Special-shaped cloth piece cutting device and method based on multi-degree-of-freedom driving and fixed-point cutting

Abstract

The invention discloses a special-shaped cloth piece cutting device and method based on multi-degree-of-freedom driving and fixed-point cutting. The device comprises a working table, a cutting mechanism and an abutting driving assembly. The abutting driving assembly comprises a multi-axis movement module, a rotation driving module and an abutting piece, and the abutting piece can be driven to move on at least two horizontal axes and one vertical axis and rotate around the vertical axis. In the working process, the center area of a cloth piece abuts against and is fixed to the working table top, the fixed cloth piece is driven to horizontally move and rotate relative to the working table top through cooperative movement of the multi-axis movement module and the rotary driving module, the outer edge of the cloth piece passes through the cutting mechanism at the fixed position according to a preset non-rectangular track (such as a circle), and therefore redundant parts are continuously cut off. According to the invention, the operation mode of'cloth movement and cutter fixation 'is adopted to replace the traditional cutting mode of'cloth fixation and cutter movement', so that cloth deformation caused by traditional punching is avoided, and high-precision and tear-free cutting is realized.

Description

Technical Field

[0001] This invention relates to the field of flexible material cutting technology, and in particular to a cutting device and method for irregularly shaped fabric pieces based on multi-degree-of-freedom driving and fixed-point cutting. Background Technology

[0002] In the manufacturing industries of textiles, clothing, and home furnishings, it is often necessary to cut fabrics into specific irregular shapes, such as circular, elliptical, or custom-curved fabric pieces. Existing irregular fabric cutting technologies mainly include the following methods, but each has its limitations: Die-cutting method: This is the most traditional method, which involves making a steel die of a specific shape and using a stamping machine to cut the fabric into the desired shape in one go. Although this method is highly efficient, the die manufacturing cost is high and the cycle is long. In addition, one set of dies can only correspond to one shape and size, which is not flexible enough to meet the needs of modern production of small batches and multiple varieties.

[0003] Laser / waterjet cutting: This type of CNC cutting technology achieves precise cutting of any shape by controlling a laser head or waterjet nozzle to move above the fabric. However, laser cutting can cause edge burning and charring, is unsuitable for some synthetic fiber fabrics, and has high equipment and maintenance costs, as well as certain safety hazards. Waterjet cutting may leave the fabric damp, requiring subsequent drying, and is noisy and energy-intensive.

[0004] Traditional mechanical cutting methods, such as the cutting machine for cutting circular fabric pieces disclosed in CN113550134A, use an upper pressure head to press the fabric, while a rotating cylindrical blade feeds upwards to complete the punching. Although this method can cut multiple layers at once, it is essentially a "fixed-area punching" mode, which cannot perform contour reprocessing on independent blanks (such as rectangular fabric pieces). Furthermore, the large-area compression of the fabric in the entire cutting area can easily cause uneven internal stress, leading to deformation at the edges of the cut fabric pieces and affecting the accuracy and quality of the finished product. In addition, changing product specifications requires replacing multiple components such as the pressure head, table die, and cutter, making adjustments complex and lacking flexibility.

[0005] In summary, existing technologies lack a solution for cutting irregularly shaped fabric pieces that can balance flexibility, precision, and cost-effectiveness. Summary of the Invention

[0006] The purpose of this invention is to overcome the problems of poor flexibility, easy fabric deformation, high equipment cost, or narrow applicability in existing irregular fabric cutting technologies, and to provide an irregular fabric cutting device and method based on multi-degree-of-freedom driving and fixed-point cutting. This device can flexibly and accurately cut fabric pieces of various shapes and sizes through programming, and is particularly suitable for cutting rectangular fabric pieces into high-quality circular or other irregularly shaped fabric pieces. It also has the advantages of simple structure, low cost, and wide adaptability.

