ADJUSTABLE SEWING CELL FUNCTION

Abstract

A robotic sewing assembly is provided and includes a sewing head body, an upper arm, a motor, and a lower arm. The upper arm is attachable to the sewing head body and includes a sewing needle oriented along a first axis. The lower arm is rotatably attachable to the sewing head body for rotation about a second axis defined transverse to the first axis by the motor. The lower arm includes a needle plate, a butterfly looper, and first and second drive trains. The first drive train may extend through the lower arm and is configured to maintain a position of the needle plate during lower arm rotation. The second drive train may extend through the lower arm and is configured to drive the butterfly looper during lower arm rotation. [FIG.1A]

Description

Title of the invention: Pivoting lower arm for robotic sewing assembly

[0001] REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 571,783 filed on March 29, 2024

[0003] BACKGROUND

[0004] Exemplary embodiments of the present disclosure relate to the art of robotic sewing assemblies for use in sewing processes.

[0005] Current robotic sewing technology often includes a sewing head with a lower arm post that is fixed in position (i.e., a fixed-position lower arm post). Due to the presence of the lower arm post and the fact that the lower arm post is fixed in position, it is often the case that the lower arm post makes it difficult to sew parts with complex geometries. During sewing operations for parts with complex geometries, the lower arm post may strike the part itself or otherwise prevent the sewing head from accessing certain portions of the part. In these or other cases, the sewing head must be adjusted or readjusted in order to allow the sewing head to complete the sewing operation.

[0006] In the manual sewing industry, particularly in the manufacture of shoes and bags or luggage, pivoting lower arm technology has been used. Such technology is not available in robotic sewing technology.

[0007] SUMMARY

[0008] According to one aspect of the disclosure, a robotic sewing assembly is provided and includes a sewing head body, an upper arm, a motor, and a lower arm. The upper arm is attachable to the sewing head body and includes a sewing needle oriented along a first axis. The lower arm is rotatably attachable to the sewing head body for rotation about a second axis defined transverse to the first axis by the motor. The lower arm includes a needle plate, a butterfly looper, and first and second drive trains. The first drive train may extend through the lower arm and is configured to maintain a position of the needle plate during lower arm rotation. The second drive train may extend through the lower arm and is configured to drive the butterfly looper during lower arm rotation.

[0009] According to additional and / or alternative embodiments, the upper arm, the sewing needle and the lower arm define an empty internal sewing region.

[0010] According to additional and / or alternative embodiments, the lower arm is rotatable 160 degrees of rotation about the second axis.

[0011] According to additional and / or alternative embodiments, the lower arm and the first and second drivelines are correspondingly U-shaped.

[0012] According to additional and / or alternative embodiments, at least one of the first and second drive trains comprises concentric shafts.

[0013] According to additional and / or alternative embodiments, a counterweight may be provided to reduce a lower arm torque requirement.

[0014] According to additional and / or alternative embodiments, a bearing may be supportedly disposed on the sewing head body for lower arm support against the sewing head body.

[0015] According to additional and / or alternative embodiments, wings may extend outwardly from the sewing head body and roller bearings may be attached to the lower arm for lower arm support against the wings during lower arm rotation.

[0016] According to additional and / or alternative embodiments, a programmable control system is configured to robotically control the sewing head body, the upper arm, the lower arm, and the lower arm rotation. The programmable control system includes a sensor system for measuring the distance between the lower arm and an article being sewn, and the programmable control system is configured to modify a programmed operation of the sewing head body, the upper arm, the lower arm, and the lower arm rotation based on readings from the sensor system.

[0017] According to one aspect of the disclosure, a robotic sewing assembly is provided and includes a sewing head body, an upper arm, a motor, a lower arm rotation driveline, and a lower arm. The upper arm is attachable to the sewing head body and includes a sewing needle oriented along a first axis. The lower arm is rotatably attachable to the sewing head body to rotate about a second axis defined transverse to the first axis by the motor via the lower arm rotation driveline. The lower arm includes a needle plate, a butterfly looper, and first and second drivelines. The first driveline may extend through the lower arm and is configured to maintain a position of the needle plate during lower arm rotation. The second drive train may extend through the lower arm and is configured to drive the butterfly bobbin during lower arm rotation.

[0018] According to additional and / or alternative embodiments, the upper arm, the sewing needle and the lower arm define an empty internal sewing region.

[0019] According to additional and / or alternative embodiments, the lower arm is rotatable 160 degrees of rotation about the second axis.

