Intelligent sewing equipment

Abstract

The utility model discloses intelligent sewing equipment which is characterized in that a first manipulator of the intelligent sewing equipment grabs and moves a first cloth piece from a first feeding assembly to a first detection plane, and then grabs and moves a second cloth piece from a second feeding assembly to a second detection plane; after outer contour positioning is conducted on a first cloth piece and a second cloth piece through a first visual detector, positioning information of the first cloth piece and the second cloth piece is obtained, a first moving track for controlling a first mechanical arm to move is generated according to the positioning information, and the first mechanical arm grabs and moves the first cloth piece to a second detection plane based on the first moving track; then the first sewing assembly sews the first cloth piece and the second cloth piece which are stacked into a whole, and a first sheet is formed. According to the intelligent sewing equipment, the labor cost is reduced, the sewing efficiency is improved, and the problem of cloth piece stacking is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of sewing, in particular to an intelligent sewing device. Background Art

[0002] In the current shoemaking industry, sewing production lines are mainly used to sew multiple pieces of fabric together, which requires a lot of manual labor, resulting in low production efficiency and uneven quality. Utility Model Content

[0003] The purpose of the utility model is to overcome the above-mentioned defects or problems existing in the background technology and provide an intelligent sewing device, which can improve the sewing efficiency and sewing quality.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] Technical Solution 1: An intelligent sewing device, which is used to sew a first piece of cloth and a second piece of cloth that are stacked together, and comprises: a first feeding assembly, which is used to supply the first piece of cloth and the second piece of cloth; a first carrier, whose upper surface is provided with a first detection plane and a second detection plane; a first manipulator, which is used to move the first piece of cloth and the second piece of cloth to the first detection plane and the second detection plane respectively; a first visual detector, whose detection window is located above the first carrier, and is configured to be suitable for positioning the outer contour of the cloth pieces located on the first detection plane and the second detection plane by visual detection, and the positioning information obtained by the first manipulator is configured to generate a first movement trajectory for controlling the first manipulator; the first manipulator moves the first piece of cloth located on the first detection plane according to the first movement trajectory, and makes the first piece of cloth stacked on the second piece of cloth in a predetermined manner; and a first sewing assembly, which is located on the first side of the first carrier in the left-right direction, and is used to sew the stacked first piece of cloth and the second piece of cloth together to form a first sheet.

[0006] Technical solution 2 based on technical solution 1: also includes a second feeding assembly, a second carrier, a second manipulator, a second visual detector and a second sewing assembly, wherein the second feeding assembly is used to supply a third piece of cloth; the second carrier is located on the first side of the first sewing assembly in the left-right direction, and a third detection plane and a fourth detection plane are provided on its upper surface, and the fourth detection plane is suitable for carrying the first sheet; the second manipulator is used to move the third piece of cloth to the third detection plane; the detection window of the second visual detector is located above the second carrier, and is configured to be suitable for positioning the outer contour of the cloth pieces located on the third detection plane and the fourth detection plane by visual detection, and the positioning information obtained is configured to generate a second movement trajectory for controlling the second manipulator; the second manipulator moves the third piece of cloth located on the third detection plane according to the second movement trajectory, and makes the third piece of cloth overlap on the first sheet located on the fourth detection plane in a predetermined manner; the second sewing assembly is located on the first side of the second carrier in the left-right direction, and is used to sew the third piece of cloth and the first sheet into one, so as to form a second sheet.

[0007] Technical solution three based on technical solution two: also includes a material receiving assembly, which is located on the first side of the second sewing assembly and includes a plurality of material receiving frames for receiving the second sheet material.

[0008] Technical solution four based on technical solution three: the first sewing assembly and the second sewing assembly both include a sewing machine and a sewing robot; the sewing machine is provided with a sewing plane for placing cloth pieces, and the sewing plane is flush with the adjacent second detection plane or the fourth detection plane; the sewing robot presses the cloth pieces and drives the cloth pieces to move from the second detection plane and the fourth detection plane to the corresponding sewing plane, and drives the cloth pieces to move along a predetermined trajectory when the sewing machine is working so that the cloth pieces can be sewn together in a predetermined manner.

[0009] Technical solution five based on technical solution four: the sewing robot of the first sewing assembly is configured to move the first sheet material from the sewing plane on the sewing machine of the first sewing assembly to the fourth detection plane; the sewing robot of the second sewing assembly is configured to move the second sheet material from the sewing plane on the sewing machine of the second sewing assembly to the material receiving assembly.

