Automatic cloth loading type sewing system and working method thereof

Abstract

The invention relates to an automatic cloth carrying type sewing system and a working method thereof. The automatic cloth carrying type sewing system comprises a workbench, a sewing machine and a cloth carrying vehicle. The cloth carrying vehicle comprises a chassis which is provided with two unit frames connected through a telescopic mechanism; mecanum wheel driving units are arranged on the chassis, so that omni-directional movement in the plane of the workbench is realized; the pressing adjusting mechanism comprises a pressing plate support and a pressing plate, and a positioning sleeve is arranged at the bottom of the pressing plate support, penetrates through the positioning through hole of the chassis and is in sliding fit with the positioning through hole; the lower end of the positioning sleeve extends out of the positioning through hole; the pressing plate support is driven by the lifting driving assembly to ascend and descend so as to adjust the pressing force of the pressing plate. The angle adjusting mechanism comprises a positioning shaft penetrating through the positioning sleeve and rotationally matched with the positioning sleeve, the two ends of the angle adjusting mechanism are connected with the connecting column and the pressing plate respectively, and the connecting column is driven by a rotary driving assembly to adjust the angle of the pressing plate. According to the invention, single-point template-free and multi-point assembly line automatic sewing is realized, and the overall efficiency and adaptive capacity of whole assembly line coordination are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the sewing technical field, and in particular to an automatic cloth loading sewing system and a working method thereof. BACKGROUND

[0002] In the textile and garment industry, implementing a production line is a key way to improve overall efficiency and achieve large-scale manufacturing. Traditional sewing operations have long relied on manual operation, with workers manually pushing the cloth to complete the stitches in coordination with the feed dog and presser foot. This method has shown strong dependence on the experience of operators in single workstations, and in the multi-process linkage of the production line, due to the different rhythms and poor coordination of each work station, it is easy to lead to low overall production efficiency and unstable sewing quality, which seriously restricts the operation efficiency and product consistency of the production line.

[0003] To improve the level of sewing automation, the industry has gradually introduced template sewing machines. Such equipment restricts the cloth movement trajectory through prefabricated molds, achieving automatic sewing of some processes, but different styles require custom-made templates. High-quality templates are made of materials such as acrylic plates and carbon fiber plates, which have high production costs and long production cycles, and the storage and management of templates also bring additional burdens. With the market demand shifting towards e-commerce, small batches, multiple categories, and short delivery periods, template sewing systems are difficult to support quick changes and flexible responses, and their adaptability is increasingly limited. The above problems are particularly pronounced in production line production, as modern textile and garment production lines are usually sequentially connected by multiple sewing stations, and each station needs to achieve precise coordination in terms of rhythm, positioning, and process parameters. The traditional manual cloth pushing method cannot guarantee the coordination of the entire production line, and is prone to congestion during transmission, leading to unbalanced work at each node and accumulation of semi-finished products. At the same time, different processes have different requirements for cloth sewing processes, and manual transmission inevitably affects the consistency of the final product sewing quality. Especially for small batch, multi-category orders, frequent style switching makes the coordination and reorganization of the production line more complex, and traditional manual methods and template assistance cannot achieve quick response and flexible adjustment, severely limiting the overall efficiency and adaptability of the production line.

[0004] Therefore, the current textile industry urgently needs an automated sewing solution that can break free from the dependence on physical templates and adapt to rapid production changes for multiple varieties. SUMMARY

[0005] To overcome the shortcomings of the prior art, the present application provides an automatic cloth loading sewing system and a working method thereof, which solves the problem that the prior art must rely on templates and can only complete partial automatic sewing, making it difficult to ensure the coordination of the entire production line and severely limiting the overall efficiency and adaptability of the production line.

[0006] The technical solution adopted by the present application is as follows: An automatic fabric-carrying sewing system includes a worktable on which at least one sewing machine is mounted; it also includes a fabric carriage for moving fabric on the worktable and cooperating with the at least one sewing machine to complete sewing along any trajectory without a template. The structure of the fabric-carrying vehicle includes: The chassis includes two transversely distributed unit frames connected by a telescopic mechanism to adjust the transverse dimensions of the chassis; the chassis is equipped with a Mecanum wheel drive unit for driving the chassis to move omnidirectionally within the worktable plane; A pressing and adjusting mechanism is provided on at least one of the unit frames, including a pressure plate bracket and a pressure plate. The bottom of the pressure plate bracket is provided with a positioning sleeve, which passes through and slides with the positioning through hole of the chassis. The lower end of the positioning sleeve extends out of the positioning through hole, and the pressure plate is provided at the lower end of the positioning sleeve. The pressure plate bracket is used to lift and lower under the drive of the lifting drive assembly, thereby adjusting the pressure of the pressure plate. An angle adjustment mechanism includes a positioning shaft that passes through and rotates with the positioning sleeve, and its upper and lower ends are respectively connected to a connecting column and the pressure plate. The connecting column is used to rotate under the drive of the rotation drive assembly, thereby adjusting the angle of the pressure plate. The pressure plate is used to press the fabric onto the worktable, and the movement of the chassis is used to transport the fabric. The system also includes a fabric carrier controller and a sewing machine controller. The two controllers communicate bidirectionally to synchronize their working status, thereby controlling the actions of the Mecanum wheel drive unit, the telescopic mechanism, the pressing adjustment mechanism, and the angle adjustment mechanism.

