Automatic patch pocket flat seaming robot equipment

Abstract

The invention discloses automatic patch pocket flat seaming robot equipment which comprises a machine table used for placing other equipment and facilitating movement of cut-parts; the folding equipment is used for setting the relative position of the cutting piece and pressing the cutting piece and is arranged at one end of the machine table; the robot is used for pressing and moving the cut-parts and is arranged in the middle of the machine table; and the sewing equipment is used for sewing the cut-parts and is arranged at the other end of the machine table. The flat seaming machine has the beneficial effects that the cutting piece can be driven to move and rotate on the plane, so that different tracks can be sewed by the flat seaming machine.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment for garment production, and in particular to an automated pocket-sticking and seaming robot device. Background Art

[0002] In the production process of patch pockets, patch pockets refer to the process of sewing pocket pieces and garment pieces together when making pockets of clothing. Cover stitching refers to a sewing stitch that is processed by a cover stitching machine. Patch pockets cover stitching refers to the process of sewing pocket pieces and garment pieces together using cover stitches.

[0003] In the prior art, pocket patching machines can sew pockets and garment pieces with "lock-type flat seam" stitches. The principle is to use a mold of a specific shape to press the pocket pieces and garment pieces, and drive the pieces to move under the flat-sewing sewing machine needle through the translation of a two-axis linear module, while sewing a specified shape. However, this type of machine can only complete the "pocket patching flat seam" process. The reason is that the mechanism that drives the pieces to move in this machine is a two-axis linear module, which can only translate but not rotate. In addition, the interlock sewing machine is limited by its mechanical structure and can only allow the pieces to move in a single direction. The pieces need to be able to rotate on a plane to sew different trajectories. There is a problem that the pieces cannot be driven to move and rotate on a plane, and different trajectories cannot be sewn using an interlock sewing machine.

[0004] For example, a "sewing machine" disclosed in Chinese patent documents has a publication number of CN110699870A and an application date of October 29, 2019. The invention includes a sewing machine body, a positioning device, a dustproof device and a supporting device. A positioning device is provided at the top left side of the sewing machine body. The positioning device includes a fixed plate, a first spring, a slide plate, a connecting rod, a pressure plate, a positioning needle, a steel bar, a limit block, a limit plate and a limit groove. A fixed plate is fixedly connected to the top left end surface of the sewing machine body, and a first spring is fixedly connected to the inner side of the top end surface of the fixed plate. In the present invention, a pressure plate and a positioning needle are set. This setting cooperates with the fixed connection between the pressure plate and the positioning needle, the elastic force of the first spring on the slide plate, the sliding connection between the slide plate and the connecting rod, and the fixed connection between the steel bar and the limit block. When sewing clothing fabrics, the sewing parts can be pressed and positioned, thereby avoiding the phenomenon of sewing position deviation when sewing the fabrics, and ensuring the sewing quality of the clothing fabrics. However, there is a problem that the cut pieces cannot be driven to move and rotate on a plane, and different tracks cannot be sewn using a flat sewing machine. Summary of the invention

[0005] In view of the shortcomings of the prior art that the cutting pieces cannot be driven to move and rotate on a plane, and cannot be used to sew different trajectories using a flat sewing machine, the present application proposes an automated pocket patching and flat sewing robot device that can drive the cutting pieces to move and rotate on a plane, so as to achieve different trajectories sewn using a flat sewing machine.

[0006] The following is a technical solution of the present invention, an automatic pocket-sticking and stretch-sewing robot device, comprising:

[0007] The machine table is used to place other equipment to facilitate the movement of the cut pieces;

[0008] A folding device, used to set the relative position of the cut pieces and press the cut pieces, is arranged at one end of the machine;

[0009] The robot is used to press and move the cut pieces and is located in the middle of the machine;

[0010] Sewing equipment, used for sewing the cut pieces, is located at the other end of the machine.

[0011] In this solution, the machine is fixed on the ground, the folding device is set at one end of the machine, the sewing device is set at the other end of the machine, and the robot is set on the machine and located between the folding device and the sewing device. By setting the position of the robot, the robot moves the cut piece from the folding device to the sewing device through the sewing mold, and the cut piece moves and rotates on the plane, thereby completing the sewing of the cut piece, so as to realize sewing different tracks with the interlock sewing machine.

