A robotic arm force-position hybrid control production system

Abstract

The present invention belongs to the technical field of sewing equipment, and specifically relates to a mechanical arm force-position hybrid control production system, comprising a sewing machine for sewing shoulder visible stitches, a table and a touch screen, wherein the touch screen is connected to the rear side of the upper surface of the table by screws, the sewing machine is installed on the table in front of the touch screen, and further comprises a loading box connected by bolts on the side near the front of the table. The mechanical arm force-position hybrid control production system of the present invention combines the shoulder visible stitching process of shirts with the grabbing and transferring of large-format cutting pieces, thereby realizing full automation of shoulder visible stitching of shirt cutting pieces; under the action of the needle-punched cutting piece separator, the equipment can realize the positioning and movement of large-format cutting pieces, and under the cooperation of the friction wheel and the shoulder clamping mechanism, the upper and lower shoulder surfaces can be separated from the back garment piece without sticking, and no manual operation is required.

Description

Technical Field

[0001] The present invention belongs to the technical field of sewing equipment, and in particular relates to a mechanical arm force-position hybrid control production system. Background Art

[0002] The production process for stitching and sewing the shoulders of shirts involves numerous steps and involves complex processes. The visible stitching between the back panel and the two yoke pieces is particularly demanding, requiring high-level sewing skills and stringent quality standards, which directly impacts the yield rate of the shirt. Sewing is even more challenging when the shirt fabric is highly elastic or when the pieces have stripes. The main issue is that when the fabric is soft, the elasticity can stretch slightly, resulting in skewed stitching during visible stitching. If the shirt has patterns or textures, the upper and lower yokes and the back panel must also meet strict alignment requirements for the stripes. Therefore, completing the shoulder stitching of shirts is labor-intensive and requires high-tech technology. Labor costs are high, and mass production efficiency is low, necessitating an urgent need for automation upgrades.

[0003] It should be noted that the information disclosed in the background technology section of the present invention is only intended to increase the understanding of the overall background of the present invention, and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a mechanical arm force-position hybrid control production system, which combines the shirt shoulder surface visible stitching process with the large-format cutting piece grabbing and transferring, thereby realizing the full automation of the shirt cutting piece shoulder visible stitching sewing; under the action of the needle-punched cutting piece separator, the equipment can realize the positioning and movement of the large-format cutting piece, and under the cooperation of the friction wheel and the shoulder surface clamping mechanism, the upper and lower shoulder surfaces and the back garment piece can be separated without sticking and without manual operation; the flexible control of the servo motor current of the shoulder surface clamping mechanism can reasonably pull the cutting piece Even if it encounters elastic fabrics, it can still be stretched to the ideal sewing degree. The visual system can identify the visible line area that needs to be sewn and the ideal position of the cutting piece when the stripes are aligned. Compared with the traditional production method, it saves manual links; the flexible force control of the servo motor current of the shoulder clamping mechanism is combined with the suction function of the shoulder clamping mechanism to achieve the alignment of the elastic fabric; the visual technology above and below the table is used to identify the texture of the cutting piece, and the motor force control is combined to achieve the stripe alignment of the cutting piece. Finally, the visible line sewing area is identified under visual recognition.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The control mechanism of the present invention is a pair of control mechanisms, wherein the control mechanism is a pair of control mechanisms, and the control mechanism is a pair of control mechanisms. The control mechanism is a pair of control mechanisms, wherein the control mechanism is a pair of control mechanisms, and the control mechanism is a pair of control mechanisms. The control mechanism is a pair of control mechanisms, wherein the control mechanism is a pair of control mechanisms.

[0007] On the basis of the above technical solution, a desktop vision system is connected to the middle position of one side of the upper surface of the table by bolts, a longitudinally movable robotic arm is connected to the rear part of the middle position of the upper surface of the table by bolts, the sewing clamp moving motor is connected to the rear end side of the longitudinally movable robotic arm by bolts, the internal electric drive sliding connection of the longitudinally movable robotic arm is connected to a push cylinder, and the telescopic end of the push cylinder is connected to a clamp by bolts.