[0007] In a first aspect, the present invention provides a cutting device for irregularly shaped fabric pieces based on multi-degree-of-freedom driving and fixed-point cutting, the specific technical solution of which is as follows: A non-standard fabric cutting device based on multi-degree-of-freedom drive and fixed-point cutting includes a worktable and a cutting mechanism, and also includes a pressing drive assembly. The pressing drive assembly includes a multi-axis motion module, a rotation drive module and a pressing member. The multi-axis motion module is configured to drive the pressing member to move on at least two horizontal axes parallel to the worktable and one vertical axis perpendicular to the worktable. The rotary drive module is connected to the output end of the multi-axis motion module and is configured to drive the pressing member to rotate about an axis perpendicular to the worktable surface. The pressing member is connected to the rotary drive module and is configured to move downward under the drive of the multi-axis motion module to press and fix the fabric piece onto the worktable surface. The pressure-reducing drive assembly is further configured as follows: After the pressing member presses and fixes the fabric piece, the coordinated movement of the multi-axis motion module and the rotary drive module drives the fixed fabric piece to translate and rotate relative to the worktable surface, so that the outer edge of the fabric piece passes through the cutting point of the cutting mechanism along a predetermined trajectory, and the cutting mechanism continuously cuts the outer edge of the fabric piece that exceeds the trajectory.

[0008] By adopting the above technical solution, the present invention only uses a pressing component to apply local pressing force to the central area of ​​the fabric to prevent it from moving as a whole, while the outer edge of the fabric to be cut is in a free state without pre-stretching, thus eliminating the fabric deformation caused by large-area pressing from the root and ensuring the shape accuracy of the finished fabric.

[0009] Furthermore, the predetermined trajectory is one of a circle, an ellipse, a polygon, or any irregular closed curve.

[0010] Furthermore, the multi-axis motion module is a three-axis Cartesian coordinate slide module or a six-degree-of-freedom industrial robot arm.

[0011] Furthermore, the pressing member includes a pressure plate, and the pressing surface of the pressure plate is provided with an elastic anti-slip layer.

[0012] Furthermore, the pressing surface of the pressing member has a concave area, and the elastic anti-slip layer is disposed in the concave area.

[0013] Furthermore, the pressure plate and the rotary drive module are detachably connected.

[0014] Furthermore, the cutting mechanism includes a cutting blade and a drive member for driving the cutting blade to rotate.

[0015] Furthermore, the cutting mechanism also includes a pressing member disposed adjacent to the cutting blade, the pressing member being mounted via a curved arm for elastically pressing the fabric sheet during cutting.

[0016] Furthermore, the pressing element includes a pair of freely rotating rollers, which are mounted via a curved arm.

[0017] Furthermore, the cutting mechanism also includes a lifting drive for driving the cutting blade to move vertically to adjust the cutting depth.

[0018] Furthermore, the worktable surface is provided with a material discharge port at the cutting point corresponding to the cutting mechanism.

[0019] Furthermore, a material guide plate perpendicular to the workbench surface is provided at the material discharge port along the edge of the workbench surface.

[0020] Furthermore, the device also includes a control system, which includes a trajectory planning unit and a motion control unit. The trajectory planning unit is configured to generate a sequence of trajectory points based on the target contour, and the motion control unit is configured to drive the multi-axis motion module and the rotation drive module to move in coordination.

[0021] Furthermore, the device also includes a fabric clamping mechanism and a cross-cutting mechanism. The cross-cutting mechanism is used to cut the fabric into sheet-like pieces, and the fabric clamping mechanism is used to position the sheet-like pieces onto the worktable to achieve continuous automated production from the fabric to the irregularly shaped pieces.

[0022] Secondly, the present invention provides a cutting method using the irregularly shaped fabric cutting device as described above, comprising the following steps: S1. Place a flat piece of cloth on the workbench surface; S2. Control the pressing drive assembly to move to the pressing point on the fabric, and drive the pressing component to move down to press and fix the fabric onto the worktable. S3. Based on the preset target contour trajectory data, control the multi-axis motion module and the rotation drive module to work together to drive the fabric piece that is pressed and fixed to perform a composite motion of translation and rotation, so that the cutting point of the outer edge of the fabric piece is always aligned with the cutting point of the cutting mechanism and moves along the target contour trajectory, and the cutting mechanism continuously cuts off the excess part. S4. After cutting, control the pressing member to move upward and release the cut fabric piece.