[0012] Preferably, the table top of the machine is a compact board or a steel plate.

[0013] In this solution, the table top can be made of hard and smooth materials such as compact board or steel plate to reduce damage to the cut pieces when the robot presses and moves the cut pieces.

[0014] Preferably, in the folding equipment, the board surface is arranged on the machine table, a bag folding plate is arranged in the middle of the board surface, the bag folding plate is connected to the driving cylinder, a linear motion mechanism is arranged on one side of the board surface, the linear motion mechanism is connected to the main tongue knife and the side tongue knife, and the main tongue knife and the side tongue knife are connected to the driving cylinder and the motor.

[0015] In this solution, the first piece (usually a pocket piece) and the second piece (usually a garment piece) are placed in the folding equipment, and the bag folding plate is driven by the driving cylinder to move, so that the edge of the first piece is folded under the tongue knife, and the first piece with the folded edge is pressed onto the second piece through the movement of the main tongue knife and the side tongue knife, thereby setting the relative position of the pieces and pressing the pieces.

[0016] Preferably, in the robot, the base is fixedly connected to the machine platform and the robotic arm, and the robotic arm is connected to the sewing mold via a quick-change clamp.

[0017] In this solution, the robot presses the first and second pieces through the sewing mold. At this time, the main tongue knife and the side tongue knife are pulled out from the first and second pieces. The robot presses the first and second pieces with the sewing mold and moves them to the sewing equipment on the table. At this time, the interlock sewing machine of the sewing equipment is turned on. The robot calculates the sewing trajectory according to the sewing mold, and controls the sewing mold to move and rotate according to the sewing trajectory, so that the first and second pieces pressed by the sewing mold are sewn in the interlock sewing machine.

[0018] Preferably, in the sewing equipment, the adjustment mechanism is connected to the interlock sewing machine, the needle plate of the interlock sewing machine is at the same height as the table top, a thread breakage detection mechanism is arranged above the interlock sewing machine, and the thread breakage detection mechanism is connected to the thread supply mechanism and is located below the thread supply mechanism.

[0019] Preferably, it also includes: a material receiving device, which is used to receive the sewn pieces and is arranged on the side of the machine.

[0020] In this solution, the material receiving device is arranged on the side of the machine, including a material shifting rod, a material pressing rod and a material discharging platform. The material shifting rod, the material pressing rod and the material discharging platform are all driven by a driving cylinder to move. The material shifting rod shifts the stitched pieces to the platform of the material receiving device. The material receiving platform moves in the horizontal direction to receive the pieces, and the material pressing rod presses them tightly to prevent the stacked pieces from sliding off.

[0021] Preferably, the main tongue knife and the side tongue knife are linear ball screw modules and are made of stainless steel.

[0022] Preferably, the robot has at least 4 degrees of freedom, and the quick-change clamp adopts a pneumatic clamping mechanism.

[0023] Preferably, the wire breakage detection mechanism is a photoelectric induction sensor or a friction induction sensor.

[0024] An automatic pocket-sticking and stretch-sewing robot equipment operation method comprises the following steps:

[0025] S1: Arrange a first cutting piece and a second cutting piece, fold the edge of the first cutting piece and press it onto the second cutting piece;

[0026] S2: The sewing mold presses the first and second panels and moves to the sewing area;

[0027] S3: setting a sewing trajectory based on the sewing mold, moving and rotating the sewing mold based on the sewing trajectory, and sewing the first piece and the second piece through the sewing equipment;

[0028] S4: Move the sewn first and second panels to a material receiving area.