[0020] According to additional and / or alternative embodiments, the lower arm and the first and second drivelines are correspondingly U-shaped.

[0021] According to additional and / or alternative embodiments, at least one of the first and second drive trains comprises concentric shafts.

[0022] According to additional and / or alternative embodiments, a counterweight may be provided to reduce a lower arm torque requirement.

[0023] According to additional and / or alternative embodiments, a bearing may be supportedly disposed on the sewing head body for lower arm support against the sewing head body.

[0024] According to additional and / or alternative embodiments, wings may extend outwardly from the sewing head body and roller bearings may be attached to the lower arm for lower arm support against the wings during lower arm rotation.

[0025] According to additional and / or alternative embodiments, a programmable control system is configured to robotically control the sewing head body, the upper arm, the lower arm, and the lower arm rotation. The programmable control system includes a sensor system for measuring the distance between the lower arm and an article being sewn. The programmable control system is configured to modify a programmed operation of the sewing head body, the upper arm, the lower arm, and the lower arm rotation based on readings from the sensor system.

[0026] According to one aspect of the disclosure, a method of operating a robotic sewing assembly is provided and includes programming the robotic sewing assembly to perform a sewing operation with respect to an article and driving the robotic sewing assembly according to the programming. The driving includes operating an upper arm including a sewing needle oriented along a first axis, rotating a lower arm about a second axis defined transversely to the first axis, driving a first drive train extending through the lower arm to maintain a position of a needle plate of the lower arm during rotation of the lower arm and driving a second drive train extending through the lower arm to drive a butterfly lever of the lower arm during rotation of the lower arm.

[0027] According to additional and / or alternative embodiments, the method further comprises detecting a distance between the lower arm and the article, determining whether the distance is less than a predetermined distance, and, in the event that the distance is less than the predetermined distance, modifying the drive of the robotic sewing head according to the programming to increase the distance.

[0028] Additional features and advantages are achieved by the techniques of the present disclosure. Other embodiments and aspects of the disclosure are described in detail herein and are considered part of the claimed technical concept. For a better understanding of the disclosure with the advantages and features, reference should be made to the description and drawings. Brief description of the drawings

[0029] For a more complete understanding of this disclosure, reference is now made to the following brief description, taken in conjunction with the accompanying drawings and detailed description, where like reference numerals represent like parts:

[0030] [Fig.lA], [Fig.lB] and [Fig.lC] are perspective views of a robotic sewing assembly including a rotatable lower arm in accordance with embodiments;

[0031] [Fig.2] is an enlarged and partially sectioned perspective view of portions of the robotic sewing assembly including the rotatable lower arm of [Fig.lA], [Fig.lB] and [Fig.lC] in accordance with embodiments;

[0032] [Fig.3A], [Fig.3B] and [Fig.3C] are side views of a sewing needle assembly and needle plate of the robotic sewing assembly of [Fig.lA], [Fig.lB] and [Fig.lC] and [Fig.2] according to embodiments;

[0033] [Fig.4] is a side schematic diagram of concentric shafts of kinematic chains of the robotic sewing assembly of [Fig.lA], [Fig.lB] and [Fig.lC] and [Fig.2] according to embodiments;

[0034] [Fig.5] is a perspective view of the robotic sewing assembly including the rotatable lower arm of [Fig.lA], [Fig.lB] and [Fig.lC] and [Fig.2] with a counterweight in accordance with embodiments;

[0035] [Fig.6] is a perspective view of the robotic sewing assembly comprising the rotatable lower arm of [Fig.lA], [Fig.lB] and [Fig.lC] and [Fig.2] with a bearing and a support member according to embodiments;

[0036] [Fig.7] is a perspective view of the robotic sewing assembly comprising the rotating lower arm of [Fig.lA], [Fig.lB] and [Fig.lC] and [Fig.2] with wings and roller bearings according to embodiments;

[0037] [Fig.8] is a schematic diagram of a robotic sewing assembly, a programmable control system and a sensor system in accordance with embodiments; and

[0038] [Fig.9] is a flowchart illustrating a method of operating a set robotic sewing according to embodiments. DETAILED DESCRIPTION

[0039] A detailed description of one or more embodiments of the disclosed apparatus and method is presented herein by way of non-limiting example with reference to the Figures.

