An intelligent sewing apparatus

Abstract

The application discloses an intelligent sewing device, a first mechanical hand of the intelligent sewing device moves a first cloth piece from a first feeding assembly to a first detection plane, and moves a second cloth piece from a second feeding assembly to a second detection plane, after the first vision detector locates the outer contour of the first cloth piece and the second cloth piece, the positioning information of the two is obtained, and a first movement track of the first mechanical hand is generated according to the positioning information, the first mechanical hand moves the first cloth piece to the second detection plane based on the first movement track, and stacks the first cloth piece on the second cloth piece, and then a first sewing assembly sews the stacked first cloth piece and the second cloth piece into one, forming a first piece. The intelligent sewing device not only reduces the labor cost and improves the sewing efficiency, but also solves the problem of cloth piece stacking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sewing, in particular to an intelligent sewing device. BACKGROUND

[0002] In the current shoe manufacturing industry, the sewing production line is mainly used to sew multiple pieces of cloth material into one, and a large number of manual labor is required on the production line, resulting in low production efficiency and uneven quality. SUMMARY

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

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0005] Technical solution one: an intelligent sewing device for sewing a first piece of cloth and a second piece of cloth stacked into one, comprising: a first feeding assembly for supplying the first piece of cloth and the second piece of cloth; a first loading platform, the upper surface of which is provided with a first detection plane and a second detection plane; a first mechanical hand for moving the first piece of cloth and the second piece of cloth to the first detection plane and the second detection plane respectively; a first visual detector, the detection window of which is located above the first loading platform and is configured to be suitable for positioning the cloth on the first detection plane and the second detection plane by visual detection, and the positioning information obtained by it is configured to be used to generate a first movement trajectory for controlling the first mechanical hand; the first mechanical hand moves the first piece of cloth on the first detection plane according to the first movement trajectory, and makes the first piece of cloth stacked on the second piece of cloth in a predetermined manner; and a first sewing assembly located on the first side of the first loading platform in the left-right direction, for sewing the first piece of cloth and the second piece of cloth stacked into one to form a first piece of material.

[0006] Based on the technical solution one, the second technical solution further comprises a second feeding assembly, a second carrier, a second mechanical arm, a second visual detector and a second sewing assembly. The second feeding assembly is used for feeding a third cloth piece. The second carrier is located at the first side of the first sewing assembly in the left-right direction, and the upper surface thereof is provided with a third detection plane and a fourth detection plane. The fourth detection plane is adapted to carry the first piece. The second mechanical arm is used for moving the third cloth piece to the third detection plane. The detection window of the second visual detector is located above the second carrier and is configured to locate the cloth piece on the third detection plane and the fourth detection plane by a visual detection manner. The positioning information obtained by the second visual detector is configured to generate a second movement track for controlling the second mechanical arm. The second mechanical arm moves the third cloth piece on the third detection plane according to the second movement track, and makes the third cloth piece be stacked on the first piece on the fourth detection plane in a predetermined manner. The second sewing assembly is located at the first side of the second carrier in the left-right direction, and is used for sewing the third cloth piece and the first piece to form a second piece.

[0007] Based on the second technical solution, the third technical solution further comprises a material collecting assembly located at the first side of the second sewing assembly, and comprising a plurality of material collecting frames for collecting the second piece.

[0008] Based on the third technical solution, the fourth technical solution further comprises that the first sewing assembly and the second sewing assembly each comprise a needle machine and a sewing mechanical arm. The needle machine is provided with a sewing plane for placing a cloth piece. The sewing plane is flush with the second detection plane or the fourth detection plane. The sewing mechanical arm presses the cloth piece and drives the cloth piece to move from the second detection plane or the fourth detection plane to the corresponding sewing plane, and drives the cloth piece to move according to a predetermined track when the needle machine works, so that the cloth piece is sewn in a predetermined manner.

[0009] Based on the fourth technical solution, the fifth technical solution further comprises that the sewing mechanical arm of the first sewing assembly is configured to move the first piece from the sewing plane of the needle machine of the first sewing assembly to the fourth detection plane. The sewing mechanical arm of the second sewing assembly is configured to move the second piece from the sewing plane of the needle machine of the second sewing assembly to the material collecting assembly.

[0010] Based on the fifth technical solution, the sixth technical solution further comprises that the first feeding assembly is provided with a first feeding plate and a second feeding plate driven to move in the up-down direction by a feeding driving member. The second feeding assembly is provided with a third feeding plate driven to move in the up-down direction by the feeding driving member. The first feeding plate, the second feeding plate and the third feeding plate are each provided with a plurality of limiting stop rods arranged in a predetermined manner. The limiting stop rods are used for fixing the cloth piece in a predetermined position and posture.

