Double-station template machine garment production equipment and control method thereof

Abstract

The invention provides double-station template machine garment production equipment and a control method thereof. The double-station template machine garment production equipment comprises a garment template, a first template automatic opening and closing device, a second template automatic opening and closing device, a template machine, a cutting piece separation table top, a template transfer device and a robot. And the template machine is arranged on one side of the first template automatic opening and closing device and the second template automatic opening and closing device in the first direction. And the cutting piece separating table top is arranged on the other side of the first template automatic opening and closing device and the second template opening and closing device in the first direction. And the template transfer device comprises a template grabber, a transfer device bottom plate and a robot mounting seat. The robot mounting seat is arranged on the transfer device bottom plate, the template grabber is movably arranged on the transfer device bottom plate, and the first template automatic opening and closing device and the second template automatic opening and closing device are arranged on the transfer device bottom plate. The robot is arranged on the robot mounting base and used for transferring the cut-parts.

Description

Technical Field

[0001] This application relates to the field of template machines, and more particularly to a dual-station template machine for garment production and its control method. Background Technology

[0002] A template machine is a piece of equipment that can automate the sewing process of garments. It has a low barrier to entry for operators and is suitable for the assembly line production of garments.

[0003] Traditional template machines still require operators to manually load and unload the templates. This involves moving the template to the loading position, placing the material, manually moving the template to load it, and manually removing the template from the processing station to remove the finished sewing material. Currently, most template machines on the market operate using this manual method, which involves repetitive tasks and long working hours. Given the current labor shortage, factories are finding it difficult to recruit workers to operate these machines. Summary of the Invention

[0004] This application provides a dual-station template machine for garment production that reduces labor costs, and a control method thereof.

[0005] In a first aspect, this application provides a dual-station template machine garment production equipment, comprising: Garment templates are used to hold the cut pieces in place. First template automatic opening and closing device; Second template automatic opening and closing device; A template machine is disposed on one side of the first template automatic opening and closing device and the second template automatic opening and closing device in a first direction. In a second direction, the first template automatic opening and closing device and the second template automatic opening and closing device are respectively connected to both ends of the template machine. The first direction is perpendicular to the second direction. The template machine is used to process the cut pieces on the garment template. The cutting piece separation table is located on the other side of the first template automatic opening and closing device and the second template automatic opening and closing device in the first direction; A template transfer device includes a template gripper, a transfer device base plate, and a robot mounting base. The robot mounting base is disposed on the transfer device base plate, and the template gripper is movably disposed on the transfer device base plate. A first automatic template opening and closing device, a second automatic template opening and closing device, a template machine, and a cut piece separation table surround the template transfer device in the circumferential direction. The template gripper is used to transfer the garment template between the first automatic template opening and closing device, the second automatic template opening and closing device, and the template machine. A robot is mounted on the robot mounting base and is used to transfer the cut pieces between the cut piece separation table, the garment template of the first template automatic opening and closing device, and the garment template of the second template automatic opening and closing device.

[0006] Optionally, the robot includes a dual-arm robot, which includes a first robotic arm and a second robotic arm; The first robotic arm includes a first robotic arm gripper and a first camera module. The first camera module is used to acquire images of the end of the first robotic arm gripper and the gripping state of the first robotic arm gripper on the cut piece.

[0007] Optionally, the second robotic arm includes a second robotic arm gripper and a second camera module, the second camera module being used to acquire images of the end of the second robotic arm gripper and the gripping state of the second robotic arm gripper on the cut piece.

[0008] Optionally, the robot further includes a robot frame and a robot pitch mechanism. The first robotic arm and the second robotic arm are respectively connected to both ends of the robot frame. The robot frame is disposed on the robot pitch mechanism, which is used to control the robot frame to drive the first robotic arm and the second robotic arm to perform pitch movement.

[0009] Optionally, the robot further includes a robot frame and a robot rotation mechanism. The first robotic arm and the second robotic arm are respectively connected to both ends of the robot frame. The robot frame is disposed on the robot rotation mechanism, which is used to control the robot frame to drive the first robotic arm and the second robotic arm to perform circular motion on a horizontal plane.

[0010] Optionally, the template transfer device further includes a template rotation mechanism and a template telescopic mechanism. The template gripper is disposed on the template telescopic mechanism, which is located above the base plate of the transfer device. The template rotation mechanism is located below the base plate of the transfer device and connected to the template telescopic mechanism. The template rotation mechanism is used to drive the template telescopic mechanism and the template gripper to perform circular motion on a horizontal plane. The template gripper translates through the template telescopic mechanism in the extension direction of the template telescopic mechanism.

[0011] Optionally, the template transfer device further includes a rotating mechanism motor assembly and a rotating transmission synchronous belt. The rotating transmission synchronous belt is connected to the rotating mechanism motor assembly and the template rotating mechanism. The rotating mechanism motor assembly drives the template rotating mechanism through the rotating transmission synchronous belt, thereby causing the template telescopic mechanism and the template gripper to perform circular motion on the horizontal plane.

[0012] Optionally, the cut piece separation table includes a first table, a second table, and a third table connected sequentially in the second direction, wherein the first table is foldably connected to the second table, and the third table is foldably connected to the second table.

[0013] Optionally, the first template automatic opening and closing device includes a first table and a first transition plate, wherein the first transition plate is foldably connected to the first table in the first direction.

[0014] Optionally, the first template automatic opening and closing device further includes a first template clamping assembly, a first adsorption plate, and a fan assembly. The first template clamping assembly is disposed on the side of the first adsorption plate away from the template transfer device. The first template clamping assembly is used to fix the hinge end of the template. The fan assembly is disposed below the first adsorption plate. The first adsorption plate is provided with through holes. The fan assembly forms a negative pressure on the upper surface of the first adsorption plate through the through holes to adsorb the cut piece.

[0015] Optionally, the first template automatic opening and closing device further includes a first template opening and closing connecting rod and a first template top plate suction cup. The first template opening and closing connecting rod includes a first rotating rod and a first connecting rod. One end of the first rotating rod is rotatably connected to the side of the first table away from the template transfer device, and the other end is connected to the first connecting rod. The first connecting rod extends along a plane parallel to the first table. The first template top plate suction cup is disposed on the first connecting rod to adsorb the garment template.

[0016] Optionally, the second template automatic opening and closing device includes a second table and a second transition plate, wherein the second transition plate is foldably connected to the second table in the second direction.

[0017] Optionally, the second template automatic opening and closing device further includes a second template clamping assembly, a second adsorption plate, and a fan assembly. The second template clamping assembly is disposed on the side of the second adsorption plate away from the template transfer device. The second template clamping assembly is used to fix the hinge end of the template. The fan assembly is disposed below the second adsorption plate. The second adsorption plate is provided with through holes. The fan assembly forms a negative pressure on the upper surface of the second adsorption plate through the through holes to adsorb the cut piece.

[0018] Optionally, the second template automatic opening and closing device further includes a second template opening and closing connecting rod and a second template top plate suction cup. The second template opening and closing connecting rod includes a second rotating rod and a second connecting rod. One end of the second rotating rod is rotatably connected to the side of the second table away from the template transfer device, and the other end is connected to the second connecting rod. The second connecting rod extends along a plane parallel to the second table. The second template top plate suction cup is disposed on the second connecting rod to adsorb the top plate of the garment template.