[0010] Technical solution six based on technical solution five: the first loading assembly is provided with a first loading plate and a second loading plate driven by a loading drive to move in the up and down directions, and the second loading assembly is provided with a third loading plate driven by a loading drive to move in the up and down directions; the first loading plate, the second loading plate, and the third loading plate are all provided with a plurality of limit bars arranged in a predetermined manner, and the limit bars are used to fix the cloth pieces in a predetermined position and posture.

[0011] Technical solution seven based on technical solution six: the detection planes on the first and second carriers are formed by the upper surface of a transparent sheet, and a light source is provided below the transparent sheet. The light source is used to illuminate the cloth piece on the detection plane upward, so that the first visual detector and the second visual detector can locate the outer contour of the cloth piece.

[0012] Technical solution eight based on technical solution seven: the material receiving assembly includes a stacking device; the stacking device includes a carrier, a carrier driving member, a stacking member, a stacking driving member, a pushing member and a pushing driving member; the carrier is driven by the carrier driving member to move in a first position and a second position in a horizontal direction, and its upper surface is flush with the sewing plane of the needle machine of the second sewing assembly, and the sewing robot of the second sewing assembly is suitable for driving the second sheet to move to the upper surface of the carrier when the carrier is in the first position; the stacking member is below the carrier when the carrier is in the first position, and is away from the carrier when the carrier is in the second position, and is driven by the stacking driving member to move in the up and down directions; the pushing driving member is installed on the stacking member and drives the pushing member to move in a horizontal direction; the second sheet located on the carrier is received by the stacking member when the carrier moves from the first position to the second position, and the second sheet is moved from the stacking member to the material receiving frame by the pushing member.

[0013] Technical solution nine based on technical solution eight: the material receiving assembly also includes a clamping device; the clamping device includes a clamping member and a clamping driving member, the clamping member is driven by the clamping driving member to move in the up and down directions, and when the supporting member moves from the first position to the second position, the clamping member clamps the second sheet material located on the supporting member to keep the second sheet material in its original position.

[0014] Technical solution ten based on technical solution nine: the material receiving component also includes a conveyor line; the material receiving frame moves to a position suitable for receiving the second sheet through the conveyor line.

[0015] From the above description of the utility model, it can be seen that compared with the prior art, the utility model has the following beneficial effects:

[0016] Technical solution 1 provides an intelligent sewing device. When working, a first robot grabs and moves a first piece of cloth from a first loading component to a first detection plane, and then grabs and moves a second piece of cloth from a second loading component to a second detection plane. After the first visual detector locates the outer contours of the first and second pieces of cloth, the positioning information of the two is obtained, and then a first moving trajectory for controlling the movement of the first robot is generated based on the positioning information. Based on the first moving trajectory, the first robot grabs and moves the first piece of cloth to the second detection plane, and stacks it on the second piece of cloth. After that, the first sewing component sews the stacked first and second pieces of cloth into one to form a first sheet.

[0017] In the prior art, the first piece of cloth and the second piece of cloth are usually stacked together manually and then sewn; when manual operation is adopted, the stacking and sewing of the first piece of cloth and the second piece of cloth can be operated by human eye recognition, but when this process is converted into an automated assembly line operation, how to accurately stack the first piece of cloth and the second piece of cloth together becomes a problem that needs to be solved. This is because when the first piece of cloth and the second piece of cloth are loaded into the first loading component, there may be deviations in position and posture from the preset ones. If a robot is simply used to move the first piece of cloth and the second piece of cloth in sequence, it is obviously difficult to stack the first piece of cloth and the second piece of cloth together in the preset manner, which may easily lead to material scrapping during sewing.

[0018] The intelligent sewing equipment provided by the technical solution 1 is provided with two detection planes. When moving the cloth pieces, the first cloth piece and the second cloth piece are moved to the two detection planes respectively, and then the outer contour of the cloth pieces is positioned by the visual detector, so that the position and posture information of the two cloth pieces at this time can be obtained. According to the positioning information, the moving trajectory can be generated in real time. Then, the manipulator moves the first cloth piece according to the moving trajectory, and the first cloth piece can be accurately stacked together in a preset manner, thereby solving the problem of stacking errors that may exist when the first cloth piece and the second cloth piece are stacked. Therefore, the intelligent sewing equipment not only reduces labor costs and improves sewing efficiency, but also solves the problem of cloth piece stacking.

[0019] In technical solution two, a second loading assembly, a second carrier, a second manipulator, a second visual detector and a second sewing assembly are provided. According to the same principle as technical solution one, the third piece of cloth is sewn to the first sheet to meet the sewing requirements of different materials.

[0020] In the technical solution three, a material receiving assembly is provided, and the sewn second sheet is stored in a material receiving frame of the material receiving assembly.