[0007] The preferred technical solution is as follows: The lifting drive assembly includes a servo motor, a crank, a positioning post, and a lifting block. The servo motor is mounted on the unit frame, with its output end connected to one end of the crank, and a protrusion at the other end of the crank. The bottom end of the positioning post is mounted on the pressure plate bracket, and its top end slides in engagement with the lifting block. The lifting block has a horizontal groove for sliding engagement with the protrusion. A damping element is provided between the lifting block and the pressure plate bracket to provide a restoring force for the lifting block to reset.

[0008] The rotary drive assembly includes a first motor, a split rocker arm, and a long tie rod. The first motor is mounted on the unit frame, and its output end is connected to the center of the split rocker arm. The end of the split rocker arm is connected to one end of the long tie rod, and the other end of the long tie rod is provided with a sleeve portion, which is sleeved with the connecting column and slides along the axial direction.

[0009] The structure of the fabric carrier also includes an auxiliary pressing assembly, including a second motor, a swing arm, a third motor, and a drag wheel; the second motor is mounted on at least one of the unit frames, and its output end is connected to one end of the swing arm, while the third motor is mounted on the other end of the swing arm, and its output end is connected to the drag wheel. The mop roller rotates under the drive of the third motor, which can press the fabric and drive it to move when the chassis is stationary; the swing arm is used to adjust the pressing force of the mop roller.

[0010] The pressure plate bracket extends longitudinally along the chassis, and the positioning sleeve includes two sleeves, which are symmetrically arranged at both ends of the longitudinal direction of the pressure plate bracket.

[0011] The bottom surface of the pressure plate is provided with anti-slip material in the area that comes into contact with the fabric.

[0012] The telescopic mechanism adopts a screw drive mechanism, which includes a first drive motor and a ball screw bracket installed on the first unit frame. The ball screw bracket contains a ball screw, which is connected to the output shaft of the first drive motor through a coupling. A slider is provided on the nut screwed onto the ball screw, which is connected to the second unit frame.

[0013] There are four Mecanum wheel drive units, distributed at the four corners of the chassis; each Mecanum wheel drive unit includes a second drive motor, the output of which is connected to the Mecanum wheel power. The operation of the four Mecanum wheel drive units includes: The Mecanum wheels of the four Mecanum wheel drive units rotate at the same speed and in the same direction, causing the fabric carriage to move in a straight line to feed the material. Two Mecanum wheels on opposite sides rotate in the same direction, while Mecanum wheels on the same side rotate in opposite directions, causing the fabric carrier to move laterally to feed the material. The Mecanum wheels on the same side rotate in the same direction, while the Mecanum wheels on the opposite side rotate in the opposite direction, causing the fabric-carrying cart to rotate in place. Four Mecanum wheels, with different combinations of motion parameters, synthesize movement in any direction within a plane, enabling the fabric carrier to move along any trajectory for material feeding.

[0014] The present invention also provides a method of operating the automatic fabric-carrying sewing system, comprising: Place the fabric-carrying vehicle on the workbench; The program is pre-written into the fabric carrier controller based on the sewing trajectory; The fabric carrier controller establishes bidirectional communication with the sewing machine controller; After receiving the start sewing command, the fabric carriage controller moves by the Mecanum wheel drive unit and simultaneously transports the fabric to the starting point of the track through the presser plate. The sewing machine controller controls the presser foot of the sewing machine to fall down, and the movement of the fabric carriage and the falling of the sewing machine needle work synchronously to complete the sewing. During the sewing process, the horizontal dimension of the base plate is adjusted according to the fabric size, and the pressing force of the pressure plate on the fabric is adjusted according to the fabric thickness and material; the angle of the pressure plate is adjusted according to the sewing process. The preferred technical solution is as follows: The working method also includes: Multiple sewing machines on a single workbench are combined into an assembly line system. The multiple sewing machines perform different sewing processes. The fabric carrier moves along a preset sewing trajectory to the workstations of each sewing machine to complete continuous, automated, multi-point assembly line sewing.

[0015] The technical solution of the present invention can achieve at least some of the following beneficial effects: This invention relates to an omnidirectional mobile fabric carrier that allows fabric to move along any trajectory within a plane, enabling sewing machines to sew along any trajectory without the aid of templates, including single-point templateless sewing and multi-point assembly line sewing. The omnidirectional mobile fabric carrier is highly compatible with assembly line production, integrating and connecting multiple sewing machines to achieve automated continuous production. It eliminates reliance on physical templates, replacing the traditional transfer links in assembly lines. In particular, it supports collaborative operations between multiple workstations in an assembly line environment, significantly improving the flexibility and efficiency of assembly line production, as well as equipment and space utilization. This drives the development of production lines from single-point templateless sewing to full-line collaborative work, meeting the urgent needs of the modern textile and apparel industry for efficient, cost-controllable, and digitalized production. It is especially suitable for small-batch, multi-variety production models, enabling rapid response to market changes and enhancing enterprise competitiveness.

