Automatic sewing and fixing mechanical arm for bra three-dimensional cup bowl edge

Abstract

The present application relates to a kind of bra stereoscopic cup bowl edge automatic sewing fixing mechanical arm, it includes workbench, telescopic drive device, main shaft and mould cup pressure piece, workbench top is the workbench surface of flat, and is provided with support frame above workbench, telescopic drive device fixed end is set in the vertical above workbench surface by support frame, telescopic drive device telescopic end is connected with the end of main shaft, and telescopic end is towards the direction of workbench table surface, mould cup pressure piece is the bowl-shaped structure with curved surface, and bowl mouth is set towards workbench surface, bowl bottom is fixed with the other end of main shaft end, form telescopic drive device can drive mould cup pressure piece towards workbench surface and make telescopic action movement mechanism, and movable mould cup pressure piece can form pressure space between workbench surface. Realize automatic mould cup sewing edge work;Sewing equipment keeps original position fixed and can complete mould cup arc-shaped edge sewing edge work, need not larger equipment work operating space, and stable operation ensures sewing edge effect.

Description

Technical Field

[0001] This invention relates to the field of garment processing equipment, and in particular to a robotic arm for automatically sewing and fixing the edge of a three-dimensional bra cup. Background Technology

[0002] With social development and the continuous improvement of people's living standards, especially with the automation of clothing sewing becoming commonplace in garment processing, the sewing of women's bras, particularly the cup pads or molded cups, still relies on manual operation. This is because cup pads or molded cups are generally composed of two pieces of fabric with a layer of sponge sandwiched in between. The curved edges of the molded cups need to be sewn together, which is usually done manually. This is because cup pads or molded cups have a three-dimensional structure with a curved surface. During the sewing process, the fabric to be sewn needs to be pressed down to prevent it from shifting during the sewing process. However, maintaining this pressed state requires the sewing equipment to rotate for the sewing work. This requires a larger mechanical operating space and a more complex equipment structure, increasing the difficulty of equipment production and use. Therefore, designing a device that can automatically sew molded cups or cup pads using mechanical equipment, reducing the degree of manual labor, and having a simple structure that does not require a large working space has become an urgent problem to be solved. Summary of the Invention

[0003] To solve the above-mentioned technical problems, the present invention discloses an automatic sewing and fixing robotic arm for three-dimensional bra cup bowls. It includes a worktable, a telescopic drive device, a main shaft, and a molded cup pressing component. The top surface of the worktable is a flat worktable surface, and a support frame is provided above the worktable. The fixed end of the telescopic drive device is set vertically above the worktable surface through the support frame. The telescopic end of the telescopic drive device is connected to the end of the main shaft, and the telescopic end faces the worktable surface. The molded cup pressing component is a bowl-shaped structure with a curved surface, and the bowl opening faces the worktable surface. The bottom of the bowl is fixedly connected to the other end of the main shaft, forming a motion mechanism in which the telescopic drive device can drive the molded cup pressing component to telescopically move towards the worktable surface, and the moving molded cup pressing component can form a pressing space with the worktable surface.

[0004] Furthermore, it also includes a rotation drive device, wherein the telescopic end of the telescopic drive device is connected to the end of the main shaft via the rotation drive device. The rotation drive device includes a stator and a rotor. The stator is fixedly connected to the telescopic end of the telescopic drive device. The rotor is able to rotate on the stator, and the end of the rotor shaft is fixedly connected to the end of the main shaft, forming a rotation mechanism that can drive the main shaft to rotate along its own axis.

[0005] Specifically, the mold cup pressing component includes a pressing component with a bowl-shaped structure and a pressure sensing component disposed on the pressing component. The pressing component is fixedly connected to the end of the spindle. The pressure sensing component is disposed at the rim of the bowl-shaped structure of the pressing component and has a protruding edge protruding from the edge of the pressing component in the direction of the worktable. The pressure sensing component can read the pressure value between the pressure sensing component and the worktable.

[0006] Specifically, the pressure-sensitive component has a double-layer ring structure, including a fixing ring, a pressure sensor, and a trigger ring. The fixing ring is fixed to the edge of the pressing component, and the trigger ring is connected to the fixing ring through the pressure sensor. The trigger ring protrudes from the edge of the worktable and the edge of the pressing component.

[0007] Specifically, the surface of the trigger ring facing the workbench is provided with an elastic strip, which is a flexible material with resilience.

[0008] Specifically, the pressing component is a bowl-shaped structure formed by splicing together multi-lobed arc-shaped structures.