[0023] Compared with the prior art, the present invention has the following significant advantages: 1. This invention employs a reverse thinking approach of "fabric moving, cutter stationary" and a localized pressure method, avoiding the internal stress and deformation caused by large-area compression of the fabric during traditional punching processes. During the cutting process, the fabric piece is only clamped in the central area, while the outer edges remain free. A rotating cutter performs a "trimming" cut, ensuring smooth, neat edges and precise finished product shape without tearing or deformation.

[0024] 2. By changing the trajectory data in the control program, it is possible to cut out circular, elliptical, or even arbitrarily complex shapes of fabric with different diameters on the same machine, achieving "one machine for multiple uses" and completely getting rid of the dependence on molds of specific shapes, greatly adapting to the flexible production needs of small batches and multiple varieties.

[0025] 3. The core of the device of this invention is a multi-axis motion module and a simple fixed cutting mechanism. The structure is simple and does not require expensive laser generators, high-pressure water jet systems or large hydraulic stamping equipment, thus greatly reducing manufacturing and maintenance costs.

[0026] 4. The entire cutting process can be completed automatically by the control system. From clamping and trajectory movement to cutting and unloading, it achieves full automation, reduces the labor intensity and skill requirements of operators, and has high production efficiency. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the irregular fabric cutting device based on multi-degree-of-freedom drive and fixed-point cutting in Example 1; Figure 2 This is a schematic diagram of the pressure drive assembly in Example 1; Figure 3 This is a flowchart of the fabric cutting process in Example 1; Figure 4 This is a schematic diagram of the pressing component in Example 2; Figure 5 Cross-sectional view of the pressing member in Example 2 Figure 1 ; Figure 6 Cross-sectional view of the pressing member in Example 2 Figure 2 ; Figure 7 This is a schematic diagram of the irregular fabric cutting device based on multi-degree-of-freedom drive and fixed-point cutting in Example 3. Figure 1 ; Figure 8 for Figure 7 Enlarged view of section A; Figure 9 This is a cross-sectional view of the transverse cutting mechanism in Example 3; Figure 10 This is a schematic diagram of the irregular fabric cutting device based on multi-degree-of-freedom drive and fixed-point cutting in Example 3. Figure 2 ; Figure 11 for Figure 10 Enlarged view of section B; Figure 12 This is a cross-sectional view of the cutting mechanism in Example 3; Figure 13 This is a flowchart of the fabric cutting process in Example 3.

[0028] Explanation of reference numerals in the attached figures: 1. Worktable; 11. Material feeding port; 12. Material distribution guide plate; 2. Cutting mechanism; 21. Cutting blade; 22. Feed drive component; 23. Pressing roller; 24. Crank arm; 25. Moving block; 251. Guide column; 252. Lifting drive component; 3. Pressing drive assembly; 31. Multi-axis motion module; 311. Z-axis servo motor; 312. Fixed contact block; 3121. Buffer block; 3122. Adjustable limiting component; 32. Rotary drive module; 321. Sliding frame; 322. 323. Moving contact block; 33. Rotary drive motor; 33. Pressing component; 331. Pressure plate; 3311. Pin; 332. Adapter plate; 3321. Insertion hole; 333. Elastic anti-slip layer; 4. Cross-cutting mechanism; 41. Roller shaft group; 42. Cross-cutting cutter; 43. Guide roller; 5. Fabric clamping mechanism; 51. Lower clamping plate; 52. Upper clamping plate; 53. Opening and closing drive component; 54. Push and pull drive component; 6. Fabric piece to be processed; 61. Printing area; 62. Outer edge cutting area; 7. Irregularly shaped fabric piece. Detailed Implementation

[0029] To enable those skilled in the art to better understand the technical solutions of this invention, the present application will be further described in detail below with reference to the accompanying drawings.

[0030] Example 1: Reference Figure 1 This embodiment provides a non-standard fabric cutting device based on multi-degree-of-freedom drive and fixed-point cutting, which includes a worktable 1, a pressure drive assembly 3 and a cutting mechanism 2.

