Turning intelligent equidistant stitch sewing equipment and sewing method

Abstract

The invention relates to the technical field of sewing machines, and particularly discloses turning intelligent equidistant stitch sewing equipment and a sewing method, the turning intelligent equidistant stitch sewing equipment comprises a base, a sewing machine head arranged on the base and a control assembly arranged on the sewing machine head; the base is further provided with a supporting mechanism, and the sewing machine head comprises a presser foot mechanism and a sewing mechanism used in cooperation with the presser foot mechanism. The sewing equipment further comprises a multi-mode detection unit, the multi-mode detection unit comprises a pose data collection assembly arranged on the supporting mechanism, and the pose data collection assembly, the presser foot mechanism and the sewing mechanism are all electrically connected with the control assembly. The control assembly calculates and processes data obtained by the pose data acquisition assembly through the algorithm module to obtain output data, regulates and controls the sewing speed of the sewing mechanism by means of the calculated and processed output data, and compensates for the stitch length in the moving process of the to-be-sewn piece. And the stitch length of turning movement of the to-be-sewn piece is kept consistent with the stitch length of linear movement of the to-be-sewn piece.

Description

Technical Field

[0001] The present invention relates to the technical field of sewing machines, and in particular discloses a turning intelligent equidistant stitch sewing device and a sewing method. Background Art

[0002] In the field of sewing equipment, when traditional sewing machines sew in a turning area, due to the curvature change of the moving path of the workpiece to be sewn, the problem of uneven stitch distribution often occurs. Specifically, when the workpiece to be sewn is fed along a curved trajectory, the speed change and radial displacement in its tangent direction will cause the sewing stitches to be sparse or dense on the inner and outer sides of the turn, seriously affecting the flatness and aesthetics of the sewn product. Most existing technologies use mechanical differential mechanisms or manually adjust the feeding speed to address this problem, but there are defects such as lagging response, low adjustment accuracy, and dependence on the operator's experience, making it difficult to achieve fully automated intelligent compensation. Summary of the Invention

[0003] In order to overcome the disadvantages and deficiencies existing in the prior art, the purpose of the present invention is to provide a turning intelligent equidistant stitch sewing device.

[0004] To achieve the above purpose, a turning intelligent equidistant stitch sewing device of the present invention includes a base, a sewing head provided on the base, and a control component provided on the sewing head; a support mechanism is further provided on the base, and the sewing head includes a presser foot mechanism and a sewing mechanism that cooperates with the presser foot mechanism; the sewing device further includes a multi-modal detection unit, and the multi-modal detection unit includes a pose data acquisition component provided on the support mechanism. The pose data acquisition component, the presser foot mechanism, and the sewing mechanism are all electrically connected to the control component; the presser foot mechanism presses the workpiece to be sewn on the support mechanism, and the pose data acquisition component is used to obtain the position data, posture data, or / and speed data during the movement of the workpiece to be sewn between the presser foot mechanism and the support mechanism. The control component calculates and processes the data obtained by the pose data acquisition component through an algorithm module to obtain output data, and the control component adjusts the sewing speed of the sewing mechanism by means of the output data of the calculation and processing to compensate for the stitch distance during the movement of the workpiece to be sewn, so that the stitch distance during the turning movement of the workpiece to be sewn is the same as that during the straight movement.

[0005] The pose data acquisition component is a lidar sensor or a camera sensor. The pose data acquisition component is used to take pictures or / and videos of the workpiece to be sewn during the movement between the presser foot mechanism and the support mechanism, and transmit the taken pictures or / and videos to the control component.

[0006] The camera sensor includes a camera module and a light compensation module provided on the support mechanism. The camera module is used to take pictures of the workpiece to be sewn during the movement between the presser foot mechanism and the support mechanism, and the light compensation module is used to perform light compensation on the workpiece to be sewn during the movement between the presser foot mechanism and the support mechanism.

[0007] The position, pose or speed data of the piece to be sewn during movement is obtained through the pose data acquisition component in the multi-modal detection unit. After the data is processed by the algorithm module in the control component, the sewing speed of the sewing mechanism is regulated, and the stitch length for turning movement is compensated to make the stitch length for the turning movement of the piece to be sewn the same as that for the linear movement, ensuring the sewing quality. The pose data acquisition component can adopt a lidar sensor or a camera sensor to take pictures or videos to obtain the data of the piece to be sewn, meeting the requirements of different application scenarios and enhancing the applicability of the equipment. The camera sensor includes a camera module and a light compensation module. The camera module takes pictures, and the light compensation module performs light compensation to ensure clear images are obtained under different light conditions, improving the data accuracy and further enhancing the sewing precision.

[0008] The lidar sensor emits laser beams through a laser emitter, captures the reflected signals through a receiver and combines with a scanning mechanism to achieve omnidirectional data acquisition. Then, the data processing unit calculates the distance, angle and speed of the target object, generates point cloud or three-dimensional data and transmits it to the control component in real time through an interface, providing high-precision and strong real-time pose data support for the sewing mechanism; based on the principle of laser reflection ranging, it has high precision, strong environmental adaptability and real-time response ability, is not restricted by light conditions, provides a basis for the control component to dynamically adjust the sewing speed, thus ensuring the consistency of the stitch length during turning movement and linear movement, and significantly improving the sewing quality.

[0009] The support mechanism includes a first driving member, a first rotating link and a feeding gear. The first driving member drives the first rotating link to rotate. A first bevel gear is further provided at one end of the first rotating link away from the first driving member. The first bevel gear is vertically meshed with the feeding gear. When the feeding gear rotates, it contacts the piece to be sewn through the outer peripheral tooth pattern and cooperates with the presser foot mechanism to drive the piece to be sewn to move.

[0010] The first driving member, as a power source, drives the first rotating link to rotate. A first bevel gear is provided at the end of the link away from the driving member, and this gear is in a perpendicular meshing state with the feeding gear. When the first bevel gear rotates, it drives the feeding gear to rotate synchronously through gear meshing transmission. The tooth pattern on the outer circumference of the feeding gear is in direct contact with the piece to be sewn. With the pressing force of the presser foot mechanism on the piece to be sewn, the piece to be sewn is driven to move smoothly by the frictional force generated by the rotation of the gear. Its beneficial effects are as follows: By adopting the transmission structure of perpendicular meshing of bevel gears, the efficient conversion of the power transmission direction is realized, ensuring that the feeding gear obtains a stable and uniform driving force. The contact design between the outer circumference tooth pattern and the piece to be sewn enhances the frictional force during the feeding process, avoiding the slipping or jamming phenomena that may occur in the traditional support mechanism. The piece to be sewn maintains a constant conveying speed and accuracy under the cooperation of the support mechanism and the presser foot mechanism, providing a stable mechanical transmission basis for the subsequent multi-modal detection unit to accurately sense the moving path of the piece to be sewn and the control component to realize stitch length compensation. Especially when the piece to be sewn is fed while turning, it can effectively ensure the coordination between the feeding rhythm and the sewing mechanism, improving the reliability of the overall sewing process and the quality of the product.