[0009] Furthermore, it also includes an adsorption device, which is set inside the bowl-shaped structure of the mold cup pressing part, and the adsorption device is a negative pressure adsorption device, with the adsorption direction of the adsorption device facing the workbench surface.

[0010] Specifically, the adsorption device is a needle-type suction cup, and the adsorption device is located at the bottom of the bowl-shaped structure of the mold cup pressing part.

[0011] Furthermore, it also includes an information processing feedback system, which includes a signal processor and a signal receiver and a signal transmitter connected thereto. The signal receiver is connected to a pressure sensor to receive pressure signals, and the signal transmitter is connected to a signal receiver on the telescopic drive device to send signals that cause the telescopic drive device to extend or retract. The signal processor is used to process the pressure trigger signals sent by the pressure sensor.

[0012] Advantages and effects

[0013] The beneficial effects of the automatic sewing and fixing robotic arm for the three-dimensional bra cup bowl of the present invention are as follows: it can realize the automated sewing of the molded cup, saving manual labor; the sewing equipment can complete the sewing of the arc-shaped edge of the molded cup by keeping it fixed in place, without requiring a large working space for the equipment, and the operation is stable, which can ensure the sewing effect of the molded cup edge when the equipment is running. Attached Figure Description

[0014] Figure 1 This is one of the structural schematic diagrams of the robotic arm device for automatically sewing and fixing the edge of the bra's three-dimensional cup bowl according to the present invention;

[0015] Figure 2This is the second schematic diagram of the automatic sewing and fixing robotic arm device for the edge of the bra three-dimensional cup bowl of the present invention;

[0016] Figure 3 This is one of the structural schematic diagrams of the pressure-sensitive element of the present invention;

[0017] Figure 4 This is a second schematic diagram of the pressure-sensitive element of the present invention;

[0018] Figure 5 This is a flowchart of the information processing feedback system of the present invention.

[0019] Legend: 1. Worktable; 11. Worktable surface; 12. Support frame; 2. Telescopic drive device; 3. Spindle; 4. Mold cup pressing part; 41. Pressing part; 411. Slide groove; 412. Locking part; 42. Pressure sensing part; 421. Fixing ring; 422. Pressure sensor; 423. Trigger ring; 5. Rotation drive device; 51. Stator; 52. Rotor; 6. Adsorption device; 7. Information processing feedback system; 71. Signal processor; 72. Signal receiver; 73. Signal transmitter. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0022] like Figure 1As shown, this invention relates to a robotic arm for automatically sewing and fixing the edge of a three-dimensional bra cup bowl. It includes a worktable 1, a telescopic drive device 2, a main shaft 3, and a molded cup pressing component 4. The top surface of the worktable 1 is a flat worktable surface 11, and a support frame 12 is provided above the worktable 1. The fixed end of the telescopic drive device 2 is set vertically above the worktable surface 11 through the support frame 12. The telescopic end of the telescopic drive device 2 is connected to the end of the main shaft 3, and the telescopic end faces the worktable surface 1. The molded cup pressing component 4 is a bowl-shaped structure with a curved surface, and the bowl opening faces the worktable surface 11. The bottom of the bowl is fixedly connected to the other end of the main shaft 3, forming a motion mechanism in which the telescopic drive device 2 can drive the molded cup pressing component 4 to telescopically move towards the worktable surface 11, and the moving molded cup pressing component 4 can form a pressing space with the worktable surface 11. During use, because the mold cup has a raised, curved, three-dimensional shape, to match the shape of the mold cup and prevent it from deforming during pressing, thus avoiding unevenness during edge sewing, specifically, after the mold cup to be sealed is placed on the worktable 11 with the convex curved surface facing upwards, the telescopic drive device 2 is activated to lower the lower part of the device until the bowl-shaped mold cup pressing component 4 contacts the mold cup, fixing the mold cup in the pressing space and pressing it onto the worktable. At the same time, the edge of the mold cup is exposed above the rim of the mold cup pressing component 4, allowing an external sewing machine or other sewing equipment to sew the edge. Next, during this process, the device keeps the mold cup pressed down to prevent it from slipping and misaligning, which could lead to inaccurate stitching. The edge of the mold cup can be completely stitched by using an external machine to drive the sewing equipment to rotate along the axis of the main shaft 3. It should be noted that in order to allow the pressed mold cup to have more directions of movement to move to the position of the sewing equipment, a robotic arm capable of X, Y, and Z axis movement can also be installed on the telescopic drive device 2 to replace the support frame 12 used to fix the telescopic drive device 2, providing higher degrees of freedom of movement for the mold cup pressing part 4.