[0029] Beneficial effects of the present invention:

[0030] 1. The first cutting piece can be arranged on the second cutting piece so that the fabrics are stacked in order, which is convenient for sewing several fabrics;

[0031] 2. The robot can move the cut pieces, reducing the manpower requirements and improving sewing efficiency;

[0032] 3. It can be sewn into different models and specifications according to the sewing mold, which improves the applicability;

[0033] 4. It can fix the position of sewing equipment and complete the sewing of fabrics by moving and rotating the sewing mold, reducing equipment requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a three-dimensional diagram of an automatic pocket-sticking and stretch-sewing robot device of the present invention;

[0035] Figure 2 It is a folding device diagram of an automatic pocket-sticking and stretch-sewing robot device of the present invention;

[0036] Figure 3 It is a robot diagram of an automatic pocket-sticking and stretch-sewing robot device of the present invention;

[0037] Figure 4 This is a sewing equipment diagram of an automatic pocket-sticking and stretch-sewing robot device of the present invention;

[0038] Figure 5 This is a diagram of a material receiving device of an automatic pocket-sticking and stretch-sewing robot device of the present invention;

[0039] Figure 6 It is a flow chart of an operation method of an automatic pocket-sticking and stretch-sewing robot device of the present invention;

[0040] Figure 7 It is a schematic diagram of sewing nodes of an automatic pocket-sticking and stretch-sewing robot equipment operation method of the present invention;

[0041] In the figure:

[0042] 1: Machine table; 11: Table top; 2: Folding equipment; 21: Board surface; 22: Bag folding board; 23: Driving cylinder; 24: Main tongue knife; 25: Side tongue knife; 26: Linear motion mechanism; 3: Robot; 31: Base; 32: Robot arm; 33: Quick-change fixture; 34: Sewing mold; 4: Sewing equipment; 41: Interlock sewing machine; 42: Adjustment mechanism; 43: Thread breakage detection mechanism; 44: Thread supply mechanism; 5: Material receiving equipment; 51: Material pusher; 52: Material pressing rod; 53: Material discharge platform. DETAILED DESCRIPTION

[0043] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0044] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0046] Embodiment 1

[0047] like Figure 1 As shown, an automatic pocket-sticking and stretch-sewing robot device comprises:

[0048] Machine table 1, used to place other equipment to facilitate the movement of cut pieces;

[0049] Folding device 2, used to set the relative position of the cut pieces and press the cut pieces, connected to machine table 1;

[0050] Robot 3, used for pressing and moving the cut pieces, connected to machine table 1;

[0051] Sewing equipment 4, used for sewing cut pieces, connected to machine table 1;

[0052] The material receiving device 5 is used to receive the sewn pieces and is connected to the machine 1;

[0053] It also includes: a main controller, which is used to control the folding device 2 to set the relative position of the pieces and press the pieces, control the robot 3 to press and move the pieces, control the opening and closing of the sewing device 4, and control the material receiving device 5 to collect the sewn pieces.

[0054] The machine table 1 is used to place other equipment to facilitate the movement of the cut pieces. The machine table 1 is fixedly set on the ground, the folding device 2 is set at one end of the machine table 1, the sewing device 4 is set at the other end of the machine table 1, the robot 3 is set on the machine table 1 and located between the folding device 2 and the sewing device 4, and the material receiving device 5 is set on the side of the machine table 1. The table top 11 can be made of hard and smooth materials such as compact board or steel plate to reduce the damage to the cut pieces when the robot 3 presses and moves the cut pieces.

[0055] like Figure 2 As shown, the folding device 2 includes a plate 21, a bag folding plate 22, a driving cylinder 23, a main tongue knife 24, a side tongue knife 25, a linear motion mechanism 26, a motor (not shown in the figure), etc., which can realize folding the first cut piece and attaching it to the second cut piece. The plate 21 is set on the machine 1, the bag folding plate 22 is set in the middle of the plate 21, the bag folding plate 22 is connected to the driving cylinder 23, a linear motion mechanism 26 is set on one side of the plate 21, the main tongue knife 24 and the side tongue knife 25 are connected to the linear motion mechanism 26 and the driving cylinder 23, and the motor provides power to the main tongue knife 24 and the side tongue knife 25.