[0011] The presser foot mechanism includes a second driving member, a second rotating link, and a pressing component. The pressing component includes a pressing mounting seat, a rotating bearing installed in the pressing mounting seat, and a pressing wheel. One end of the second rotating link is connected to the output end of the second driving member, and the end away from the second driving member is installed in the rotating bearing and is in transmission connection with the pressing wheel. The second driving member drives the second rotating link to rotate to drive the pressing wheel to rotate, and the rotation of the pressing wheel cooperates with the support mechanism to realize the conveying of the piece to be sewn.

[0012] The second driving member, as a power input source, has its output end connected to one end of the second rotating link. The other end of the link away from the driving member is installed in the pressing mounting seat through a rotating bearing and forms a transmission connection with the pressing wheel. When the second driving member drives the second rotating link to rotate, it drives the pressing wheel to rotate synchronously under the support of the rotating bearing. The pressing wheel, relying on the contact frictional force with the surface of the piece to be sewn during rotation, cooperates with the feeding gear of the support mechanism to form an upper and lower coordinated clamping and conveying structure for the piece to be sewn. Its beneficial effects are as follows: The rotatable design of the pressing wheel replaces the rigid pressing method of the traditional fixed presser foot. Through the power transmission of the second driving member, the rotational speed matching between the pressing wheel and the feeding gear is achieved, which can not only stably control the conveying rhythm of the piece to be sewn through the rotational frictional force, but also reduce the stretching or wrinkling of the piece to be sewn caused by excessive friction. The setting of the rotating bearing reduces the rotational resistance of the pressing wheel, ensuring that the pressing action is flexible and reliable. Especially during sewing along a complex path, the synchronous rotation drive of the presser foot mechanism and the support mechanism can accurately maintain the conveying tension of the piece to be sewn, providing a stable motion reference for the path recognition of the multi-modal detection unit and the stitch length compensation of the control component, effectively improving the smoothness and controllability of the conveying of the piece to be sewn during the sewing process.

[0013] The sewing mechanism includes a third driving member, a third rotating link, and a needle bar assembly. The needle bar assembly includes a needle bar bracket disposed on the sewing machine head and a needle bar member movably installed within the needle bar bracket. One end of the third rotating link is connected to the output end of the third driving member, and the end remote from the third driving member is fixedly connected to the needle bar member. The third driving member drives the third rotating link to move, thereby driving the needle bar member to reciprocate up and down within the needle bar bracket to achieve the sewing action on the workpiece to be sewn. The control component adjusts the rotation speed of the third driving member according to the data collected by the multi-modal detection unit, thereby compensating the stitch length of the material piercing, so that the stitch length during turning movement is the same as that during linear movement.

[0014] The third driving member serves as the power core. Its output end is connected to one end of the third rotating link. The other end of the link remote from the driving member is fixedly connected to the needle bar member in the needle bar assembly. The needle bar member is movably installed within the needle bar bracket. When the third driving member drives the third rotating link to move, it drives the needle bar member to reciprocate up and down within the needle bar bracket to achieve the material piercing action on the workpiece to be sewn. Based on the moving path data of the workpiece to be sewn collected by the multi-modal detection unit (the displacement data sensed by the sensor and the path image data of the light compensation module), the control component calculates the stitch length compensation parameters required for the turning area through the algorithm module, and adjusts the rotation speed of the third driving member in real time, thereby adjusting the material piercing frequency of the needle bar member (i.e., the number of material piercing times per unit distance), so that the material piercing rhythm during turning dynamically matches the feeding speed of the workpiece to be sewn. The beneficial effect is that through the precise control of the rotation speed of the driving member and the reciprocating motion design of the needle bar assembly, a real-time coupling relationship between the material piercing frequency and the moving speed of the workpiece to be sewn is established, solving the problem of stitch length fluctuation caused by the change of the feeding path during turning in traditional sewing equipment; the multi-modal data fusion calculation provides an accurate control basis for stitch length compensation, ensuring that the stitch length in the turning area is the same as that in the linear feeding, significantly improving the stitch uniformity and aesthetics of the sewn product, especially suitable for the processing of complex fabrics with high requirements for stitch length accuracy, reflecting the high efficiency and reliability of the combination of mechanical transmission and intelligent control.

[0015] The sewing equipment is also provided with an operation panel, which is electrically connected to the control component. The user can input different sewing parameters through the operation panel, and the control component makes corresponding adjustments to the support mechanism, the presser foot mechanism, and the sewing mechanism according to the parameters input by the user.

[0016] The operation panel is integrated into the main body of the sewing equipment and forms a data interaction channel with the control component through electrical connection. A parameter input module (such as a touch screen, a button group, a knob, etc.) is provided on the panel. Users can set sewing parameters (including the stitch pitch reference value, the feeding speed, the pressing force, the turning compensation coefficient, etc.) through the input module. After receiving the parameters, the control component converts the user's instructions into control signals for the rotation speed of the first driving part of the supporting mechanism, the rotation frequency of the second driving part of the presser foot mechanism, and the reciprocating motion rhythm of the third driving part of the sewing mechanism through an internal algorithm, so as to realize the coordinated adjustment of the three major mechanisms. Its beneficial effects are as follows. The operation panel constructs an intelligent control interface for human-computer interaction, endowing the equipment with the ability of parameter customization. Users can flexibly configure process parameters according to the material of the piece to be sewn (such as knitting, weaving) and the sewing pattern (straight line, curve, complex turning). The control component performs fusion operation based on the real-time input parameters and multi-modal detection data, enabling the equipment to not only execute standardized sewing processes but also adapt to personalized processing requirements. The digital input and precise transmission of parameters avoid the tediousness of traditional equipment relying on mechanical adjustment, improving the setting efficiency and accuracy of sewing parameters. Especially during complex turning sewing, the stitch pitch compensation strategy preset by the user can dynamically cooperate with the multi-modal detection system to ensure that the equipment can maintain stable sewing quality under different working conditions, significantly enhancing the versatility and intelligent level of the equipment.