[0016] This invention allows the fabric carriage to move omnidirectionally on the sewing machine table by adjusting the kinematic parameters of the Mecanum wheel, including movement in any direction and turning in place. This enables it to work in conjunction with the sewing machine to sew along any trajectory on the fabric. The telescopic mechanism actively adjusts the lateral dimension of the chassis to accommodate fabrics of different sizes (widths); the pressure adjustment mechanism adjusts the pressure applied by the pressure plate to accommodate different fabric materials, thicknesses, and sewing processes; and the angle adjustment mechanism changes the opening and closing angle of the pressure plate to alter its position on the fabric, thus adjusting the pressure position and adapting to various sewing techniques. It not only actively adjusts the fabric tension according to the sewing position but also avoids interference between the pressure plate and the sewing machine needles during edge sewing.

[0017] This invention addresses specific sewing tasks by utilizing a fabric-carrying roller to assist in feeding. The roller's position relative to the fabric carrier (longitudinal direction) can be adjusted to accommodate fabrics of different sizes (lengths). The roller works in conjunction with various mechanisms, enabling the fabric carrier to meet all sewing machine operation scenarios.

[0018] The omnidirectional mobile fabric carrier of this invention has significant advantages when applied to assembly line sewing. After the sewing machine completes the current process, it can transport the fabric to the next sewing machine to complete the next process. A single fabric carrier can transport fabric and multiple sewing machines to complete all processes.

[0019] Other features and advantages of the invention will be set forth in the following description or may be learned by practicing the invention. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the system structure of an embodiment of the present invention, which includes a single sewing machine and a fabric carrier.

[0021] Figure 2 This is a schematic diagram of the structure of the fabric carrier according to an embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of the installation structure of the unit frame on one side of the fabric carrier according to an embodiment of the present invention.

[0023] Figure 4 for Figure 3 Top view.

[0024] Figure 5 This is a schematic diagram of the overall structure consisting of the connecting column, positioning shaft, and pressure plate in an embodiment of the present invention.

[0025] Figure 6 This is a schematic diagram of the chassis structure according to an embodiment of the present invention.

[0026] Figure 7 This is a schematic diagram of the telescopic mechanism and chassis assembly structure according to an embodiment of the present invention.

[0027] Figure 8 This is a schematic diagram of the angle change structure of the pressure plate in an embodiment of the present invention.

[0028] Figure 9 This is a schematic diagram of the sewing machine performing arbitrary straight-line sewing operations according to an embodiment of the present invention.

[0029] Figure 10 This is a schematic diagram of the sewing machine sewing along an arbitrary curved trajectory according to an embodiment of the present invention.

[0030] Figure 11 This is a schematic diagram illustrating the operation of the drag wheel-assisted long fabric feeding in an embodiment of the present invention.

[0031] Figure 12This is a schematic diagram of the sewing process at the edge of the fabric in an embodiment of the present invention.

[0032] Figure 13 This is a schematic diagram of the operation of a sewing machine production line according to an embodiment of the present invention.

[0033] Explanation of reference numerals in the attached drawings: 100, worktable; 200, sewing machine; 300, unit frame; 301, first support; 302, positioning through hole; 303, second support; 304, third support; 305, ball screw support mounting position; 306, slider mounting position; 400, ball screw; 401, ball screw support; 402, first drive motor; 403, coupling; 404, slider; 500, damping element; 501, crank; 502, lifting block; 503, servo motor; 504 505. Positioning post; 506. Pressure plate bracket; 607. Positioning sleeve; 600. Pressure plate; 601. Connecting post; 602. First motor; 603. Separating rocker arm; 604. Long tie rod; 605. Positioning shaft; 700. Mecanum wheel; 701. Second drive motor; 800. Mop wheel; 801. Swing arm; 802. Second motor; 803. Third motor; 5011. Protrusion; 5021. Horizontal slide groove; 6001. Anti-slip material; 6011. Horizontal connecting plate; 6041. Tube sleeve. Detailed Implementation

[0034] The specific embodiments of the present invention are described below with reference to the accompanying drawings.