[0021] In technical solution four, a sewing machine and a sewing robot are provided in the first sewing assembly and the second sewing assembly. The sewing machine is used for sewing, and the sewing robot is used for transferring the cloth pieces and driving the cloth pieces to move along a predetermined trajectory during the sewing process, so that the cloth pieces can be sewn together in a predetermined manner.

[0022] In technical solution five, the sewing robot is also used to transfer the sewn first sheet and the second sheet, thereby forming an assembly line operation without the need for manual assistance.

[0023] In technical solution six, a loading assembly is provided with a loading drive and a loading plate. The loading drive can drive the loading plate to move up and down. When there are fewer and fewer cloth pieces on the loading plate, the loading plate can gradually move upward to facilitate the robot to grab the cloth pieces. At the same time, a limiting protrusion is provided on the loading plate. The limiting protrusion can clamp the cloth piece to the column so that the cloth piece can maintain the predetermined position and posture as much as possible.

[0024] In technical solution seven, the detection plane is formed by the upper surface of the transparent sheet, and the light source under the transparent sheet can illuminate the cloth piece on the detection plane, making it easier for the detector to locate the outer contour of the cloth piece.

[0025] In technical solution eight, the material receiving assembly includes a stacking device, through which the second sheets can be stacked together and stored using a material receiving frame.

[0026] In technical solution nine, the material collecting assembly includes a clamping device, which can prevent the second sheet from being driven by the supporting member during the stacking process.

[0027] In technical solution ten, the material receiving component is also provided with a conveyor line, which drives the material receiving frame to move to a position suitable for receiving the second sheet. After the material receiving frame has received the second sheet, it can be sent away through the conveyor line, and a new material receiving frame can be moved again to a position suitable for receiving the second sheet. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A schematic diagram of the structure of an embodiment of the intelligent sewing equipment provided by the utility model;

[0030] Figure 2 A partial structural schematic diagram of an embodiment of the intelligent sewing equipment provided by the utility model;

[0031] Figure 3 The structure diagram of the material receiving assembly in the embodiment of the intelligent sewing equipment provided by the utility model Figure 1 ;

[0032] Figure 4 The structure diagram of the material receiving assembly in the embodiment of the intelligent sewing equipment provided by the utility model Figure 2 ;

[0033] Figure 5 This is a schematic structural diagram of another embodiment of the intelligent sewing equipment provided by the present invention.

[0034] Description of main reference numerals:

[0035] The first feeding assembly 1; the first carrier 2; the first detection plane 3; the second detection plane 4; the first manipulator 5; the first visual detector 6; the first sewing assembly 7; the second feeding assembly 8; the second carrier 9; the second manipulator 10; the second visual detector 11; the second sewing assembly 12; the receiving assembly 13; the receiving frame 14; the sewing machine 15; the sewing manipulator 16; the feeding drive 17; the first feeding plate 18; the second feeding plate 19; the third feeding plate 20; the limiting protrusion 21; the bearing member 22; the bearing drive 23; the stacking member 24; the stacking drive 25; the clamping member 26; the clamping drive 27; the stacking device 28; the clamping device 29; the conveyor line 30; the sewing plane 31; the second sheet 32; the stacking surface 33; the opening 34; the camera 35. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are preferred embodiments of the utility model and should not be regarded as excluding other embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0037] In the claims, specification and the above-mentioned drawings of the utility model, unless otherwise clearly defined, the use of terms such as "first", "second" or "third" etc. is to distinguish different objects rather than to describe a specific order.

[0038] In the claims, specification and the above-mentioned drawings of the utility model, unless otherwise explicitly defined, directional words, such as the terms "center", "lateral", "longitudinal", "horizontal", "vertical", "top", "bottom", "inside", "outside", "up", "down", "front", "back", "left", "right", "clockwise", "counterclockwise", etc., indicating directions or positional relationships are based on the directions and positional relationships shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the specific protection scope of the utility model.

[0039] In the claims, specification and the above drawings of the utility model, unless otherwise clearly defined, if the term "fixed connection" or "fixed connection" is used, it should be understood in a broad sense, that is, any connection method without a displacement relationship and relative rotation relationship between the two, that is to say, including non-detachable fixed connection, detachable fixed connection, integrated connection and fixed connection through other devices or elements.

[0040] In the claims, specification and drawings of the present utility model, if the terms "include", "have" and their variations are used, they are intended to mean "including but not limited to".

[0041] The embodiment of the utility model provides an intelligent sewing device, which is used for sewing a first cloth piece and a second cloth piece that are stacked together.