[0019] Optionally, the garment template includes a template base plate, a template top plate, a template transfer clamping post, a template machine clamping post, and a universal base plate. The template base plate is disposed on the universal base plate, the template transfer clamping post is disposed on one side of the universal base plate, the template machine clamping post is disposed on the other side of the universal base plate, and the template top plate is detachably connected to the end of the template base plate near the template machine clamping post.

[0020] Secondly, this application provides a control method for a dual-station template machine garment production equipment, used in the dual-station template machine garment production equipment as described in the first aspect, the control method comprising: The robot is controlled to separate the cut pieces from the cut pieces on the separation table; The robot is controlled to pick up the separated cut pieces and fix them to the upper part of the garment template; The template transfer device is controlled to transfer the garment template to the template machine; The template machine is controlled to process the cut pieces on the garment template; The template transfer device controls the completed garment template to be transferred to the first template automatic opening and closing device or the second template automatic opening and closing device; The robot is controlled to transfer the cut pieces from the completed garment template to the cut piece separation table.

[0021] Optionally, controlling the robot to grip and separate the cut piece and fix it to the upper part of the garment template includes: Control the robot to move the separated cut pieces to the middle of the cut piece separation table; The robot is controlled to adjust the cut piece until the cut piece reaches the target state; The robot is controlled to pick up the cut piece and place it on top of the opened garment template.

[0022] Optionally, controlling the template transfer device to transfer the garment template to the template machine includes: Obtain the working status of the template machine; Obtain the arrangement status of the cut pieces on the garment template; When the template machine is in an idle state and the cut pieces are in a completed placement state, the template transfer device is controlled to transfer the template to the template machine and process the cut pieces on the garment template.

[0023] Optionally, controlling the template transfer device to transfer the completed garment template to the first template automatic opening and closing device or the second template automatic opening and closing device includes: Obtain the working status of the template machine; The placement status of the garment templates of the first template automatic opening and closing device and the second template automatic opening and closing device is obtained; the placement status includes a placed state and an unplaced state; When the template machine is in the completed state and at least one of the first template automatic opening and closing device and the second template automatic opening and closing device is in the unplaced state, the template transfer device is controlled to pick up the completed garment template and transfer it to one of the first template automatic opening and closing devices and the second template automatic opening and closing device in the unplaced state.

[0024] Optionally, controlling the robot to transfer the cut pieces from the completed garment template to the cut piece separation table includes: Control the first template automatic opening and closing device and the second template automatic opening and closing device to open the garment template that has been processed; The robot is controlled to pick up the cut piece and transfer it to a designated area on the cut piece separation table.

[0025] Thus, the fabric pieces can be manually arranged on the cutting panel separating table, specifically stacked garment pieces. A robot then transfers the stacked garment pieces to the garment templates of the first and second automatic template opening and closing devices. After the robot completes the transfer, the template gripper of the template transfer device transfers the garment template to the template machine for processing. By incorporating the robot and template transfer device, the cost of manually transferring garment templates and pieces during the template machine's production process is significantly reduced. Furthermore, by using the first and second automatic template opening and closing devices, while the template machine is processing one template, the robot can transfer garment pieces to the other template, or transfer processed garment pieces from another template to the cutting panel separating table. This reduces the template machine's waiting time and improves the production efficiency of the dual-station template machine garment production equipment. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0027] Figure 1 The diagram shown is a schematic representation of an embodiment of the dual-station template machine garment production equipment of this application.

[0028] Figure 2 For example Figure 1 This is a schematic diagram of another perspective of the dual-station template machine garment production equipment shown.

[0029] Figure 3 For example Figure 1 The diagram shows a robot for a dual-station template machine garment production equipment.

[0030] Figure 4 For example Figure 3 A schematic diagram of the robot from another perspective.

[0031] Figure 5 For example Figure 1 The diagram shows a template transfer device for a dual-station template machine used in garment production.

[0032] Figure 6 For example Figure 5 A schematic diagram of the template transfer device from another perspective.

[0033] Figure 7 For example Figure 1 The diagram shows the cutting piece separation table of the dual-station template machine garment production equipment.

[0034] Figure 8 For example Figure 7 This is a schematic diagram showing another perspective of the tabletop for separating cut pieces.

[0035] Figure 9 For example Figure 7 This is a schematic diagram showing another perspective of the tabletop for separating cut pieces.

[0036] Figure 10 For example Figure 1 The diagram shows the automatic opening and closing device of the first template of the dual-station template machine garment production equipment.

[0037] Figure 11 For example Figure 10 A schematic diagram of the first template automatic opening and closing device from another perspective.

[0038] Figure 12 For example Figure 1 The diagram shows the automatic opening and closing device of the second template in a dual-station template machine garment production equipment.

[0039] Figure 13 For example Figure 12 A schematic diagram of the second template automatic opening and closing device from another perspective.

[0040] Figure 14 For example Figure 1 The diagram shows a garment template for a dual-station template machine garment production equipment.

[0041] Figure 15 For example Figure 14 A schematic diagram of the second template automatic opening and closing device from another perspective.

[0042] Figure 16 For example Figure 1 The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0043] Figure 17 For example Figure 1 The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0044] Figure 18 For example Figure 1 The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0045] Figure 19 For example Figure 1 The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0046] Figure 20 For example Figure 1 The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0047] Figure 21 For example Figure 1 The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0048] Figure 22 For example Figure 1 The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0049] Figure 23 For example Figure 1The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0050] Figure 24 For example Figure 1 The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0051] Figure 25 For example Figure 1 The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0052] Figure 26 For example Figure 1 The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0053] Figure 27 For example Figure 1 The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0054] Figure 28 For example Figure 1 The diagram shown illustrates the intermediate process of a dual-station template machine garment production equipment when executing the control method of the dual-station template machine garment production equipment.

[0055] Figure 29 The diagram shown is a flowchart of an embodiment of the control method for the dual-station template machine garment production equipment of this application.

[0056] Figure 30 The diagram shown is a detailed flowchart of the control method for the dual-station template machine garment production equipment of this application.

[0057] Figure 31 The diagram shown is a detailed flowchart of the control method for the dual-station template machine garment production equipment of this application.

[0058] Figure 32 The diagram shown is a detailed flowchart of the control method for the dual-station template machine garment production equipment of this application.

[0059] Figure 33 The diagram shown is a detailed flowchart of the control method for the dual-station template machine garment production equipment of this application.