[0035] Example 1: See Figures 1 to 8 This embodiment provides an automatic fabric-carrying sewing system, including a workbench 100 on which at least one sewing machine 200 is mounted; it also includes a fabric-carrying cart, which is used to move the fabric on the workbench 100 and cooperate with the at least one sewing machine 200 to complete sewing of any trajectory without a template. The structure of the fabric-carrying vehicle includes: The chassis includes two unit frames 300 distributed laterally, which are connected by a telescopic mechanism to adjust the lateral dimensions of the chassis to accommodate different sizes of fabric; the chassis is equipped with a Mecanum wheel drive unit for driving the chassis to move omnidirectionally within the plane of the worktable 100. A pressing and adjusting mechanism is provided on at least one unit frame 300, including a pressure plate bracket 505 and a pressure plate 600. The bottom of the pressure plate bracket 505 is provided with a positioning sleeve 506, which passes through and slides into the positioning through hole 302 of the chassis. The lower end of the positioning sleeve 506 extends out of the positioning through hole 302, and the pressure plate 600 is provided at the lower end of the positioning sleeve 506. The pressure plate bracket 505 is used to lift and lower under the drive of the lifting drive assembly, thereby adjusting the pressure of the pressure plate 600 to meet the needs of conveying fabrics of different materials and thicknesses. An angle adjustment mechanism includes a positioning shaft 605 that passes through and rotates with the positioning sleeve 506. Its upper and lower ends are connected to a connecting column 601 and a pressure plate 600, respectively. The connecting column 601 is used to rotate under the drive of the rotation drive assembly, thereby adjusting the angle of the pressure plate 600 to adapt to different sewing process requirements. The pressure plate 600 is used to press the fabric onto the worktable 100 and to transport the fabric by moving the chassis. The system also includes a fabric carrier controller and a sewing machine controller. The two controllers communicate bidirectionally to synchronize their working status, thereby controlling the actions of the Mecanum wheel drive unit, the telescopic mechanism, the pressing adjustment mechanism, and the angle adjustment mechanism.

[0036] As a preferred embodiment, the lifting drive assembly includes a servo motor 503, a crank 501, a positioning post 504, and a lifting block 502. The servo motor 503 is mounted on the unit frame 300, with its output end connected to one end of the crank 501, and the other end of the crank 501 is provided with a protrusion 5011. The bottom end of the positioning post 504 is mounted on the pressure plate bracket 505, and its top end is slidably engaged with the lifting block 502. The lifting block 502 is provided with a horizontal groove 5021, which is used to slidably engage with the protrusion 5011. A damping element 500 is provided between the lifting block 502 and the pressure plate bracket 505.

[0037] The pressure plate 600 is mounted on the chassis of the fabric carrier via the pressure plate bracket 505. In the feeding state, the pressure plate 600 is in the pressed position, and in the loading and unloading state, the pressure plate 600 is in the raised position.

[0038] Specifically, the damping element 500 is a spring, sleeved on the positioning post 504. It can provide increasing clamping force when the lifting block 502 moves down, and provide a restoring force when it moves up, adjusting the clamping force of the pressure plate 600 on the fabric.

[0039] Specifically, the unit frame 300 is provided with a third bracket 304 for mounting the servo motor 503. During the rotation of the crank 501 driven by the servo motor 503, the protrusion 5011 slides and engages with the horizontal groove 5021 of the lifting block 502, converting the motion of the crank 501 into the vertical lifting motion of the lifting block 502.

[0040] Adjusting the height of the lifting block 502 changes the compression of the damping element 500, thereby enabling precise control of the pressure force exerted by the pressure plate 600 on the fabric and ensuring the stability of the pressure plate 600's feeding. Specifically, when the lifting block 502 moves downward, the damping element 500 is compressed and provides a greater preload, increasing the pressure force exerted by the pressure plate 600 on the fabric. When the lifting block 502 moves upward, the damping element 500 provides an upward restoring force, decreasing the pressure force exerted by the pressure plate on the fabric. During the operation of the fabric carrier, the fabric carrier controller controls the servo motor 503 to adjust the pressure force to adapt to fabrics of different thicknesses and materials.

[0041] Specifically, the pressure plate bracket 505 extends longitudinally along the chassis, and the positioning sleeve 506 includes two, symmetrically arranged at both ends of the longitudinal direction of the pressure plate bracket 505. The two positioning sleeves 506 together provide two sets of pressure plates 600. Each unit frame 300 is provided with one pressure plate bracket 505, thereby providing four sets of pressure plates 600 to fully meet the feeding requirements.

[0042] As a preferred embodiment, the rotary drive assembly includes a first motor 602, a split rocker arm 603, and a long tie rod 604. The first motor 602 is mounted on the unit frame 300, and its output end is connected to the center of the split rocker arm 603. The end of the split rocker arm 603 is connected to one end of the long tie rod 604, and the other end of the long tie rod 604 is provided with a sleeve 6041, which is sleeved with the connecting post 601 and slides along the axial direction.

[0043] Specifically, the overall structure consisting of connecting column 601, positioning shaft 605, and pressure plate 600 is shown in the following diagram. Figure 5 As shown. Preferably, the connecting column 601 is connected to the top end of the positioning shaft 605 via a horizontal connecting plate 6011, and the bottom end of the positioning shaft 605 is connected to one end of the pressure plate 600. The positioning shaft 605 and the positioning sleeve 506 of the pressure plate bracket 505 are fitted together to form a whole, and can rise and fall synchronously with the lifting and lowering of the pressure plate bracket 505, thereby... Figure 5 The overall structure is raised and lowered to adjust the clamping force of the pressure plate 600. When the connecting column 601 is raised or lowered, it slides axially relative to the sleeve portion 6041, thus not affecting the height and position of the long pull rod 604. When the first motor 602 drives the rocker arm 603 to rotate, the sleeve portion 6041 of the long pull rod 604 engages with the connecting column 601, driving the connecting column 601 to rotate, which in turn drives the positioning shaft 605 to rotate the pressure plate 600, achieving angle adjustment. Furthermore, during rotation, the positioning shaft 605 can rotate relative to the positioning sleeve 506, while the positioning sleeve 506 does not rotate.