[0017] The sewing equipment further includes a thread cutting mechanism provided on the supporting mechanism. The thread cutting mechanism includes a first rotating gear, a fourth rotating link, a rotating shaft, a movable knife, and a fixed knife. A second rotating gear is further provided at one end of the third rotating link close to the third driving part. The first rotating gear is driven by a belt to be in transmission with the second rotating gear. The first rotating gear is fixedly installed on the fourth rotating link. A second bevel gear is provided at one end of the fourth rotating link away from the first rotating gear. A third bevel gear is provided at one end of the rotating shaft close to the fourth rotating link. The third bevel gear is vertically meshed with the second bevel gear. The fixed knife is fixedly provided above the rotating shaft. The movable knife is rotatably provided on the rotating shaft via a knife holder. The third driving part rotates to drive the second bevel gear on the fourth rotating link to rotate. The second bevel gear drives the third bevel gear to rotate. The third bevel gear drives the rotating shaft to rotate to drive the movable knife to rotate to approach or move away from the fixed knife to cut the thread.

[0018] When the third driving member drives the third rotating link to reciprocate, the second rotating gear at the end of the link near the driving member is in transmission connection with the first rotating gear through a belt. The first rotating gear is fixedly installed on the fourth rotating link, driving the link to rotate synchronously. The second bevel gear at the end of the fourth rotating link is vertically engaged with the third bevel gear on the rotating shaft, transmitting power to the rotating shaft. The movable knife on the rotating shaft is rotatably installed through a tool holder, and the fixed knife is fixed above the rotating shaft. When the third driving member operates, through belt transmission and bevel gear engagement, it drives the rotating shaft to rotate, driving the movable knife to rotate around the shaft, and realizing the silk cutting action through the relative rotation of the movable knife and the fixed knife. The thread cutting mechanism cleverly reuses the third driving member of the sewing mechanism as the power source, and through the combined transmission of the belt and bevel gear, constructs a linkage mechanism between the material piercing action and the thread cutting action, avoiding the additional configuration of independent driving components, effectively simplifying the equipment structure, reducing energy consumption and manufacturing costs; the vertically engaged bevel gears achieve a 90° conversion of the power transmission direction, ensuring a stable torque output of the rotating shaft, enabling the cutting actions of the movable knife and the fixed knife to be precisely synchronized, and avoiding problems such as incomplete thread cutting or silk pulling caused by power fluctuations.

[0019] The light compensation module includes an LED lamp and an ambient light sensor. The LED lamp is electrically connected to the control component. The control component automatically adjusts the brightness of the LED lamp according to the ambient light intensity detected by the ambient light sensor in real time and the image clarity data feedback by the light compensation module. When the ambient light is dim or the image clarity is insufficient, the control component increases the brightness of the LED lamp; when the ambient light is bright, it reduces the brightness to achieve a balance between energy saving and the best image acquisition effect.

[0020] The LED lamp and the ambient light sensor are integrated in the light compensation module. The ambient light sensor collects ambient light intensity data in real time, and the light compensation module synchronously feeds back the current image clarity parameters (such as contrast, edge resolution, etc.). Both data are transmitted to the control component. The control component dynamically matches the ambient light intensity and the image clarity requirements through a preset light adjustment algorithm. When the ambient light is below the threshold or the image clarity is insufficient, it automatically increases the driving current of the LED lamp to increase the brightness, and vice versa to reduce the brightness, realizing the adaptive adjustment of the lighting intensity.

[0021] The sewing equipment also includes an oil wick. A card slot for installing the oil wick is provided on the needle bar bracket. The oil wick is embedded in the card slot and contacts the needle bar member to continuously lubricate the needle bar member during the up and down reciprocating movement.

[0022] The embedded design of the card slot and the oil cotton ensures the accuracy of the lubrication position and avoids the leakage of lubricating oil and contamination of the sewing parts or equipment. At the same time, the flexible contact of the oil cotton can adapt to the slight vibration of the needle bar during high-speed reciprocating motion, provide uniform and stable lubrication protection, and effectively reduce the friction coefficient between the needle bar and the bracket (can reduce 40%-60% of the movement resistance), and extend the service life of the needle bar assembly; continuous lubrication avoids the wear particles generated by dry friction of metal parts, reduces the problems of thread breakage and crooked stitches caused by needle bar jamming during sewing, and ensures the smoothness and accuracy of the piercing action; in addition, the self-priming oil storage characteristics of the oil cotton can reduce the frequency of manual maintenance (such as traditional oiling methods require addition every shift, oil cotton lubrication can be extended to weekly replacement), reduce equipment maintenance costs, and is especially suitable for high-speed sewing conditions. The stable lubrication system ensures the reliability of the equipment under long-term high-load operation, provides a basic guarantee for the coordinated work of the sewing mechanism and the multimodal detection system, and indirectly improves the stability of the overall sewing quality.

[0023] A sewing method of a turning intelligent equidistant stitch sewing device comprises the following steps:

[0024] S1, sewing parameter input: the workpiece to be sewn is placed between the presser mechanism and the supporting mechanism, so that the sewing area of the workpiece to be sewn is aligned with the sewing mechanism; the user inputs the sewing parameters of the workpiece to be sewn through the operation panel, and the control component initializes the driving parameters of the supporting mechanism, the presser mechanism and the sewing mechanism according to the input sewing parameters;

[0025] S2, initialization of the multimodal detection unit: the LED light of the light compensation module automatically adjusts the luminous brightness and / or luminous intensity according to the ambient light intensity detected by the ambient light sensing element, and the camera module enters a standby state to sense the initial position of the sewing piece and the feeding direction in real time;

[0026] S3, sewing of the workpiece to be sewn: when the workpiece to be sewn enters the straight-line sewing area, the control component controls the support mechanism, the presser mechanism and the sewing mechanism to work together according to the initial driving parameters to achieve uniform stitch length sewing; the camera module captures the image of the workpiece to be sewn during its movement, and transmits the image to the control component, which fuses and calculates the camera module data and the image data through the algorithm module to generate a speed compensation parameter for the sewing mechanism, so that the stitch length of the sewing mechanism's turning movement is consistent with the stitch length of the straight-line movement;

[0027] S4, thread trimming processing of the workpiece to be sewn: the user presses the thread trimming button, the control component receives the thread trimming signal, and the control component controls the thread trimming mechanism to cut the sewing thread on the surface of the workpiece to be sewn.

[0028] The following steps are also included:

[0029] S5: After sewing is completed, the control component will automatically record the relevant data of this sewing, including the rotational speed parameters of the driving part input, the stitch compensation data for turning movements, the thread cutting time, etc., and store these data in the storage module for subsequent query and analysis.

[0030] The multi-modal detection unit can be installed above, below, to the left, or to the right of the support mechanism, or can be installed inside or outside the support mechanism.

