piece of the pressing die mechanism can change its width to adapt to the pieces to be sewn through the code-changing motor and the screw rod and track connected to the code-changing motor.

[0148] 4. When the robot moves along the sewing track, the robot outputs the linear speed when the sewing track on the sewing piece is tangent to the sewing machine needle to the PLC in real time. The PLC outputs pulses of a certain frequency according to the actual stitch length requirements to control the servo motor of the sewing machine to control the sewing speed of the sewing machine.

[0149] In this embodiment, the method of using CAD to construct drawings can make drawings standard and input quickly, and can be operated without rich teaching experience. Using an additional servo motor to control the sewing speed of the sewing machine can accurately match the speed between the manipulator and the sewing machine, making the sewing quality more stable and greatly reducing the debugging time and cost.

[0150] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0151] Based on the same inventive concept, the embodiment of the present application also provides a robot sewing device for implementing the robot sewing method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more robot sewing device embodiments provided below can refer to the limitations of the robot sewing method above, and will not be repeated here.

[0152] In an exemplary embodiment, as shown in FIG. 12 , a robot sewing device is provided, comprising: a trajectory determination module 1202, a piece sewing module 1204, a speed acquisition module 1206 and a speed adjustment module 1208, wherein:

[0153] The trajectory determination module 1202 is used to determine the movement trajectory information of the manipulator in the sewing equipment during the sewing process of the piece to be sewn based on the sewing drawing of the piece to be sewn.

[0154] The piece sewing module 1204 is used to sew the piece to be sewn by a sewing machine in the sewing equipment, and based on the movement trajectory information, control the robot to press and move the piece to be sewn during the sewing process of the piece to be sewn.

[0155] The speed acquisition module 1206 is used to acquire the moving speed of the robot during the sewing process of the cut pieces to be sewn.

[0156] The speed adjustment module 1208 is used to adjust the sewing speed of the sewing machine based on the moving speed and the preset stitch length corresponding to the piece to be sewn, so that the actual stitch length on the piece to be sewn is consistent with the preset stitch length.

[0157] In an exemplary embodiment, the sewing device further includes a driving motor for driving the sewing machine to perform sewing.

[0158] The speed adjustment module 1208 is also used to determine the expected rotation speed of the drive motor based on the moving speed and the preset stitch length; and adjust the pulse frequency of the drive motor based on the number of pulses per revolution of the drive motor and the expected rotation speed to adjust the sewing speed of the sewing machine.

[0159] In an exemplary embodiment, the speed adjustment module 1208 is further configured to determine a ratio between the moving speed and the preset needle distance, and determine the ratio as an expected rotation speed of the driving motor.

[0160] The speed adjustment module 1208 is further used to determine the product between the number of pulses per revolution and the expected speed, and adjust the pulse frequency of the drive motor to the product.

[0161] In an exemplary embodiment, the sewing equipment also includes a die pressing mechanism connected to the robot; the die pressing mechanism includes a die pressing plate and a code changing motor, the robot presses the cut piece to be sewn through the die pressing plate, and the code changing motor is used to adjust the opening and closing size of the die pressing plate.

[0162] The robot sewing device also includes a die adjustment module, which is used to determine the die size required for the piece to be sewn based on the piece size of the piece to be sewn; and control the code conversion motor to adjust the opening and closing size of the die pressing piece to the die size.

[0163] In an exemplary embodiment, the speed acquisition module 1206 is further used to determine the linear speed of the sewing track on the piece to be sewn when it is tangent to the needle of the sewing machine; and the linear speed is used as the moving speed of the robot.

[0164] In an exemplary embodiment, the trajectory determination module 1202 is also used to disperse the sewing trajectory on the sewing drawing into multiple sewing points at equal distances; for each sewing point, determine the coordinate information and angle information of the manipulator when the needle of the sewing machine coincides with the sewing point and the moving direction of the manipulator is consistent with the sewing direction of the sewing trajectory during the sewing process; and determine the coordinate information and angle information of the manipulator at each sewing point as the movement trajectory information of the manipulator.

[0165] Each module in the above-mentioned robot sewing device can be implemented in whole or in part by software, hardware and a combination thereof. Each module can be embedded in or independent of the processor in the sewing device in the form of hardware, or can be stored in the memory in the sewing device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0166] In an exemplary embodiment, a sewing device is provided, which may be a server, and its internal structure diagram may be shown in FIG13. The sewing device includes a processor, a memory, an input / output interface (I / O for short) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the sewing device is used to provide computing and control capabilities. The memory of the sewing device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the sewing device is used to store sewing data, such as sewing drawings of pieces to be sewn and movement trajectory information of the manipulator. The input / output interface of the sewing device is used to exchange information between the processor and an external device. The communication interface of the sewing device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a manipulator sewing method is implemented.