[0040] The present disclosure enables complex 3D planar parts to be sewn with a robotic sewing cell, unlike robotic sewing technology including a sewing head with a fixed-position lower arm post. While a robotic sewing head with a fixed-position post may be limited in its ability to sew parts with complex geometries, the present disclosure provides a robotic sewing assembly with a lower arm that can rotate about a horizontal axis. The rotational capability of the lower arm allows the lower arm to be rotated about the horizontal axis while maintaining the position of the needle plate relative to the upper portion of the sewing head during active sewing of a part. Thus, as the part is being sewn, the lower arm can be maneuvered and repositioned to optimize the sewing head to accommodate the geometry of the part.Complex 3D planar parts can be dashboards (IP) for vehicles.

[0041] With reference to [Fig.lA], [Fig.lB], and [Fig.lC] and [Fig.2], a robotic sewing assembly 101 is provided and comprises a sewing head body 110, an upper arm 120 which is attached to the sewing head body 110 and comprises a sewing needle 121 oriented along a first axis A1 and a foot 122 through which the sewing needle 121 extends, a motor 130, a lower arm rotation drive train 140 and a lower arm 150. The lower arm 150 is rotatably attached to the sewing head body 110 to be rotatable about a second axis A2. The second axis A2 is defined transversely or perpendicularly to the first axis A1. The rotation of the lower arm 150 may be driven by the motor 130 via the lower arm rotation driveline 140.

[0042] The lower arm rotation drive train 140 comprises a spur gear 141 and pinion gear 142 assembly and a right angle gearbox 143 coupled to the motor 130. The motor 130 drives the right angle gearbox 143 and the right angle gearbox 143 in turn drives the spur gear 141 via the pinion gear 142. The spur gear 141 is attached to the lower arm 150 such that, with the spur gear 141 driven by the pinion gear 142, the lower arm 150 is caused to rotate about the second axis A2. The lower arm 150 is mounted on a horizontal intermediate shaft 144, which projects from the post section 145 of the sewing head body 110. The lower arm 150 may be mounted on a sleeve bearing such that the lower arm 150 is supported by the horizontal intermediate shaft 144 but does not move with its rotation.

[0043] According to embodiments, the horizontal intermediate shaft 144 may have a diameter of up to 16 mm or more to improve the integrity and rigidity of the mechanism.

[0044] The lower arm 150 includes a needle plate 160, a butterfly looper 170, a first drive train 180, and a second drive train 190. The first drive train 180 may extend through the interior of the lower arm 150 and is configured to maintain a position of the needle plate 160 relative to the sewing needle 121 during rotation of the lower arm 150. The second drive train 190 may extend through the interior of the lower arm 150 and is configured to drive the butterfly looper 170 during rotation of the lower arm 150.

[0045] According to embodiments, the lower arm 150, the first drive train 180, and the second drive train 190 may be correspondingly U-shaped. As such, the upper arm 120, the sewing needle 121, the foot 122, and the lower arm 150 together define a substantially empty internal sewing region 201. This substantially empty internal sewing region 201 provides sufficient space to receive portions of an article, such as an IP, being sewn. The rotational capability of the lower arm 150 effectively increases the size and utility of the substantially empty internal sewing region 201 by providing movement of the lower arm 150 out of the way of the article during certain sewing operations.

[0046] The needle plate 160 floats freely on a horizontal shaft. The first drive train 180 comprises a bevel gear 181, a set of interconnected shafts 182 and a connecting gear 183 disposed below the needle plate 160 and to which the set of interconnected shafts 182 is connected. The bevel gear 181 is attached to the sewing head body 110. As the lower arm 150 rotates about the horizontal intermediate shaft 144, the bevel gear 181 drives the interconnected shaft assembly 182 and the interconnected shaft assembly 182 in turn drives the link gear 183. As the lower arm 150 and the interconnected shaft assembly 182 rotate, the link gear 183 can be driven in a 1:1 ratio relative to the lower arm 150. Therefore, as the lower arm 150 rotates, the needle plate 160 rotates relative to the lower arm 150 and maintains its rotational position relative to the sewing needle 121, the foot 122 and the remainder of the sewing head body 110.

[0047] According to embodiments and as shown in [Fig.lA], [Fig.lB] and IC, the lower arm 150 can rotate up to 160 degrees of rotation or more about the second axis A2. That is, the lower arm 150 can rotate clockwise up to 80 degrees of rotation or more about the second axis A2 from a center position (see [Fig.lB]) and the lower arm 150 can rotate counterclockwise up to 80 degrees of rotation or more about the second axis A2 from the center position (see [Fig.lC]).

