Intelligent profiling self-adaptive pressing tool device and method and sewing robot

Abstract

The invention belongs to the technical field of sewing, and provides an intelligent profiling self-adaptive pressing tool device and method and a sewing robot. The device comprises a tail end pressing part, a servo adjusting part, a visual part and a control part, the tail end pressing part comprises a pressing key bar and a clamping mechanism connected with the pressing key bar; one end of each pressing key bar is provided with a finger shifting rod slot; the finger shifting rods are inserted into the corresponding finger shifting rod slots; the visual part collects a cloth edge image in real time, detects cloth edge point position information, correspondingly converts the cloth edge point position information into pressing target position information of each pressing key bar and transmits the pressing target position information to the control part; the control part correspondingly controls the driving mechanism to drive the finger shifting rod to drive the pressing key bars to move to the corresponding pressing target positions according to the pressing target position information of the pressing key bars; and when each pressing key strip moves to a corresponding pressing target position, the clamping mechanism is controlled to hold and lock each pressing key strip, so that an efficient flexible production mode without frequently replacing tools is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of sewing, and in particular relates to an intelligent contour-adaptive pressing tool device, method and sewing robot. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Sewing robots, due to their ability to adapt to the particularity of flexible materials, can effectively improve product consistency in high-precision and high-efficiency production processes and solve quality problems that are difficult to overcome with traditional processes. Sewing robots are seen as an important tool to help the textile industry achieve flexible production. At present, when handling fabrics of different shapes, sewing robots adopt corresponding pressing strategies according to the characteristics of the fabrics. For straight-edge products, conventional pressing tools are usually used. The robotic arm can dynamically adjust the distance between the pressing tool and the edge of the fabric according to the softness of the fabric to ensure that the fabric remains flat and wrinkles are not generated during the sewing process. However, when facing non-straight-edge fabrics such as wavy, concave-convex or toothed, the use of traditional straight-edge pressing tooling may cause problems such as wrinkles and warping, which will affect the sewing quality and even cause automated sewing to fail.

[0004] In order to solve the above problems, the commonly used method is to design and process special contoured end-pressing tools for fabrics of different shapes. Through customized tooling design, the robot can accurately press special-shaped fabrics to effectively prevent wrinkles and warping. However, this method also has the following problems: each fabric shape needs to be designed and processed separately, and the corresponding tooling must be replaced when the fabric is changed, which leads to a significant increase in production costs and a longer changeover time, thereby significantly reducing production efficiency and the flexibility of the robot system. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides an intelligent contour-adaptive pressing tool device and method thereof, which can combine visual perception, force feedback and deep learning algorithm to enable the robot to autonomously identify fabric characteristics and adjust operating parameters in real time, thereby realizing an efficient and flexible production mode without frequent replacement of tooling.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides an intelligent contour-adaptive pressing tool device.

[0008] An intelligent contour-adaptive pressing tool device, comprising:

[0009] End pressing part, servo adjustment part, vision part and control part;

[0010] The terminal pressing part includes a pressing key bar and a clamping mechanism connected thereto; one end of each pressing key bar is provided with a finger lever slot;

[0011] The servo adjustment unit includes a driving mechanism and a finger lever connected thereto; the finger lever is inserted into a corresponding finger lever slot; the driving mechanism is used to drive the finger lever to drive the pressing key bar to move linearly;

[0012] The visual unit is used to collect the edge image of the cloth in real time, detect the edge point information of the cloth, convert it into the pressing target position information of each pressing key bar and transmit it to the control unit;

[0013] The control unit is used to control the driving mechanism to drive the finger lever to move the pressing key bar to the corresponding pressing target position according to the pressing target position information of each pressing key bar; and when each pressing key bar moves to the corresponding pressing target position, the clamping mechanism is controlled to clamp and lock each pressing key bar.

[0014] As an implementation mode, a guide bevel is provided in the finger lever slot to guide the finger lever to be smoothly inserted into the finger lever slot during movement.

[0015] As an implementation mode, in the visual unit, the process of detecting the edge point information of the fabric and converting it into the pressing target position information of each pressing key strip is as follows:

[0016] Identify and sample the cloth contour in the cloth edge image to obtain an initial contour point set in a preset pixel coordinate system;

[0017] Calculating the average values ​​of the horizontal coordinate and the vertical coordinate of each point in the initial contour point set respectively as the initial pressing target position;

[0018] Calculating contour corner points based on the initial contour point set, and then determining the target sewing edge;

[0019] Refitting the edge line of the target sewing edge, resampling the edge line according to the number of key bars pressed on the end pressing part, and obtaining the corresponding edge point;

[0020] Based on the resampled edge points, the initial pressing target position and the target sewing margin, the pressing target position corresponding to the current moment is obtained.