[0167] Those skilled in the art will understand that the structure shown in FIG. 13 is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the sewing equipment to which the scheme of the present application is applied. The specific sewing equipment may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0168] In an exemplary embodiment, a sewing device is also provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0169] In an exemplary embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0170] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0171] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0172] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0173] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A robot sewing method, characterized in that: The method is applied to a sewing device, the sewing device comprising a manipulator and a sewing machine, and the method comprises: Based on the sewing drawing of the piece to be sewn, determining the moving track information of the manipulator during the sewing process of the piece to be sewn; Sewing the cut piece to be sewn by the sewing machine, and controlling the manipulator to press and move the cut piece to be sewn during the sewing process of the cut piece to be sewn based on the movement trajectory information; Acquiring the moving speed of the manipulator during the sewing process of the cut piece to be sewn; Based on the moving speed and the preset needle length corresponding to the piece to be sewn, the sewing speed of the sewing machine is adjusted so that the actual needle length on the piece to be sewn is consistent with the preset needle length.

2. The method according to claim 1, characterized in that The sewing device also includes a drive motor for driving the sewing machine to sew; The adjusting the sewing speed of the sewing machine based on the moving speed and the preset stitch length corresponding to the cut piece to be sewn comprises: Determining an expected rotation speed of the drive motor based on the moving speed and the preset needle distance; Based on the number of pulses per revolution of the driving motor and the expected rotation speed, the pulse frequency of the driving motor is adjusted to adjust the sewing speed of the sewing machine.

3. The method according to claim 2, characterized in that The step of determining the expected rotation speed of the driving motor based on the moving speed and the preset needle distance includes: Determine a ratio between the moving speed and the preset needle distance, and determine the ratio as the expected rotation speed of the driving motor; The step of adjusting the pulse frequency of the drive motor based on the number of pulses per revolution of the drive motor and the expected speed includes: The product between the number of pulses per revolution and the expected rotational speed is determined, and the pulse frequency of the drive motor is adjusted to the product.

4. The method according to claim 1, characterized in that The sewing device further comprises a die pressing mechanism connected to the manipulator; the die pressing mechanism comprises a die pressing sheet and a code changing motor, the manipulator presses the cut piece to be sewn through the die pressing sheet, and the code changing motor is used to adjust the opening and closing size of the die pressing sheet; Before the sewing machine is used to sew the cut piece to be sewn and the manipulator is controlled to press and move the cut piece to be sewn during the sewing process of the cut piece to be sewn based on the movement trajectory information, the method further includes: Determining the die size required for the piece to be sewn based on the piece size of the piece to be sewn; The code-changing motor is controlled to adjust the opening and closing size of the die pressing sheet to the die size.

5. The method according to claim 1, characterized in that The step of obtaining the moving speed of the manipulator during the sewing process of the cut piece to be sewn comprises: Determining the linear velocity of the sewing track on the piece to be sewn when it is tangent to the needle of the sewing machine; The linear velocity is used as the moving velocity of the robot.

6. The method according to any one of claims 1 to 5, characterized in that: The step of determining the movement track information of the manipulator during the sewing process of the piece to be sewn based on the sewing drawing of the piece to be sewn includes: Scattering the sewing track on the sewing drawing into a plurality of sewing points at equal distances; For each sewing point, determine the coordinate information and angle information of the manipulator when the sewing machine needle coincides with the sewing point and the moving direction of the manipulator is consistent with the sewing direction of the sewing track during the sewing process; The coordinate information and the angle information of the manipulator at each sewing point are determined as the movement track information of the manipulator.

7. A robot sewing device, characterized in that: The device comprises: A trajectory determination module, used to determine the movement trajectory information of the manipulator in the sewing equipment during the sewing process of the piece to be sewn based on the sewing drawing of the piece to be sewn; A piece sewing module, used for sewing the piece to be sewn by a sewing machine in the sewing device, and controlling the manipulator to press and move the piece to be sewn during the sewing process of the piece to be sewn based on the movement trajectory information; A speed acquisition module, used for acquiring the moving speed of the manipulator during the sewing process of the cut piece to be sewn; The speed adjustment module is used to adjust the sewing speed of the sewing machine based on the moving speed and the preset stitch length corresponding to the piece to be sewn, so that the actual stitch length on the piece to be sewn is consistent with the preset stitch length.

8. A sewing device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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