[0048] The butterfly looper 170 may be a butterfly-type looper that moves by a continuous rotary motion. This is in contrast to conventional sickle loopers and lockstitch mechanisms that are often used in most robotic sewing heads. The butterfly looper 170 was chosen over a lockstitch mechanism because of its compact packaging, ease of integration into the lower arm 150, and the advantages of using chainstitch over lockstitch.

[0049] With continued reference to [Fig. 2] and with further reference to [Fig. 3A], [Fig. 3B] and [Fig. 3C], the second drive train 190 drives the butterfly looper 170 and is connected to a bevel gear 191 mounted on the horizontal intermediate shaft 144. The second drive train 190 includes a set of interconnected bevel shafts 192 which are driven by the bevel gear 191, a pulley 193, a belt 194 which transfers rotation from the set of interconnected bevel shafts 192 to the pulley 193, a needle plate support and pulley housing 1945 and a gear 195. The butterfly looper 170 is driven on the pulley 193 which is in turn driven by the belt 194. The butterfly looper 170 is supported by the needle plate 160, which maintains its rotational position relative to the sewing needle 121, the foot 122 and the rest of the sewing head body 110 via the gear 195.The needle plate 160 is mounted to the lower arm 150 by a structural component 196 which includes a bearing 197 allowing the needle plate . 160 to rotate while being constrained in multiple axes. A sheet metal guard 198 prevents the material from touching the pulley 193.

[0050] With reference to [Fig. 4] and in accordance with embodiments, at least one of the first driveline 180 and the second driveline 190 may comprise concentric shafts 401 to reduce space requirements. That is, for the first driveline 180, at least a portion of the set of interconnected shafts 182 may comprise or be provided as the concentric shafts 401 and, for the second driveline 190, at least a portion of the set of interconnected tapered shafts 192 may comprise or be provided as the concentric shafts 401.

[0051] With reference to [Fig. 5] and in accordance with embodiments, the robotic sewing assembly 101 may further comprise a counterweight 501 (the motor 130 has been removed for clarity). The counterweight 501 may be disposed on the lower arm 150 and may be configured to effectively reduce a torque requirement associated with rotation of the lower arm 150. The counterweight 501 may be oriented to not invade the substantially empty internal sewing region 201 or limit invasion of the substantially empty internal sewing region 201 to a practical extent.

[0052] With reference to [Fig. 6] and in accordance with embodiments, the robotic sewing assembly 101 may further comprise a bearing 601 with a support member 602 that may be disposed in a supported manner on the sewing head body 110 for supporting the lower arm 150 against the sewing head body 110. The bearing 601 and the support member 602 allow rotation of the lower arm 150 and may be disposed around the horizontal intermediate shaft 144. In this configuration, the bearing member 601 and the support 602 effectively replace a dependency of the lower arm 150 mounted on the horizontal intermediate shaft 144.

[0053] With reference to [Fig. 7] and in accordance with embodiments, the robotic sewing assembly 101 may further include wings 701 extending outwardly in opposite directions from the sewing head body 110 to define a support plane for rotation of the lower arm 150 and roller bearings 702. The roller bearings 702 may be attached to the lower arm 150 and provide support of the lower arm 150 against the wings 701 during rotation of the lower arm 150. The rotational length of the wings 701 may be at least sufficient to support the full rotational capacity of the lower arm 150.Thus, when the lower arm 150 can rotate clockwise up to 80 degrees of rotation or more about the second axis A2 from the center position, one of the wings 701 extends far enough to accommodate all of the clockwise rotation of the lower arm 150 and, when the lower arm 150 can rotate counterclockwise up to 80 degrees of . rotation or more about the second axis A2 from the central position, the other of the wings 701 extends far enough to accommodate the entire counterclockwise rotation of the lower arm 150.

[0054] With reference to [Fig. 8], the robotic sewing assembly 101 may comprise a programmable control system 801 and the programmable control system 801 may comprise a sensor system 802. The programmable control system 801 may comprise a processing unit, a memory for storing executable instructions that are readable and executable by the processing unit, whereby the processing unit controls operations of the robotic sewing assembly 101 according to readings from the sensor system 802 and an input / output (I / O) unit by which the processing unit communicates with the robotic sewing assembly 101 and the sensor system 802.The programmable control system 801 may thus be configured to robotically control the sewing head body 110, the upper arm 120, the sewing needle 121, the lower arm 150, the rotation of the lower arm 150, and the respective operations of the first drive train 180 and the second drive train 190 without operator intervention. The sensor system 802 may be configured to measure the distance between the lower arm 150 and the article being sewn. The programmable control system 801 may be further configured to modify a programmed operation of the sewing head body 110, the upper arm 120, the sewing needle 121, the lower arm 150, the rotation of the lower arm 150, and the respective operations of the first drive train 180 and the second drive train 190 according to readings from the sensor system 802.For example, to the extent that a size, shape, and / or configuration of the article being sewn deviates from a nominal size, shape, and / or configuration, whereby some portion of the robotic sewing assembly 101 may impact the article during sewing, the sensor system 802 will be able to detect a possible impact, and the programmable control system 801, upon being alerted to the possible impact by the sensor system 802, will be able to modify the programmed operation to avoid the possible impact.