[0031] Reference Figure 1The work surface 1 is a flat plate structure, preferably made of stainless steel or anodized aluminum alloy to ensure wear resistance and smoothness.

[0032] Reference Figure 1 The cutting mechanism 2 is fixed to the workbench 1 by a mounting bracket, and its cutting point is located on one side of the workbench 1. In this embodiment, the cutting mechanism 2 is preferably an industrial sewing machine head or overlock machine with edge trimming function.

[0033] Reference Figure 1 and Figure 2 The pressure drive assembly 3 includes a multi-axis motion module 31, a rotary drive module 32, and a pressure component 33. In this embodiment, the multi-axis motion module 31 adopts a three-axis rectangular coordinate slide module, which consists of linear modules of mutually perpendicular X-axis, Y-axis, and Z-axis. Each axis is driven by a servo motor (such as the Z-axis servo motor 311) to achieve high-precision point and speed control.

[0034] In this embodiment, the rotary drive module 32 includes a sliding frame 321 and a rotary drive motor 323 mounted on the sliding frame 321. The sliding frame 321 is fixedly mounted on the Z-axis slide of the multi-axis motion module 31 via an adapter plate 332 and can rise and fall together with the Z-axis. The output shaft of the rotary drive motor 323 is perpendicular to the worktable surface 1.

[0035] In this embodiment, the pressing member 33 can be a single integral pressing plate 331, which is directly fixed to the end of the output shaft of the rotary drive motor 323 by bolts.

[0036] Reference Figure 2 A movable contact 322 is fixedly provided on the side of the sliding frame 321; the multi-axis motion module 31 is provided with fixed contacts 312 located on both sides of the movable contact 322. Among them, the fixed contact 312 located above the movable contact 322 is provided with a buffer block 3121; the fixed contact 312 located below the movable contact 322 is provided with an adjustable limiter, which can be a limit switch. The cooperation between the movable contact 322 and the fixed contact 312 constitutes the safety travel limit and buffering mechanism of the pressing member (33). The upper buffer block 3121 is used to absorb the impact during the return stroke and protect the rotary drive motor (323); the lower adjustable limiter 3122 (such as an adjustable limit switch) is used to accurately set and limit the pressing stroke, ensuring that a constant and appropriate pressing force is applied to fabrics of different thicknesses and materials, avoiding excessive pressure damage to the fabric or insufficient pressing leading to slippage, and ensuring the stability of the cutting process and the quality of the finished product.

[0037] The device in this embodiment also includes a control system (not shown in the figure), which includes an industrial programmable logic controller (PLC) and a human-machine interface (HMI). The PLC is communicatively connected to the servo drivers of each axis of the multi-axis motion module 31, the servo drivers of the rotary drive module 32, and the motor driver of the cutting blade 21 of the cutting mechanism 2 via an industrial fieldbus (such as EtherCAT). The trajectory planning unit of the control system generates a trajectory point sequence P_i(X_i,Y_i,θ_i) in real time based on the target shape parameters (such as the diameter of a circle) using a circular interpolation algorithm (such as Digital Differential Analysis, DDA), where (X_i,Y_i) are the horizontal coordinates of the center of the pressing member 33, and θ_i is its rotation angle around the Z-axis. The motion control unit drives the motors to move in coordination through multi-axis linkage interpolation and PID control algorithms, ensuring that the pressing member 33 strictly follows the predetermined trajectory.

[0038] The program running within the control system implements the following functional units, and its control flow is as follows: The operator inputs the target shape parameters (such as the diameter D of a circle) through a human-machine interface (HMI). The trajectory planning unit in the control system generates a sequence of trajectory points based on digital differential analysis (DDA). Using these parameters, the unit calls a pre-stored circular interpolation algorithm (e.g., DDA) to generate a set of discrete, timestamped trajectory point sequences P_i(X_i,Y_i,θ_i) in real time. Here, (X_i,Y_i) are the coordinates of the center of the pressing part 33 on the horizontal plane, and θ_i is the angle it needs to rotate around the Z-axis. To ensure that the cutting point of the fabric edge is always directly opposite the cutting blade 21, the calculation of θ_i is tightly coupled with (X_i,Y_i), satisfying θ_i = arctan2(Y_i,X_i) + π / 2 for a circular trajectory.