[0060] Explanation of reference numerals in the attached figures: 1. Robot; 101. First robotic arm; 102. Second robotic arm; 103. Robot frame; 104. Robot pitch mechanism; 105. Robot rotation mechanism; 106. First six-dimensional force sensor; 107. First robotic arm gripper; 108. Second six-dimensional force sensor; 109. Second robotic arm gripper; 110. First Bernoulli suction cup; 111. First camera module; 112. Second Bernoulli suction cup; 113. Second camera module; 2. Template transfer device; 201. Template gripper; 202. Gripper mounting base 203. Template telescopic mechanism; 204. Template rotation mechanism; 205. Rotation mechanism motor assembly; 206. Rotation transmission synchronous belt; 207. Robot mounting base; 208. Transfer device base plate; 3. Cut piece separation tabletop; 301. First tabletop; 302. Second tabletop; 303. Third tabletop; 304. Operation button mounting plate; 305. Side panel flip hinge; 306. Side panel fixing plate; 4. First template automatic opening and closing device; 401. First tabletop; 402. First template top plate suction cup; 403. First template opening and closing linkage. 4031. First rotating rod; 4032. First connecting rod; 404. First template clamping assembly; 405. First transition plate; 406. First flipping synchronous belt; 407. First flipping motor assembly; 408. First suction plate; 409. First bottom suction cup lifting cylinder; 410. First bottom suction cup; 411. First transition plate hinge; 5. Second template automatic opening and closing device; 501. Second table; 502. Second template top plate suction cup; 503. Second template opening and closing connecting rod; 5031. Second rotating rod; 5032. Second connecting rod... 504. Connecting rod; 505. Second template clamping assembly; 506. Second transition plate; 507. Second flipping synchronous belt; 508. Second flipping motor assembly; 509. Second suction plate; 510. Second bottom suction cup lifting cylinder; 511. Second bottom suction cup; 512. Second transition plate hinge; 6. Template machine; 7. Garment template; 701. Template base plate; 702. Template top plate; 703. Template transfer clamping column; 704. Template machine clamping column; 705. Universal base plate; 8. Cut piece; 9. Global camera; 10. Cut piece separation detection camera. Detailed Implementation

[0061] The technical solutions in the embodiments (or "implementations") of this application will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0062] If the embodiments of this application contain terms relating to directional indications or positional relationships (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.

[0063] This application provides a dual-station template machine for garment production. The dual-station template machine for garment production of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features of the following embodiments and implementations can be combined with each other.

[0064] See Figure 1 and Figure 2 As shown, a dual-station template machine garment production equipment includes a first template automatic opening and closing device 4, a second template automatic opening and closing device 5, a template machine 6, a cut piece separation table 3, a template transfer device 2, and a robot 1. The template machine 6 is used to process cut pieces 8 fixed on a garment template 7. The template machine 6 is located on one side of the first template automatic opening and closing device 4 and the second template automatic opening and closing device in a first direction A. In a second direction B, the first template automatic opening and closing device 4 and the second template automatic opening and closing device are respectively connected to both ends of the template machine 6. The first direction A is perpendicular to the second direction B. The cut piece separation table 3 is located on the other side of the first template automatic opening and closing device 4 and the second template automatic opening and closing device in the first direction A. The cut piece separation table 3 is used for placing the garment cut pieces 8, flattening the cut pieces 8 after separation by the robot 1, and stacking the processed cut pieces 8. Simultaneously, a person can pick up and place materials on the cut piece separation table 3 to interact with the entire operation process of the dual-station template machine garment production equipment.

[0065] The template transfer device 2 includes a template gripper 201, a transfer device base plate 208, and a robot mounting base 207. The robot mounting base 207 is disposed on the transfer device base plate 208, and the robot 1 is disposed on the robot mounting base 207. The template gripper 201 is movably disposed on the transfer device base plate. The first automatic template opening and closing device 4, the second automatic template opening and closing device 5, the template machine 6, and the piece separation table 3 surround the template transfer device 2 in the circumferential direction. The template gripper 201 is used to transfer garment templates 7 between the first automatic template opening and closing device 4, the second automatic template opening and closing device 5, and the template machine 6. The robot 1 is used to transfer pieces 8 between the piece separation table 3, the garment templates 7 of the first automatic template opening and closing device 4, and the garment templates 7 of the second automatic template opening and closing device 5.

[0066] Thus, the fabric pieces 8 can be stacked manually on the cutting panel separating table 3. The robot 1 transfers the stacked fabric pieces 8 to the garment templates 7 of the first automatic template opening and closing device 4 and the second automatic template opening and closing device 5. After the robot 1 completes the transfer of the fabric pieces 8, the template gripper 201 of the template transfer device 2 transfers the garment template 7 to the template machine 6 for processing. By setting up the robot 1 and the template transfer device 2, the cost of manually transferring the garment templates 7 and fabric pieces 8 during the production process of the template machine 6 is greatly reduced. By setting up the first automatic template opening and closing device 4 and the second automatic template opening and closing device 5, while the template machine 6 is processing one garment template 7, the robot 1 can transfer the fabric pieces 8 to another garment template 7, or transfer the processed fabric pieces 8 from another garment template 7 to the cutting panel separating table 3, thereby reducing the waiting time of the template machine 6 and improving the production efficiency of the dual-station template machine garment production equipment.

[0067] In an optional embodiment, see Figure 3 and Figure 4As shown, robot 1 includes a dual-arm robot, which includes a first robotic arm 101 and a second robotic arm 102. The first robotic arm 101 includes a first robotic arm gripper 107 and a first camera module 111. The first camera module 111 is used to acquire images of the end of the first robotic arm gripper 107 and the gripping state of the first robotic arm gripper 107 on the garment piece 8. In this application, the first robotic arm gripper 107 can be a servo gripper, thus enabling precise position control and force control, allowing adjustment of the gripping force and gripping distance. The first robotic arm gripper 107 is also equipped with a first Bernoulli suction cup 110 for adsorbing the garment piece 8. Specifically, two first Bernoulli suction cups 110 and a support can be arranged at intervals. The angle of the two first Bernoulli suction cups 110 relative to the garment piece 8 can be adjusted by adjusting the end of the first robotic arm 101, thereby adapting to the adsorption of garment pieces 8 of different shapes and sizes. The first camera module 111 is mounted on the end of the first robotic arm 101 via a bracket, and is installed at a 55° angle to the first robotic arm gripper 107 to acquire images of the end of the first robotic arm gripper 107 and the gripping state of the first robotic arm gripper 107 on the cut piece 8. The image data acquired by the first camera module 111 is used to train the robot 1 and to realize the real-time precise movement of the first robotic arm 101 of the robot 1.

[0068] In an optional embodiment, the first robotic arm 101 is a six-axis collaborative robot. The end of the first robotic arm 101 is provided with a first six-dimensional force sensor 106, which is used to collect force information in six dimensions at the end of the first robotic arm 101 of the robot 1, as the collected data information of the robot 1, and to train the robot 1 to perform fine operations.

[0069] In other embodiments, the first robotic arm 101 may be a five-axis robot 1, a six-axis robot 1, a seven-axis robot 1, etc. The gripper 107 of the first robotic arm may also be equipped with structures such as vacuum suction cups and needle suction cups, which can be replaced or added to the first Bernoulli suction cup 110.

[0070] In an optional embodiment, see Figure 3 and Figure 4As shown, the second robotic arm 102 includes a second robotic arm gripper 109 and a second camera module 113. The second camera module 113 is used to acquire images of the end of the second robotic arm gripper 109 and the gripping state of the second robotic arm gripper 109 on the garment piece 8. In this application, the second robotic arm gripper 109 can be a servo gripper, thus enabling precise position control and force control, allowing adjustment of the gripping force and gripping distance. The second robotic arm gripper 109 is also equipped with a second Bernoulli suction cup 112 for adsorbing the garment piece 8. Specifically, two second Bernoulli suction cups 112 and a bracket can be spaced apart. The angle of the two second Bernoulli suction cups 112 relative to the garment piece 8 can be adjusted by adjusting the end of the second robotic arm 102, thereby adapting to the adsorption of garment pieces 8 of different shapes and sizes. The second camera module 113 is mounted on the end of the second robotic arm 102 via a bracket, and is installed at a 55° angle to the gripper 109 of the second robotic arm, to acquire images of the end of the gripper 109 and the gripping state of the gripper 109 on the cut piece 8. The image data acquired by the second camera module 113 is used to train the robot 1 and to realize the real-time and precise movement of the second robotic arm 102 of the robot 1.