[0023] like Figure 2 As shown, it also includes a rotary drive device 5. The telescopic end of the telescopic drive device 2 is connected to the end of the main shaft 3 via the rotary drive device 5. The rotary drive device 5 includes a stator 51 and a rotor 52. The stator is fixedly connected to the telescopic end of the telescopic drive device 2, and the rotor 52 can rotate on the stator 51. The end of the rotor shaft is fixedly connected to the end of the main shaft 3, forming a rotary mechanism that can drive the main shaft 3 to rotate along its own axis. In addition, it can also fix the position of the sewing machine equipment. By adding the rotary drive device 5 to this device, the mold cup pressing part 4 can be driven to press the mold cup of the edge to be sewn and rotate together to complete the sewing work.

[0024] The mold cup pressing component 4 includes a pressing component 41 with a bowl-shaped structure and a pressure sensing component 42 disposed on the pressing component 41. The pressing component 41 is fixedly connected to the end of the spindle 3. The pressure sensing component 42 is disposed at the edge of the bowl-shaped structure of the pressing component 41 and has a protruding edge protruding from the edge of the pressing component 41 in the direction of the worktable surface 11. The pressure sensing component 42 can read the pressure value between the pressure sensing component 42 and the worktable surface 11. To ensure that the pressed mold cup can rotate along with the pressing component 41 during the sewing process, preventing situations where excessive pressure prevents rotation or insufficient pressure causes only the pressing component 41 to rotate while the mold cup remains stationary, a pressure sensor 42 is designed. Firstly, it functions as a triggering device. Secondly, upon triggering, the pressure sensor 42 detects the pressure value of the mold cup pressed against the worktable. By combining this pressure with the friction between different mold cup materials and the worktable, the pressure is adjusted to ensure proper rotation. This allows the robotic arm to rotate the pressed mold cup for edge sealing, keeping the sewing equipment in its original position. The edge sealing work is completed simply by the robotic arm's axial rotation, eliminating the need for additional mechanical equipment to perform circular motion on the sewing machine. This significantly saves workspace, and the worktable does not require a sewing trajectory structure to coordinate with the sewing machine's movement, reducing the complexity of the production line's equipment configuration and simplifying the mechanical movement of the device.

[0025] like Figure 3 As shown, the pressure-sensitive element 42 has a double-layer ring structure, including a fixing ring 421, a pressure sensor 422, and a trigger ring 423. The fixing ring 421 is fixed to the edge of the pressing element 41, and the trigger ring 423 is connected to the fixing ring 421 through the pressure sensor 422. The trigger ring 423 protrudes towards the edge of the worktable 11 and the edge of the pressing element 41. The parallel double-layer structure of the pressure-sensitive element 42 allows one layer to be fixed while the other layer contacts the mold cup to be sewn, with the pressure sensor 422 connecting and fixing them in the middle. This allows the fixing ring 421 and the trigger ring 423 to have freedom of movement, and also enables real-time monitoring of the mold cup pressure through the pressure sensor 422.

[0026] The surface of the trigger ring 423 facing the worktable 11 is provided with an elastic strip, which is a flexible material with resilience. Specifically, flexible materials such as rubber or silicone can be used. Without damaging the mold cup, the sliding friction between the trigger ring 423 and the mold cup can be increased after the trigger ring 423 contacts the mold cup and applies pressure to it, which is beneficial for driving the mold cup to perform axial rotation.