[0042] Reference Figure 1 From left to right, the intelligent sewing equipment mainly includes a first feeding component 1, a first carrier 2, a first sewing component 7, a second sewing component 12 and a receiving component 13, wherein a first manipulator 5 is provided on the first carrier 2, a first visual detector 6 is provided on the first sewing component 7, a second manipulator 10 is provided on the second carrier 9, a second visual detector 11 is provided on the second sewing component 12, and a second feeding component 8 is also provided on the rear side of the first sewing component 7.

[0043] Reference Figure 1 and Figure 2 In the intelligent sewing equipment, the first feeding component 1 is used to supply the first cloth piece and the second cloth piece; the upper surface of the first carrier 2 is provided with a first detection plane 3 and a second detection plane 4; the first manipulator 5 is used to move the first cloth piece and the second cloth piece to the first detection plane 3 and the second detection plane 4 respectively; the detection window of the first visual detector 6 is located above the first carrier 2, and is configured to be suitable for positioning the outer contour of the cloth pieces located on the first detection plane 3 and the second detection plane 4 by visual detection, and the positioning information obtained by it is configured to generate a first moving trajectory for controlling the first manipulator 5; the first manipulator 5 moves the first cloth piece located on the first detection plane 3 according to the first moving trajectory, and makes the first cloth piece overlap on the second cloth piece in a predetermined manner; the first sewing component 7 is located on the first side of the first carrier 2 in the left-right direction, and is used to sew the overlapped first cloth piece and the second cloth piece into one piece to form a first sheet.

[0044] At the same time, refer to Figure 1, the second feeding assembly 8 is used to supply the third piece of cloth; the second carrier 9 is located on the first side of the first sewing assembly 7 in the left-right direction, and the upper surface thereof is provided with a third detection plane and a fourth detection plane, and the fourth detection plane is suitable for carrying the first sheet; the second manipulator 10 is used to move the third piece of cloth to the third detection plane; the detection window of the second visual detector 11 is located above the second carrier 9, and is configured to be suitable for positioning the outer contour of the cloth pieces located on the third detection plane and the fourth detection plane by visual detection, and the positioning information obtained by it is configured to generate a second movement trajectory for controlling the second manipulator 10; the second manipulator 10 moves the third piece of cloth located on the third detection plane according to the second movement trajectory, and makes the third piece of cloth overlap on the first sheet located on the fourth detection plane in a predetermined manner; the second sewing assembly 12 is located on the first side of the second carrier 9 in the left-right direction, and is used to sew the third piece of cloth and the first sheet into one, so as to form a second sheet 32.

[0045] Among them, the first manipulator 5 and the second manipulator 10 adopt conventional multi-axis manipulators, and the free ends thereof are provided with grasping modules, and the grasping modules are conventional suction cup grasping mechanisms or clamping claw grasping mechanisms. Driven by the multi-axis manipulator, the grasping modules can move arbitrarily within a predetermined spatial range. It should be understood that the manipulator and the grasping module are conventional devices in the field, and those skilled in the art can select the corresponding manipulator and grasping module according to actual needs, and the specific implementation method thereof will not be described in detail here.

[0046] The first visual detector 6 and the second visual detector 11 are essentially a complete set of visual detection solutions, which are also conventional devices in the art. They can obtain images of preset positions through cameras, analyze images, and obtain corresponding information. The first visual detector 6 and the second visual detector 11 in this embodiment can obtain images of cloth pieces through cameras, extract the outer contour of cloth pieces, and locate the outer contour of cloth pieces. The positioning here refers to the positioning of cloth pieces relative to a fixed position, and this fixed position is the reference position for moving cloth pieces. After the outer contour of the cloth pieces is located, the position and posture of the cloth pieces are determined, so that the cloth pieces can be moved conveniently. Among them, the detection range of the first visual detector 6 includes the first detection plane 3 and the second detection plane 4, and the detection range of the second visual detector 11 includes the third detection plane and the fourth detection plane. Those skilled in the art can select corresponding visual detectors according to actual needs, but need to be able to locate the outer contour of the cloth pieces so as to simultaneously determine the posture and position of the cloth pieces. Among them, the position mentioned here is evaluated based on a fixed position as a reference, and the posture is also evaluated based on a fixed position as a reference, and the posture can reflect the state of the cloth pieces with shape characteristics relative to the fixed position. In this embodiment, refer to Figure 1, a visual detector includes a camera 35; in other embodiments, reference Figure 5 A visual detector may include two cameras 35, and the two cameras 35 respectively detect two detection planes corresponding to the visual detector.