[0011] Based on the technical solution six, the seventh technical solution is that the detection planes on the first carrier and the second carrier are formed by the upper side surfaces of the transparent sheets, and a light source is arranged below the transparent sheets, the cloth sheet on the detection plane is upwardly irradiated by the light source, so that the first visual detector and the second visual detector can locate the outer contour of the cloth sheet.

[0012] Based on the seventh technical solution, the eighth technical solution is that the material collecting assembly comprises a stacking device, the stacking device comprises a carrier, a carrier driving member, a stacking member, a stacking driving member, a pushing member and a pushing driving member, the carrier is driven by the carrier driving member to move in the horizontal direction between a first position and a second position, the upper side surface of the carrier is flush with the sewing plane of the needle car of the second sewing assembly, and the sewing mechanical hand of the second sewing assembly is adapted to move the second sheet to the upper side surface of the carrier when the carrier is located at the first position, the stacking member is below the carrier when the carrier is located at the first position, and is away from the carrier when the carrier is located at the second position, the stacking member is driven by the stacking driving member to move in the vertical direction, the pushing driving member is installed on the stacking member and drives the pushing member to move in the horizontal direction, and the second sheet on the carrier is received by the stacking member when the carrier moves from the first position to the second position, and the second sheet is moved from the stacking member to the material collecting frame by the pushing member.

[0013] Based on the eighth technical solution, the ninth technical solution is that the material collecting assembly further comprises a pressing device, the pressing device comprises a pressing member and a pressing driving member, the pressing member is driven by the pressing driving member to move in the vertical direction, and the pressing member presses the second sheet on the carrier when the carrier moves from the first position to the second position, so that the second sheet remains in the original position.

[0014] Based on the ninth technical solution, the tenth technical solution is that the material collecting assembly further comprises a conveying line, and the material collecting frame moves to a position suitable for receiving the second sheet through the conveying line.

[0015] From the above description of the present application, the present application has the following beneficial effects compared with the prior art:

[0016] The first mechanical hand moves the first cloth sheet from the first feeding assembly to the first detection plane, moves the second cloth sheet from the second feeding assembly to the second detection plane, locates the outer contour of the first cloth sheet and the second cloth sheet by the first visual detector, obtains the positioning information of the two cloth sheets, generates a first movement track of the first mechanical hand according to the positioning information, moves the first cloth sheet to the second detection plane based on the first movement track, and stacks the first cloth sheet on the second cloth sheet, and then the first sewing assembly sews the stacked first cloth sheet and second cloth sheet into one, to form the first sheet.

[0017] In the prior art, the first cloth piece and the second cloth piece are usually manually stacked together and then sewn; when manual operation is adopted, the stacking and sewing of the first cloth piece and the second cloth piece can be operated through eye recognition, but when this process is converted into an automatic assembly line operation, how to accurately stack the first cloth piece and the second cloth piece together becomes a problem to be solved, because when the first cloth piece and the second cloth piece are fed on the first feeding assembly, there may be deviations in position and posture from the preset, and if a manipulator is simply used to move the first cloth piece and the second cloth piece in turn, the first cloth piece and the second cloth piece are obviously difficult to stack together in the preset manner, which may lead to material scrap during sewing.

[0018] The intelligent sewing device provided by the technical scheme one is provided with two detection planes, the first cloth piece and the second cloth piece are moved to the two detection planes when the cloth pieces are moved, and then the outer contour of the cloth pieces is positioned by the visual detector, so that the position and posture information of the two cloth pieces at this time can be obtained, the moving track can be generated in real time according to the positioning information, and then the manipulator moves the first cloth piece according to the moving track, so that the first cloth piece can be accurately stacked together in the preset manner, thereby solving the problem of stacking error of the first cloth piece and the second cloth piece. Therefore, the intelligent sewing device not only reduces the labor cost and improves the sewing efficiency, but also solves the problem of cloth piece stacking.

[0019] In the technical scheme two, the second feeding assembly, the second carrier, the second manipulator, the second visual detector and the second sewing assembly are provided, and the third cloth piece is sewn to the first piece according to the same principle as the technical scheme one, so as to meet the different material sewing requirements.

[0020] In the technical scheme three, the material receiving assembly is provided, and the second piece after sewing is stored in the receiving frame of the material receiving assembly.