[0021] As an embodiment, the end pressing portion and the servo adjustment portion are both positioned and docked via guide holes and guide pins.

[0022] As an embodiment, the driving mechanism includes a plurality of servo motors and a linear transmission mechanism, each of the servo motors is used to drive the corresponding linear transmission mechanism to drive the corresponding finger lever to move linearly, so that all the finger levers are arranged to form a shape that matches the edge shape of the fabric to meet the complex pressing requirements of special-shaped fabrics.

[0023] As an implementation manner, the terminal pressing portion further includes an adjustment box body, and the pressing key strip is arranged in the adjustment box body.

[0024] As an embodiment, the end pressing portion further includes a robot arm connecting plate, the robot arm connecting plate is fixed above the adjustment box body, and the robot arm connecting plate is also connected to the end of the robot arm.

[0025] A second aspect of the present invention provides a pressing method of an intelligent contour-adaptive pressing tool device.

[0026] A pressing method of an intelligent contour-adaptive pressing tool device, comprising:

[0027] Acquire the edge image of the fabric, detect the edge point information of the fabric, and convert it into the corresponding pressing target position information of each pressing key bar;

[0028] According to the target position information of each pressing key bar, the corresponding control driving mechanism drives the finger lever to drive the pressing key bar to move to the corresponding pressing target position; and when each pressing key bar moves to the corresponding pressing target position, the control clamping mechanism clamps and locks each pressing key bar.

[0029] As an implementation method, when the shape of the cloth changes, the pressing target position information of each pressing key strip is updated in real time;

[0030] According to the updated pressing target position information of each pressing key bar, the corresponding control driving mechanism drives the finger lever to drive the pressing key bar to move to the corresponding pressing target position; and when each pressing key bar moves to the corresponding pressing target position, the control clamping mechanism clamps and locks each pressing key bar.

[0031] A third aspect of the present invention provides a sewing robot.

[0032] A sewing robot comprises a sewing platform, a mechanical arm and the intelligent contour-adaptive pressing tool device as described above; the mechanical arm is installed on the sewing platform; the end pressing part is installed at the end of the mechanical arm; and the servo adjustment part is fixed on the sewing platform.

[0033] The beneficial effects of the present invention are:

[0034] (1) The present invention utilizes the visual part to automatically identify the fabric point information, and adaptively drives the finger lever to drive the pressing key bar to move to the corresponding pressing target position, which can quickly respond to the shape change of the fabric and adjust the position of the pressing point, thereby realizing contour pressing for complex fabrics, effectively avoiding the problems of wrinkles and misalignment of the fabric during the sewing process, and improving the sewing quality and precision.

[0035] (2) The push button bar of the present invention can flexibly adapt to the needs of fabrics of different sizes and shapes. According to the size and special-shaped curvature characteristics of the fabric, a push button bar of corresponding type and shape can be selected; the push button bar is fixed in place by extrusion and has the characteristics of rapid installation and disassembly; during the adjustment process, the clamping mechanism is released, and the driving mechanism drives the push button bar to move to the target position, and then the clamping mechanism completes the clamping and locking; the modular design allows the pressing device to be quickly replaced and adjusted to adapt to a variety of fabric shapes and production needs.

[0036] (3) The present invention adopts a separate design, in which the end pressing part is installed at the end of the robot arm, which is responsible for completing the cloth pressing work; the servo adjustment part is fixed on the sewing platform, which is responsible for adjusting the position of the toggle rod according to the position information provided by the visual part; the high flexibility and low load characteristics of the separate design enable the robot to achieve efficient and stable operation under different working conditions, and further improve the adaptability and economy of the system.

[0037] (4) The present invention can be dynamically adjusted according to the point information, which not only supports batch flexible production, but also significantly reduces the production adjustment cost and equipment switching time, meeting the current textile industry's requirements for automation and intelligence.