[0031] Figure 11 In [diagram], it is a schematic structural diagram of the stitch of a fabric sewn without using this sewing equipment. When using an ordinary sewing machine on the market to sew a fabric during a turn, due to the change in angle, the stitch size will be inconsistent, affecting the appearance of the product. Figure 12 In [diagram], it is a schematic structural diagram of the stitch of a fabric sewn using this sewing equipment. When using the sewing machine of the present invention, the multi-modal detection unit is used to collect data such as turns, and then through the control component's fusion calculation, the rotational speed of the driving part of the sewing mechanism is dynamically regulated, so that the stabbing frequency in the turning area is accurately matched with the moving speed of the workpiece to be sewn, realizing stitch compensation, making the stitch during turning sewing of the product the same as that during straight sewing, and making the product more beautiful.

[0032] Advantages of the present invention: The present invention uses a multi-modal detection unit to (collect displacement, image, and other data of the feeding path of the workpiece to be sewn in real time, and through the control component's fusion calculation, dynamically regulate the rotational speed of the driving part of the sewing mechanism, so that the stabbing frequency in the turning area is accurately matched with the moving speed of the workpiece to be sewn, realizing stitch compensation; breaking through the bottleneck of uneven turning stitches of traditional sewing equipment, with the help of multi-source data fusion and intelligent control technology, accurately perceiving the motion state of the workpiece to be sewn under complex paths, ensuring that the stitches during turning and straight sewing are the same, significantly improving the appearance and processing accuracy of the product; the coordinated rotation drive of the support mechanism and the presser foot mechanism, the power reuse design of the thread cutting mechanism, the intelligent dimming of the LED lamp, and the oil-cotton self-lubricating device respectively optimize the performance from aspects such as the feeding stability of the workpiece to be sewn, the structural simplicity, the adaptability of the detection environment, and the convenience of equipment maintenance, making the equipment have advantages such as intelligent control, high energy efficiency, and high reliability, and is especially suitable for high-precision automated sewing processing of complex fabrics such as knitted fabrics and leather. Description of the Drawings

[0033] Figure 1 It is a schematic structural diagram of the whole of the present invention;

[0034] Figure 2 It is a schematic structural diagram of another perspective of the whole of the present invention;

[0035] Figure 3 It is of the present invention Figure 2 The enlarged structural diagram of A in [diagram];

[0036] Figure 4Schematic diagram of the support mechanism of the present invention;

[0037] Figure 5 of the present invention Figure 4 Enlarged structural schematic diagram of B in

[0038] Figure 6 Schematic diagram of the presser foot mechanism of the present invention;

[0039] Figure 7 Schematic diagram of the sewing mechanism and thread cutting mechanism of the present invention;

[0040] Figure 8 Schematic diagram of the movable knife and fixed knife of the present invention;

[0041] Figure 9 Schematic diagram of the needle bar assembly of the present invention;

[0042] Figure 10 Process flow chart of the sewing method of the present invention;

[0043] Figure 11 Schematic diagram of the stitch length without using this sewing equipment;

[0044] Figure 12 Schematic diagram of the stitch length using this sewing equipment.

[0045] Reference numerals include:

[0046] 1, base; 2, sewing head; 3, control component; 4, support mechanism; 5, presser foot mechanism; 6, sewing mechanism; 8, sensor; 9, light compensation module; 11, first driving member; 12, first rotating link; 13, feeding gear; 14, first bevel gear; 15, second driving member; 16, second rotating link; 17, pressing component; 18, pressing mounting seat; 19, rotating bearing; 21, pressing wheel; 22, third driving member; 23, third rotating link; 24, needle bar assembly; 25, needle bar bracket; 26, needle bar member; 27, operation panel; 28, thread cutting mechanism; 29, first rotating gear; 31, fourth rotating link; 32, rotating shaft; 33, movable knife; 34, fixed knife; 35, second rotating gear; 36, second bevel gear; 37, third bevel gear; 38, LED lamp; 39, ambient light sensor; 41, oil cotton; 42, card slot. Detailed implementation manners

[0047] For the convenience of those skilled in the art to understand, the present invention will be further described below in conjunction with embodiments and the accompanying drawings. The content mentioned in the embodiments does not limit the present invention.

[0048] Please refer to Figures 1 to 12As shown in the figure, a turning intelligent equidistant stitch sewing device of the present invention includes a base 1, a sewing machine head 2 disposed on the base 1, and a control component 3 disposed on the sewing machine head 2; a support mechanism 4 is further provided on the base 1, and the sewing machine head 2 includes a presser foot mechanism 5 and a sewing mechanism 6 that cooperates with the presser foot mechanism 5; the sewing device further includes a multimodal detection unit, and the multimodal detection unit includes a pose data acquisition component disposed on the support mechanism 4. The pose data acquisition component, the presser foot mechanism 5, and the sewing mechanism 6 are all electrically connected to the control component 3; the presser foot mechanism 5 presses the piece to be sewn on the support mechanism 4, and the pose data acquisition component is used to obtain the position data, posture data, and / or speed data during the movement of the piece to be sewn between the presser foot mechanism 5 and the support mechanism 4. The control component 3 calculates and processes the data obtained by the pose data acquisition component through an algorithm module to obtain output data, and the control component 3 adjusts the sewing speed of the sewing mechanism 6 by means of the output data obtained by the calculation process to compensate for the stitch distance during the movement of the piece to be sewn, so that the stitch distance during the turning movement of the piece to be sewn is the same as that during the straight movement, as Figure 11 and Figure 12 shown in the comparison.

[0049] The pose data acquisition component is a lidar sensor 8 or a camera sensor 8. The pose data acquisition component is used to take pictures and / or videos of the piece to be sewn during the movement between the presser foot mechanism 5 and the support mechanism 4, and transmits the taken pictures and / or images to the control component 3.

[0050] The camera sensor 8 includes a camera module and a light compensation module 9 disposed on the support mechanism 4. The camera module is used to take pictures of the piece to be sewn during the movement between the presser foot mechanism 5 and the support mechanism 4, and the light compensation module 9 is used to perform light compensation on the piece to be sewn during the movement between the presser foot mechanism 5 and the support mechanism 4.

[0051] The position, posture, or speed data during the movement of the piece to be sewn is obtained through the pose data acquisition component in the multimodal detection unit. After the control component 3 processes the data through the algorithm module, it adjusts the sewing speed of the sewing mechanism 6 to compensate for the turning movement stitch distance, so that the stitch distance of the turning of the piece to be sewn is the same as that of the straight movement, ensuring the sewing quality. The pose data acquisition component can adopt a lidar sensor 8 or a camera sensor 8 to take pictures or videos to obtain the data of the piece to be sewn, meeting the requirements of different application scenarios and enhancing the applicability of the device. The camera sensor 8 includes a camera module and a light compensation module 9. The camera module takes pictures, and the light compensation module 9 performs light compensation to ensure clear images are obtained under different light conditions, improving the data accuracy, and thus enhancing the sewing precision.