[0071] In an optional embodiment, the second robotic arm 102 is a six-axis collaborative robot. A second six-dimensional force sensor 108 is provided at the end of the second robotic arm 102 to collect force information in six dimensions at the end of the second robotic arm 102 of the robot 1, which serves as the collected data information for the robot 1 to train the robot 1 to perform precise operations.

[0072] In other embodiments, the second robotic arm 102 can be a five-axis robot, a six-axis robot, a seven-axis robot, etc. The gripper 109 of the second robotic arm can also be equipped with structures such as vacuum suction cups and needle suction cups, which can be replaced or added to the second Bernoulli suction cup 112.

[0073] Thus, when robot 1 adjusts the cut piece 8, the adjustment can be made through the cooperation of the first robotic arm 101 and the second robotic arm 102. Robot 1 has good operational flexibility, which is conducive to quickly adjusting the cut piece 8 to achieve the target state. It is also easier for robot 1 to grip the cut piece 8 and transfer it between the cut piece separation table 3, the garment template 7 of the first template automatic opening and closing device 4, and the garment template 7 of the second template automatic opening and closing device 5.

[0074] In an optional embodiment, see Figure 3 and Figure 4As shown, robot 1 also includes robot frame 103 and robot pitch mechanism 104. First robotic arm 101 and second robotic arm 102 are respectively connected to the two ends of robot frame 103. Robot frame 103 is disposed on robot pitch mechanism 104. Robot pitch mechanism 104 is used to control robot frame 103 to drive first robotic arm 101 and second robotic arm 102 to perform pitch movement.

[0075] Specifically, the bases of the first robotic arm 101 and the second robotic arm 102 are both mounted on the robot frame 103 and are at a 45° angle to the horizontal direction to avoid the singularity of movement of the first robotic arm 101 and the second robotic arm 102, making the operating space between the first robotic arm 101 and the second robotic arm 102 more flexible.

[0076] This further enhances the degree of freedom of robot 1, which is conducive to robot 1 better adjusting the end position of the first robotic arm 101 and the end position of the second robotic arm 102. This makes robot 1 more flexible in operation, which is conducive to robot 1 quickly adjusting the cut piece 8 to achieve the target state, as well as gripping the cut piece 8 and transferring it between the cut piece separation table 3, the garment template 7 of the first template automatic opening and closing device 4 and the garment template 7 of the second template automatic opening and closing device 5.

[0077] In an optional embodiment, see Figure 3 and Figure 4 As shown, robot 1 also includes robot rotation mechanism 105. First robotic arm 101 and second robotic arm 102 are respectively connected to the two ends of robot frame 103. Robot frame 103 is disposed on robot rotation mechanism 105. Robot rotation mechanism 105 is used to control robot frame 103 to drive first robotic arm 101 and second robotic arm 102 to perform circular motion on horizontal plane.

[0078] Specifically, the robot pitch mechanism 104 is located above the robot rotation mechanism 105, and the robot pitch mechanism 104 is connected to the robot frame 103 and the robot rotation mechanism 105 respectively.

[0079] This further enhances the degree of freedom of robot 1, giving it greater room to move in the horizontal range. This facilitates robot 1 in gripping and transferring cut pieces 8 between the cut piece separation table 3, the garment template 7 of the first template automatic opening and closing device 4, and the garment template 7 of the second template automatic opening and closing device 5.

[0080] In an optional embodiment, see Figure 5 and Figure 6As shown, the template transfer device 2 also includes a template rotation mechanism 204 and a template telescopic mechanism 203. The template gripper 201 is disposed on the template telescopic mechanism 203, which is disposed above the transfer device base plate 208. The template rotation mechanism 204 is disposed below the transfer device base plate 208 and connected to the template telescopic mechanism 203. The template rotation mechanism 204 is used to drive the template telescopic mechanism 203 and the template gripper 201 to perform circular motion on the horizontal plane. The template gripper 201 translates through the template telescopic mechanism 203 in the extension direction of the template telescopic mechanism 203.

[0081] In this way, the template transfer device 2 can grasp the garment template 7 to transfer the garment template 7 between the first template automatic opening and closing device 4, the second template automatic opening and closing device 5, and the template machine 6. This transfers the garment template 7 with the cut pieces 8 to the template machine 6 for processing, and transfers the processed garment template 7 to one of the first template automatic opening and closing devices 4 and the second template automatic opening and closing device 5 when it is idle, so that the robot 1 can transfer the processed cut pieces 8 on the garment template 7 to the cut piece separation table 3. Through the above settings, the template gripper 201 of the template transfer device 2 can avoid the movement of the dual-arm robot during the movement, making the structure of the dual-station template machine garment production equipment more compact.

[0082] In an optional embodiment, see Figure 5 and Figure 6 As shown, the template transfer device 2 also includes a rotating mechanism motor assembly 205 and a rotating transmission synchronous belt 206. The rotating transmission synchronous belt 206 is connected to the rotating mechanism motor assembly 205 and the template rotating mechanism 204. The rotating mechanism motor assembly 205 drives the template rotating mechanism 204 through the rotating transmission synchronous belt 206, thereby driving the template telescopic mechanism 203 and the template gripper 201 to perform circular motion on the horizontal plane.

[0083] Specifically, the rotating mechanism motor assembly 205 is installed at the bottom of the transfer device base plate 208 and is connected to the template rotating mechanism 204 via a rotating transmission synchronous belt 206. The rotating mechanism motor assembly 205 controls the rotation direction of the template telescopic mechanism 203 and the template gripper 201. After the template telescopic mechanism 203 and the template gripper 201 rotate to a specified angle, the telescopic mechanism controls the template gripper 201 to extend outward to grip the garment template 7.

[0084] The template rotation mechanism 204 is installed above the base plate 208 of the transfer device and below the robot mounting base 207, thus supporting the robot 1. The template transfer device 2 also includes a gripper mounting base 202. A template telescopic mechanism 203 is installed on the template rotation mechanism 204, and the gripper mounting base 202 moves back and forth via a ball screw and linear guide rail. Two template grippers 201 are installed at both ends of the gripper mounting base 202 for clamping the garment template 7.

[0085] In an optional embodiment, see Figures 7-9 As shown, the cutting piece separation table 3 includes a first table 301, a second table 302 and a third table 303 connected sequentially in the second direction B. The first table 301 is foldably connected to the second table 302, and the third table 303 is foldably connected to the second table 302.

[0086] Specifically, the piece separation tabletop 3 also includes an operation button mounting plate 304, a side panel flip hinge 305, and a side panel fixing plate 306. The first tabletop 301 and the third tabletop 303 of the piece separation tabletop 3 are connected to the second tabletop 302 via the side panel flip hinge 305. This allows the first tabletop 301 and the third tabletop 303 to be lowered during transportation to reduce the overall width, enabling them to be moved into civil elevators. During operation, the side panel fixing plate 306 connects to the first template automatic opening and closing device 4 and the second template automatic opening and closing device 5 respectively, expanding the operating tabletop. In specific implementation, the first tabletop 301 is used to place the stacked pieces of the piece 8, the second tabletop 302 is used for flattening and adjusting the alignment of the separated single-layer pieces of the piece 8, and the third tabletop 303 is used to place the stacked pieces of the piece 8 after processing. Manual operation can be performed via buttons on the operation button mounting plate 304 to pick up materials, place materials, and perform emergency stop operations, interacting with the entire operation process.