[0038] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0040] Figure 1 2 is a schematic structural diagram of an intelligent contour-adaptive pressing tool device according to an embodiment of the present invention;

[0041] Figure 2 is a three-dimensional diagram of the end pressing portion of an embodiment of the present invention;

[0042] Figure 3 is a top view of an end pressing portion of an embodiment of the present invention;

[0043] Figure 4 is a three-dimensional diagram of a push button bar according to an embodiment of the present invention;

[0044] Figure 5 is a front view of a push key bar according to an embodiment of the present invention;

[0045] Figure 6 yes Figure 5 AA view;

[0046] Figure 7 is a three-dimensional diagram of a servo adjustment unit according to an embodiment of the present invention;

[0047] Figure 8 is a schematic diagram of the internal structure of a servo adjustment unit according to an embodiment of the present invention;

[0048] Fig. 9 4 is a schematic diagram of the pressing target position information of the pressing key bar according to an embodiment of the present invention.

[0049] Among them, 1. end pressing part; 2. servo adjustment part; 11. pressing key bar; 12. clamping mechanism; 13. adjustment box; 14. mechanical arm connecting plate; 15. guide hole; 110. finger lever slot; 21. finger lever; 22. protective shell; 23. guide pin; 24. communication interface; 25. drive and control integrated PCB control board; 26. servo motor; 27. linear guide rail; 28. transmission screw; 29. ​​bottom plate; 30. support plate. DETAILED DESCRIPTION

[0050] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0051] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0052] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0053] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0054] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meanings of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0055] Embodiment 1

[0056] Figure 1 Schematic diagram of the structure of the intelligent self-adaptive pressing tool device according to an embodiment of the present invention. Figure 1 An intelligent profiling adaptive pressing tool device according to an embodiment of the present invention includes: an end pressing part 1, a servo adjustment part 2, a visual part and a control part.

[0057] The end pressing part 1 is connected to the end of the robot arm and is the direct execution component for completing the cloth pressing task. The device design gives priority to lightness and flexibility to minimize the load of the robot arm while ensuring the efficiency and accuracy of the operation during the work process.

[0058] according to Figure 2 and Figure 3 As shown, the terminal pressing portion 1 includes a pressing key bar 11 and a clamping mechanism 12 connected thereto; one end of each pressing key bar 11 is provided with a finger lever slot 110 .

[0059] The structure of the push button bar is as follows Figure 4-Figure 6 As shown, the finger lever slot 110 is provided with an introduction bevel to guide the finger lever to be smoothly inserted into the finger lever slot during movement. For example, the introduction bevel is set to 15°, which can ensure a smoother connection process.

[0060] like Figure 2 and Figure 3 The end pressing part 1 also includes an adjustment box body 13, and the pressing key strip 11 is arranged in the adjustment box body 13. The gap between the pressing key strip 11 and the adjustment box body 13 is precisely controlled within 0.025 mm. In this way, the stepless adjustment spacing design can achieve continuous fine adjustment, improve the flexibility and versatility of the system, significantly reduce the debugging time and production cost of the equipment, and improve the production efficiency of the system.

[0061] In some specific embodiments, the surface of the push key bar 11 is specially hardened to ensure that it can slide freely when there is no external force, and can accurately reach a predetermined position when driven by the finger lever.

[0062] In this embodiment, the end pressing portion 1 further includes a robot arm connecting plate 14 , and the robot arm connecting plate 14 is fixed above the adjustment box body 13 , and the robot arm connecting plate 14 is also connected to the end of the robot arm.

[0063] In this embodiment, the clamping mechanism uses two pneumatic clamping cylinders, which are arranged on both sides of the adjustment box, which greatly reduces the weight, simplifies the structure, and improves the operating efficiency. The lightweight design of the clamping mechanism optimizes the weight distribution of the entire pressing device, making it more suitable for high-speed and efficient working scenarios. This intelligent design solution not only effectively reduces the overall operating cost of the equipment, but also greatly improves production efficiency, providing strong technical support for the promotion and application of sewing robots in the field of flexible manufacturing.

[0064] The design of the servo adjustment unit combines the requirements of high precision, high efficiency and high reliability, and is precisely assembled from a variety of components such as a protective housing 22, a guide pin 23, a finger lever 21, a communication interface 24, a servo motor 26, a linear guide rail 27, a transmission screw 28, a base plate 29, a support plate 30, and a drive-control integrated PCB control board 25. The main function of the servo adjustment unit is to dynamically adjust the fabric pressing position through the point information provided by the visual system, thereby meeting the precise pressing requirements of various complex fabric shapes.

[0065] like Figure 7 and Figure 8 As shown, the servo adjustment unit 2 includes a driving mechanism and a finger lever 21 connected thereto; the finger lever 21 is inserted into a corresponding finger lever slot 110; the driving mechanism is used to drive the finger lever 21 to drive the pressing key bar 11 to move linearly.