[0021] In the technical scheme four, the needle machine and the sewing manipulator are provided in the first sewing assembly and the second sewing assembly, the needle machine is used for sewing, and the sewing manipulator is used for transferring the cloth piece and driving the cloth piece to move according to the predetermined track during the sewing process, so that the cloth piece can be sewn into one body in the predetermined manner.

[0022] In the technical scheme five, the sewing manipulator is also used for transferring the first piece and the second piece after sewing, so as to form a flow line operation without manual auxiliary operation.

[0023] In the sixth technical solution, the feeding assembly is provided with a feeding driving element and a feeding plate. The feeding driving element can drive the feeding plate to move up and down. When the cloth pieces on the feeding plate become less and less, the feeding plate can gradually move up, so as to facilitate the mechanical hand to grab the cloth pieces. Meanwhile, a limiting protrusion is arranged on the feeding plate. The limiting protrusion can clamping column the cloth pieces, so as to keep the cloth pieces in a predetermined position and posture as much as possible.

[0024] In the seventh technical solution, the detection plane is formed by the upper surface of the transparent sheet. The light source under the transparent sheet can irradiate the cloth pieces on the detection plane, so as to facilitate the detector to position the outer contour of the cloth pieces.

[0025] In the eighth technical solution, the material receiving assembly includes a stacking device. The second pieces can be stacked together by the stacking device and stored by the material receiving frame.

[0026] In the ninth technical solution, the material receiving assembly includes a pressing device. The pressing device can avoid that the second pieces are driven by the carrier during the stacking process.

[0027] In the tenth technical solution, the material receiving assembly is further provided with a conveying line. The conveying line drives the material receiving frame to move to a position suitable for receiving the second pieces. After the material receiving frame is fully received, the conveying line can send the material receiving frame away, and a new material receiving frame is moved to a position suitable for receiving the second pieces again. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application. Those skilled in the art can obtain other drawings according to these drawings without any creative labor.

[0029] Figure 1 The structure schematic diagram of the embodiment of the intelligent sewing equipment provided by the present application;

[0030] Figure 2 The partial structure schematic diagram of the embodiment of the intelligent sewing equipment provided by the present application;

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

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

[0033] Figure 5 The structure schematic diagram of another embodiment of the intelligent sewing equipment provided by the present application.

[0034] Main figure mark explanation:

[0035] First feeding assembly 1; First loading platform 2; First detection plane 3; Second detection plane 4; First mechanical hand 5; First visual detector 6; First sewing assembly 7; Second feeding assembly 8; Second loading platform 9; Second mechanical hand 10; Second visual detector 11; Second sewing assembly 12; Collecting assembly 13; Collecting frame 14; Needle car 15; Sewing mechanical hand 16; Feeding driving part 17; First feeding plate 18; Second feeding plate 19; Third feeding plate 20; Limiting protrusion 21; Bearing part 22; Bearing driving part 23; Piling part 24; Piling driving part 25; Pressing part 26; Pressing driving part 27; Laying device 28; Pressing device 29; Conveying line 30; Sewing plane 31; Second sheet 32; Piling surface 33; Opening 34; Camera 35. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are preferred embodiments of the present application, and should not be regarded as exclusion of other embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0037] In the claims, specification, and above drawings of the present application, unless otherwise expressly limited, the use of the terms "first", "second", or "third" etc. is to distinguish different objects, and is not to describe a particular order.

[0038] In the claims, specification, and above drawings of the present application, unless otherwise expressly limited, the use of terms such as "center", "transverse", "longitudinal", "horizontal", "vertical", "top", "bottom", "inner", "outer", "upper", "lower", "front", "back", "left", "right", "clockwise", "counterclockwise" etc. indicate the orientation or positional relationship based on the orientation and positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, so it cannot be understood as limiting the specific protection scope of the present application.

[0039] In the claims, specification, and above drawings of the present application, unless otherwise expressly limited, the use of terms such as "fixedly connected" or "fixedly connected" should be broadly understood, that is, any connection mode between the two without displacement relationship and relative rotation relationship, that is, it includes irremovable fixed connection, detachable fixed connection, integration and fixed connection through other devices or elements.

[0040] The terms "comprise", "have" and their conjugates, as used in the claims, the specification and the above abstract, are intended to mean "including but not limited to".

[0041] The embodiment of the present application provides a kind of intelligent sewing equipment, which is used to sew first cloth piece, second cloth piece as a whole.