[0044] Specifically, the split rocker arm 603 has a symmetrical structure, with each end connected by a long tie rod 604 to a positioning sleeve 506 symmetrically arranged at both ends of the pressure plate bracket 505 to form two sets of angle adjustment components.

[0045] Specifically, the unit frame 300 is equipped with a second bracket 303, and the first motor 602 is fixedly connected to the second bracket 303 by four sets of bolts.

[0046] In this embodiment, the angle adjustment mechanism can adjust the shape of the pressure plate 600 via the first motor 602 to adapt to different sewing tasks. According to sewing process requirements, the angle adjustment range of the pressure plate 600 is 0-90°, and the angle adjustment method is as follows: Figure 8 As shown. Figure 8Taking one side of the chassis unit frame as an example, (a), (b), and (c) in the figure show the pressure plate angles at 0°, 45°, and 90°, respectively. Under normal sewing conditions, the opening angle of the two pressure plates (60°) is 90°. When sewing the edge of the fabric, to avoid interference between the pressure plate and the sewing machine needle at the edge, the deformation mechanism controls the opening angle of the pressure plate on one side of the unit frame at the fabric edge to 0°, and the opening angle of the pressure plate on the other side to 90°. When sewing curved sections or sewing fabrics requiring high tension, the opening angle of the pressure plates on both unit frames is adjusted between 0° and 90° to change the pressure position of the pressure plates relative to the fabric, thereby changing the fabric tension. Therefore, adjusting the opening angle of the pressure plates and changing their position on the fabric can adapt to the requirements of different sewing processes, especially avoiding interference with the machine needle during edge sewing and actively adjusting the fabric surface tension during curved sewing.

[0047] Preferably, the bottom surface of the pressure plate 600, in the area that comes into contact with the fabric, is provided with an anti-slip material 6001. This increases the friction between the pressure plate and the fabric, preventing slippage during transport.

[0048] As a preferred embodiment, the structure of the fabric carrier also includes an auxiliary pressing assembly, including a second motor 802, a swing arm 801, a third motor 803, and a drag wheel 800; the second motor 802 is mounted on at least one unit frame 300, and its output end is connected to one end of the swing arm 801, while the third motor 803 is mounted on the other end of the swing arm 801, and its output end is connected to the drag wheel 800. The mop roller 800 rotates under the drive of the third motor 803, which can press the cloth and drive it to move when the chassis is stationary; the swing arm 801 is used to control the lifting and lowering of the mop roller 800, thereby controlling the pressing force of the mop roller 800.

[0049] The fabric roller in this embodiment provides additional clamping force during specific sewing tasks, ensuring the stability of special fabrics during those tasks. The fabric's longitudinal position relative to the fabric carrier can be adjusted via the fabric roller to accommodate fabrics of different lengths. Specifically, the input end of the swing arm 801 has a U-shaped connecting part, one side of which is poweredly connected to the output shaft of the second motor 802, and the other side is rotatably engaged with the fixed end of the second motor 802. The output end of the swing arm 801 is a cantilever structure, and its end is provided with a mounting position for mounting the third motor 803.

[0050] Preferably, two sets of mop rollers 800 are symmetrically arranged, each set laterally along the chassis on one of the two unit frames. The two sets of mop rollers 800 are preferably located at one end of the longitudinal direction of the chassis.

[0051] As a preferred embodiment, the telescopic mechanism adopts a screw drive mechanism, which includes a first drive motor 402 and a ball screw bracket 401 mounted on the first unit frame 300. The ball screw bracket 401 contains a ball screw 400, which is connected to the output shaft of the first drive motor 402 through a coupling 403. A slider 404 is provided on the nut screwed onto the ball screw 400, which is connected to the second unit frame 300.

[0052] Specifically, the two unit frames are at the same horizontal height of 300.

[0053] Specifically, the first unit frame 300 is provided with a ball screw bracket mounting position 305 that is bolted to the ball screw bracket 401; the ball screw bracket 401 is provided with a horizontal guide rail, which is used to guide the movement of the slider 404. The second unit frame 300 is provided with a slider mounting position 306 that is bolted to the slider 404.

[0054] When the telescopic mechanism is in operation, the first drive motor 402 drives the ball screw 400 to rotate, causing the slider 404 to move along the horizontal guide rail, thereby adjusting the lateral dimension of the fabric carrier chassis. Specifically, when the slider 404 is in the initial position, the lateral dimension of the fabric carrier chassis is at its minimum. As the slider 404 slides along the horizontal guide rail to its extreme position away from the first unit frame, the lateral dimension of the fabric carrier chassis reaches its maximum.