[0052] The lidar sensor 8 emits laser beams through a laser emitter. The reflected signals are captured by a receiver and combined with a scanning mechanism to achieve omnidirectional data collection. Then, a data processing unit calculates the distance, angle, and speed of the target object, generates point cloud or three-dimensional data, and transmits it to the control component 3 in real time through an interface, providing high-precision and strong real-time pose data support for the sewing mechanism 6. Based on the principle of laser reflection ranging, it has high precision, strong environmental adaptability, and real-time response ability, is not restricted by light conditions, provides a basis for the control component 3 to dynamically adjust the sewing speed, thus ensuring the stitch pitch consistency during turning and straight-line movements, and significantly improving the sewing quality.

[0053] The support mechanism 4 includes a first driving member 11, a first rotating link 12, and a feeding gear 13. The first driving member 11 drives the first rotating link 12 to rotate. A first bevel gear 14 is further provided at one end of the first rotating link 12 away from the first driving member 11. The first bevel gear 14 is vertically meshed with the feeding gear 13. When the feeding gear 13 rotates, it contacts the piece to be sewn through the outer peripheral tooth pattern, and cooperates with the presser foot mechanism 5 to drive the piece to be sewn to move.

[0054] The first driving member 11 serves as a power source to drive the first rotating link 12 to rotate. A first bevel gear 14 is provided at the end of the link away from the driving member. This gear is in a vertically meshed state with the feeding gear 13. When the first bevel gear 14 rotates, it drives the feeding gear 13 to rotate synchronously through gear meshing transmission. The tooth pattern on the outer periphery of the feeding gear 13 directly contacts the piece to be sewn. With the pressing force of the presser foot mechanism 5 on the piece to be sewn, the friction force generated by the rotation of the gear drives the piece to be sewn to move smoothly. The use of a vertically meshed transmission structure of bevel gears realizes an efficient conversion of the power transmission direction, ensures that the feeding gear 13 obtains a stable and uniform driving force. The contact design of the outer peripheral tooth pattern with the piece to be sewn enhances the friction force during the feeding process, avoiding the possible slipping or jamming phenomena of the traditional support mechanism 4. It enables the piece to be sewn to maintain a constant conveying speed and accuracy under the cooperation of the support mechanism 4 and the presser foot mechanism 5, providing a stable mechanical transmission basis for the subsequent multi-modal detection unit to accurately sense the movement path of the piece to be sewn and the control component 3 to achieve stitch pitch compensation. Especially when the piece to be sewn is fed while turning, it can effectively ensure the coordination between the feeding rhythm and the sewing mechanism 6, improving the reliability of the overall sewing process and the quality of the product.

[0055] The presser foot mechanism 5 includes a second driving member 15, a second rotating link 16 and a pressing assembly 17. The pressing assembly 17 includes a pressing mounting seat 18, a rotating bearing 19 installed in the pressing mounting seat 18, and a pressing wheel 21. One end of the second rotating link 16 is connected to the output end of the second driving member 15, and the end far from the second driving member 15 is installed in the rotating bearing 19 and is in transmission connection with the pressing wheel 21. The second driving member 15 drives the second rotating link 16 to rotate to drive the pressing wheel 21 to rotate, and the rotation of the pressing wheel 21 cooperates with the supporting mechanism 4 to realize the conveying of the piece to be sewn.

[0056] The second driving member 15 serves as a power input source. Its output end is connected to one end of the second rotating link 16. The other end of the link far from the driving member is installed in the pressing mounting seat 18 through the rotating bearing 19 and forms a transmission connection with the pressing wheel 21. When the second driving member 15 drives the second rotating link 16 to rotate, it drives the pressing wheel 21 to rotate synchronously under the support of the rotating bearing 19. The pressing wheel 21, relying on the contact friction force with the surface of the piece to be sewn during rotation, cooperates with the feeding gear 13 of the supporting mechanism 4 to form an upper and lower coordinated clamping and conveying structure for the piece to be sewn. The beneficial effect is that the rotatable design of the pressing wheel 21 replaces the rigid pressing method of the traditional fixed presser foot. Through the power transmission of the second driving member 15, the rotational speeds of the pressing wheel 21 and the feeding gear 13 are matched. It can not only stably control the conveying rhythm of the piece to be sewn through the rotational friction force, but also reduce the stretching or wrinkling of the piece to be sewn caused by excessive friction. The setting of the rotating bearing 19 reduces the rotational resistance of the pressing wheel 21, ensuring that the pressing action is flexible and reliable. Especially during sewing along complex paths, the synchronous rotation drive of the presser foot mechanism 5 and the supporting mechanism 4 can accurately maintain the conveying tension of the piece to be sewn, providing a stable motion reference for the path recognition of the multi-modal detection unit and the stitch compensation of the control component 3 of the sewing machine, effectively improving the smoothness and controllability of the conveying of the piece to be sewn during the sewing process.

[0057] The sewing mechanism 6 includes a third driving member 22, a third rotating link 23 and a needle bar assembly 24. The needle bar assembly 24 includes a needle bar bracket 25 arranged on the sewing machine head 2 and a needle bar member 26 movably installed in the needle bar bracket 25. One end of the third rotating link 23 is connected to the output end of the third driving member 22, and the end far from the third driving member 22 is fixedly connected to the needle bar member 26. The third driving member 22 drives the third rotating link 23 to move to drive the needle bar member 26 to reciprocate up and down in the needle bar bracket 25 to realize the sewing action on the piece to be sewn. The control component 3 adjusts the rotational speed of the third driving member 22 according to the data collected by the multi-modal detection unit, and further compensates the stitch of the material piercing, so that the stitch during turning movement is the same as that during straight movement.