[0042] Referring to Figure 1 From left to right, the intelligent sewing equipment mainly includes first feeding assembly 1, first loading platform 2, first sewing assembly 7, second sewing assembly 12 and material receiving assembly 13, wherein first manipulator 5 is arranged on first loading platform 2, first visual detector 6 is arranged on first sewing assembly 7, second manipulator 10 is arranged on second loading platform 9, second visual detector 11 is arranged on second sewing assembly 12, and second feeding assembly 8 is further arranged on the rear side of first sewing assembly 7.

[0043] Referring to Figure 1 And Figure 2 In the intelligent sewing equipment, first feeding assembly 1 is used to supply the first cloth piece and the second cloth piece; the upper surface of first loading platform 2 is provided with first detection plane 3 and second detection plane 4; first manipulator 5 is used to move the first cloth piece and the second cloth piece to first detection plane 3 and second detection plane 4 respectively; first visual detector 6 detects window is located above first loading platform 2, and is configured to be suitable for positioning the cloth piece on first detection plane 3 and second detection plane 4 by visual detection, and the positioning information obtained by it is configured to be used to generate first movement trajectory of first manipulator 5; first manipulator 5 moves first cloth piece on first detection plane 3 according to the first movement trajectory, and makes first cloth piece be stacked on second cloth piece in a predetermined manner; first sewing assembly 7 is located on the first side of first loading platform 2 in left-right direction, and is used to sew the stacked first cloth piece and second cloth piece as a whole to form first sheet.

[0044] Meanwhile, referring to Figure 1The second feeding assembly 8 is configured to feed a third piece of cloth. The second carrier 9 is located on the first side of the first sewing assembly 7 in the left-right direction, and the upper surface of the second carrier 9 is provided with a third detection plane and a fourth detection plane. The fourth detection plane is adapted to carry the first piece of cloth. The second mechanical arm 10 is configured to move the third piece of cloth to the third detection plane. The detection window of the second visual detector 11 is located above the second carrier 9 and is configured to locate the outer contour of the cloth on the third detection plane and the fourth detection plane by visual detection. The positioning information obtained by the second visual detector 11 is configured to generate a second movement trajectory for controlling the second mechanical arm 10. The second mechanical arm 10 moves the third piece of cloth on the third detection plane according to the second movement trajectory, and stacks the third piece of cloth on the first piece of cloth on the fourth detection plane in a predetermined manner. The second sewing assembly 12 is located on the first side of the second carrier 9 in the left-right direction, and is configured to sew the third piece of cloth and the first piece of cloth together to form a second piece of cloth 32.

[0045] In the present embodiment, the first mechanical arm 5 and the second mechanical arm 10 are conventional multi-axis mechanical arms, and the free end of each of the first mechanical arm 5 and the second mechanical arm 10 is provided with a grabbing module. The grabbing module is a conventional suction cup grabbing mechanism or a clamping jaw grabbing mechanism. Under the driving of the multi-axis mechanical arm, the grabbing module can move arbitrarily in a predetermined spatial range. It should be understood that the mechanical arm and the grabbing module are both conventional devices in the art, and a person skilled in the art can select a corresponding mechanical arm and a grabbing module according to actual needs. The specific implementation manner is not described in detail herein.

[0046] The first visual detector 6 and the second visual detector 11 are essentially a complete visual detection solution, which is also a conventional device in the art. The first visual detector 6 and the second visual detector 11 can obtain images of the cloth in a predetermined position by using a camera, and analyze the images to obtain corresponding information. In the present embodiment, the first visual detector 6 and the second visual detector 11 can obtain images of the cloth, extract the outer contour of the cloth, and locate the outer contour of the cloth. The positioning here refers to the positioning of the cloth relative to a fixed position, which is a reference position for moving the cloth. After locating the outer contour of the cloth, the position and the posture of the cloth are determined, so that the cloth can be moved conveniently. The detection range of the first visual detector 6 covers the first detection plane 3 and the second detection plane 4, and the detection range of the second visual detector 11 covers the third detection plane and the fourth detection plane. A person skilled in the art can select a corresponding visual detector according to actual needs, but the visual detector needs to be able to locate the outer contour of the cloth in order to determine the posture and the position of the cloth at the same time. The position here is evaluated based on a fixed position, and the posture is also evaluated based on a fixed position. The posture can reflect the state of the cloth with shape characteristics relative to the fixed position. In the present embodiment, the position of the cloth is evaluated based on the third detection plane, and the posture of the cloth is evaluated based on the fourth detection plane. Figure 1In some embodiments, a vision detector includes one camera 35. In other embodiments, a vision detector can include two cameras 35, each of which detects a respective one of two detection planes of the vision detector. Figure 5