[0066] Among them, the driving mechanism includes a plurality of servo motors 26 and a linear transmission mechanism, each of the servo motors 26 is used to drive the corresponding linear transmission mechanism to drive the corresponding finger lever 21 to move linearly, so that all the finger levers 21 are arranged to form a shape that matches the edge shape of the fabric to meet the complex pressing requirements of special-shaped fabrics.

[0067] In this embodiment, the linear transmission mechanism includes a linear guide rail 27 , a linear guide rail slider and a transmission screw 28 ; the linear guide rail slider is arranged on the linear guide rail 27 , the linear guide rail slider is connected to the transmission screw 28 , and the transmission screw 28 is connected to the servo motor 26 .

[0068] The components of the servo adjustment part are arranged in a protective shell 22, and a communication interface 24 is provided on one side of the protective shell 22; a guide pin 23 is provided on the protective shell 22, which matches and docks with the guide hole 15 on the end pressing part 1. The end pressing part and the servo adjustment part are docked through the guide hole 15 and the guide pin positioning 23.

[0069] A servo motor 26, a linear guide rail 27, a transmission screw 28, a bottom plate 29, a support plate 30 and a drive-control integrated PCB control board 25 are arranged inside the protective housing 22; the finger lever 21 is connected to the transmission screw 28 and extends out of the protective housing 22. Both ends of the linear transmission mechanism are arranged on the support plate 30; the drive-control integrated PCB control board 25 is connected to the servo motor and the control unit.

[0070] The working principle of the servo adjustment unit is as follows:

[0071] After the vision unit captures and analyzes the position information of the fabric, the integrated drive and control PCB control board converts the position information into instructions and sends them to the servo motor in the servo adjustment device. After the servo motor is started, it drives the transmission screw to rotate, and through the coordinated action of the nut seat and the linear guide slider, the rotational motion is converted into linear motion, pushing the finger lever connected to the nut seat to slide along the linear guide, thereby achieving precise forward and backward movement of the finger lever. With the coordinated cooperation of multiple servo motors, the finger lever can be flexibly combined and arranged to generate any linear structure, so as to accurately adapt to the complex pressing requirements of special-shaped fabrics.

[0072] In order to ensure the stability and operating accuracy of the equipment in complex working environments, a sturdy protective casing is designed for the servo adjustment unit to ensure that the internal components of the device are protected from interference from the external environment; at the same time, the introduction of guide pins effectively improves the motion guidance and accuracy of the finger lever. The communication interface builds an efficient data interaction channel between the device and the visual system and robotic arm controller to ensure the real-time and accuracy of information transmission. In addition, the highly integrated design of the integrated drive and control PCB control board not only reduces the response delay of the system, but also significantly improves the overall control accuracy and reliability. With its high flexibility and adaptability, the entire device has demonstrated extraordinary performance in industrial automation applications, especially suitable for flexible manufacturing and high-complexity operation scenarios.

[0073] In the specific implementation process, the visual unit is used to collect the edge image of the cloth in real time, detect the edge point information of the cloth, convert it into the pressing target position information of each pressing key bar and transmit it to the control unit;

[0074] The control unit is used to control the driving mechanism to drive the finger lever to move the pressing key bar to the corresponding pressing target position according to the pressing target position information of each pressing key bar; and when each pressing key bar moves to the corresponding pressing target position, the clamping mechanism is controlled to clamp and lock each pressing key bar.

[0075] like Fig. 9 As shown, in the visual unit, the process of detecting the edge point information of the fabric and converting it into the pressing target position information of each pressing key strip is as follows:

[0076] Step 1: Identify and sample the cloth contour in the cloth edge image to obtain an initial contour point set in a preset pixel coordinate system.

[0077] Specifically, the fabric edge image can be acquired by using a depth camera to perform global image acquisition of the sewing environment to obtain a color image and a depth image of the fabric.

[0078] Before identifying the cloth outline in the cloth edge image, the image is filtered according to the cloth color, and the image is eroded and dilated.

[0079] In some specific implementations, the Canny operator is used to detect the cloth contour.

[0080] Step 2: Calculate the average values ​​of the horizontal coordinate and the vertical coordinate of each point in the initial contour point set respectively as the initial pressing target position.

[0081] Specifically, the cloth contour is sampled to obtain an initial contour point set, and the average values ​​of the x-coordinate and y-coordinate of each point therein are calculated respectively as the initial pressing position (x0, y0) of the center of the end pressing device.

[0082] Step 3: Calculate the contour corner points based on the initial contour point set to determine the target sewing edge.