[0039] The motion control unit receives the trajectory point sequence P_i. This unit integrates a multi-axis linkage interpolator and a PID control algorithm, which calculates each target point P_i in real time into precise commands required to drive the X, Y, and Z axis servo motors 311 and the rotary axis servo motor. The synchronization control module ensures that these commands are output in perfect time synchronization using a precise internal clock, thus enabling the translational and rotational movements of the pressing component 33 to be smoothly and continuously combined, strictly following the predetermined trajectory.

[0040] The trajectory planning and multi-axis motion control technologies employed in the control system of this invention are well-known in the field. For example, digital differential analysis (DDA), Bresenham algorithm, and linear / circular interpolation algorithms, widely used in CNC machine tools and industrial robots, can all be used to generate the trajectory point sequence and achieve multi-axis cooperative motion. The PID control, servo drive, and EtherCAT communication are all standard industrial configurations; specific implementation details can be found in relevant technical manuals or standard textbooks.

[0041] Reference Figure 3 A rectangular piece of fabric 6 (with a circular printing area 61) is placed on the worktable 1. The control system controls the multi-axis motion module 31 to move the pressing member 33 above the center area of ​​the fabric piece, and then the Z-axis moves to drive the pressing member 33 to move down, pressing and fixing the fabric 6 to be processed onto the worktable 1 through the pressure plate 331. The pressing area of ​​the pressing member (33) is equal to or less than the area of ​​the printing area 61 of the fabric 6; at the same time, the cutting blade 21 motor of the cutting mechanism 2 works, driving the cutting blade 21 to rotate at high speed.

[0042] The motion control unit and the synchronization control module work together to drive the pressure drive assembly 3, which in turn moves the pressed fabric piece. Under the combined motion of X and Y axis movement and its own rotation, the outer edge of the fabric piece 6 to be processed passes through the cutting blade 21 sequentially along a predetermined circular trajectory. The cutting blade 21 continuously cuts off the fabric that exceeds the circular trajectory (outer edge cutting area 62).

[0043] After completing a full circle of motion, a circular, irregularly shaped piece of fabric 7 is cut out. The control system then moves the pressure member 33 upwards to its reset position, allowing the operator or robotic arm to remove the finished product.

[0044] Example 2: This embodiment optimizes the structure of the pressing member 33 based on Embodiment 1, making it more versatile and easier to maintain. (Refer to...) Figure 4 , Figure 5 and Figure 6 The main difference between this embodiment and Embodiment 1 is that: The pressing component 33 includes a fixedly connected adapter plate 332 and a pressure plate 331. The adapter plate 332 is fixedly connected to the end of the output shaft of the rotary drive motor 323 by bolts. Both the pressure plate 331 and the adapter plate 332 are circular, with the diameter of the pressure plate 331 being larger than that of the adapter plate 332. In this embodiment, the top surface of the pressure plate 331 is provided with three pins 3311, which are evenly distributed around the central axis. The pins 3311 engage with the insertion holes 3321 on the adapter plate 332 to achieve quick alignment and disassembly, facilitating the replacement of pressure plates 331 of different sizes or materials to accommodate fabric pieces of different sizes.

[0045] Furthermore, the bottom surface of the pressure plate 331 has a recessed area, where an elastic anti-slip layer 333 is provided. The elastic anti-slip layer 333 is preferably made of silicone rubber. This recessed design can reduce the pressure on the central area of ​​the fabric, making the outer edge of the fabric less prone to wrinkling during movement, thus improving cutting accuracy and smoothness.

[0046] Its control process and workflow are the same as in Example 1. The appropriate fabric size can be quickly switched by changing the pressure plate 331. In particular, when the size of the printing area 61 of the fabric piece 6 to be processed is different, a pressure plate 331 with a suitable diameter can be replaced.