[0055] Although the various embodiments described above have been described separately, it should be understood that they may be combined together in various combinations. It should also be understood that configurations other than those described above are possible. For example, the motor 130 and the lower arm rotation driveline 140 may be replaced by the roller bearing motorization 702 of [Fig. 7], which in turn will allow corresponding modifications to be made to the first driveline 180 and the second driveline 190.

[0056] Referring to [Fig. 9], a method 900 of operating a robotic sewing assembly, such as the robotic sewing assembly 101 described above, is provided. As shown in [Fig. 9], the method 900 may include programming the robotic sewing assembly to perform a sewing operation with respect to an article (block 901) and driving the robotic sewing assembly according to the programming (block 902).Driving block 902 may include operating an upper arm including a sewing needle oriented along a first axis (block 9021), rotating a lower arm about a second axis defined transverse to the first axis (block 9022), driving a first drive train extending through the lower arm to maintain a position of a needle plate of the lower arm during rotation of the lower arm (block 9023), and driving a second drive train extending through the lower arm to drive a looper of the lower arm during rotation of the lower arm (block 9024).According to additional embodiments, the method 900 may further include detecting a distance between the lower arm and the article (block 903), determining whether the distance is less than a predetermined distance such that there is a risk of a possible impact as described above (block 904), and, in the event that the distance is less than the predetermined distance, modifying the drive of block 902 according to programming to increase the distance (block 905).

[0057] The technical effects and advantages of the present disclosure are the provision of a robotic sewing assembly that is capable of sewing complex 3D planar parts. The robotic sewing assembly has a rotatable lower arm that allows the lower arm to be rotated while maintaining the position of the needle plate relative to the upper portion of the sewing assembly and during active sewing of a part. Thus, as the part is being sewn, the lower arm can be maneuvered and repositioned to optimize the sewing assembly to fit the geometry of the part.

[0058] The term "approximately" is intended to include the degree of error associated with the measurement of the particular quantity based on the equipment available at the time of filing the application. For example, "approximately" may include a range of ±8% or 5%, or 2% of a given value.

[0059] Although the present disclosure has been described with reference to an exemplary embodiment or embodiments, it will be understood by those skilled in the art that various changes may be made and that certain elements thereof may be substituted by equivalents without departing from the scope of the present disclosure. Furthermore, numerous modifications may be made to adapt a particular situation or a particular material to the teachings of the present disclosure without departing from the essential scope thereof. Accordingly, it is intended that the present disclosure is not limited to the particular embodiment disclosed as the best mode contemplated for carrying out the present disclosure, but that the present disclosure will include all embodiments falling within the scope of the claims.

Claims

Claims

1. A robotic sewing assembly (101), comprising: a sewing head body (110); an upper arm (120) attachable to the sewing head body (110) and comprising a sewing needle (121) oriented along a first axis (A1); a motor (130); and a lower arm (140) rotatably attachable to the sewing head body (110) for rotation about a second axis (A2) defined transversely to the first axis (A1) by the motor (130), the lower arm (140) comprising: a needle plate (160); a butterfly looper (170); a first drive train (180) extendable through the lower arm (140) and configured to maintain a position of the needle plate (160) during rotation of the lower arm (140);and a second drive train (190) extendable through the lower arm (140) and configured to drive the butterfly lever (170) during rotation of the lower arm (140).;

2. The robotic sewing assembly of claim 1, wherein the upper arm (120), the sewing needle (121) and the lower arm (140) define an empty internal sewing region (201).

3. A robotic sewing assembly according to claim 1, wherein the lower arm (140) is rotatable 160 degrees of rotation about the second axis (A2).

4. The robotic sewing assembly of claim 1, wherein the lower arm (140) and the first and second drive trains (180, 190) are of corresponding U-shape.