[0008] On the basis of the above technical solution, two groups of shoulder clamping mechanisms are arranged on the moving path of the shoulder piece to be sewn with visible stitches, with the table surface as the axis of symmetry. Each group is provided with two longitudinally arranged groups of shoulder clamping mechanisms, and they are connected by a clamping mechanism linear motor drive. The shoulder clamping mechanism is slidably connected inside the clamping mechanism guide rail, and the front surface side of the clamping mechanism guide rail is connected to the shoulder clamping mechanism servo motor by bolts, and the desktop vision system is connected to the middle position of one side of the lower surface of the table by bolts.

[0009] On the basis of the above technical solution, two groups of friction wheels are arranged along the moving direction of the shoulder piece to be sewn with visible stitches. Both are electrically driven, and the friction wheels on the upper shoulder surface rotate clockwise, while the friction wheels on the lower shoulder surface rotate clockwise and counterclockwise. The box base of the loading box can be raised and lowered.

[0010] On the basis of the above technical solution, the initial lifting position of the needle-punched cut piece separator is located above the feeding box, and the separator guide rail and the separator lifting guide rail are both electrically driven.

[0011] Based on the above technical solution, the detection area of the desktop vision system is located on the upper shoulder surface of the shoulder piece to be sewn with visible stitches, and the detection area of the under-table vision system is located on the lower shoulder surface of the shoulder piece to be sewn with visible stitches.

[0012] On the basis of the above technical solution, the clamp is provided with an exposed stitch groove that matches the shoulder piece to be exposed stitched, and the servo motor of the shoulder surface clamping mechanism is a hollow cup motor.

[0013] Based on the above technical solution, the over-shoulder surface clamping mechanism can be electrically driven to descend as a whole, and the over-shoulder surface clamping mechanism includes a clamping body, an air suction plate, and a rotating clamping claw. The air suction plate is connected to the bottom surface of the clamping body by bolts, and the rotating clamping claws are rotatably connected to the bottom surfaces on both sides of the clamping body.

[0014] The shoulder panel to be sewn with visible stitches is composed of a back piece, an upper piece and a lower piece.

[0015] Compared with the existing technology, the beneficial effects of the present invention are: the robot arm force-position hybrid control production system combines the shirt shoulder topstitching process with the grabbing and transferring of large-format cutting pieces, thereby realizing the full automation of the shirt cutting shoulder topstitching process;

[0016] Under the action of the needle-punched piece separator, the equipment can realize the positioning and movement of large-format pieces. With the cooperation of the friction wheel and the shoulder clamping mechanism, the upper and lower shoulder surfaces can be separated from the back piece without sticking, and no manual operation is required.

[0017] The flexible control of the servo motor current of the shoulder clamping mechanism can stretch the cut pieces reasonably, and even when encountering elastic fabrics, it can still be stretched to the ideal sewing degree. The visual system can identify the visible line areas that need to be sewn and the ideal position of the cut pieces when the stripes are aligned. Compared with traditional production methods, it saves manual links.

[0018] The alignment of elastic fabrics is achieved through the flexible force control of the servo motor current of the shoulder clamping mechanism and the suction function of the shoulder clamping mechanism;

[0019] The texture of the cutting piece is identified through visual technology above and below the table, and the stripe alignment of the cutting piece is achieved by combining with motor force control. Finally, the visible seam sewing area is identified through visual recognition.

[0020] The additional technical features and advantages of the present invention will be more clearly explained in the following description, or can be understood through the specific practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 This is an axonometric view above the table of a mechanical arm force-position hybrid control production system according to the present invention;

[0023] Figure 2 This is an axonometric view of the bottom surface of a manipulator force-position hybrid control production system according to the present invention;

[0024] Figure 3 This is a diagram illustrating the principle of transferring shoulder pieces to be sewn with exposed stitches in a production system of a mechanical arm force-position hybrid control system according to the present invention;

[0025] Figure 4 This is a schematic diagram of the folding principle of the shoulder panel under the force-position hybrid control of the robot arm force-position hybrid control production system of the present invention;

[0026] Figure 5 It is a structural schematic diagram of a shoulder piece to be topstitched in a mechanical arm force-position hybrid control production system according to the present invention;

[0027] Figure 6 This is an action flow chart of a manipulator force-position hybrid control production system described in the present invention.