[0047] Example 3: Reference Figure 7 , Figure 8 and Figure 9 Based on embodiment 1 or 2, this embodiment further integrates a fabric clamping mechanism 5 and a cross-cutting mechanism 4. The fabric clamping mechanism 5 and the cross-cutting mechanism 4 are coordinated by the same control system to realize full-process automation from fabric feeding, fixed-length cutting to fabric positioning.

[0048] The cross-cutting mechanism 4 is located upstream of the feed direction of the worktable 1 and is used to cut long strips of fabric into rectangular pieces. It includes a pair of rollers 41 for pulling the fabric, a cross-cutting blade 42, and several guide rollers 43. The cross-cutting blade 42 cooperates with the cutting edge on the side of the matching crossbeam and, driven by a cylinder, cuts the fabric.

[0049] The fabric clamping mechanism 5 is used to pull and position the fabric head. It includes a lower clamping plate 51, an upper clamping plate 52, a pair of opening and closing drive members 53 (such as cylinders) for driving the upper clamping plate 52 to open and close, and a push-pull drive member 54 (such as a linear module or cylinder) for driving the entire fabric clamping mechanism 5 to move along the feeding direction. The push-pull drive member 54 is provided with a worktable surface 1.

[0050] Reference Figure 10 and Figure 11 A material discharge port 11 is provided on one side edge of the workbench 1, which is a cutting station. A material guide plate 12 perpendicular to the workbench 1 is provided behind the material discharge port 11 to guide the cut strip waste material to fall smoothly and avoid tangling or accumulation.

[0051] In this embodiment, the cutting mechanism 2 mainly includes a cutting blade 21, a feed drive 22, and a pressing component. The cutting blade 21 is driven by a high-speed motor (as the feed drive) to rotate at high speed around its own axis, forming a sharp cutting edge. In this embodiment, the lifting drive 252 is a servo electric cylinder, and its extension end is connected to the mounting base of the cutting blade 21 through a moving block 25. The feed drive 22 is disposed on the moving block 25, and its drive shaft extends through the moving block 25 to an opening on the side wall of the housing of the cutting mechanism 2. The cutting blade 21 is mounted on the end of the drive shaft. The moving block 25 is guided by a guide post 251 to ensure that the cutting blade 21 can be precisely driven to move in the vertical direction (Z-axis), thereby adjusting the cutting depth to accommodate fabric pieces of different thicknesses. The pressing component is a pair of freely rotating pressing rollers 23, which are mounted through a curved arm 24. The middle part of the curved arm 24 is hinged to the side of the moving block 25 through a rotating shaft, and the pressing rollers 23 are mounted at both ends of the curved arm 24. The hinge structure of the curved arm 24 allows the pressure roller 23 to float to a certain extent when the fabric sheet passes through, thus avoiding jamming.

[0052] Reference Figure 9 , Figure 11 and Figure 13 The long strip of fabric is guided by guide roller 43 and pulled and conveyed to a predetermined length by roller assembly 41. At this time, the upper clamping plate 52 of the fabric clamping mechanism 5 closes with the lower clamping plate 51 under the action of the opening and closing drive member 53, clamping the fabric end. Subsequently, the cross-cutting cutter 42 moves to cut the fabric into an independent rectangular fabric piece 6 to be processed. The push-pull drive member 54 drives the fabric clamping mechanism 5 to drag and accurately place the clamped rectangular fabric piece to the predetermined initial position on the worktable 1, and then the fabric clamping mechanism 5 releases the fabric piece and resets.

[0053] Subsequently, the process transitions to the "pressure fixing" and "cooperative cutting" steps as described in Embodiment 1 or 2, where the pressure drive assembly 3 and the cutting mechanism 2 work together to cut the rectangular fabric piece 6 into irregularly shaped fabric pieces 7. The system repeats this cycle, achieving fully automated continuous production from the fabric to the irregularly shaped fabric pieces 7.