[0047] During operation, the first manipulator 5 grabs and moves the first piece of cloth from the first loading component 1 to the first detection plane 3, and then grabs and moves the second piece of cloth from the second loading component 8 to the second detection plane 4. After the first visual detector 6 locates the outer contours of the first and second pieces of cloth, the positioning information of the two is obtained, and then a first moving trajectory for controlling the movement of the first manipulator 5 is generated according to the positioning information. Based on the first moving trajectory, the first manipulator 5 grabs and moves the first piece of cloth to the second detection plane 4, and stacks it on the second piece of cloth. After that, the first sewing component 7 sews the stacked first and second pieces of cloth into one, forming a first sheet. Similarly, after the sewing of the first piece of cloth is completed, it is sent to the fourth inspection plane. The second robot 10 grabs the third piece of cloth from the second loading component 8 and moves it to the third inspection plane. After the second visual detector 11 locates the outer contour of the first sheet and the third piece of cloth, the positioning information of the third piece of cloth and the first sheet is obtained, and then a second movement trajectory for controlling the movement of the second robot 10 is generated according to the positioning information. Based on the second movement trajectory, the second robot 10 grabs the third piece of cloth and moves it to the fourth inspection plane, and stacks it on the first sheet. After that, the second sewing component 12 sews the stacked third piece of cloth and the first sheet together to form a second sheet 32.

[0048] In the prior art, the first piece of cloth and the second piece of cloth are usually stacked together manually and then sewn; when manual operation is adopted, the stacking and sewing of the first piece of cloth and the second piece of cloth can be operated by human eye recognition, but when this process is converted into an automated assembly line operation, how to accurately stack the first piece of cloth and the second piece of cloth together becomes a problem that needs to be solved. This is because when the first piece of cloth and the second piece of cloth are fed into the first feeding component 1, there may be deviations in position and posture from the preset ones. If a robot is simply used to move the first piece of cloth and the second piece of cloth in sequence, it is obviously difficult to stack the first piece of cloth and the second piece of cloth together in the preset manner, which may easily lead to material scrapping during sewing. The intelligent sewing equipment provided by the technical solution 1 is provided with two detection planes. When moving the cloth pieces, the first cloth piece and the second cloth piece are moved to the two detection planes respectively, and then the outer contour of the cloth pieces is positioned by the visual detector, so that the position and posture information of the two cloth pieces at this time can be obtained. According to the positioning information, the moving trajectory can be generated in real time. Then, the manipulator moves the first cloth piece according to the moving trajectory, and the first cloth piece can be accurately stacked together in a preset manner, thereby solving the problem of stacking errors that may exist when the first cloth piece and the second cloth piece are stacked. Therefore, the intelligent sewing equipment not only reduces labor costs and improves sewing efficiency, but also solves the problem of cloth piece stacking.

[0049] It should be understood that the above embodiment provides an intelligent sewing device for sewing three pieces of cloth, but in other embodiments, according to the same technical idea, an intelligent sewing device for sewing two pieces of cloth, four pieces of cloth or even more pieces of cloth can be formed. All that needs to be done is to add a feeding component, a manipulator, a detector and a sewing component without the need for creative labor.

[0050] At the same time, for those skilled in the art, the manipulator needs to pre-set the moving trajectory, so generating the moving trajectory in real time based on the positioning information of the visual detector is a conventional technical means in this field. The utility model only proposes a method of how to apply it, and the specific procedures, algorithms, etc. can be designed by those skilled in the art.

[0051] Reference Figure 1, the first sewing assembly 7 and the second sewing assembly 12 both include a sewing machine 15 and a sewing robot 16; the sewing machine 15 is provided with a sewing plane 31 for placing cloth pieces, and the sewing plane 31 is flush with the adjacent second detection plane 4 or fourth detection plane; the sewing robot 16 presses the cloth pieces and drives the cloth pieces to move from the second detection plane 4 and the fourth detection plane to the corresponding sewing plane 31, and drives the cloth pieces to move along a predetermined trajectory when the sewing machine 15 is working so that the cloth pieces are sewn together in a predetermined manner. The sewing robot 16 of the first sewing assembly 7 is configured to be suitable for moving the first sheet material from the sewing plane 31 on the sewing machine 15 of the first sewing assembly 7 to the fourth detection plane; the sewing robot 16 of the second sewing assembly 12 is configured to be suitable for moving the second sheet material 32 from the sewing plane 31 on the sewing machine 15 of the second sewing assembly 12 to the material receiving assembly 13.

[0052] Among them, the sewing machine 15 can be a computer sewing machine, a roller sewing machine, an electronic flat sewing machine, a patchwork sewing machine, a four-needle six-thread machine, an overlocking machine, etc., and those skilled in the art can choose according to actual needs. By selecting different sewing machines 15, the intelligent sewing equipment can be applied to sewing decorative lines, edge pressing lines, multi-piece sewing, overlocking, four-needle six-thread sewing, etc.