5. The robotic sewing assembly of claim 1, wherein at least one of the first and second drive trains (180, 190) comprises concentric shafts (401).

6. The robotic sewing assembly of claim 1, further comprising a counterweight (501) arguable to reduce a lower arm (140) torque requirement.

7. The robotic sewing assembly of claim 1, further comprising a bearing capable of being supported on the sewing head body (110) for the lower arm support (140) against the sewing head body (110).

8. The robotic sewing assembly of claim 1, further comprising: wings (701) extendable outwardly from the sewing head body (110); and roller bearings (702) attachable to the lower arm (140) for supporting the lower arm (140) against the wings (701) during rotation of the lower arm (140).

9. The robotic sewing assembly of claim 1, further comprising a programmable control system (801) configured to robotically control the sewing head body (110), the upper arm (120), the lower arm (140) and the lower arm rotation (140), wherein: the programmable control system (801) comprises a sensor system (802) for measuring the distance between the lower arm (140) and an article being sewn, and the programmable control system (801) is configured to modify a programmed operation of the sewing head body (110), the upper arm (120), the lower arm (140) and the lower arm rotation (140) according to readings from the sensor system (802).

10. A robotic sewing assembly, comprising: a sewing head body (110); an upper arm (120) attachable to the sewing head body (110) and comprising a sewing needle (121) oriented along a first axis (A1); a motor (130); a lower arm rotation driveline (140); and a lower arm (140) rotatably attachable to the sewing head body (110) for rotation about a second axis (A2) defined transversely to the first axis (A1) by the motor (130) via the lower arm rotation driveline (140), the lower arm (140) comprising: a needle plate (160); a butterfly looper (170); a first driveline (180) extendable through the lower arm (140) and configured to maintain a position of the needle plate (160) during lower arm (140) rotation; and a second drive train (190) extendable through the lower arm (140) and configured to drive the butterfly looper (170) during lower arm (140) rotation.

11. The robotic sewing assembly of claim 10, wherein the upper arm (120), the sewing needle (121) and the lower arm (140) define an empty internal sewing region (201).

12. A robotic sewing assembly according to claim 10, wherein the lower arm (140) is rotatable 160 degrees of rotation about the second axis (A2).

13. The robotic sewing assembly of claim 10, wherein the lower arm (140) and the first and second drive trains (180, 190) are of corresponding U-shape.

14. The robotic sewing assembly of claim 10, wherein at least one of the first and second drive trains (180, 190) comprises concentric shafts (401).

15. The robotic sewing assembly of claim 10, further comprising a counterweight (501) arguable to reduce a lower arm (140) torque requirement.

16. The robotic sewing assembly of claim 10, further comprising a bearing supportably disposeable on the sewing head body (110) for supporting the lower arm (140) against the sewing head body (110).

17. The robotic sewing assembly of claim 10, further comprising: wings (701) extendable outwardly from the sewing head body (110); and roller bearings (702) attachable to the lower arm (140) for supporting the lower arm (140) against the wings (701) during rotation of the lower arm (140).

18. The robotic sewing assembly of claim 10, further comprising a programmable control system (801) configured to robotically control the sewing head body (110), the upper arm (120), the lower arm (140) and the lower arm rotation (140), wherein: the programmable control system (801) includes a sensor system (802) for measuring the distance between the lower arm (140) and an article being sewn, and the programmable control system (801) is configured to modify a programmed operation of the sewing head body (110), the upper arm (120), the lower arm (140) and the lower arm rotation (140) according to readings from the sensor system (802).

19. A method of operating a robotic sewing assembly (101), the method comprising: programming the robotic sewing assembly (101) to perform a sewing operation with respect to an article; and driving the robotic sewing assembly (101) according to the programming, the driving comprising: operating an upper arm (120) comprising a sewing needle (121) oriented along a first axis (A1); rotating a lower arm (140) about a second axis (A2) defined transversely to the first axis (A1); driving a first drive train (180) extending through the lower arm (140) to maintain a position of a needle plate (160) of the lower arm (140) during rotation of the lower arm (140);and driving a second driveline (190) extending through the lower arm (140) to drive a butterfly lever (170) of the lower arm (140) during rotation of the lower arm (140).;

20. The method of claim 19, further comprising: detecting a distance between the lower arm (140) and the article; determining whether the distance is less than a predetermined distance; and, in the event that the distance is less than the predetermined distance, modifying the drive of the robotic sewing head according to the programming to increase the distance.

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