[0027] The pressing component 41 is a bowl-shaped structure formed by splicing multi-lobed arc-shaped structures. This multi-lobed arc-shaped structure can accommodate mold cups of different sizes and shapes. To address this, the pressing component 41 is a telescopic structure formed by overlapping two arc-shaped structures. At the overlap, both arc-shaped structures are provided with grooves 411, which overlap. Locking components 412 are installed at the overlapping portion. These locking components allow the two arc-shaped structures to extend or shorten and fix their relative positions. The locking components are bolts and nuts. In use, the standard dimensions of the mold cup to be sewn are initially measured, and then the bolts and nuts of the locking components 412 are loosened, causing the pressing component 41 to extend or shorten accordingly. For precise extension or shortening, additional adjustments can be made to the pressing component. The groove 411 on the curved surface of the covering part 41 is marked with corresponding scales to determine the length. When the covering part 41 is stretched or shortened to the corresponding distance, the nut on the locking part 412 is tightened to fix the relative position of the two curved surface structures, thereby changing the overall size of the covering part 41. The pressure sensing part 42 is segmented at this time. When the diameter of the mold cup that needs to press the seam edge is large, each segment of the curved surface structure can be stretched to the corresponding length and, after the above-mentioned mold cup pressing action, moved to the sewing equipment by the robot arm to complete the subsequent seam edge operation. For mold cups whose projection surface from top to bottom is a perfect circle or close to a perfect circle, all the curved surface structures can be changed to the same length, pressing the mold cup and exposing the edge of the mold cup. A certain length is used to complete the seam work; for irregular mold cups, such as elliptical or teardrop-shaped mold cups, the arc surface structure corresponding to the long radius needs a longer extension length, while the arc surface structure corresponding to the short radius may need to be shortened; a shorter extension length may be needed, depending on the specific mold cup size. After the extension or shortening of each arc surface structure is used to adapt to the corresponding size of the irregular mold cup and press it down, the pressure pressing the mold cup is only taken from the pressure sensor 422 on the longer arc surface structure, which provides feedback on the extension amount of the telescopic drive device 2. After the pressure of the arc surface structures at both ends of the long radius pressing the mold cup is adjusted, the arc surface structure corresponding to the short radius can press the mold cup to be sealed with a loose contact or a small pressure. By pressing down the mold cup at its long radius end, the seam edge of the mold cup is ensured to be exposed. The position is fixed by the suction device 6. The robot arm moves along the XY axis in a corresponding elliptical or irregular shape to complete the edge sewing work, enabling the sewing of irregularly shaped mold cups. It should be noted that for irregularly shaped mold cups, the height of the protrusions needs to be replaced with a curved surface structure of corresponding curvature to ensure the upper curved surface of the mold cup can be adsorbed and fixed by the suction device 6. The use of a structure that can stretch or shorten to deform the pressing part 41 as a whole allows the device to press down the seam edge even for larger mold cups during use, preventing the mold cup from flipping upwards and the edge from leaving the seam edge plane after pressing.

[0028] To further ensure that the robotic arm can smoothly rotate a full circle after pressing down on the mold cup to complete the sewing work, it also includes an adsorption device 6. The adsorption device 6 is set inside the bowl-shaped structure of the mold cup pressing component 4, and the adsorption device 6 is a negative pressure adsorption, with the adsorption direction of the adsorption device 6 facing the worktable surface 11. The negative pressure adsorption added inside the bowl-shaped mold cup pressing component 4 can, to a certain extent, prevent the mold cup from shifting during the sewing process. In addition, in conjunction with the elastic strip function on the trigger ring 423, the follow-up effect of the mold cup under pressure when the robotic arm rotates is further enhanced. Furthermore, the mold cup can be adsorbed by the negative pressure adsorption device first, and then the pressure sensor 42 driven by the telescopic drive device can press the mold cup with appropriate pressure. In this way, before pressing down on the mold cup, the mold cup can be made to contact and fit against the inner wall of the bowl-shaped structure of the mold cup pressing component 4, avoiding the problem of displacement of the mold cup during rotation due to internal play.

[0029] The adsorption device 6 is a needle-type suction cup, and it is located at the bottom of the bowl-shaped structure of the mold cup pressing part 4. The needle-type suction cup can further enhance the fixing effect of the mold cup and prevent displacement during rotation.

[0030] like Figure 4 As shown, in order to control the extension length of the telescopic drive device 2 through the pressure sensor 42 when the robotic arm presses the mold cup, that is, to control the pressure, it also includes an information processing feedback system 7. The information processing feedback system 7 includes a signal processor 71 and a signal receiver 72 and a signal transmitter 73 connected thereto. The signal receiver 72 is connected to the pressure sensor 422 to receive pressure signals, and the signal transmitter 73 is connected to the signal receiver on the telescopic drive device 2 to send signals that cause the telescopic drive device 2 to extend or retract. The signal processor 71 is used to process the pressure trigger signals sent by the pressure sensor 42. In use, the pressure sensor 42 transmits the received pressure signal to the signal processor 71 through the signal receiver 72. The signal processor 71 analyzes the received digital signal and, based on the measured material parameters, determines whether the pressure value is within the set pressure range that allows the mold cup to rotate. If it is not within the set pressure range, the difference between the actual pressure and the standard set pressure is calculated. The corresponding elongation or shortening travel is calculated based on this difference, and this travel is transmitted as an electrical signal to the signal receiver of the telescopic drive device 2 through the signal transmitter 73. After the signal receiver receives the signal, it starts the telescopic drive device 2 to extend or retract the telescopic rod, achieving the pressure value that allows the mold cup to rotate smoothly under the robotic arm, thus realizing the subsequent rotational sewing work, improving the accuracy of the sewing process and increasing the finished product qualification rate.