[0028] The following are the descriptions of the reference numerals:

[0029] 1. Sewing machine; 2. Table; 3. Touch screen; 4. Friction wheel; 5. Feeding box; 6. Separator guide rail; 7. Separator lifting guide rail; 8. Sewing fixture moving motor; 9. Needle-punched piece separator; 10. Over-shoulder piece to be sewn with visible stitches; 1001. Back piece; 1002. Upper piece; 1003. Lower piece; 11. Clamping mechanism; 12. Desktop vision system; 13. Push cylinder; 14. Clamp; 15. Servo motor for over-shoulder clamping mechanism; 16. Over-shoulder clamping mechanism; 1601. Clamping body; 1602. Suction plate; 1603. Rotating clamp; 17. Clamping mechanism guide rail; 18. Clamping mechanism linear motor; 19. Under-table vision system. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only used to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0032] Example

[0033] See also Figures 1-6 The present invention provides a mechanical arm force-position hybrid control production system: it includes a sewing machine 1 for sewing shoulder visible stitches, a table 2 and a touch screen 3. The touch screen 3 is connected to the rear side of the upper surface of the table 2 by screws, which can be used to input the shape and size information of the cutting piece, as well as the stripes and fabric conditions, and then calculate the elastic model, the ideal cutting piece size model, and display the operating status of the equipment. The sewing machine 1 is installed on the table 2 in front of the touch screen 3, and also includes a loading box 5 connected by bolts on the side near the front of the table 2. The shoulder cutting pieces 10 to be sewn with visible stitches are concentratedly placed in the loading box 5 and are to be lifted by the needle-punched cutting piece separator 9. A fixed plate with a friction wheel 4 is extended from the front and rear edge lines of one side of the loading box 5. The friction wheel 4 is connected between the fixed plates by a bearing. The rear side of the upper surface of the table 2 is connected to a separator by bolts. The lifting guide rail 7 is responsible for the lifting and lowering movement of the needle-punched piece separator 9. The separator lifting guide rail 7 is slidably connected to the separator guide rail 6, which is responsible for the forward and backward movement of the needle-punched piece separator 9. The inner sliding connection of the separator guide rail 6 is the needle-punched piece separator 9. The lifting end of the needle-punched piece separator 9 can lift one end of the rear garment piece 1001 of the shoulder piece 10 to be sewn with visible stitches. In the feeding box 5, a single shoulder piece 10 to be sewn with visible stitches is grabbed from a stack and, with the help of the separator guide rail 6 and the separator lifting guide rail 7, is moved to the sewing area. One side of the upper surface of the table 2 is located on the moving extension line of the shoulder piece 10 to be sewn with visible stitches, and is connected to a clamping mechanism 11 by bolts. The clamping mechanism 11 can clamp one end of the rear garment piece of the shoulder piece 10 to be sewn with visible stitches to ensure that one end of the piece is in a tensioned state.