[0047] In operation, the first mechanical arm 5 moves the first cloth from the first feeding assembly 1 to the first detection plane 3, and moves the second cloth from the second feeding assembly 8 to the second detection plane 4. After the first and second cloths are positioned by the first vision detector 6, the positioning information of the first and second cloths is obtained, and a first movement trajectory of the first mechanical arm 5 is generated based on the positioning information. The first mechanical arm 5 moves the first cloth to the second detection plane 4 based on the first movement trajectory, and stacks the first cloth on the second cloth. Then, the first sewing assembly 7 sews the stacked first and second cloths together to form a first piece of material. Similarly, after the first cloth is sewn, the first piece of material is moved to the fourth detection plane. The second mechanical arm 10 moves the third cloth from the second feeding assembly 8 to the third detection plane. After the first piece of material and the third cloth are positioned by the second vision detector 11, the positioning information of the third cloth and the first piece of material is obtained, and a second movement trajectory of the second mechanical arm 10 is generated based on the positioning information. The second mechanical arm 10 moves the third cloth to the fourth detection plane based on the second movement trajectory, and stacks the third cloth on the first piece of material. Then, the second sewing assembly 12 sews the stacked third cloth and first piece of material together to form a second piece of material 32.

[0048] ​In the prior art, the first cloth and the second cloth are usually stacked together manually, and then sewing is performed; when manual operation is adopted, the stacking and sewing of the first cloth and the second cloth can be operated through eye recognition, but when this process is converted into automatic assembly line operation, how to accurately stack the first cloth and the second cloth together becomes a problem to be solved, because when the first cloth and the second cloth are fed on the first feeding assembly 1, there may be deviations in position and posture from the preset, if only a mechanical hand simply moves the first cloth and the second cloth in turn, then the first cloth and the second cloth are obviously difficult to stack together in the preset manner, and sewing is likely to cause material scrap. The intelligent sewing device provided by the technical solution one is provided with two detection planes, when moving the cloth, the first cloth and the second cloth are moved to the two detection planes respectively, and then the outer contour of the cloth is positioned by the visual detector, so that the position and posture information of the two cloths at this time can be obtained, and the moving track can be generated in real time according to the positioning information, and then the mechanical hand moves the first cloth according to the moving track, so that the first cloth can be accurately stacked together in the preset manner, thereby solving the problem of stacking error of the first cloth and the second cloth when stacking. Therefore, the intelligent sewing device not only reduces the labor cost and improves the sewing efficiency, but also solves the problem of cloth stacking.

[0049] It should be understood that the above embodiment gives an intelligent sewing device for sewing three cloths, but in other embodiments, according to the same technical idea, an intelligent sewing device for sewing two cloths, four cloths or even more cloths can be formed, and only the feeding assembly, the mechanical hand, the detector and the sewing assembly need to be added, without creative labor.

[0050] Meanwhile, for those skilled in the art, the mechanical hand needs to be preset with a moving track, therefore, the moving track is generated in real time based on the positioning information of the visual detector, which is a conventional technical means in the art, and the present application only proposes a method for how to apply it, and the specific program and algorithm therein can be designed by those skilled in the art.

[0051] Reference Figure 1, the first sewing assembly 7 and the second sewing assembly 12 each include a needle machine 15 and a sewing robot 16; the needle machine 15 is provided with a sewing plane 31 for placing a cloth piece, the sewing plane 31 is flush with the adjacent second detection plane 4 or fourth detection plane; the sewing robot 16 presses the cloth piece and drives the cloth piece to move from the second detection plane 4 or fourth detection plane to the corresponding sewing plane 31, and drives the cloth piece to move according to a predetermined trajectory when the needle machine 15 works, so that the cloth piece is sewn into one piece in a predetermined manner. The sewing robot 16 of the first sewing assembly 7 is configured to move the first piece from the sewing plane 31 on the needle machine 15 of the first sewing assembly 7 to the fourth detection plane; the sewing robot 16 of the second sewing assembly 12 is configured to move the second piece 32 from the sewing plane 31 on the needle machine 15 of the second sewing assembly 12 to the material collecting assembly 13.

[0052] Wherein, the needle machine 15 can be a computerized machine, a roller machine, an electronic flat machine, a patchwork machine, a four-needle six-thread machine, a overlock machine, etc., which can be selected according to actual needs by those skilled in the art. By selecting different needle machines 15, the intelligent sewing device can be applied to decorative thread sewing, edge pressing, multi-piece sewing, overlock, four-needle six-thread, etc.