[0087] In an optional embodiment, see Figure 10 and Figure 11 As shown, the first template automatic opening and closing device 4 includes a first table 401 and a first transition plate 405. In the first direction A, the first transition plate 405 is foldably connected to the first table 401.

[0088] In this way, the size of the first template automatic opening and closing device 4 can be adjusted to facilitate the transportation of the first template automatic opening and closing device 4, while ensuring that the first template automatic opening and closing device 4 has sufficient operating space.

[0089] In an optional embodiment, see Figure 10 and Figure 11As shown, the first template automatic opening and closing device 4 also includes a first template clamping assembly 404, a first adsorption plate 408, and a fan assembly. The first template clamping assembly 404 is located on the side of the first adsorption plate 408 away from the template transfer device 2. The first template clamping assembly 404 is used to fix the hinge end of the template. The fan assembly is located below the first adsorption plate 408. The first adsorption plate 408 is provided with through holes. The fan assembly forms a negative pressure on the upper surface of the first adsorption plate 408 through the through holes to adsorb the cut pieces 8.

[0090] Specifically, the first template clamping assembly 404 and the first suction plate 408 are disposed on the first table 401. The first template clamping assembly 404 is used for end positioning and fixing of the garment template 7 to prevent the garment template 7 from shifting during the template opening and closing action. The first suction plate 408 is used to ensure that the cut pieces 8 are adhered when placed, and will not shift due to external airflow. In this way, the garment template 7 and the cut pieces 8 are fixed on the first template automatic opening and closing device 4.

[0091] In an optional embodiment, see Figure 10 and Figure 11 As shown, the first template automatic opening and closing device 4 also includes a first template opening and closing connecting rod 403 and a first template top plate suction cup 402. The first template opening and closing connecting rod 403 includes a first rotating rod 4031 and a first connecting rod 4032. One end of the first rotating rod 4031 is rotatably connected to the side of the first table 401 away from the template transfer device 2, and the other end is connected to the first connecting rod 4032. The first connecting rod 4032 extends along a plane parallel to the first table 401. The first template top plate suction cup 402 is disposed on the first connecting rod 4032 to adsorb the garment template 7.

[0092] The first template automatic opening and closing device 4 also includes a first flipping motor assembly 407, installed below the first table 401. It is connected to the first template opening and closing connecting rod 403 via a first flipping synchronous belt 406. The motor's operation drives the first rotating rod 4031 of the first template opening and closing connecting rod 403 to rotate. Then, three first template top plate suction cups 402 installed on the first connecting rod 4032 vacuum-adhere to the top plate of the garment template 7, thus opening the top plate of the garment template 7. The first table 401 has four through holes below it for the first bottom suction cups 410 to adhere to the template bottom plate 701 of the garment template 7, ensuring the lower bottom plate is fixed during the opening process. A first bottom suction cup lifting cylinder 409 is installed below the first bottom suction cups 410 to control their vertical movement. When suction is not needed, the first bottom suction cups 410 are lowered to prevent scratching during the transfer of the garment template 7.

[0093] In this way, automatic opening and closing control of the garment template 7 is achieved. At the same time, during the opening and closing process of the garment template 7, the top plate 702 and the bottom plate 701 of the garment template 7 are fixed, as well as the cut pieces 8 set on the garment template 7 are fixed, so as to facilitate the transfer operation of the garment template 7 and the cut pieces 8 by the dual-arm robot and the template transfer device 2.

[0094] In an optional embodiment, see Figure 12 and Figure 13 As shown, the second template automatic opening and closing device 5 includes a second table 501 and a second transition plate 505. In the second direction B, the second transition plate 505 is foldably connected to the second table 501.

[0095] In this way, the size of the second template automatic opening and closing device 5 can be adjusted to facilitate the transportation of the second template automatic opening and closing device 5, while ensuring that the second template automatic opening and closing device 5 has sufficient operating space.

[0096] In an optional embodiment, the second template automatic opening and closing device 5 further includes a second template clamping assembly 504, a second adsorption plate 508, and a fan assembly. The second template clamping assembly 504 is disposed on the side of the second adsorption plate 508 away from the template transfer device 2. The second template clamping assembly 504 is used to fix the hinge end of the template. The fan assembly is disposed below the second adsorption plate 508. The second adsorption plate 508 is provided with through holes. The fan assembly forms a negative pressure on the upper surface of the second adsorption plate 508 through the through holes to adsorb the cut piece 8.

[0097] Specifically, the second template clamping assembly 504 and the second suction plate 508 are disposed on the second tabletop 501. The second template clamping assembly 504 is used for end positioning and fixing of the garment template 7 to prevent the garment template 7 from shifting during the template opening and closing action. The second suction plate 508 is used to ensure that the cut pieces 8 are adhered when placed, and will not shift due to external airflow. In this way, the garment template 7 and the cut pieces 8 are fixed on the second template automatic opening and closing device 5.

[0098] In an optional embodiment, see Figure 12 and Figure 13 As shown, the second template automatic opening and closing device 5 also includes a second template opening and closing connecting rod 503 and a second template top plate suction cup 502. The second template opening and closing connecting rod 503 includes a second rotating rod 5031 and a second connecting rod 5032. One end of the second rotating rod 5031 is rotatably connected to the side of the second table 501 away from the template transfer device 2, and the other end is connected to the second connecting rod 5032. The second connecting rod 5032 extends in a plane direction parallel to the second table 501. The second template top plate suction cup 502 is disposed on the second connecting rod 5032 to adsorb the garment template 7.

[0099] The second template automatic opening and closing device 5 also includes a second flipping motor assembly 507, installed below the second table 501. It is connected to the second template opening and closing connecting rod 503 via a second flipping synchronous belt 506. The motor's operation drives the rotation of the second rotating rod 5031 of the second template opening and closing connecting rod 503. Then, three suction cups 502 mounted on the second connecting rod 5032 vacuum-adhere to the top plate of the garment template 7, thus opening the top plate of the garment template 7. The second table 501 has four through holes at its bottom for the second bottom suction cups 510 to adhere to the bottom plate 701 of the garment template 7, ensuring the bottom plate remains fixed during opening. A second bottom suction cup lifting cylinder 509 is installed below the second bottom suction cups 510 to control their vertical movement. When suction is not needed, the second bottom suction cups 510 are lowered to prevent scratching during the transfer of the garment template 7.

[0100] In this way, automatic opening and closing control of the garment template 7 is achieved. At the same time, during the opening and closing process of the garment template 7, the top plate 702 and the bottom plate 701 of the garment template 7 are fixed, as well as the cut pieces 8 set on the garment template 7 are fixed, so as to facilitate the transfer operation of the garment template 7 and the cut pieces 8 by the dual-arm robot and the template transfer device 2.

[0101] In an optional embodiment, see Figure 14 and Figure 15 As shown, the garment template 7 includes a template base plate 701, a template top plate 702, a template transfer clamping post 703, a template machine clamping post 704, and a universal base plate 705. The template base plate 701 is disposed on the universal base plate, the template transfer clamping post 703 is disposed on one side of the universal base plate 705, the template machine clamping post 704 is disposed on the other side of the universal base plate 705, and the template top plate 702 is detachably connected to the end of the template base plate 701 near the template machine clamping post 704.