[0056] The main tongue knife 24 and the side tongue knife 25 are used to support the outer contour of the pocket piece. The positions of the main tongue knife 24 and the side tongue knife 25 are driven by the linear motion mechanism 26, and their edges can form the outline of the pocket. The position of the bag folding plate 22 corresponds to the main tongue knife 24 and the side tongue knife 25. The bag folding plate 22 is driven by the driving cylinder 23 to move, and the edge of the first piece can be folded under the tongue knife. Through the movement of the main tongue knife 24 and the side tongue knife 25, the first piece with the folded edge is pressed on the second piece. The main tongue knife 24 and the side tongue knife 25 are made of smooth stainless steel to support the outer contour of the pocket piece. The main tongue knife 24 and the side tongue knife 25 can use a linear ball screw module, which is driven by a stepper motor or a servo motor to move, so that their edges can form the outline of the pocket. The position of the bag folding plate 22 corresponds to the main tongue knife 24 and the side tongue knife 25, and the position of the bag folding plate 22 is manually adjusted through the waist hole and the tightening screw. The movement of the bag folding plate 22 is driven by the driving cylinder 23. According to the shape of the first cut piece, the bag folding mechanism is provided with a plurality of bag folding plates 22. In this embodiment, the number of bag folding plates 22 is 3 or 5. The edge of the first cut piece is folded under the tongue knife by the action of the bag folding plate 22. The main tongue knife 24 and the side tongue knife 25 are driven vertically downward by the vertically arranged driving cylinder 23 to press the folded edge of the bag as a whole onto the second cut piece. At the same time, the bag folding plate 22, the main tongue knife 24, and the side tongue knife 25 are connected to the ball screw module for overall translation to make way for the robot 3 and the sewing device 4.

[0057] like Figure 3 As shown, the robot 3 includes a base 31, a mechanical arm 32, a quick-change fixture 33 and a sewing mold 34. The base 31 is fixedly connected to the machine 1 and the mechanical arm 32, and the mechanical arm 32 is connected to the sewing mold 34 through the quick-change fixture 33, so that the sewing mold 34 of different shapes can be easily replaced. The sewing mold 34 is a plate-like structure, which can press the cut pieces processed by the folding device 2 so as to be sent to the sewing device 4 for sewing. The robot 3 has at least 4 degrees of freedom, which can realize spatial translation and rotation along the plane of the table 11. The mechanical arm 32 is composed of a plurality of mechanical joints in series to form a multi-degree-of-freedom motion mechanism, and each motion joint is driven by a servo motor. In this embodiment, the mechanical arm 32 has greater than or equal to 4 degrees of freedom. Specifically, a SCARA plane manipulator (with 3 rotating joints, suitable for plane positioning) or a six-degree-of-freedom manipulator can be used. The quick-change fixture 33 adopts a pneumatic clamping mechanism to achieve rapid clamping and release, thereby realizing rapid mold replacement. The sewing mold 34 is a plate-like structure, usually made of a hard plate, such as composite materials such as acrylic, epoxy resin, carbon fiber, or metal materials such as stainless steel. The sewing mold 34 can press the cut pieces processed by the folding device 2 and send them to the sewing device 4 for sewing by the robot.

[0058] like Figure 4As shown, the sewing device 4 includes a flat sewing machine 41, an adjustment mechanism 42, a thread supply mechanism 44 and a thread breakage detection mechanism 43. The needle plate of the flat sewing machine 41 is at the same height as the table 11, the flat sewing machine 41 is connected to the adjustment mechanism 42, and the position of the flat sewing machine 41 is adjusted by the adjustment mechanism 42. The head of the flat sewing machine 41 is located above the machine table 1, and a thread breakage detection mechanism 43 is arranged above the flat sewing machine 41, and the thread breakage detection mechanism 43 is connected to the thread supply mechanism 44 and is located below the thread supply mechanism 44.