[0031] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is impossible to exhaustively list all embodiments here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A robotic arm for automatically sewing and fixing the edge of a three-dimensional bra cup bowl, characterized in that: It includes a worktable (1), a telescopic drive device (2), a spindle (3), and a mold cup pressing component (4). The top surface of the worktable (1) is a flat worktable surface (11), and a support frame (12) is provided above the worktable (1). The fixed end of the telescopic drive device (2) is set vertically above the worktable surface (11) through the support frame (12). The telescopic end of the telescopic drive device (2) is connected to the end of the spindle (3), and the telescopic end faces the worktable surface (1). The mold cup pressing component (4) is a bowl-shaped structure with a curved surface, and the bowl mouth is set facing the worktable surface (11). The bottom of the bowl is fixedly connected to the other end of the spindle (3), forming a motion mechanism in which the telescopic drive device (2) can drive the mold cup pressing component (4) to telescopically move towards the worktable surface (11). The moving mold cup pressing component (4) can form a pressing space with the worktable surface (11). 4) Includes a pressing part (41) with a bowl-shaped structure and a pressure sensing part (42) disposed on the pressing part (41). The pressing part (41) is fixedly connected to the end of the spindle (3). The pressure sensing part (42) is disposed at the edge of the bowl-shaped structure of the pressing part (41) and has a protruding edge protruding from the edge of the pressing part (41) in the direction of the worktable (11). The pressure sensing part (42) can read the pressure value between the pressure sensing part (42) and the worktable (11). The pressure sensing part (42) is a double-layer ring structure, including a fixing ring (421), a pressure sensor (422) and a trigger ring (423). The fixing ring (421) is fixedly connected to the edge of the pressing part (41). The trigger ring (423) is connected to the fixing ring (421) through the pressure sensor (422), and the trigger ring (423) protrudes from the edge of the worktable (11) and the edge of the pressing part (41).

2. The robotic arm for automatically sewing and fixing the edge of the three-dimensional bra cup bowl according to claim 1, characterized in that: It also includes a rotation drive device (5), the telescopic drive device (2) is connected to the end of the main shaft (3) through the rotation drive device (5), the rotation drive device (5) includes a stator (51) and a rotor (52), the stator is fixedly connected to the telescopic drive device (2), the rotor (52) can rotate on the stator (51), and the end of the rotating shaft is fixedly connected to the end of the main shaft (3), forming a rotation mechanism that can drive the main shaft (3) to rotate along its own axis.

3. The robotic arm for automatically sewing and fixing the edge of the three-dimensional bra cup bowl according to claim 1, characterized in that: The trigger ring (423) has an elastic strip on its surface facing the worktable (11), and the elastic strip is a flexible material with resilience.

4. The robotic arm for automatically sewing and fixing the edge of the three-dimensional bra cup bowl according to claim 1, characterized in that: The pressing component (41) is a bowl-shaped structure formed by splicing together multi-lobed arc surface structures.

5. The robotic arm for automatically sewing and fixing the edge of the three-dimensional bra cup bowl according to claim 1, characterized in that: It also includes an adsorption device (6), which is set inside the bowl-shaped structure of the mold cup pressing part (4), and the adsorption device (6) is a negative pressure adsorption device, with the adsorption direction of the adsorption device (6) facing the workbench surface (11).

6. The automatic sewing and fixing robotic arm along the edge of the bra's three-dimensional cup bowl according to claim 5, characterized in that: The adsorption device (6) is a needle-type suction cup, and the adsorption device (6) is located at the bottom of the bowl-shaped structure of the mold cup pressing part (4).

7. The automatic sewing and fixing robotic arm along the edge of the bra's three-dimensional cup bowl according to any one of claims 1-6, characterized in that: It also includes an information processing feedback system (7), which includes a signal processor (71) and a signal receiver (72) and a signal transmitter (73) connected thereto. The signal receiver (72) is connected to a pressure sensor (422) to receive pressure signals. The signal transmitter (73) is connected to a signal receiver on the telescopic drive device (2) to send signals that cause the telescopic drive device (2) to extend or retract. The signal processor (71) is used to process the pressure trigger signal sent by the pressure sensor (422).

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