[0058] The third driving member 22 serves as the power core. Its output end is connected to one end of the third rotating link 23. The other end of the link away from the driving member is fixedly connected to the needle bar member 26 in the needle bar assembly 24. The needle bar member 26 is movably installed in the needle bar bracket 25. When the third driving member 22 drives the third rotating link 23 to move, it drives the needle bar member 26 to reciprocate up and down in the needle bar bracket 25, realizing the material piercing action on the sewing material. The control component 3, based on the sewing material movement path data collected by the multi-modal detection unit (the displacement data sensed by the sensor 8 and the path image data of the light compensation module 9), calculates the stitch pitch compensation parameters required for the turning area through the algorithm module, and adjusts the rotation speed of the third driving member 22 in real time, thereby adjusting the material piercing frequency of the needle bar member 26 (i.e., the number of material piercing times per unit distance), so that the material piercing rhythm during turning is dynamically matched with the feeding speed of the sewing material. Its beneficial effect lies in that through the precise control of the driving member rotation speed and the reciprocating motion design of the needle bar assembly 24, a real-time coupling relationship between the material piercing frequency and the moving speed of the sewing material is established, solving the problem of stitch pitch fluctuation caused by the change of the feeding path during turning in traditional sewing equipment; the multi-modal data fusion calculation provides an accurate control basis for stitch pitch compensation, ensuring that the stitch pitch in the turning area is consistent with the stitch pitch during straight feeding, significantly improving the stitch uniformity and aesthetics of the sewn product, especially suitable for the processing of complex fabrics with high requirements for stitch pitch accuracy, reflecting the high efficiency and reliability of the combination of mechanical transmission and intelligent control.

[0059] The sewing equipment is also provided with an operation panel 27. The operation panel 27 is electrically connected to the control component 3. The user can input different sewing parameters through the operation panel 27, and the control component 3 makes corresponding adjustments to the support mechanism 4, the presser foot mechanism 5 and the sewing mechanism 6 according to the parameters input by the user.

[0060] The operation panel 27 is integrated into the main body of the sewing device and forms a data interaction channel with the control component 3 through electrical connection. A parameter input module (such as a touch screen, a button group, a knob, etc.) is arranged on the panel. Users can set sewing parameters (including the stitch pitch reference value, the feeding speed, the pressing force, the turning compensation coefficient, etc.) through the input module. After receiving the parameters, the control component 3 converts the user instructions into control signals for the rotation speed of the first driving member 11 of the supporting mechanism 4, the rotation frequency of the second driving member 15 of the presser foot mechanism 5, and the reciprocating movement rhythm of the third driving member 22 of the sewing mechanism 6 through an internal algorithm, so as to realize the coordinated adjustment of the three major mechanisms. Its beneficial effect lies in that the operation panel 27 constructs an intelligent control interface for human-computer interaction, endows the device with the ability of parameter customization. Users can flexibly configure process parameters according to the material of the piece to be sewn (such as knitting, weaving) and the sewing pattern (straight line, curve, complex turning). The control component 3 performs fusion operation based on the real-time input parameters and multi-modal detection data, so that the device can not only execute the standardized sewing process, but also adapt to the personalized processing requirements. The digital input and accurate transmission of parameters avoid the tediousness of traditional equipment relying on mechanical adjustment, improve the setting efficiency and accuracy of sewing parameters. Especially during complex turning sewing, the stitch pitch compensation strategy preset by the user can cooperate dynamically with the multi-modal detection system to ensure that the device can maintain stable sewing quality under different working conditions, significantly enhancing the versatility and intelligent level of the device.

[0061] The sewing device further includes a thread cutting mechanism 28 arranged on the supporting mechanism 4. The thread cutting mechanism 28 includes a first rotating gear 29, a fourth rotating link 31, a rotating shaft 32, a movable knife 33 and a fixed knife 34. One end of the third rotating link 23 close to the third driving member 22 is also provided with a second rotating gear 35. The first rotating gear 29 is driven by a belt to be in transmission connection with the second rotating gear 35. The first rotating gear 29 is fixedly installed on the fourth rotating link 31. A second bevel gear 36 is arranged at one end of the fourth rotating link 31 far from the first rotating gear 29. A third bevel gear 37 is arranged at one end of the rotating shaft 32 close to the fourth rotating link 31. The third bevel gear 37 is vertically meshed with the second bevel gear 36. The fixed knife 34 is fixedly arranged above the rotating shaft 32. The movable knife 33 is rotatably arranged on the rotating shaft 32 through a knife holder. The third driving member 22 rotates to drive the second bevel gear 36 on the fourth rotating link 31 to rotate. The second bevel gear 36 drives the third bevel gear 37 to rotate. The third bevel gear 37 drives the rotating shaft 32 to rotate to drive the movable knife 33 to rotate to approach or move away from the fixed knife 34 to cut the thread.

[0062] When the third driving member 22 drives the third rotating link 23 to reciprocate, the second rotating gear 35 at the end of the link near the driving member is in transmission connection with the first rotating gear 29 through a belt. The first rotating gear 29 is fixedly installed on the fourth rotating link 31 to drive the link to rotate synchronously. The second bevel gear 36 at the end of the fourth rotating link 31 is vertically engaged with the third bevel gear 37 on the rotating shaft 32 to transmit power to the rotating shaft 32. The movable knife 33 on the rotating shaft 32 is rotatably installed through a tool holder, and the fixed knife 34 is fixed above the rotating shaft 32. When the third driving member 22 operates, through belt transmission and bevel gear engagement, the rotating shaft 32 is driven to rotate, driving the movable knife 33 to rotate around the axis, and the silk thread cutting action is realized through the relative rotation of the movable knife 33 and the fixed knife 34. The thread cutting mechanism 28 cleverly reuses the third driving member 22 of the sewing mechanism 6 as a power source, and through the combined transmission of the belt and bevel gear, constructs a linkage mechanism between the material piercing action and the thread cutting action, avoiding the additional configuration of independent driving components, effectively simplifying the equipment structure, reducing energy consumption and manufacturing costs; the vertically engaged bevel gears realize a 90° conversion of the power transmission direction, ensuring a stable torque output of the rotating shaft 32, making the cutting actions of the movable knife 33 and the fixed knife 34 accurately synchronized, and avoiding problems such as incomplete thread cutting or silk thread pulling caused by power fluctuations.

[0063] The light compensation module 9 includes an LED lamp 38 and an ambient light sensor 39. The LED lamp 38 is electrically connected to the control component 3. The control component 3 automatically adjusts the brightness of the LED lamp 38 according to the ambient light intensity detected by the ambient light sensor 39 in real time and the image clarity data fed back by the light compensation module 9. When the ambient light is dim or the image clarity is insufficient, the control component 3 increases the brightness of the LED lamp 38. When the ambient light is bright, the brightness is reduced to achieve a balance between energy saving and the best image acquisition effect.

[0064] The LED lamp 38 and the ambient light sensor 39 are integrated in the light compensation module 9. The ambient light sensor 39 collects ambient light intensity data in real time, and the light compensation module 9 synchronously feeds back the current image clarity parameters (such as contrast, edge resolution, etc.). Both pieces of data are transmitted to the control component 3. The control component 3 dynamically matches the ambient light intensity and the image clarity requirements through a preset light adjustment algorithm. When the ambient light is below the threshold or the image clarity is insufficient, the driving current of the LED lamp 38 is automatically increased to increase the brightness, and vice versa to reduce the brightness, realizing the adaptive adjustment of the illumination intensity.