[0034] On the basis of the above embodiment: a desktop vision system 12 is connected to the middle position of one side of the upper surface of the table 2 by bolts, and the precise actual position of the shoulder piece 10 to be sewn with visible stitches on the table 2 is identified by a visual camera, and the characteristics of the piece stripes are identified, providing a basis for the subsequent alignment of the shoulder upper piece and the back garment piece. In addition, the precise position of the visible stitching is identified for the positioning of the clamp 14. A longitudinally movable mechanical arm is connected to the rear part of the middle position of the upper surface of the table 2 by bolts, and a sewing clamp moving motor 8 is connected to the rear end side of the longitudinally movable mechanical arm by bolts, which is responsible for moving the clamp 14 under the control of the guide rail, and cooperating with the sewing machine 1 to sew the visible stitches on the shoulder surface. The internal motor of the longitudinally movable mechanical arm The driving sliding connection is provided with a pushing cylinder 13, and the telescopic end of the pushing cylinder 13 is connected with a clamp 14 by a bolt, which presses the back piece of the shoulder piece 10 to be sewn with visible stitches against the shoulder surface, exposing the area for visible stitching, and realizes joint sewing together with the sewing machine 1 under the drive of the longitudinally movable mechanical arm; two groups of shoulder surface clamping mechanisms 16 are provided on the moving path of the shoulder piece 10 to be sewn with visible stitches, with the surface of the table 2 as the symmetrical axis, and each group is provided with two groups of shoulder surface clamping mechanisms 16 arranged longitudinally, and are driven and connected by a clamping mechanism linear motor 18, so as to facilitate the shoulder surface alignment of the two pieces and the visual observation of the two shoulder surfaces and the back piece, and the shoulder surface clamping mechanism 16 is slidably connected inside the clamping mechanism guide rail 17, The front surface side of the clamping mechanism guide rail 17 is connected to the shoulder surface clamping mechanism servo motor 15 by bolts, which controls the shoulder surface clamping mechanism 16 to move along the clamping mechanism guide rail 17 to ensure that the entire piece is in a tensioned state, and with the cooperation of the visual system, the visible stitching position is located for visible stitching. The bottom table visual system 19 is connected to the middle position of one side of the lower surface of the table top 2 by bolts. Through the visual camera, it identifies the characteristics of the stripes of the lower piece of the shoulder surface, providing a basis for the subsequent alignment of the shoulder surface and the back piece of clothing. In addition, the precise position of the visible stitching is identified for positioning of the clamp 14; two groups of friction wheels 4 are set along the moving direction of the shoulder piece 10 to be visible stitched, both of which are electrically driven to rotate, and rotate clockwise with the friction wheel 4 on the upper shoulder surface. The yoke pieces 10 to be sewn with visible stitches are taken out separately from a stack of yoke pieces 10 in the loading box 5, and the friction wheel 4 starts to roll to ensure that the two yoke surfaces overlap and are in a non-sticky state with the back piece. The base of the loading box 5 can be raised and lowered to ensure that the height of the top layer of pieces is relatively fixed when the yoke pieces 10 to be sewn with visible stitches are continuously grabbed. The initial lifting position of the needle-punched piece separator 9 is located above the loading box 5, and the separator guide rail 6 and the separator lifting guide rail 7 are both electrically driven. The detection area of the desktop visual system 12 is located on the upper shoulder surface of the yoke piece 10 to be sewn with visible stitches, and the detection area of the bottom table visual system 19 is located on the lower shoulder surface of the yoke piece 10 to be sewn with visible stitches.The clamp 14 is provided with an open thread groove for matching the shoulder piece 10 to be open-stitched. The servo motor 15 of the shoulder clamping mechanism is a hollow cup motor, which is very sensitive to the load current. The flexible control technology can sensitively detect the stress when the piece is stretched. When the elastic coefficient of the piece is entered into the system in advance, the servo motors 15 of the shoulder clamping mechanism installed above and below the table can accurately control the stretching degree of the piece; the shoulder clamping mechanism 16 can be electrically driven to descend as a whole, and the shoulder clamping mechanism 16 includes a clamping body 1601, air intake plate 1602, and rotating clamping jaws 1603. The air intake plate 1602 is bolted to the bottom surface of the clamping body 1601, separating the upper and lower yoke panels. Rotating clamping jaws 1603 are rotatably connected to the bottom surfaces of both sides of the clamping body 1601 to secure the upper and lower yoke panels. The yoke panel 10 to be topstitched consists of the back piece 1001, the upper panel 1002, and the lower panel 1003. The topstitching is done on the surface where the upper and lower panels 1002 and 1003 meet.