[0053] The sewing manipulator 16 may not adopt a multi-axis manipulator that can move freely in three-dimensional space, because the sewing manipulator 16 basically only needs to move on the horizontal plane, but the sewing manipulator 16 should be provided with an operating end that can be extended and retracted up and down, and this operating end can press or loosen the cloth piece by moving up and down. As an embodiment, the sewing manipulator 16 can adopt a scara robot. It should be noted that in order to move the cloth piece by the sewing manipulator 16, the second detection plane 4 and the sewing plane 31 of the sewing machine 15 of the first sewing component 7 should be flush, and the fourth detection plane also needs to be flush with the sewing plane 31 of the two sewing machines 15 of the first sewing component 7 and the second sewing component 12, so that the first sheet of material can be moved to the fourth detection plane by the sewing manipulator 16 of the first sewing component 7, and the stacked first sheet of material and the third cloth piece can be moved to the sewing plane 31 by the sewing manipulator 16 of the second sewing component 12.

[0054] Reference Figure 2 The first loading assembly 1 is provided with a first loading plate 18 and a second loading plate 19 driven by a loading driving member 17 to move in the up and down directions, and the second loading assembly 8 is provided with a third loading plate 20 driven by a loading driving member 17 to move in the up and down directions; the first loading plate 18, the second loading plate 19, and the third loading plate 20 are all penetrated by a plurality of limit bars arranged in a predetermined manner, and the limit bars are used to fix the cloth pieces in a predetermined position and posture.

[0055] Specifically, a feeding drive 17 and a feeding plate are provided in the feeding assembly, and a shell is also provided. An opening 34 is provided in the shell corresponding to the position of the feeding plate. The output end of the feeding drive 17 is connected to the feeding plate, and the output end can slide up and down and stop under the action of the driving motor and the transmission mechanism. The feeding plate is used to carry the cloth piece. At the same time, a plurality of limit stop rods arranged in a predetermined manner are provided in the feeding assembly. These limit stop rods extend in the up and down directions, and their bottom ends are fixed to the bottom of the shell of the feeding assembly, and their top ends extend to the top of the shell of the feeding shell. The limit stop rods pass through the feeding plate. When the feeding plate moves up and down, the limit stop rods will not interfere with the movement of the feeding plate. At the same time, a plurality of limit stop rods cooperate with each other to define a range, and the cloth piece is fixed within the range, so that the cloth piece has a fixed position and posture as much as possible. During operation, the cloth pieces are stacked and placed on the loading plate according to the definition of the limit stop rod, and the loading plate is initially located below the shell of the loading assembly, at which time the number of cloth pieces is the largest. Then the robot takes away the top cloth piece, and the loading drive 17 drives the loading plate to move up a certain height, so that the top cloth piece is always maintained at a roughly fixed height position, so that the robot used to grab the cloth piece does not need to position the cloth piece at the position of the loading plate, which facilitates the robot to grab the cloth piece.

[0056] Reference Figure 1 , Figure 3 and Figure 4The receiving assembly 13 includes a stacking device 28, a pressing device 29 and a conveying line 30. The stacking device 28 includes a carrier 22, a carrier driving member 23, a stacking member 24, a stacking driving member 25, a pushing member and a pushing driving member; the carrier 22 is driven by the carrier driving member 23 to move horizontally between a first position and a second position, and its upper side surface is flush with the sewing plane 31 of the sewing machine 15 of the second sewing assembly 12, and the sewing robot 16 of the second sewing assembly 12 is suitable for driving the second sheet 32 ​​to move to the upper side surface of the carrier 22 when the carrier 22 is in the first position; the stacking member 24 is in the carrier When the carrier 22 is in the first position, it is below the carrier 22, and when the carrier 22 is in the second position, it is away from the carrier 22, and is driven by the stacking driving member 25 to move in the up-down direction; the pushing driving member is installed on the stacking member 24, and drives the pushing member to move in the horizontal direction; when the carrier 22 moves from the first position to the second position, the second sheet 32 ​​located on the carrier 22 is received by the stacking member 24, and the second sheet 32 ​​is moved from the stacking member 24 to the receiving frame 14 by the pushing member. The pressing device 29 includes a pressing member 26 and a pressing driving member 27, and the pressing member 26 is driven by the pressing driving member 27 to move in the up-down direction, and when the carrier 22 moves from the first position to the second position, the pressing member 26 presses the second sheet 32 ​​located on the carrier 22, so that the second sheet 32 ​​maintains the original position. The receiving frame 14 moves to a position suitable for receiving the second sheet 32 ​​through the conveying line 30.