[0065] The sewing equipment further includes an oil wick 41. A card slot 42 for installing the oil wick 41 is provided on the needle bar bracket 25. The oil wick 41 is embedded in the card slot 42 and contacts the needle bar member 26 to continuously lubricate the needle bar member 26 during the up and down reciprocating movement.

[0066] The embedded design of the slot 42 and the oil cotton 41 ensures the accuracy of the lubrication position and avoids the leakage of lubricating oil and contamination of the sewn parts or equipment. At the same time, the flexible contact of the oil cotton 41 can adapt to the slight vibration of the needle bar during high-speed reciprocating motion, provide uniform and stable lubrication protection, and effectively reduce the friction coefficient between the needle bar and the bracket (can reduce 40%-60% of the movement resistance), and extend the service life of the needle bar assembly 24; continuous lubrication avoids the wear particles generated by dry friction of metal parts, reduces the problems of thread breakage and crooked stitches caused by needle bar jamming during sewing, and ensures the smoothness and accuracy of the piercing action; in addition, the self-priming oil storage characteristics of the oil cotton 41 can reduce the frequency of manual maintenance (such as the traditional oiling method requires addition every shift, and the lubrication of the oil cotton 41 can be extended to weekly replacement), reduce equipment maintenance costs, and is especially suitable for high-speed sewing conditions. The stable lubrication system ensures the reliability of the equipment under long-term high-load operation, provides a basic guarantee for the coordinated work of the sewing mechanism 6 and the multimodal detection system, and indirectly improves the stability of the overall sewing quality.

[0067] A sewing method of a turning intelligent equidistant stitch sewing device comprises the following steps:

[0068] S1, sewing parameter input: the workpiece to be sewn is placed between the presser mechanism 5 and the support mechanism 4, so that the sewing area of the workpiece to be sewn is aligned with the sewing mechanism 6; the user inputs the sewing parameters of the workpiece to be sewn through the operation panel 27, and the control component 3 initializes the driving parameters of the support mechanism 4, the presser mechanism 5 and the sewing mechanism 6 according to the input sewing parameters;

[0069] S2, initialization of the multimodal detection unit: the LED light 38 of the light compensation module 9 automatically adjusts the luminous brightness and / or luminous intensity according to the ambient light intensity detected by the ambient light sensing element 39, and the camera module (8) enters a standby state to sense the initial position of the sewing piece and the feeding direction in real time;

[0070] S3, sewing of the workpiece to be sewn: when the workpiece to be sewn enters the straight-line sewing area, the control component 3 controls the support mechanism 4, the presser mechanism 5 and the sewing mechanism 6 to work together according to the initial driving parameters to achieve uniform stitch length sewing; the camera module captures the image of the workpiece to be sewn during its movement, and transmits the image to the control component 3, and the control component 3 fuses and calculates the camera module data and the image data through the algorithm module, and generates a rotation speed compensation parameter of the sewing mechanism 6, so that the stitch length of the sewing mechanism 6 in turning movement is consistent with the stitch length of the straight-line movement;

[0071] S4, thread trimming processing of the piece to be sewn: the user presses the thread trimming button, the control component 3 receives the thread trimming signal, and the control component 3 controls the thread trimming mechanism 28 to cut the sewing thread on the surface of the piece to be sewn.

[0072] The following steps are also included:

[0073] S5: After sewing is completed, the control component 3 will automatically record the relevant data of this sewing, including the rotational speed parameter of the driving part input, the stitch compensation data for turning movement, the thread cutting time, etc., and store these data in the storage module for subsequent query and analysis.

[0074] The multi-modal detection unit can be installed above, below, on the left, on the right of the support mechanism 4, or can be installed inside or outside the support mechanism 4.

[0075] Figure 11 Figure is a schematic structural diagram of the stitch length of a fabric sewn without using this sewing device. When using an ordinary sewing machine on the market to turn the fabric, the change in angle will cause the stitch lengths to be inconsistent, affecting the appearance of the product. Figure 12 Figure is a schematic structural diagram of the stitch length of a fabric sewn using this sewing device. When using the sewing machine of the present invention, the multi-modal detection unit is used to collect data such as turning, and then the control component 3 fuses and calculates to dynamically adjust the rotational speed of the driving part of the sewing mechanism 6, so that the fabric feeding frequency in the turning area is accurately matched with the moving speed of the workpiece to be sewn, realizing stitch compensation, making the stitch length in the turning sewing of the product the same as that in the straight sewing, and the product is more beautiful.

[0076] The remaining parts of this embodiment are the same as those of Embodiment 1. For the features not explained in this embodiment, the explanations of Embodiment 1 are adopted and will not be elaborated here.

[0077] The above content is only the preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. A turning intelligent equidistant stitch sewing device, characterized in that: It includes a base (1), a sewing head (2) arranged on the base (1), and a control component (3) arranged on the sewing head (2); a support mechanism (4) is also provided on the base (1), and the sewing head (2) includes a presser foot mechanism (5) and a sewing mechanism (6) used in cooperation with the presser foot mechanism (5); the sewing equipment further includes a multi-modal detection unit, and the multi-modal detection unit includes a pose data acquisition component arranged on the support mechanism (4), and the pose data acquisition component, the presser foot mechanism (5), and the sewing mechanism (6) are all electrically connected to the control component (3); the presser foot mechanism (5) presses the workpiece to be sewn on the support mechanism (4), and the pose data acquisition component is used to obtain the position data, posture data, or / and speed data during the movement of the workpiece to be sewn between the presser foot mechanism (5) and the support mechanism (4), and the control component (3) calculates and processes the data obtained by the pose data acquisition component through an algorithm module to obtain output data, and the control component (3) adjusts the sewing speed of the sewing mechanism (6) by means of the output data of the calculation and processing, compensates the stitch length during the movement of the workpiece to be sewn, and makes the stitch length of the workpiece to be sewn during turning movement consistent with that during straight movement.

2. The intelligent equidistant stitch sewing device for turning according to claim 1, wherein: The pose data acquisition component is a lidar sensor or a camera sensor, and the pose data acquisition component is used to take pictures or / and videos of the workpiece to be sewn during the movement between the presser foot mechanism (5) and the support mechanism (4), and transmit the taken pictures or / and videos to the control component (3).