[0053] The sewing robot 16 can not use a multi-axis robot that can move freely in three-dimensional space, because the sewing robot 16 basically only needs to move in the horizontal plane, but the sewing robot 16 should be provided with an operation end that can be extended up and down, which can press or release the cloth piece by moving up and down. As an embodiment, the sewing robot 16 can use a scara robot. It should be noted that in order to move the cloth piece by the sewing robot 16, the second detection plane 4 and the sewing plane 31 of the needle machine 15 of the first sewing assembly 7 should be flush, and at the same time, the fourth detection plane also needs to be flush with the sewing planes 31 of the two needle machines 15 of the first sewing assembly 7 and the second sewing assembly 12, so that the first piece can be moved to the fourth detection plane by the sewing robot 16 of the first sewing assembly 7, and the first piece and the third cloth piece can be moved to the sewing plane 31 by the sewing robot 16 of the second sewing assembly 12.

[0054] Referring to Figure 2 , the first feeding assembly 1 is provided with a first feeding plate 18 and a second feeding plate 19 driven by a feeding drive 17 to move in the up-down direction, and the second feeding assembly 8 is provided with a third feeding plate 20 driven by a feeding drive 17 to move in the up-down direction; the first feeding plate 18, the second feeding plate 19 and the third feeding plate 20 are each provided with a plurality of limiting stop rods arranged in a predetermined manner, which are used to fix the cloth piece in a predetermined position and posture.

[0055] Specifically, the feeding assembly is provided with a feeding driving member 17 and a feeding plate, and is further provided with a shell. The shell is provided with an opening 34 corresponding to the position of the feeding plate. The output end of the feeding driving member 17 is connected to the feeding plate, and the output end can slide up and down and stop under the action of the driving motor and the transmission mechanism. The feeding plate is used to carry the cloth pieces. Meanwhile, a plurality of limiting stop rods arranged in a predetermined manner are arranged in the feeding assembly. The limiting stop rods extend in the up-down direction, the bottom ends of the limiting stop rods are fixed to the bottom of the shell of the feeding assembly, the top ends of the limiting stop rods extend to the top of the shell of the feeding assembly, the limiting stop rods pass through the feeding plate, and when the feeding plate moves up and down, the limiting stop rods do not interfere with the movement of the feeding plate. Meanwhile, the plurality of limiting stop rods cooperate to define a range, and the cloth pieces are fixed in the range, so that the cloth pieces have a fixed position and posture as much as possible. In work, the cloth pieces are stacked on the feeding plate according to the definition of the limiting stop rods, and the feeding plate is initially located below the shell of the feeding assembly. At this time, the number of cloth pieces is the largest. Then the robot takes away the uppermost cloth piece. The feeding driving member 17 drives the feeding plate to move up by a certain height, so that the topmost cloth piece always remains at a substantially fixed height position. In this way, the robot for grabbing the cloth piece does not need to position the cloth piece again at the position of the feeding plate, which facilitates the grabbing of the cloth piece by the robot.

[0056] With reference to Figure 1 , Figure 3 and Figure 4The receiving assembly 13 comprises a stacking device 28, a pressing device 29 and a conveying line 30. The stacking device 28 comprises a carrier 22, a carrier drive 23, a stacking member 24, a stacking drive 25, a pushing member and a pushing drive. The carrier 22 is driven by the carrier drive 23 to move horizontally between a first position and a second position, and the upper surface of the carrier 22 is flush with the sewing plane 31 of the needle car 15 of the second sewing assembly 12. The sewing robot 16 of the second sewing assembly 12 is adapted to move the second sheet 32 onto the upper surface of the carrier 22 when the carrier 22 is in the first position. The stacking member 24 is below the carrier 22 when the carrier 22 is in the first position, and is away from the carrier 22 when the carrier 22 is in the second position. The stacking member 24 is driven by the stacking drive 25 to move vertically. The pushing drive is installed on the stacking member 24 and drives the pushing member to move horizontally. The second sheet 32 on the carrier 22 is received by the stacking member 24 when the carrier 22 moves from the first position to the second position, and the second sheet 32 is moved from the stacking member 24 to the receiving frame 14 by the pushing member. The pressing device 29 comprises a pressing member 26 and a pressing drive 27. The pressing member 26 is driven by the pressing drive 27 to move vertically, and the pressing member 26 presses the second sheet 32 on the carrier 22 when the carrier 22 moves from the first position to the second position, so that the second sheet 32 remains in the original position. The receiving frame 14 is moved to a position suitable for receiving the second sheet 32 by the conveying line 30.