[0057] The bearing member 22 is a plate-shaped member, which can be driven by the bearing driving member 23 to move in the front-rear direction; the upper surface of the stacking member 24 forms a stacking surface 33, and the stacking member 24 can be driven by the stacking driving member 25 to move in the up-down direction; the pushing member and the pushing driving member are installed on the stacking member 24, and the pushing driving member can drive the pushing member to move in the left-right direction, and the pushing member moves on the stacking surface 33. It should be understood that the above-mentioned bearing driving member 23, the stacking driving member 25 and the pushing driving member can all adopt a structure similar to the material loading driving member 17, which will not be described in detail here.

[0058] The conveyor line 30 has a supporting track and a corresponding driving mechanism. The supporting track can carry a plurality of material receiving frames 14 and drive the material receiving frames 14 to move through the driving mechanism.

[0059] After the second sewing assembly 12 completes sewing to form the second sheet 32, the second sheet 32 ​​is brought onto the carrier 22. At this time, the carrier 22 is in the first position, that is, the carrier 22 is above the stacking piece 24. Then the clamping member 26 presses the second sheet 32, and the driving member 23 drives the carrier 22 to move from the first position to the second position. Under the action of the clamping member 26, the position of the second sheet 32 ​​remains unchanged. When the carrier 22 is completely moved to the second position, the second sheet 32 ​​is received by the stacking surface 33 of the stacking piece 24. The stacking member 24 is driven to move up and down by the stacking driving member 25. When the stacking surface 33 has not yet received the second sheet 32, the stacking member 24 moves to the top position against the supporting member 22 to ensure that the second sheet 32 ​​can be received smoothly. Then, when more and more second sheets 32 are piled up, the stacking member 24 moves down until the number of the piled second sheets 32 reaches a preset value. At this time, the driving member drives the pushing member to push the piled second sheets 32 away from the stacking surface 33, so that the piled second sheets 32 can enter the receiving frame 14. Figure 4 An opening 34 is provided on the side of the receiving frame 14. After the receiving frame 14 moves to a position suitable for receiving the second sheet 32 ​​through the conveyor line 30, the opening 34 of the receiving frame 14 faces the stacking member 24. The pushing member can move the stacked second sheet 32 ​​into the receiving frame 14 through the opening 34 on the side of the receiving frame 14 without destroying the stacking state of the second sheet 32.

[0060] The description of the above specification and embodiments is used to explain the protection scope of the utility model, but does not constitute a limitation on the protection scope of the utility model. Through the enlightenment of the utility model or the above embodiments, ordinary technicians in this field can obtain modifications, equivalent replacements or other improvements to the embodiments of the utility model or part of the technical features thereof through logical analysis, reasoning or limited experiments, which should be included in the protection scope of the utility model.

Claims

1. An intelligent sewing device, which is used to sew a first piece of fabric and a second piece of fabric together, wherein: include: A first feeding assembly (1) for feeding the first cloth sheet and the second cloth sheet; A first carrier (2), the upper surface of which is provided with a first detection plane (3) and a second detection plane (4); A first manipulator (5) is used to move the first cloth piece and the second cloth piece to the first detection plane (3) and the second detection plane (4) respectively; A first visual detector (6), whose detection window is located above the first carrier (2), and is configured to locate the outer contour of the cloth pieces located on the first detection plane (3) and the second detection plane (4) by visual detection, and the positioning information obtained by the first visual detector is configured to generate a first movement trajectory for controlling the first manipulator (5); the first manipulator (5) moves the first cloth piece located on the first detection plane (3) according to the first movement trajectory, and causes the first cloth piece to be stacked on the second cloth piece in a predetermined manner; and The first sewing assembly (7) is located on the first side of the first carrier (2) in the left-right direction and is used to sew the stacked first cloth piece and the second cloth piece together to form a first sheet material.

2. The intelligent sewing equipment according to claim 1, characterized in that: The invention also comprises a second feeding assembly (8), a second carrier (9), a second manipulator (10), a second visual detector (11) and a second sewing assembly (12), wherein the second feeding assembly (8) is used for supplying a third piece of cloth; the second carrier (9) is located on the first side of the first sewing assembly (7) in the left-right direction, and a third detection plane and a fourth detection plane are provided on the upper surface thereof, wherein the fourth detection plane is suitable for carrying the first sheet; the second manipulator (10) is used for moving the third piece of cloth to the third detection plane; the detection window of the second visual detector (11) is located above the second carrier (9) and is The robot is configured to locate the outer contour of the cloth pieces located on the third detection plane and the fourth detection plane by visual detection, and the positioning information obtained is configured to be used to generate a second movement trajectory for controlling the second robot (10); the second robot (10) moves the third cloth piece located on the third detection plane according to the second movement trajectory, and makes the third cloth piece overlap on the first sheet located on the fourth detection plane in a predetermined manner; the second sewing component (12) is located on the first side of the second carrier (9) in the left-right direction, and is used to sew the third cloth piece and the first sheet together to form a second sheet (32).