3. The intelligent equidistant stitch sewing device for turning according to claim 2, characterized in that: The camera sensor includes a camera module (8) and a light compensation module (9) arranged on the support mechanism (4), the camera module (8) is used to take pictures of the workpiece to be sewn during the movement between the presser foot mechanism (5) and the support mechanism (4), and the light compensation module (9) is used to perform light compensation on the workpiece to be sewn during the movement between the presser foot mechanism (5) and the support mechanism (4).

4. A turning intelligent equidistant stitch sewing device according to claim 1, characterized in that: The support mechanism (4) includes a first driving member (11), a first rotating link (12), and a feed gear (13), the first driving member (11) drives the first rotating link (12) to rotate, and a first bevel gear (14) is further provided at one end of the first rotating link (12) away from the first driving member (11), and the first bevel gear (14) is vertically meshed with the feed gear (13); when the feed gear (13) rotates, it contacts the workpiece to be sewn through the outer peripheral tooth pattern, and cooperates with the presser foot mechanism (5) to drive the workpiece to be sewn to move.

5. The turning intelligent equidistant stitch sewing device according to claim 1, characterized in that: The presser foot mechanism (5) comprises a second driving member (15), a second rotating connecting rod (16) and a pressing assembly (17); the pressing assembly (17) comprises a pressing mounting seat (18), a rotating bearing (19) mounted in the pressing mounting seat (18) and a pressing wheel (21); one end of the second rotating connecting rod (16) is connected to the output end of the second driving member (15), and the other end away from the second driving member (15) is mounted in the rotating bearing (19) and is transmission-connected to the pressing wheel (21); the second driving member (15) drives the second rotating connecting rod (16) to rotate to drive the pressing wheel (21) to rotate, and the pressing wheel (21) rotates to cooperate with the supporting mechanism (4) to realize the conveyance of the sewing piece.

6. A turning intelligent equidistant stitch sewing device according to claim 1, characterized in that: The sewing mechanism (6) comprises a third driving member (22), a third rotating connecting rod (23) and a needle bar assembly (24), wherein the needle bar assembly (24) comprises a needle bar bracket (25) arranged on the sewing machine head (2) and a needle bar member (26) movably mounted in the needle bar bracket (25); one end of the third rotating connecting rod (23) is connected to the output end of the third driving member (22), and the other end away from the third driving member (22) is connected to the needle bar member (26); the third driving member (22) drives the third rotating connecting rod (23) to move to drive the needle bar member (26) to perform up and down reciprocating motion in the needle bar bracket (25) to achieve the sewing action of piercing the material to be sewn; the control component (3) adjusts the rotation speed of the third driving member (22) according to the data collected by the multimodal detection unit, and then compensates the needle distance of the piercing material, so that the needle distance of the turning movement is consistent with the needle distance of the straight movement.

7. A turning intelligent equidistant stitch sewing device according to claim 1, characterized in that: The sewing device further comprises a thread trimming mechanism (28) arranged on the supporting mechanism (4), the thread trimming mechanism (28) comprising a first rotating gear (29), a fourth rotating link (31), a rotating shaft (32), a movable knife (33) and a fixed knife (34); a second rotating gear (35) is further provided at one end of the third rotating link (23) close to the third driving member (22), the first rotating gear (29) is driven by the second rotating gear (35) via a belt; the first rotating gear (29) is fixedly mounted on the fourth rotating link (31), the end of the fourth rotating link (31) away from the first rotating gear (29) is provided with a second bevel gear (36), the rotating gear (35) is further driven by the second rotating gear (35) A third bevel gear (37) is provided at one end of the shaft (32) close to the fourth rotating link (31), and the third bevel gear (37) is vertically meshed with the second bevel gear (36); the fixed knife (34) is fixedly arranged above the rotating shaft (32), and the movable knife (33) is rotatably arranged on the rotating shaft (32) via a knife seat; the third driving member (22) rotates to drive the second bevel gear (36) on the fourth rotating link (31) to rotate, the second bevel gear (36) drives the third bevel gear (37) to rotate, and the third bevel gear (37) drives the rotating shaft (32) to rotate to drive the movable knife (33) to rotate to approach or move away from the fixed knife (34) to cut the silk thread.

8. The intelligent equidistant stitch sewing device for turning according to claim 3, characterized in that: The light compensation module (9) includes an LED lamp (38) and an ambient light sensor (39). The LED lamp (38) is electrically connected to the control component (3). The control component (3) automatically adjusts the brightness of the LED lamp (38) according to the ambient light intensity detected by the ambient light sensor (39) in real time and the image sharpness data fed back by the light compensation module (9). When the ambient light is dim or the image sharpness is insufficient, the control component (3) increases the brightness of the LED lamp (38). When the ambient light is bright, the brightness is decreased to achieve a balance between energy saving and image acquisition effect.

9. The turning intelligent equidistant stitch sewing device according to claim 6, wherein: The sewing device further includes an oil wick (41). A slot (42) for installing the oil wick (41) is provided on the needle bar bracket (25). The oil wick (41) is embedded in the slot (42) and contacts the needle bar member (26) to continuously lubricate the needle bar member (26) during its up and down reciprocating movement.

10. A sewing method for a turning intelligent equidistant stitch sewing device, comprising the following steps: S1. Sewing parameter input: Place the workpiece to be sewn between the presser foot mechanism (5) and the support mechanism (4) so that the sewing area of the workpiece to be sewn is aligned with the sewing mechanism (6). The user inputs the sewing parameters of the workpiece to be sewn through the operation panel (27), and the control component (3) initializes the driving parameters of the support mechanism (4), the presser foot mechanism (5) and the sewing mechanism (6) according to the input sewing parameters. S2. Initialization of the multimodal detection unit: The LED lamp (38) of the light compensation module (9) automatically adjusts the light emission brightness or / and light emission intensity according to the ambient light intensity detected by the ambient light sensor (39), and the camera module (8) enters the standby state to sense the initial position and feeding direction of the workpiece to be sewn in real time. S3. Sewing of the workpiece to be sewn: When the workpiece to be sewn enters the straight sewing area, the control component (3) controls the support mechanism (4), the presser foot mechanism (5) and the sewing mechanism (6) to work together according to the initial driving parameters to achieve uniform stitch sewing. The camera module (8) captures an image during the movement of the workpiece to be sewn and transmits the image to the control component (3). The control component (3) performs fusion calculation on the data of the camera module (8) and the image data through the algorithm module to generate the rotational speed compensation parameter of the sewing mechanism (6) so that the stitch distance of the sewing mechanism (6) during turning movement is the same as that during straight movement. S4. Thread cutting process for the workpiece to be sewn: The user presses the thread cutting button, the control component (3) receives the thread cutting signal, and the control component (3) controls the thread cutting mechanism (28) to cut the sewing thread on the surface of the workpiece to be sewn.

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