[0102] The lower end of the template base plate 701 is designed with two conical grooves that connect to the universal base plate 705. This ensures uniform positioning dimensions for each template when the template stitch pattern needs to be changed, allowing the template transfer device 2 to maintain consistent action points when transferring the garment template 7. Template transfer clamping posts 703 are located on one side of the universal base plate 705 and spaced apart at both ends of that side for positioning and fixing the template transfer device 2. The template top plate 702 is bonded to the template base plate 701, using adhesive tape as a hinge to open and close the top plate. Template machine clamping posts 704 are installed on the left and right sides of the other side of the template base plate 701 for positioning and clamping of the garment template 7 by the clamping assembly of the template machine 6.

[0103] In this way, different garment base plates can be fixed by the universal base plate 705, thereby achieving the universality of garment template 7 between the template machine 6 and the template transfer device for different processing needs without changing the outer contour of the garment template 7.

[0104] This application also provides a control method for a dual-station template machine garment production equipment; see [link to relevant documentation]. Figure 29 As shown, the control method includes steps S10, S20, S30, S40, S50, and S60. Specifically, after manually stacking the cut pieces 8 and placing them at the designated positions on the cut piece separation table 3, the empty garment template 7 is placed on the first template automatic opening and closing device 4 and the second template automatic opening and closing device 5, and then the program is started. After the robot 1, template transfer device 2, first template automatic opening and closing device 4, second template automatic opening and closing device 5, and template machine 6 perform a reset operation, the cut piece 8 separation action begins.

[0105] In step S10, see Figure 16 As shown, the robot 1 controls the separation of fabric pieces 8 from the fabric separation table 3. In this embodiment, the first robotic arm 101 and the second robotic arm 102 of the robot 1 move to the top of the stack of fabric pieces 8 on the fabric separation table 3, and use a servo gripper to grasp the single-layer garment fabric piece 8. At this time, the force information collected by the six-dimensional force sensor ensures that only a single layer of fabric piece 8 is grasped each time.

[0106] In step S20, the robot 1 is controlled to pick up the separated cut piece 8 and fix the cut piece 8 to the upper part of the garment template 7.

[0107] In step S30, the control template transfer device transfers the garment template 7 to the template machine 6.

[0108] In step S40, the template machine 6 controls the cutting pieces 8 on the garment template 7 to process them.

[0109] In step S50, the control template transfer device transfers the completed garment template 7 to the first template automatic opening and closing device 4 or the second template automatic opening and closing device 5.

[0110] In step S60, the robot 1 controls the transfer of the cut pieces 8 on the completed garment template 7 to the cut piece separation table 3.

[0111] Thus, the fabric pieces 8 can be stacked manually on the cutting panel separating table 3. The robot 1 transfers the stacked fabric pieces 8 to the garment templates 7 of the first automatic template opening and closing device 4 and the second automatic template opening and closing device 5. After the robot 1 completes the transfer of the fabric pieces 8, the template gripper 201 of the template transfer device 2 transfers the garment template 7 to the template machine 6 for processing. By setting up the robot 1 and the template transfer device 2, the cost of manually transferring the garment templates 7 and fabric pieces 8 during the production process of the template machine 6 is greatly reduced. By setting up the first automatic template opening and closing device 4 and the second automatic template opening and closing device 5, while the template machine 6 is processing one garment template 7, the robot 1 can transfer the fabric pieces 8 to another garment template 7, or transfer the processed fabric pieces 8 from another garment template 7 to the cutting panel separating table 3, thereby reducing the waiting time of the template machine 6 and improving the production efficiency of the dual-station template machine garment production equipment.

[0112] In an optional embodiment, see Figure 30 As shown, step S20 involves controlling the robot 1 to pick up the separated cut piece 8 and fix the cut piece 8 to the upper part of the garment template 7, including steps S21, S22 and S23.

[0113] In step S21, see Figure 17 As shown, the robot 1 moves the separated cut piece 8 to the middle of the cut piece separation table 3.

[0114] In step S22, see Figure 18 As shown, the robot 1 adjusts the cut piece 8 until it reaches the target state. Specifically, the dual-station template garment production equipment is equipped with a global camera 9. The robot 1 uses the global camera 9 to automatically adjust the cut piece 8 to the position where it is attached to the Bernoulli suction cup. A cut piece 8 separation detection camera is installed in the area where the cut piece 8 is placed to detect the separation state of the cut piece 8 and guide the robot 1 to perform corresponding operations. This process uses an imitation learning method, using a VR remote control device to train the adjustment of the cut piece 8 and collect a large amount of adjustment data of the garment cut piece 8 under different drop states. Then, through reinforcement learning, the robot 1 is trained to move the garment cut piece 8 to the target state to meet the requirement that the robot 1 will subsequently attach the cut piece 8 to the Bernoulli suction cup.

[0115] In step S23, see Figures 18-20 As shown, the robot 1 is controlled to pick up the cut piece 8 and place it on top of the opened garment template 7.

[0116] After robot 1 uses the first robotic arm 101 and the second robotic arm 102 to place the cut piece 8 at the designated position on the garment template 7, it changes the position of its end arms, moving the first Bernoulli suction cup 110 and the second Bernoulli suction cup 112 above the cut piece 8 while maintaining a slight distance. Then, it activates the first Bernoulli suction cup 110 and the second Bernoulli suction cup 112 to pick up the cut piece 8, thereby transferring the cut piece 8.

[0117] When the first Bernoulli suction cup 110 and the second Bernoulli suction cup 112 pick up a piece of fabric 8, the robot rotating mechanism 105 rotates, causing the first robotic arm 101 and the second robotic arm 102 of the robot 1 to move above the garment template 7 on the first template automatic opening and closing device 4 or the second template automatic opening and closing device 5, and place the piece of fabric 8 on the upper position of the garment template 7. The robot 1 repeats steps S10 and S20 until four pieces of fabric 8 are placed on the garment template 7. The two placement positions on the garment template 7 are stacked with two pieces of fabric 8 each, and the placed pieces of fabric 8 must be aligned with the lines on the garment template 7.

[0118] When the garment template 7 of one of the first automatic template opening and closing device 4 and the second automatic template opening and closing device 5 is placed, the first automatic template opening and closing device 4 or the second automatic template opening and closing device 5 closes the garment template 7. At the same time, the template transfer device 2 rotates to the other of the first automatic template opening and closing device 4 and the second automatic template opening and closing device 5 and places the cut piece 8 on top of its garment template 7.

[0119] In an optional embodiment, see Figure 31 As shown, step S30 involves controlling the template transfer device to transfer the garment template 7 to the template machine 6, including steps S31, S32, and S33.

[0120] In step S31, the working status of template machine 6 is obtained.

[0121] In step S32, the placement status of the cut pieces 8 on the garment template 7 is obtained.

[0122] In step S33, see Figures 21-23 As shown, when the template machine 6 is in idle state and the cut pieces 8 are in the completed placement state, the template transfer device controls the template transfer device to transfer the template to the template machine 6 and process the cut pieces 8 on the garment template 7. After clamping the garment template 7, the template transfer device 2 rotates to the position of the template machine 6, pushes the garment template 7 into the template machine 6, and then returns to wait. The template machine 6 begins sewing.

[0123] In an optional embodiment, see Figure 32As shown, step S50 involves controlling the template transfer device to transfer the completed garment template 7 to the first template automatic opening and closing device 4 or the second template automatic opening and closing device 5, including steps S51, S52 and S53.