[0054] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A cutting device for cutting irregular-shaped cloth based on multi-degree-of-freedom driving and fixed-point cutting, comprising a worktable (1) and a cutting mechanism (2), characterized in that, Further comprising a pressing driving assembly (3), the pressing driving assembly (3) comprising a multi-axis motion module (31), a rotary driving module (32) and a pressing member (33): The multi-axis motion module (31) is configured to drive the pressing member (33) to move on at least two horizontal axes parallel to the workbench surface (1) and one vertical axis perpendicular to the workbench surface (1); The rotary driving module (32) is connected to the output end of the multi-axis motion module (31) and is configured to drive the pressing member (33) to rotate around an axis perpendicular to the workbench surface (1); The pressing member (33) is connected to the rotary driving module (32) and is configured to move downward under the drive of the multi-axis motion module (31) to press and fix the cloth on the workbench surface (1); The pressing driving assembly (3) is further configured to: After the pressing member (33) presses and fixes the cloth, the fixed cloth is driven to translate and rotate relative to the workbench surface (1) through the coordinated movement of the multi-axis motion module (31) and the rotary driving module (32), so that the outer edge of the cloth passes through the cutting point of the cutting mechanism (2) according to a predetermined trajectory, and the cutting mechanism (2) continuously cuts the outer edge of the cloth that exceeds the trajectory.

2. The shaped fabric cutting device based on multi-degree of freedom driving and fixed-point cutting according to claim 1, characterized in that: The predetermined trajectory is one of a circle, an ellipse, a polygon or an arbitrary irregular closed curve.

3. The shaped fabric cutting device based on multi-degree of freedom driving and fixed point cutting according to claim 1, characterized in that: The multi-axis motion module (31) is a three-axis Cartesian coordinate sliding table module or a six-degree-of-freedom industrial robot mechanical arm.

4. The shaped fabric cutting device based on multi-degree of freedom driving and fixed point cutting according to claim 1, characterized in that: The pressing member (33) comprises a pressing plate (331), and the pressing surface of the pressing plate (331) is provided with an elastic anti-skid layer (332).

5. The shaped fabric cutting device based on multi-degree of freedom driving and fixed-point cutting according to claim 4, characterized in that: The pressing plate (331) and the rotary driving module (32) are detachably connected.

6. The shaped fabric cutting device based on multi-degree of freedom driving and fixed point cutting according to claim 1, characterized in that: The cutting mechanism (2) comprises a cutting knife (21) and a driving member for driving the cutting knife (21) to rotate.

7. The shaped fabric cutting device based on multi-degree of freedom driving and fixed point cutting according to claim 6, characterized in that: The cutting mechanism (2) further comprises a pressing member arranged adjacent to the cutting knife (21), the pressing member is installed through a curved arm (24) and is used for elastically pressing the cloth during cutting.

8. The shaped fabric cutting device based on multi-degree of freedom driving and fixed point cutting according to claim 6, characterized in that: The workbench surface (1) is provided with a material falling port (11) corresponding to the cutting point of the cutting mechanism (2).

9. The shaped fabric cutting device based on multi-degree of freedom driving and fixed point cutting according to claim 8, characterized in that: A material dividing guide plate (12) perpendicular to the workbench surface (1) is arranged along the edge of the workbench surface (1) at the material falling port (11).

10. A cutting method using the cutting apparatus for a profiled cloth sheet according to any one of claims 1 to 9, characterized by, The method comprises the following steps: S1, placing a planar cloth on the workbench surface (1); S2, controlling the pressing driving assembly (3) to move to a pressing point on the cloth and driving the pressing member (33) to move downward to press and fix the cloth on the workbench surface (1); S3, according to preset target contour trajectory data, controlling the multi-axis motion module (31) and the rotary driving module (32) to jointly act to drive the pressed and fixed cloth to perform a composite motion of translation and rotation, so that the cutting point of the outer edge of the cloth is always aligned with the cutting point of the cutting mechanism (2) and moves along the target contour trajectory, and the cutting mechanism (2) continuously cuts off the excess part. S4, after cutting, the pressing member (33) is controlled to move upward to release the cut cloth piece.

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