[0059] The adjustment mechanism 42 fixes the interlock sewing machine 41 on the frame, and can also slightly adjust the height and level of the interlock sewing machine 41 to achieve precise alignment. At the same time, the adjustment mechanism 42 can slide and lock the interlock sewing machine 41 along the provided track, which can facilitate the maintenance and adjustment of the interlock sewing machine 41. The thread supply mechanism 44 can support 5 rolls of suture thread at the same time, and introduce each roll of thread into the line input module of the interlock sewing machine 41 respectively. The thread break detection mechanism 43 can be a sensor, and the thread break detection mechanism 43 is deployed on the thread supply mechanism 44, which can detect whether each suture thread is broken, and transmit the corresponding electronic signal status to the main controller. The sewing device 4 is located on the side of the machine table 1. The sewing device 4 is provided with an adjustment mechanism 42, and a plurality of screws are used to adjust the height and position of the interlock sewing machine 41, so that the needle plate and the table 11 of the interlock sewing machine 41 remain level. At the same time, the adjustment mechanism 42 uses a linear guide to realize the sliding of the interlock sewing machine 41, and uses a locking mechanism to lock the position of the interlock sewing machine 41, so that the interlock sewing machine 41 can slide and lock along the set track, which can facilitate the maintenance and adjustment of the interlock sewing machine 41. The thread supply mechanism 44 is located at the top of the sewing device 4, and can support 5 rolls of sewing thread at the same time, and each roll of sewing thread is introduced into the thread feeding device of the interlock sewing machine 41. The thread break detection mechanism 43 is connected to the thread supply mechanism 44 and is located between the interlock sewing machine 41 and the thread supply mechanism 44. The thread break detection mechanism 43 can be a photoelectric induction or friction induction sensor, which can detect whether each sewing thread is broken, and transmit the corresponding status to the main controller in the form of a digital signal.

[0060] like Figure 5 As shown, the receiving device 5 is arranged on the side of the machine 1, and is provided with a material shifting rod 51, a material pressing rod 52 and a material discharging platform 53. The material shifting rod 51, the material pressing rod 52 and the material discharging platform 53 are all driven by the driving cylinder 23 to move, and the sewn pieces are shifted to the platform of the receiving device 5 by the material shifting rod 51. The receiving platform moves in the horizontal direction to receive the pieces, and is pressed by the material pressing rod 52 to prevent the stacked pieces from sliding off.

[0061] Specifically, the first piece (usually a pocket piece) and the second piece (usually a garment piece) are placed in the folding device 2, and the folding plate 22 is driven by the driving cylinder 23 to fold the edge of the first piece under the tongue knife. The first piece with the folded edge is pressed on the second piece through the movement of the main tongue knife 24 and the side tongue knife 25. The robot 3 presses the first piece and the second piece through the sewing mold 34. At this time, the main tongue knife 24 and the side tongue knife 25 are pulled out from the first piece and the second piece. The robot 3 presses the first piece and the second piece with the sewing mold 34 and moves to the sewing device 4 on the table 11, and the interlocking machine 41 of the sewing device 4 is turned on. The robot 3 calculates the sewing trajectory according to the sewing mold 34, and controls the sewing mold 34 to move and rotate according to the sewing trajectory, so that the first piece and the second piece pressed by the sewing mold 34 are sewn in the stretch sewing machine 41. After the sewing mold 34 has moved along the sewing trajectory (that is, after the first piece and the second piece are sewn), the sewing device 4 is turned off, and the robot 3 moves the sewn first piece and the second piece to the material receiving device 5. The material receiving device 5 stacks the sewn pieces on the platform of the material receiving device 5 through the material shifting rod 51, and presses them tightly through the pressing rod 52 to prevent them from slipping.

[0062] Embodiment 2

[0063] like Figure 6 As shown, a method for operating an automated pocket-sticking and sewing robot device comprises the following steps:

[0064] S1: Arrange a first cutting piece and a second cutting piece, fold the edge of the first cutting piece and press it onto the second cutting piece;

[0065] S2: The sewing mold 34 presses the first and second panels and moves to the sewing area;

[0066] S3: setting a sewing track based on the sewing mold 34, moving and rotating the sewing mold 34 based on the sewing track, and sewing the first piece and the second piece through the sewing device 4;

[0067] S4: Move the sewn first and second panels to a material receiving area.