[0035] The working principle and use process of the present invention are as follows: during automatic sewing, the size of the piece to be processed, the stripe situation, and the fabric properties are first entered into the controller through the touch screen 3, and then the needle-punched piece separator 9 moves along the separator guide rail 6 to the top of the loading box 5 to place a stack of shoulder pieces 10 to be sewn with visible stitches in the loading box 5. The top piece is lifted up through the drop of the separator lifting guide rail 7, and the back piece of the piece is grabbed. At this time, the back piece is lifted up, and the upper and lower shoulder surfaces of the other end are also pulled up; after one end of the back piece is grabbed, the friction wheel 4 starts to rotate under the control of the motor, and during the process of the piece being lifted and dragged to the table 2, it rubs against the friction wheel 4 to ensure that the upper piece is lifted up. The lower shoulder surface does not stick to any garment pieces, and they are aligned with each other up and down; when a single piece is dragged onto the table 2, the needle-punched piece separator 9 returns to the top of the loading box to wait for the next grabbing task; under the recognition of the desktop vision system 12, the edge position of the rear garment piece of the piece is identified, and at this time the clamping mechanism 11 clamps one end of the rear garment piece under the action of the cylinder; if the rear garment piece cannot be accurately placed on the clamping mechanism 11 during the transfer of the piece, the clamp 14 is pressed on the top of the piece under the action of the sewing clamp moving motor 8 and the pushing cylinder 13, and the piece is calibrated and moved on the table 2 to ensure that the edge of the rear garment piece 1001 is at the clamping mechanism 11. When the clamping mechanism 11 clamps the piece, the clamp 14 is lifted.

[0036] At this point, the shoulder clamping mechanism 16 above the tabletop 2 descends, activating its air suction function to lift the upper shoulder panel. The shoulder clamping mechanism 16, located horizontally with the tabletop, similarly activates its air suction function to secure the lower shoulder panel before descending below the tabletop. In this manner, the upper and lower shoulder panels are separated. The shoulder clamping mechanism 16's built-in jaws then close, securing the upper and lower shoulder panels. The air suction mechanism ceases suction, and the tabletop vision system 12 and tabletop bottom vision system 19 detect the texture and wrinkles of the panel. If wrinkles are present, the shoulder clamping mechanism 16, controlled by the clamping mechanism guide rail 17 and the clamping mechanism linear motor 15, grasps the upper and lower shoulder panels and stretches them in opposite directions. Because the clamping mechanism 11 already grasps one end of the panel, this tensions the entire panel against the tabletop 2, revealing the exposed stitching area. The shoulder clamping mechanism servo motors 15, mounted above and below the tabletop 2, precisely control the degree of stretching. Under the recognition of the desktop vision system 12 and the desktop bottom vision system 19, the texture of the cutting piece can be accurately located; the shoulder surface clamping mechanism servo motor 15 and the clamping mechanism linear motor 18 installed above and below the table 2 are used, and the two shoulder surface clamping mechanisms 16 for grasping the upper and lower shoulder surfaces can move independently forward, backward, left and right. Under the recognition of the desktop vision system 12 and the desktop bottom vision system 19, the shoulder surface clamping mechanism 16 moves forward, backward, left and right to perform ideal stripe fine-tuning; after the cutting piece is stretched and adjusted, the clamp 14 falls, and the clamping mechanism 11 and the shoulder surface clamping mechanism 16 are released; under the control of the motor, the clamp 14 presses the cutting piece, and the area for sewing the visible stitches is displayed through the visible stitch groove provided by the clamp, and is transferred to the sewing machine 1 to complete the visible stitch sewing process of the shoulder surface.