[0057] The carrier 22 is a plate-shaped member that can be driven by the carrier drive 23 to move in the front-rear direction. The upper surface of the stacking member 24 forms a stacking surface 33, and the stacking member 24 can be driven by the stacking drive 25 to move vertically. The pushing drive is installed on the stacking member 24 and can drive the pushing member to move horizontally. It should be understood that the carrier drive 23, the stacking drive 25 and the pushing drive can have a structure similar to the feeding drive 17, which will not be described in detail.

[0058] The conveying line 30 has a supporting track and a corresponding driving mechanism. The supporting track can carry a plurality of receiving frames 14, and the receiving frames 14 are moved by the driving mechanism.

[0059] After the second sewing assembly 12 finishes sewing to form the second sheet 32, the second sheet 32 is brought to the carrier 22, at this time, the carrier 22 is in the first position, that is, the carrier 22 is above the stacking member 24, then the pressing member 26 presses the second sheet 32, the carrier drive 23 drives the carrier 22 to move from the first position to the second position, under the action of the pressing member 26, the position of the second sheet 32 remains unchanged, until the carrier 22 completely moves to the second position, the second sheet 32 is received by the stacking surface 33 of the stacking member 24. The stacking member 24 is driven by the stacking drive 25 to move up and down, when the stacking surface 33 has not received the second sheet 32, the stacking member 24 moves to the uppermost position abutting against the carrier 22, to ensure that the second sheet 32 can be smoothly received, then when the second sheet 32 accumulates more and more, the stacking member 24 moves downward, until the accumulated second sheet 32 reaches the preset value, at this time, the pushing drive drives the pushing member to push the accumulated second sheet 32 away from the stacking surface 33, so that the accumulated second sheet 32 can enter the receiving frame 14. Referring to Figure 4 , the side of the receiving frame 14 is provided with an opening 34, after the receiving frame 14 moves to the position suitable for receiving the second sheet 32 through the conveying line 30, the opening 34 of the receiving frame 14 is opposite to the stacking member 24, the pushing member can move the accumulated second sheet 32 into the receiving frame 14 through the opening 34 of the side of the receiving frame 14, without damaging the stacking state of the second sheet 32.

[0060] The above description of the specification and the embodiments is used to explain the protection scope of the present application, but does not constitute a limitation on the protection scope of the present application. Through the inspiration of the present application or the above embodiments, the modification, equivalent replacement or other improvement of the embodiments of the present application or one part of the technical features can be obtained by the ordinary skilled in the art combining with the common knowledge, the ordinary technical knowledge in the art and / or the prior art, through logical analysis, reasoning or limited test, which should be included in the protection scope of the present application.

Claims

1. An intelligent sewing apparatus for sewing a first piece of cloth, a second piece of cloth, which are stacked, in one body, characterized in that, The application relates to a cloth piece processing device, which comprises: a first cloth piece feeding assembly (1) for feeding the first cloth piece and the second cloth piece; a first loading platform (2) provided with a first detection plane (3) and a second detection plane (4) on the upper surface thereof; a first mechanical arm (5) for moving the first cloth piece and the second cloth piece to the first detection plane (3) and the second detection plane (4) respectively; a first visual detector (6) provided with a detection window above the first loading platform (2) and configured to position the cloth piece on the first detection plane (3) and the second detection plane (4) by visual detection, and the positioning information obtained by the first visual detector (6) is configured to generate a first moving track for controlling the first mechanical arm (5); the first mechanical arm (5) moves the first cloth piece on the first detection plane (3) according to the first moving track, and stacks the first cloth piece on the second cloth piece in a predetermined manner; a first sewing assembly (7) located on the first side of the first loading platform (2) in the left-right direction and used for sewing the stacked first cloth piece and the second cloth piece into a first piece; the device further comprises a second cloth piece feeding assembly (8), a second loading platform (9), a second mechanical arm (10), a second visual detector (11) and a second sewing assembly (12); the second cloth piece feeding assembly (8) is used for feeding a third cloth piece; the second loading platform (9) is located on the first side of the first sewing assembly (7) in the left-right direction, and is provided with a third detection plane and a fourth detection plane on the upper surface thereof; the fourth detection plane is adapted to carry the first piece; the second mechanical arm (10) is used for moving the third cloth piece to the third detection plane; the detection window of the second visual detector (11) is located above the second loading platform (9) and is configured to position the cloth piece on the third detection plane and the fourth detection plane by visual detection; the positioning information obtained by the second visual detector (11) is configured to generate a second moving track for controlling the second mechanical arm (10); the second mechanical arm (10) moves the third cloth piece on the third detection plane according to the second moving track, and stacks the third cloth piece on the first piece on the fourth detection plane in a predetermined manner; the second sewing assembly (12) is located on the first side of the second loading platform (9) in the left-right direction and is used for sewing the third cloth piece and the first piece into a second piece (32); the device further comprises a material receiving assembly (13) located on the first side of the second sewing assembly (12) and comprising a plurality of material receiving frames (14) for receiving the second piece (32); the material receiving assembly (13) further comprises a conveying line (30); the material receiving frame (14) is moved to a position suitable for receiving the second piece (32) through the conveying line (30). ​ 2. An intelligent sewing apparatus as claimed in claim 1, characterized in that The first sewing assembly (7) and the second sewing assembly (12) each include a needle machine (15) and a sewing manipulator (16); the needle machine (15) is provided with a sewing plane (31) for placing a cloth piece, the sewing plane (31) is flush with the adjacent second detection plane (4) or fourth detection plane; the sewing manipulator (16) presses and drives the cloth piece to move from the second detection plane (4) or the fourth detection plane to the corresponding sewing plane (31), and drives the cloth piece to move according to a predetermined track when the needle machine (15) works, so that the cloth piece is sewn into one piece in a predetermined manner.