[0068] In step S1, a first cut piece and a second cut piece are set, and the edge of the first cut piece is folded and pressed onto the second cut piece. Specifically, the main tongue knife 24 and the side tongue knife 25 are used to support the outer contour of the first cut piece. The position of the bag folding plate 22 corresponds to the main tongue knife 24 and the side tongue knife 25. The bag folding plate 22 is driven by the driving cylinder 23 to move, and the edge of the first cut piece can be folded under the tongue knife. Through the movement of the main tongue knife 24 and the side tongue knife 25, the folded first cut piece is pressed onto the second cut piece. The main tongue knife 24 and the side tongue knife 25 are made of smooth stainless steel to support the outer contour of the pocket cut piece. The main tongue knife 24 and the side tongue knife 25 can use a linear ball screw module, which is driven by a stepper motor or a servo motor to move so that its edge can form the outline of the pocket. The position of the bag folding plate 22 corresponds to the main tongue knife 24 and the side tongue knife 25, and the position of the bag folding plate 22 is manually adjusted through the waist hole and the tightening screw. The movement of the bag folding plate 22 is driven by the driving cylinder 23. According to the shape of the first cut piece, the bag folding mechanism is provided with a plurality of bag folding plates 22. In this embodiment, the number of the bag folding plates 22 is 3 or 5. The edge of the first cut piece is folded under the tongue knife through the action of the bag folding plate 22. The main tongue knife 24 and the side tongue knife 25 are driven vertically downward by the vertically arranged driving cylinder 23 to press the folded edge pocket as a whole onto the second cut piece.

[0069] In step S2, the sewing mold 34 presses the first and second pieces and moves to the sewing area. Specifically, the robot 3 uses the sewing mold 34 to press the first and second pieces and moves to the sewing equipment 4 on the table 11, and then turns on the interlocking machine 41 of the sewing equipment 4. The sewing equipment 4 is located on the side of the machine table 1. The sewing equipment 4 is provided with an adjustment mechanism 42, and a plurality of screws are used to adjust the height and position of the interlocking machine 41 so that the needle plate of the interlocking machine 41 and the table 11 remain level. At the same time, the adjustment mechanism 42 uses a linear guide rail to realize the sliding of the interlocking machine 41, and uses a locking mechanism to lock the position of the interlocking machine 41, so that the interlocking machine 41 can slide and lock along the set track, which can facilitate the maintenance and adjustment of the interlocking machine 41. The thread supply mechanism 44 is located at the top of the sewing equipment 4, and can support 5 rolls of suture thread at the same time, and each roll of thread is respectively introduced into the thread feeding device of the interlocking machine 41. The thread breakage detection mechanism 43 is connected to the thread supply mechanism 44 and is located between the interlock sewing machine 41 and the thread supply mechanism 44. The thread breakage detection mechanism 43 can be a photoelectric sensing or friction sensing sensor, which can detect whether each suture is broken and transmit the corresponding status to the main controller in the form of a digital signal.

[0070] In step S3, a sewing track is set based on the sewing die 34, and the sewing die 34 is moved and rotated based on the sewing track. Specifically, in general, the sewing die 34 usually has an opening segment, a straight line segment and an arc segment. In a possible embodiment, the sewing die 34 only has an opening segment and an arc segment, such as Figure 7As shown, when the sewing mold 34 is a rounded rectangle, there are points A, B, C, D, E and F on the edge of the sewing mold 34, wherein the straight segments are AB, CD and EF, the opening segment is AF, that is, the opening segment AF is not sewn, and the arc segments are BC and DE. In a possible embodiment, the opening segment AF can be sewn. The sewing trajectory is taken from the first end point of the opening segment as the starting point, such as point A, and the straight segment or arc segment adjacent to the starting point is taken as the first sewing segment, such as the straight segment AB, and several sewing segments are arranged in sequence in this direction until the second end point of the opening segment is taken as the termination point. In this embodiment, the sewing trajectory is the straight segment AB, the arc segment BC, the straight segment CD, the arc segment DE and the straight segment EF.

[0071] The first and second pieces are sewn by the sewing device 4. First, the sewing track is aligned with the center of the sewing device 4 according to the sewing angle, and then the target position of the manipulator is calculated by plane coordinate transformation according to the position of the sewing mold 34 of the robot 3. Specifically, the sewing mold 34 is moved to the target position, the sewing device 4 is turned on, the first sewing segment in the sewing track is aligned with the sewing device 4, and the sewing mold 34 is moved to complete the sewing of the first sewing segment. If the first sewing segment is an arc segment, the sewing mold 34 is rotated while the sewing mold 34 is moved, and the arc segment is sewn. After the first sewing segment is sewn, the sewing mold 34 is moved to the target position to complete the reset, and the sewing device 4 is turned off. Repeat the previous operation according to the sewing track to complete the sewing of all sewing segments.