[0124] In step S51, the working status of template machine 6 is obtained.

[0125] In step S52, the placement status of the garment template 7 of the first template automatic opening and closing device 4 and the second template automatic opening and closing device 5 is obtained. The placement status includes a placed state and an unplaced state.

[0126] In step S53, see Figure 24 and Figure 25 As shown, when the template machine 6 is in the completed state and at least one of the first template automatic opening and closing device 4 and the second template automatic opening and closing device 5 is in the unplaced state, the template transfer device is controlled to pick up the completed garment template 7 and transfer it to one of the first template automatic opening and closing device 4 and the second template automatic opening and closing device 5 in the unplaced state.

[0127] After the template transfer device 2 waits for the template machine 6 to complete the template sewing work, it transfers the template back to the top of the first template automatic opening and closing device 4 or the second template automatic opening and closing device 5 according to the original action, and fixes the garment template 7 through the first template automatic opening and closing device 4 or the second template automatic opening and closing device 5.

[0128] In an optional embodiment, see Figure 33 As shown, in step S60, the robot 1 controls the transfer of the cut pieces 8 on the completed garment template 7 to the cut piece separation table 3, including steps S61 and S62.

[0129] In step S61, see Figure 26 As shown, the automatic opening and closing device 4 of the first template and the automatic opening and closing device 5 of the second template are controlled to open the completed garment template 7.

[0130] In step S62, see Figure 27 and Figure 28 As shown, the robot 1 is controlled to pick up the cut piece 8 and transfer it to the designated area of ​​the cut piece separation table 3.

[0131] After the garment template 7 is fixed to the first template automatic opening and closing device 4 or the second template automatic opening and closing device 5, the first template automatic opening and closing device 4 or the second template automatic opening and closing device 5 adsorbs the template top plate 702 of the garment template 7 and drives the template top plate 702 to open relative to the template bottom plate 701. The robot 1 alternately performs the work of placing the cut pieces 8 to be processed and the work of placing the cut pieces 8 after processing. After the robot 1 completes the work of placing the cut pieces 8 to be processed, it rotates to a position facing the first template automatic opening and closing device 4 or the second template automatic opening and closing device 5. The robot 1 clamps the template off the sewn cut pieces 8, rotates again to the right side of the cut piece separation table 3, and stacks the cut pieces 8.

[0132] The applied-for dual-station template machine garment production equipment and its control method have enabled unmanned production of the template machine 6. The robot 1 can autonomously pick up and place the cut pieces 8. In addition, the production process can be monitored through image information from the camera carrier, and abnormal situations can be autonomously judged and handled.

[0133] By leveraging new artificial intelligence technologies, Robot 1 possesses strong generalization capabilities. Through extensive training data, Robot 1 is equipped to handle the work requirements of different fabric pieces 8 and different garment templates 7. The end-to-end model allows Robot 1 to be deployed locally.

[0134] The production process of robot 1 is shared by automated devices. The stable process is realized by automation. The training data of robot 1 is gradually isolated, and the unstable part of the entire production process is taken over by the generalization performance of robot 1.

[0135] It should be noted that the technical solutions or features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings; all modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A two-station pattern machine garment production apparatus, characterized by, The utility model relates to a kind of garment template processing system, comprising: Garment template (7) for fixing pattern piece (8); First template automatic opening and closing device (4); Second template automatic opening and closing device (5); Template machine (6) is arranged in the first direction on one side of first template automatic opening and closing device (4) and second template automatic opening and closing device (5), and in the second direction, first template automatic opening and closing device (4) and second template automatic opening and closing device (5) are respectively connected to the both ends of template machine (6), the first direction is perpendicular to the second direction, and the template machine (6) is used to process the pattern piece (8) on the garment template (7); Pattern piece separation desktop (3) is arranged in the first direction on the other side of first template automatic opening and closing device (4) and second template automatic opening and closing device; Template transfer device (2) includes template gripper (201), transfer device bottom plate (208), robot mounting seat (207), the robot mounting seat (207) is arranged in transfer device bottom plate (208), the template gripper (201) is movably arranged in transfer device bottom plate (208), first template automatic opening and closing device (4), second template automatic opening and closing device (5), template machine (6) and pattern piece separation desktop (3) are enclosed in template transfer device (2) in the circumferential direction of template transfer device (2), and the template gripper (201) is used to transfer the garment template (7) between first template automatic opening and closing device (4), second template automatic opening and closing device (5) and template machine (6); Robot (1) is arranged in robot mounting seat (207), and the robot (1) is used to transfer the pattern piece (8) between pattern piece separation desktop (3), the garment template (7) of first template automatic opening and closing device (4) and the garment template (7) of second template automatic opening and closing device (5).

2. The two-station template machine garment production apparatus of claim 1, wherein, The robot (1) includes a dual-arm robot (1), and the dual-arm robot (1) includes a first mechanical arm (101) and a second mechanical arm (102); The first mechanical arm (101) includes a first mechanical arm gripper (107) and a first camera module (111), and the first camera module (111) is used to acquire an image at the end of the first mechanical arm gripper (107) and a clamping state of the first mechanical arm gripper (107) on the pattern piece (8); And / or The second mechanical arm (102) includes a second mechanical arm gripper (109) and a second camera module (113), and the second camera module (113) is used to acquire an image at the end of the second mechanical arm gripper (109) and a clamping state of the second mechanical arm gripper (109) on the pattern piece (8).

3. The two-station template machine garment production apparatus of claim 2, wherein, The robot (1) further comprises a robot frame (103) and a robot pitching mechanism (104), the first mechanical arm (101) and the second mechanical arm (102) are respectively connected to two ends of the robot frame (103), the robot frame (103) is arranged on the robot pitching mechanism (104), and the robot pitching mechanism (104) is used for controlling the robot frame (103) to drive the first mechanical arm (101) and the second mechanical arm (102) to pitch.

4. The two-station template machine garment production apparatus of claim 2, wherein, The robot (1) further comprises a robot frame (103) and a robot rotating mechanism (105), the first mechanical arm (101) and the second mechanical arm (102) are respectively connected to two ends of the robot frame (103), the robot frame (103) is arranged on the robot rotating mechanism (105), and the robot rotating mechanism (105) is used for controlling the robot frame (103) to drive the first mechanical arm (101) and the second mechanical arm (102) to perform circular motion on a horizontal plane.

5. The two-station template machine garment production apparatus of claim 1, wherein, The template transfer device (2) further comprises a template rotating mechanism (204) and a template telescopic mechanism (203), the template grabber (201) is arranged on the template telescopic mechanism (203), the template telescopic mechanism (203) is arranged above the transfer device bottom plate (208), the template rotating mechanism (204) is arranged below the transfer device bottom plate (208) and connected to the template telescopic mechanism (203), the template rotating mechanism (204) is used for driving the template telescopic mechanism (203) and the template grabber (201) to perform circular motion on a horizontal plane, and the template grabber (201) translates in the extension direction of the template telescopic mechanism (203) through the template telescopic mechanism (203).