3. An intelligent sewing apparatus as claimed in claim 2, characterized in that The sewing manipulator (16) of the first sewing assembly (7) is configured to be suitable for moving the first piece from the sewing plane (31) on the needle machine (15) of the first sewing assembly (7) to the fourth detection plane; the sewing manipulator (16) of the second sewing assembly (12) is configured to be suitable for moving the second piece (32) from the sewing plane (31) on the needle machine (15) of the second sewing assembly (12) to the material collecting assembly (13).

4. The one described in claim 3, characterized in that, The first feeding assembly (1) is provided with a first feeding plate (18) and a second feeding plate (19) driven to move in the up-down direction by a feeding drive (17), and the second feeding assembly (8) is provided with a third feeding plate (20) driven to move in the up-down direction by the feeding drive (17); the first feeding plate (18), the second feeding plate (19) and the third feeding plate (20) are each provided with a plurality of limiting stop rods arranged in a predetermined manner, and the limiting stop rods are used to fix the cloth piece in a predetermined position and posture.

5. An intelligent sewing apparatus as claimed in claim 4, characterized in that The detection planes on the first carrier (2) and the second carrier (9) are formed by the upper surface of the transparent sheet, and a light source is arranged below the transparent sheet, the cloth piece on the detection plane is irradiated upward by the light source, so that the first visual detector (6) and the second visual detector (11) can locate the outer contour of the cloth piece.

6. An intelligent sewing apparatus as claimed in claim 5, characterized in that The material collecting assembly (13) comprises a stacking device (28), the stacking device (28) comprises a carrier (22), a carrier driving element (23), a stacking element (24), a stacking driving element (25), a pushing element and a pushing driving element; the carrier (22) is driven by the carrier driving element (23) to move in the horizontal direction between a first position and a second position, the upper surface of the carrier (22) is flush with the sewing plane (31) of the needle car (15) of the second sewing assembly (12), the sewing robot (16) of the second sewing assembly (12) is adapted to move the second sheet (32) to the upper surface of the carrier (22) when the carrier (22) is in the first position; the stacking element (24) is below the carrier (22) when the carrier (22) is in the first position, and is away from the carrier (22) when the carrier (22) is in the second position, and is driven by the stacking driving element (25) to move in the vertical direction; the pushing driving element is installed on the stacking element (24) and drives the pushing element to move in the horizontal direction; the second sheet (32) on the carrier (22) is received by the stacking element (24) when the carrier (22) moves from the first position to the second position, and the pushing element moves the second sheet (32) from the stacking element (24) to the material collecting frame (14).

7. An intelligent sewing apparatus as claimed in claim 6, characterized in that The material collecting assembly (13) further comprises a pressing device (29); the pressing device (29) comprises a pressing element (26) and a pressing driving element (27), the pressing element (26) is driven by the pressing driving element (27) to move in the vertical direction, and the pressing element (26) presses the second sheet (32) on the carrier (22) when the carrier (22) moves from the first position to the second position, so that the second sheet (32) remains in the original position.

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