[0083] Specifically, the contour corner points are calculated, and the target sewing edge is divided and extracted. For example, the angle between the edge point and the line connecting the front and rear points is calculated, and a certain threshold is set. When the angle is greater than the threshold, the current edge point is considered to be a contour corner point. After obtaining the contour corner points, the edge can be divided into several segments, and the target sewing edge that needs to be sewn on the sewing machine can be extracted accordingly.

[0084] Step 4: Refit the edge line of the target sewing edge, resample the edge line according to the number of key bars pressed by the end pressing part, and obtain the corresponding edge point.

[0085] When the sampling points of the edge line do not match the number of the designed end pressing key strips, it is necessary to re-fit the line trace and then interpolate the corresponding number of points.

[0086] Specifically, the edge line of the target sewing edge is refitted, and the edge line is resampled according to the number n of key bars pressed by the end pressing portion to obtain corresponding edge points.

[0087] Step 5: Based on the resampled edge points, the initial pressing target position and the target sewing margin, the pressing target position corresponding to the current moment is obtained.

[0088] Specifically, through matrix transformation, the pixel coordinates of the above-mentioned edge points and the device center pressing point are converted into actual coordinates in the robot arm coordinate system, which are recorded as [(x1, y1), (x2, y2), ..., (xn, yn)] and (x0, y0) respectively; the target sewing margin d0 is set, and the interpolation of the edge pressing point and the device center pressing point is calculated to obtain the distance [d1, d2, ..., dn (where di = xi-x0-d0)], and the difference is sent to the end pressing part through the controller to control the pressing key bar to extend the corresponding length to press the edge of the cloth.

[0089] When the intelligent contour-adaptive pressing tool device is working, the end pressing part hovers above the servo adjustment part. The servo adjustment part drives the toggle lever to adjust the pressing key bar to the target position according to the point information and fixes it through the clamping mechanism. After the adjustment is completed, the end pressing part presses the fabric accurately. When the shape of the fabric changes, the visual part updates the point information in real time, and the servo adjustment part drives the toggle lever again to complete the repositioning.

[0090] The end pressing part of this embodiment can accurately press the fabric by pressing the arrangement of the key strips according to the point information provided by the visual part, especially when dealing with complex fabrics such as wavy, toothed or concave-convex fabrics, it can perfectly simulate their shapes and perform contour pressing operations. This design significantly improves the flatness of the fabric during sewing, avoids wrinkles and warping caused by the lack of precision of traditional pressing devices, and thus significantly improves the sewing quality.

[0091] Embodiment 2

[0092] The pressing method based on the intelligent contour-adaptive pressing tool device as described above comprises:

[0093] Step 1: Obtain the edge image of the fabric, detect the edge point information of the fabric, and convert it into the pressing target position information of each pressing key bar;

[0094] Step 2: According to the target position information of each push key bar, the corresponding control driving mechanism drives the finger lever to move the push key bar to the corresponding push target position; and when each push key bar moves to the corresponding push target position, the control clamping mechanism clamps and locks each push key bar.

[0095] Specifically, when the shape of the fabric changes, the pressing target position information of each pressing key bar is updated in real time;

[0096] According to the updated pressing target position information of each pressing key bar, the corresponding control driving mechanism drives the finger lever to drive the pressing key bar to move to the corresponding pressing target position; and when each pressing key bar moves to the corresponding pressing target position, the control clamping mechanism clamps and locks each pressing key bar.

[0097] The push button bar of this embodiment can flexibly adapt to the needs of fabrics of different sizes and shapes. According to the size of the fabric and the characteristics of the special-shaped curvature, the push button bar of the corresponding type and shape can be selected; the push button bar is fixed in place by extrusion and has the characteristics of quick installation and disassembly; during the adjustment process, the clamping mechanism is released, and the driving mechanism drives the push button bar to move to the target position, and then the clamping mechanism completes the clamping and locking; the modular design allows the pressing device to be quickly replaced and adjusted to adapt to a variety of fabric shapes and production needs.

[0098] Embodiment 3

[0099] In one or more embodiments, a sewing robot is provided, which includes a sewing platform, a robotic arm and the intelligent contour-adaptive pressing tool device as described above; the robotic arm is installed on the sewing platform; the end pressing part is installed at the end of the robotic arm; and the servo adjustment part is fixed on the sewing platform.

[0100] The sewing platform and the robotic arm here are both prior art and will not be described in detail here.