[0072] In step S4, the sewn first and second pieces are moved to the material receiving area. Specifically, the robot 3 moves the sewn first and second pieces to the material receiving device 5, and the sewn pieces are stacked on the platform of the material receiving device 5 by the material shifting rod 51, and are pressed by the pressing rod 52 to prevent them from slipping.

[0073] The first cutting piece can be arranged on the second cutting piece so that the fabrics are stacked in order, which is convenient for sewing several fabrics; the cutting piece can be moved by the robot 3, which reduces the manpower requirement and improves the sewing efficiency; different models and specifications can be sewn according to the sewing mold 34, which improves the applicability; the position of the sewing equipment 4 can be fixed, and the sewing of the fabrics can be completed by moving and rotating the sewing mold 34, which reduces the equipment requirements.

[0074] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0075] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An automatic pocket-sticking and stretch-sewing robot device, characterized in that: include: The machine table is used to place other equipment to facilitate the movement of the cut pieces; A folding device, used to set the relative position of the cut pieces and press the cut pieces, is arranged at one end of the machine; The robot is used to press and move the cut pieces and is located in the middle of the machine; Sewing equipment, used for sewing the cut pieces, is located at the other end of the machine.

2. The automatic pocket-sticking and seaming robot equipment according to claim 1 is characterized in that: The table top of the machine is made of compact board or steel plate.

3. The automatic pocket-sticking and seaming robot equipment according to claim 1 or 2, characterized in that: In the folding equipment, a plate surface is arranged on a machine table, a bag folding plate is arranged in the middle of the plate surface, the bag folding plate is connected to a driving cylinder, a linear motion mechanism is arranged on one side of the plate surface, the linear motion mechanism is connected to a main tongue knife and a side tongue knife, and the main tongue knife and the side tongue knife are connected to a driving cylinder and a motor.

4. The automatic pocket-sticking and seaming robot equipment according to claim 3 is characterized in that: In the robot, the base is fixedly connected to the machine table and the robotic arm, and the robotic arm is connected to the sewing mold through a quick-change fixture.

5. The automatic pocket-sticking and seaming robot equipment according to claim 1 is characterized in that: In the sewing equipment, the adjustment mechanism is connected to the interlock sewing machine, the needle plate of the interlock sewing machine is at the same height as the table top, a thread breakage detection mechanism is arranged above the interlock sewing machine, and the thread breakage detection mechanism is connected to the thread supply mechanism and is located below the thread supply mechanism.

6. The automatic pocket-sticking and seaming robot equipment according to claim 1 or 5, characterized in that: Also includes: The material receiving device is used to receive the sewn pieces and is set on the side of the machine.

7. The automatic pocket-sticking and seaming robot equipment according to claim 3 is characterized in that: The main tongue knife and the side tongue knife are linear ball screw modules and are made of stainless steel.

8. The automatic pocket-sticking and seaming robot equipment according to claim 4 is characterized in that: The robot has at least 4 degrees of freedom, and the quick-change fixture uses a pneumatic clamping mechanism.

9. The automatic pocket-sticking and seaming robot equipment according to claim 5, characterized in that: The wire breakage detection mechanism is a photoelectric induction sensor or a friction induction sensor.

10. An operating method of an automated pocket-sticking and sewing robot device, applicable to an automated pocket-sticking and sewing robot device as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Arrange a first cutting piece and a second cutting piece, fold the edge of the first cutting piece and press it onto the second cutting piece; S2: The sewing mold presses the first and second panels and moves to the sewing area; S3: setting a sewing trajectory based on the sewing mold, moving and rotating the sewing mold based on the sewing trajectory, and sewing the first piece and the second piece through the sewing equipment; S4: Move the sewn first and second panels to a material receiving area.

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