6. The two position pattern machine garment production apparatus of claim 5 wherein, The template transfer device (2) further comprises a rotating mechanism motor assembly (205) and a rotating transmission synchronous belt (206), the rotating transmission synchronous belt (206) is drivingly connected to the rotating mechanism motor assembly (205) and the template rotating mechanism (204), and the rotating mechanism motor assembly (205) drives the template rotating mechanism (204) to drive the template telescopic mechanism (203) and the template grabber (201) to perform circular motion on a horizontal plane through the rotating transmission synchronous belt (206).

7. The two-station template machine garment production apparatus of claim 1, wherein, The cutting piece separation desktop (3) comprises a first desktop (301), a second desktop (302) and a third desktop (303) connected in sequence in the second direction, the first desktop (301) is foldably connected to the second desktop (302), and the third desktop (303) is foldably connected to the second desktop (302).

8. The two-station template machine garment production apparatus of claim 1, wherein, The first template automatic opening and closing device (4) comprises a first desktop plate (401) and a first transition plate (405), and in the first direction, the first transition plate (405) is foldably connected to the first desktop plate (401).

9. The two position pattern machine garment production apparatus of claim 8, wherein, The first template automatic opening and closing device (4) further comprises a first template clamping assembly (404), a first adsorption plate (408) and a fan assembly, the first template clamping assembly (404) is arranged on the side of the first adsorption plate (408) away from the template transfer device (2), the first template clamping assembly (404) is used for fixing the hinge end of the template, and the fan assembly is arranged below the first adsorption plate (408), the first adsorption plate (408) is provided with a through hole, and the fan assembly forms negative pressure on the upper surface of the first adsorption plate (408) through the through hole, so as to adsorb the cutting piece (8).

10. The two-station template machine garment production apparatus of claim 8, wherein, The first template automatic opening and closing device (4) further comprises a first template clamping assembly (404), a first adsorption plate (408) and a fan assembly, the first template clamping assembly (404) is arranged on the side of the first adsorption plate (408) away from the template transfer device (2), the first template clamping assembly (404) is used for fixing the hinge end of the template, and the fan assembly is arranged below the first adsorption plate (408), the first adsorption plate (408) is provided with a through hole, and the fan assembly forms negative pressure on the upper surface of the first adsorption plate (408) through the through hole, so as to adsorb the cutting piece (8).

11. The two-station template machine garment production apparatus of claim 1, wherein, The second template automatic opening and closing device (5) comprises a second table plate (501) and a second transition plate (505), and the second transition plate (505) is foldably connected to the second table plate (501) in the second direction.

12. The two-station template machine garment production apparatus of claim 11, wherein, The second template automatic opening and closing device (5) further comprises a second template clamping assembly (504), a second adsorption plate (508) and a fan assembly, the second template clamping assembly (504) is arranged on the side of the second adsorption plate (508) away from the template transfer device (2), the second template clamping assembly (504) is used for fixing the hinge end of the template, and the fan assembly is arranged below the second adsorption plate (508), the second adsorption plate (508) is provided with a through hole, and the fan assembly forms negative pressure on the upper surface of the second adsorption plate (508) through the through hole, so as to adsorb the cutting piece (8).

13. The two-station template machine garment production apparatus of claim 11, wherein, The second template automatic opening and closing device (5) further comprises a second template clamping assembly (504), a second adsorption plate (508) and a fan assembly, the second template clamping assembly (504) is arranged on the side of the second adsorption plate (508) away from the template transfer device (2), the second template clamping assembly (504) is used for fixing the hinge end of the template, and the fan assembly is arranged below the second adsorption plate (508), the second adsorption plate (508) is provided with a through hole, and the fan assembly forms negative pressure on the upper surface of the second adsorption plate (508) through the through hole, so as to adsorb the cutting piece (8). The second template automatic opening and closing device (5) further comprises a second template clamping assembly (504), a second adsorption plate (508) and a fan assembly, the second template clamping assembly (504) is arranged on the side of the second adsorption plate (508) away from the template transfer device (2), the second template clamping assembly (504) is used for fixing the hinge end of the template, and the fan assembly is arranged below the second adsorption plate (508), the second adsorption plate (508) is provided with a through hole, and the fan assembly forms negative pressure on the upper surface of the second adsorption plate (508) through the through hole, so as to adsorb the cutting piece (8).

14. The two-station template machine garment production apparatus of claim 1, wherein, The garment template (7) comprises a template bottom plate (701), a template top plate (702), a template transfer clamping column (703), a template machine clamping column (704) and a universal bottom plate (705), the template bottom plate (701) is arranged on the bottom plate, the template transfer clamping column (703) is arranged on one side of the universal bottom plate (705), the template machine clamping column (704) is arranged on the other side of the universal bottom plate (705), and the template top plate (702) is hingedly connected to one end of the template bottom plate (701) close to the template machine clamping column (704).

15. A control method for a double-station template machine garment production apparatus, characterized by, The control method for the double-station template machine garment production equipment as claimed in any one of claims 1-14 comprises: controlling the robot (1) to separate the pattern piece (8) on the pattern piece separation table top (3); controlling the robot (1) to clamp the separated pattern piece (8) and fix the pattern piece (8) on the upper side of the garment template (7); controlling the template transfer device to transfer the garment template (7) to the template machine (6); controlling the template machine (6) to process the pattern piece (8) on the garment template (7); controlling the template transfer device to transfer the garment template (7) after processing to the first template automatic opening and closing device (4) or the second template automatic opening and closing device (5); controlling the robot (1) to transfer the pattern piece (8) on the garment template (7) after processing to the pattern piece separation table top (3).

16. The control method according to claim 15, characterized by The control of the robot (1) to clamp the separated pattern piece (8) and fix the pattern piece (8) on the upper side of the garment template (7) comprises: controlling the robot (1) to move the separated pattern piece (8) to the middle of the pattern piece separation table top (3); controlling the robot (1) to adjust the pattern piece (8) until the pattern piece (8) reaches a target state; controlling the robot (1) to clamp the pattern piece (8) and place the pattern piece (8) on the upper side of the opened garment template (7).

17. The control method according to claim 15, characterized by, The control of the template transfer device to transfer the garment template (7) to the template machine (6) comprises: acquiring the working state of the template machine (6); acquiring the placement state of the pattern piece (8) on the garment template (7); when the working state of the template machine (6) is an idle state and the placement state of the pattern piece (8) is a completed placement state, controlling the template transfer device to transfer the template to the template machine (6) and process the pattern piece (8) on the garment template (7).

18. The control method according to claim 15, characterized by, The control of the template transfer device to transfer the garment template (7) after processing to the first template automatic opening and closing device (4) or the second template automatic opening and closing device (5) comprises: acquiring the working state of the template machine (6); acquiring the placement state of the garment template (7) of the first template automatic opening and closing device (4) and the second template automatic opening and closing device (5); the placement state comprises a placed state and an unplaced state; When the working state of the template machine (6) is a completed state, and at least one of the first template automatic opening and closing device (4) and the second template automatic opening and closing device (5) is in an undeployed state, the template transfer device is controlled to clamp the completed garment template (7) and transfer it to one of the first template automatic opening and closing device (4) and the second template automatic opening and closing device (5) in the undeployed state.

19. The control method according to claim 15, characterized by, The control of the robot (1) to transfer the pattern piece (8) on the completed garment template (7) to the pattern piece separation desktop (3) comprises: Controlling the first template automatic opening and closing device (4) and the second template automatic opening and closing device (5) to open the completed garment template (7); Controlling the robot (1) to clamp the pattern piece (8) and transfer it to the designated area of the pattern piece separation desktop (3).

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