[0055] As a preferred embodiment, four Mecanum wheel drive units are arranged at the four corners of the chassis. Each Mecanum wheel drive unit includes a second drive motor 701, whose output is directly connected to the axle of the Mecanum wheel 700. Specifically, when the Mecanum wheel 700 rotates in different directions and speeds, the lateral force and the forward force generated combine to form a driving force in any direction within the plane. The fabric carriage controller controls the speed and direction of each Mecanum wheel, enabling the fabric carriage to have three degrees of freedom of movement: forward and backward movement, lateral movement, and rotation in place within the worktable plane. This allows the fabric carriage to move omnidirectionally, flexibly shuttle, and precisely position itself among multiple sewing machines on the worktable.

[0056] Specifically, the chassis is provided with a first bracket 301, and the second drive motor 701 and Mecanum wheel 700 are respectively located inside and outside the first bracket 301.

[0057] During operation, the four Mecanum drive units enable the fabric carriage to move omnidirectionally within the 100-degree plane of the worktable, including forward and backward movement, left and right translation, movement in any direction, and turning in place. The fabric carriage, in conjunction with the sewing machines, can complete sewing along any trajectory without a template. Based on its omnidirectional movement capability, the fabric carriage can flexibly move and accurately position itself within a worktable plane with multiple sewing machines, perfectly connecting the processes of multiple sewing machines. Preferably, the operating method of the four Mecanum drive units includes: The Mecanum wheels of the four Mecanum wheel drive units rotate at the same speed and in the same direction, causing the fabric carriage to move in a straight line to feed the material. Two Mecanum wheels on opposite sides rotate in the same direction, while Mecanum wheels on the same side rotate in opposite directions, causing the fabric carrier to move laterally to feed the material. The Mecanum wheels on the same side rotate in the same direction, while the Mecanum wheels on the opposite side rotate in the opposite direction, causing the fabric-carrying cart to rotate in place.

[0058] The fabric carriage controller controls the speed and direction of each Mecanum wheel, combining four oblique forces into a resultant force in any direction, enabling the fabric carriage to move in three degrees of freedom (forward, backward, left, right, and rotation) within the worktable plane. Employing a four-wheel independent drive layout, the desired planar motion trajectory is decomposed into velocity vectors for each wheel using kinematic algorithms, which are then converted into specific steering and speed parameters for each Mecanum wheel. The four Mecanum wheels, with different combinations of motion parameters, synthesize movement in any direction within the plane, achieving arbitrary trajectory feeding of the fabric carriage. The Mecanum wheels are compact and flexible, making them particularly suitable for the confined spaces of sewing machine worktables. Furthermore, the zero-turning-radius characteristic of the Mecanum wheels allows for in-situ rotation with zero turning radius, solving the problem of reverse sewing in traditional sewing machines.

[0059] In summary, during operation, the fabric carrier in this embodiment actively adjusts the chassis size, pressure plate clamping force, and pressure plate angle according to the requirements of the current process, and then precisely moves to the designated sewing machine station. After completing the sewing process, it automatically transports the fabric to the sewing machine at the next station until all processes are completed. The entire process requires no manual intervention, which greatly improves the continuity and efficiency of the assembly line operation.

[0060] Example 2: This example provides a working method for an automatic fabric-carrying sewing system according to Example 1, including: S1. Place the fabric cart on the workbench 100.

[0061] S2. Write a program based on the sewing trajectory and pre-write it into the fabric carrier controller.

[0062] S3. The fabric carrier controller and the sewing machine 200 controller establish bidirectional communication.

[0063] Specifically, the working status is synchronized through two-way communication, thereby controlling the movement of the Mecanum wheel, telescopic mechanism, pressure adjustment mechanism, angle adjustment mechanism, and mop wheel.

[0064] Preferably, the fabric carrier controller and the sewing machine controller use Bluetooth wireless communication.

[0065] S4. After receiving the start sewing command, the fabric carriage controller is driven by the Mecanum wheel drive unit to move and simultaneously transport the fabric to the starting point of the track via the presser foot. The sewing machine controller controls the presser foot of sewing machine 200 to drop. The movement of the fabric carriage and the dropping of the needle of sewing machine 200 are synchronized to complete the sewing. During the sewing process: S41. Adjust the lateral dimensions of the chassis according to the fabric size, and adjust the pressing force of the pressure plate 600 on the fabric according to the fabric thickness and material; S42. Adjust the angle of the pressure plate by 60° according to the sewing process; Specifically, the fabric carrier controller can control the movement trajectory of the telescopic chassis by driving the Mecanum wheel 700, thereby enabling sewing on any trajectory on the fabric.

[0066] S43. When the drag roller 800 needs to be engaged in operation, the fabric carrier controller controls the drag roller 800 to drop, providing the function of assisting in pressing or transferring the fabric.