[0101] The sewing robot of this embodiment adopts a separate design, with the end pressing part installed at the end of the robotic arm, which is responsible for completing the fabric pressing work; the servo adjustment part is fixed on the sewing platform, which is responsible for adjusting the position of the toggle rod according to the position information provided by the visual part; the high flexibility and low load characteristics of the separate design enable the robot to achieve efficient and stable operation under different working conditions, and further improve the adaptability and economy of the system.

[0102] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent contour-adaptive pressing tool device, characterized in that: include: End pressing part, servo adjustment part, vision part and control part; The terminal pressing part includes a pressing key bar and a clamping mechanism connected thereto; one end of each pressing key bar is provided with a finger lever slot; The servo adjustment unit includes a driving mechanism and a finger lever connected thereto; the finger lever is inserted into a corresponding finger lever slot; the driving mechanism is used to drive the finger lever to drive the pressing key bar to move linearly; The visual unit is used to collect the edge image of the cloth in real time, detect the edge point information of the cloth, convert it into the pressing target position information of each pressing key bar and transmit it to the control unit; The control unit is used to control the driving mechanism to drive the finger lever to move the pressing key bar to the corresponding pressing target position according to the pressing target position information of each pressing key bar; and when each pressing key bar moves to the corresponding pressing target position, the clamping mechanism is controlled to clamp and lock each pressing key bar.

2. The intelligent contour-adaptive pressing tool device according to claim 1, characterized in that: The finger lever slot is provided with an introduction bevel to guide the finger lever to be smoothly inserted into the finger lever slot during movement.

3. The intelligent contour-adaptive pressing tool device according to claim 1, characterized in that: In the visual unit, the process of detecting the edge point information of the fabric and converting it into the pressing target position information of each pressing key strip is as follows: Identify and sample the cloth contour in the cloth edge image to obtain an initial contour point set in a preset pixel coordinate system; Calculating the average values ​​of the horizontal coordinate and the vertical coordinate of each point in the initial contour point set as the initial pressing target position; Calculating contour corner points based on the initial contour point set, and then determining the target sewing edge; Refitting the edge line of the target sewing edge, resampling the edge line according to the number of key bars pressed on the end pressing part, and obtaining the corresponding edge point; Based on the resampled edge points, the initial pressing target position and the target sewing margin, the pressing target position corresponding to the current moment is obtained.

4. The intelligent contour-adaptive pressing tool device according to claim 1, characterized in that: The end pressing part and the servo adjusting part are both positioned and docked through guide holes and guide pins.

5. The intelligent contour-adaptive pressing tool device according to claim 1, characterized in that: The driving mechanism includes a plurality of servo motors and a linear transmission mechanism. Each of the servo motors is used to drive the corresponding linear transmission mechanism to drive the corresponding finger lever to move linearly, so that all the finger levers are arranged to form a shape that matches the edge shape of the fabric to meet the complex pressing requirements of special-shaped fabrics.

6. The intelligent contour-adaptive pressing tool device according to claim 1, characterized in that: The terminal pressing portion further comprises an adjustment box body, and the pressing key strip is arranged in the adjustment box body.

7. The intelligent contour-adaptive pressing tool device according to claim 6, characterized in that: The end pressing portion also includes a mechanical arm connecting plate, which is fixed above the adjustment box body and is also connected to the end of the mechanical arm.

8. A pressing method based on the intelligent contour-adaptive pressing tool device according to any one of claims 1 to 7, characterized in that: include: Acquire the edge image of the fabric, detect the edge point information of the fabric, and convert it into the corresponding pressing target position information of each pressing key bar; According to the target position information of each pressing key bar, the corresponding control driving mechanism drives the finger lever to drive the pressing key bar to move to the corresponding pressing target position; and when each pressing key bar moves to the corresponding pressing target position, the control clamping mechanism clamps and locks each pressing key bar.

9. The pressing method according to claim 8, characterized in that: When the shape of the fabric changes, the pressing target position information of each pressing key bar is updated in real time; According to the updated pressing target position information of each pressing key bar, the corresponding control driving mechanism drives the finger lever to drive the pressing key bar to move to the corresponding pressing target position; and when each pressing key bar moves to the corresponding pressing target position, the control clamping mechanism clamps and locks each pressing key bar.

10. A sewing robot, characterized in that: It comprises a sewing platform, a robotic arm and an intelligent contour-adaptive pressing tool device as described in any one of claims 1 to 7; the robotic arm is mounted on the sewing platform; the end pressing part is mounted on the end of the robotic arm; and the servo adjustment part is fixed on the sewing platform.

Images