[0037] Although certain specific embodiments of the present invention have been described in detail by way of example, those skilled in the art will appreciate that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A mechanical arm force-position hybrid control production system, comprising a sewing machine (1) for sewing shoulder topstitching, a table (2), a touch screen (3), and a sewing fixture moving motor (8), wherein the touch screen (3) is connected to the rear side of the upper surface of the table (2) by screws, and the sewing machine (1) is installed on the table (2) in front of the touch screen (3), characterized in that: The utility model also includes a loading box (5) connected by bolts to the front side of the table (2), a fixed plate for installing a friction wheel (4) is extended from the front edge line and the rear edge line of one side of the loading box (5), and the friction wheel (4) is connected between the fixed plates through a bearing. The rear part of the upper surface of the table (2) is connected by bolts to a separator lifting guide rail (7), and a separator guide rail (6) is slidably connected to the separator lifting guide rail (7). The interior of the separator guide rail (6) is slidably connected to a needle-punched piece separator (9), and the lifting end of the needle-punched piece separator (9) can lift one end of the back piece of the shoulder piece (10) to be sewn with a visible thread. One side of the upper surface of the table (2) is located on the moving extension line of the shoulder piece (10) to be sewn with a visible thread, and is screwed. The bolt is connected with a clamping mechanism (11), and the clamping mechanism (11) can clamp one end of the back piece of the shoulder piece (10) to be sewn with visible stitches. Two groups of shoulder surface clamping mechanisms (16) are provided on the moving path of the shoulder piece (10) to be sewn with visible stitches, with the surface of the table (2) as the symmetrical axis. Each group is provided with two groups of shoulder surface clamping mechanisms (16) arranged longitudinally, and the two groups are connected by a clamping mechanism linear motor (18). The shoulder surface clamping mechanisms (16) are slidably connected to the inside of the clamping mechanism guide rail (17). The front surface side of the clamping mechanism guide rail (17) is connected to the shoulder surface clamping mechanism servo motor (15) by bolts. The bottom table vision system (19) is connected to the middle position of one side of the lower surface of the table (2) by bolts.

2. A robotic arm force-position hybrid control production system according to claim 1, characterized in that: A desktop visual system (12) is connected to the middle position of one side of the upper surface of the table (2) by bolts, a longitudinally movable mechanical arm is connected to the rear of the middle position of the upper surface of the table (2) by bolts, the sewing clamp moving motor (8) is connected to the rear end of the longitudinally movable mechanical arm by bolts, the internal electric drive sliding connection of the longitudinally movable mechanical arm is connected to a push cylinder (13), and the telescopic end of the push cylinder (13) is connected to a clamp (14) by bolts.

3. A robotic arm force-position hybrid control production system according to claim 1, characterized in that: Two groups of friction wheels (4) are provided along the moving direction of the shoulder piece (10) to be sewn with visible stitches, both of which are electrically driven to rotate, and the friction wheels (4) matched with the upper shoulder surface rotate clockwise, while the friction wheels (4) matched with the lower shoulder surface rotate counterclockwise, and the box base of the loading box (5) can be raised and lowered.

4. The robot arm force-position hybrid control production system according to claim 1, characterized in that: The initial lifting position of the needle-punched cut piece separator (9) is located above the loading box (5), and the separator guide rail (6) and the separator lifting guide rail (7) are both electrically driven.

5. The mechanical arm force-position hybrid control production system according to claim 2, characterized in that: The detection area of the desktop visual system (12) is located on the upper shoulder surface of the shoulder piece (10) to be sewn with visible stitches, and the detection area of the bottom table visual system (19) is located on the lower shoulder surface of the shoulder piece (10) to be sewn with visible stitches.

6. A robotic arm force-position hybrid control production system according to claim 2, characterized in that: The clamp (14) is provided with an open stitch groove that matches the shoulder panel (10) to be open stitched, and the shoulder surface clamping mechanism servo motor (15) is a coreless cup motor.

7. The mechanical arm force-position hybrid control production system according to claim 3, characterized in that: The over-shoulder surface clamping mechanism (16) can be electrically driven to descend as a whole, and the over-shoulder surface clamping mechanism (16) includes a clamping body (1601), an air suction plate (1602), and a rotating clamping claw (1603). The air suction plate (1602) is connected to the bottom surface of the clamping body (1601) by bolts, and the rotating clamping claw (1603) is rotatably connected to the bottom surfaces of both sides of the clamping body (1601).

8. The mechanical arm force-position hybrid control production system according to claim 1, characterized in that: The shoulder panel (10) to be sewn with visible stitches is composed of a back garment piece (1001), an upper panel (1002) and a lower panel (1003).

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