[0067] This embodiment enables template-free universal sewing on sewing machines. During sewing, the sewing machine's feed dog continuously pushes the fabric forward to the next sewing position according to the set stitch length, while the Mecanum wheels move forward. In straight-line sewing, the four Mecanum wheels rotate at the same speed and in the same direction, driving the chassis to move forward linearly to feed the fabric. In straight-line turning (taking 90° as an example), the diagonal Mecanum wheels rotate in the same direction, while the Mecanum wheels on the same side rotate in the opposite direction, driving the chassis to rotate 90° in place. The Mecanum wheels on the same side rotate in the same direction, while the Mecanum wheels on opposite sides rotate in the opposite direction, driving the chassis to move laterally to achieve forward feeding. In curved sewing, the four Mecanum wheels, with different combinations of motion parameters, can synthesize movement in any direction within a plane. This is the core capability of the Mecanum wheels. Through kinematic algorithms, the velocity vector for each step is obtained based on the desired curved trajectory, and then the velocity vector is converted into the specific rotational speed of the four Mecanum wheels.

[0068] Figure 9 , Figure 10 Schematic diagrams of several basic stitch patterns are provided. Figure 9 , 10 The left side of each image shows the posture of the sewing system, and the right side shows the corresponding sewing trajectory. Figure 9In the diagram, (a), (b), (c), and (d) represent the start time of sewing, the end time of straight-line feeding, the completion time of feeding direction switching, and the end time of sewing, respectively. Figure 10 In the diagram, (a), (b), and (c) represent the start time of the curve sewing process, the time of the curve feeding process, and the end time of the sewing process, respectively.

[0069] Figure 12 (a) and (b) show the sewing system working status during the sewing process, respectively, as the fabric carrier adjusts the opening and closing angle of the pressure plate according to the sewing position of the fabric edge and the sewing position of the fabric edge.

[0070] In this embodiment, the action of the mop wheel assisting in feeding long fabric is described in the following example. Figure 11 Among them, (a), (b), (c), and (d) represent the states after the fabric carrier transports the fabric to the starting position, the pressure plate is raised, the fabric carrier lowers the drag wheel, the drag wheel drives the long fabric forward in a straight line, and the feeding of the long fabric ends.

[0071] As a further improvement, the working method of this embodiment also includes: S8. Multiple sewing machines 200 on a workbench 100 are combined into an assembly line system. The multiple sewing machines 200 perform different sewing processes. The fabric carriage carries the fabric and moves along the preset sewing trajectory to the workstation of each sewing machine 200 to complete continuous, automated multi-point assembly line sewing.

[0072] See Figure 13 The diagram shows four sewing machine stations. (a) is the time when the fabric carriage leaves the sewing station after completing the sewing task at sewing machine station 1; (b) is the working time when the fabric carriage performs the sewing task at sewing machine station 2; (c) is the time when the fabric carriage begins preparing for the sewing task at sewing machine station 3; and (d) is the time when the fabric carriage transitions from sewing machine station 3 to sewing machine station 4.

[0073] In summary, the omnidirectional mobile fabric carrier of the present invention, which features a retractable chassis, adjustable clamping force, and variable pressure plate shape, can accurately transport fabric according to the sewing trajectory. At the same time, it can move autonomously within a sewing production line composed of multiple sewing machines, thereby automating the entire sewing process.

[0074] It will be understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic fabric-loading sewing system, characterized in that, The system includes a workbench (100) on which at least one sewing machine (200) is mounted; it also includes a fabric carriage for moving fabric on the workbench (100) and cooperating with the at least one sewing machine (200) to complete sewing on any trajectory without a template; The structure of the fabric-carrying vehicle includes: The chassis includes two unit frames (300) distributed laterally, which are connected by a telescopic mechanism to adjust the lateral dimensions of the chassis; the chassis is provided with a Mecanum wheel drive unit for driving the chassis to move omnidirectionally within the plane of the worktable (100); A pressing adjustment mechanism is provided on at least one of the unit frames (300), including a pressure plate bracket (505) and a pressure plate (600). The bottom of the pressure plate bracket (505) is provided with a positioning sleeve (506), which passes through the positioning through hole (302) of the chassis and slides therewith. The lower end of the positioning sleeve (506) extends out of the positioning through hole (302), and the pressure plate (600) is provided at the lower end of the positioning sleeve (506). The pressure plate bracket (505) is used to lift and lower under the drive of the lifting drive assembly, thereby adjusting the pressure of the pressure plate (600). An angle adjustment mechanism includes a positioning shaft (605) that passes through and rotates with the positioning sleeve (506), and its upper and lower ends are respectively connected to a connecting column (601) and the pressure plate (600). The connecting column (601) is used to rotate under the drive of the rotation drive assembly, thereby adjusting the angle of the pressure plate (600). The pressure plate (600) is used to press the fabric onto the worktable (100) and to transport the fabric by moving the chassis; The system also includes a fabric carrier controller and a sewing machine controller. The two controllers communicate bidirectionally to synchronize their working status, thereby controlling the actions of the Mecanum wheel drive unit, the telescopic mechanism, the pressing adjustment mechanism, and the angle adjustment mechanism.