3. The intelligent sewing equipment according to claim 2, characterized in that: It also includes a material receiving assembly (13), which is located on the first side of the second sewing assembly (12) and includes a plurality of material receiving frames (14) for receiving the second sheet material (32).

4. The intelligent sewing equipment according to claim 3, characterized in that: The first sewing assembly (7) and the second sewing assembly (12) both comprise a sewing machine (15) and a sewing robot (16); the sewing machine (15) is provided with a sewing plane (31) for placing cloth pieces, and the sewing plane (31) is flush with the adjacent second detection plane (4) or fourth detection plane; the sewing robot (16) presses the cloth pieces and drives the cloth pieces to move from the second detection plane (4) or the fourth detection plane to the corresponding sewing plane (31), and drives the cloth pieces to move along a predetermined trajectory when the sewing machine (15) is working so that the cloth pieces are sewn together in a predetermined manner.

5. The intelligent sewing equipment according to claim 4, characterized in that: The sewing robot (16) of the first sewing assembly (7) is configured to be suitable for moving the first sheet material from the sewing plane (31) on the sewing machine (15) of the first sewing assembly (7) to the fourth detection plane; the sewing robot (16) of the second sewing assembly (12) is configured to be suitable for moving the second sheet material (32) from the sewing plane (31) on the sewing machine (15) of the second sewing assembly (12) to the material receiving assembly (13).

6. A method as claimed in claim 5, characterized in that: The first loading assembly (1) is provided with a first loading plate (18) and a second loading plate (19) which are driven by a loading drive member (17) to move in an up-and-down direction, and the second loading assembly (8) is provided with a third loading plate (20) which is driven by a loading drive member (17) to move in an up-and-down direction; the first loading plate (18), the second loading plate (19) and the third loading plate (20) are all provided with a plurality of limit bars arranged in a predetermined manner, and the limit bars are used to fix the cloth piece in a predetermined position and posture.

7. The intelligent sewing equipment according to claim 6, characterized in that: The detection plane on the first carrier (2) and the second carrier (9) is formed by the upper surface of the transparent sheet, and a light source is provided below the transparent sheet, through which the cloth piece located on the detection plane is irradiated upward, so that the first visual detector (6) and the second visual detector (11) can locate the outer contour of the cloth piece.

8. The intelligent sewing equipment according to claim 7, characterized in that: The material receiving assembly (13) comprises a stacking device (28); the stacking device (28) comprises a bearing member (22), a bearing driving member (23), a material stacking member (24), a material stacking driving member (25), a pushing member and a pushing driving member; the bearing member (22) is driven by the bearing driving member (23) to move horizontally between a first position and a second position, and its upper side surface is flush with the sewing plane (31) of the sewing machine (15) of the second sewing assembly (12); the sewing robot (16) of the second sewing assembly (12) is suitable for driving the second sheet material (32) to move to the upper side surface of the bearing member (22) when the bearing member (22) is located at the first position. The stacking member (24) is located below the supporting member (22) when the supporting member (22) is located at the first position, and is away from the supporting member (22) when the supporting member (22) is located at the second position, and is driven by the stacking driving member (25) to move in the up and down directions; the pushing driving member is installed on the stacking member (24) and drives the pushing member to move in the horizontal direction; the second sheet material (32) located on the supporting member (22) is received by the stacking member (24) when the supporting member (22) moves from the first position to the second position, and the second sheet material (32) is moved from the stacking member (24) to the receiving frame (14) by the pushing member.

9. The intelligent sewing equipment according to claim 8, characterized in that: The material receiving assembly (13) further comprises a clamping device (29); the clamping device (29) comprises a clamping member (26) and a clamping driving member (27); the clamping member (26) is driven by the clamping driving member (27) to move in an up-and-down direction; and when the supporting member (22) moves from a first position to a second position, the clamping member (26) clamps a second sheet (32) located on the supporting member (22) so that the second sheet (32) maintains its original position.

10. The intelligent sewing equipment according to claim 9, characterized in that: The material receiving assembly (13) further comprises a conveying line (30); the material receiving frame (14) moves to a position suitable for receiving the second sheet material (32) via the conveying line (30).

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