2. The automatic fabric-carrying sewing system according to claim 1, characterized in that, The lifting drive assembly includes a servo motor (503), a crank (501), a positioning post (504), and a lifting block (502). The servo motor (503) is mounted on the unit frame (300), and its output end is connected to one end of the crank (501). The other end of the crank (501) is provided with a protrusion (5011). The bottom end of the positioning post (504) is mounted on the pressure plate bracket (505), and its top end is slidably engaged with the lifting block (502). The lifting block (502) is provided with a horizontal groove (5021) for sliding engagement with the protrusion (5011). A damping element (500) is provided between the lifting block (502) and the pressure plate bracket (505) to provide a restoring force for the lifting block (502) to reset.

3. The automatic fabric-carrying sewing system according to claim 1, characterized in that, The rotary drive assembly includes a first motor (602), a split rocker arm (603), and a long tie rod (604). The first motor (602) is mounted on the unit frame (300), and its output end is connected to the center of the split rocker arm (603). The end of the split rocker arm (603) is connected to one end of the long tie rod (604). The other end of the long tie rod (604) is provided with a sleeve (6041), which is sleeved with the connecting column (601) and slides along the axial direction.

4. The automatic fabric-carrying sewing system according to claim 1, characterized in that, The structure of the fabric carrier also includes an auxiliary pressing assembly, including a second motor (802), a swing arm (801), a third motor (803), and a drag wheel (800); the second motor (802) is mounted on at least one of the unit frames (300), and its output end is connected to one end of the swing arm (801), while the third motor (803) is mounted on the other end of the swing arm (801), and its output end is connected to the drag wheel (800); The drag roller (800) rotates under the drive of the third motor (803), which can press the fabric and drive it to move when the chassis is stationary; The swing arm (801) is used to adjust the clamping force of the mop wheel (800).

5. The automatic fabric-carrying sewing system according to claim 1, characterized in that, The pressure plate bracket (505) extends longitudinally along the chassis, and the positioning sleeve (506) includes two, which are symmetrically arranged at both ends of the longitudinal direction of the pressure plate bracket (505).

6. The automatic fabric-carrying sewing system according to claim 1, characterized in that, The bottom surface of the pressure plate (600) is provided with an anti-slip material (6001) in the area that comes into contact with the fabric.

7. The automatic fabric-carrying sewing system according to claim 1, characterized in that, The telescopic mechanism adopts a screw drive mechanism, which includes a first drive motor (402) and a ball screw bracket (401) installed on the first unit frame (300). The ball screw bracket (401) is provided with a ball screw (400), which is connected to the output shaft of the first drive motor (402) through a coupling (403). A slider (404) is provided on the nut screwed on the ball screw (400), which is connected to the second unit frame (300).

8. The automatic fabric-carrying sewing system according to claim 1, characterized in that, There are four Mecanum wheel drive units, distributed at the four corners of the chassis; each Mecanum wheel drive unit includes a second drive motor, the output of which is connected to the Mecanum wheel power. The operation of the four Mecanum wheel drive units includes: The Mecanum wheels of the four Mecanum wheel drive units rotate at the same speed and in the same direction, causing the fabric carriage to move in a straight line to feed the material. Two Mecanum wheels on opposite sides rotate in the same direction, while Mecanum wheels on the same side rotate in opposite directions, causing the fabric carrier to move laterally to feed the material. The Mecanum wheels on the same side rotate in the same direction, while the Mecanum wheels on the opposite side rotate in the opposite direction, causing the fabric-carrying cart to rotate in place. Four Mecanum wheels, with different combinations of motion parameters, synthesize movement in any direction within a plane, enabling the fabric carrier to move along any trajectory for material feeding.

9. A method of operating an automatic fabric-carrying sewing system according to any one of claims 1 to 8, characterized in that, include: Place the fabric carrier on the workbench (100); The program is pre-written into the fabric carrier controller based on the sewing trajectory; The fabric carrier controller establishes bidirectional communication with the sewing machine controller; After receiving the start sewing command, the fabric carriage controller moves by the Mecanum wheel drive unit and transports the fabric to the starting point of the track through the presser plate (600). The sewing machine controller controls the presser foot of the sewing machine (200) to fall down. The movement of the fabric carriage and the needle drop of the sewing machine (200) work synchronously to complete the sewing. During the sewing process, the horizontal dimension of the base plate is adjusted according to the fabric size, and the pressing force of the pressure plate (600) on the fabric is adjusted according to the fabric thickness and material; the angle of the pressure plate (600) is adjusted according to the sewing process.

10. The working method according to claim 9, characterized in that, Also includes: Multiple sewing machines (200) on a workbench (100) are combined into an assembly line system. The multiple sewing machines (200) perform different sewing processes. The fabric carrier moves along a preset sewing trajectory to the workstation of each sewing machine (200) to complete continuous, automated multi-point assembly line sewing.

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