Underpants bottom crotch arc edge automatic aligning, leveling and sewing equipment and method

Abstract

The invention relates to an underpants bottom crotch arc edge automatic aligning, leveling and sewing device and method. The underpants bottom crotch arc edge automatic aligning, leveling and sewing device comprises a machine frame, a workbench, an arrangement mechanism, a pressing claw assembly and a sewing mechanism, and the workbench, the arrangement mechanism, the pressing claw assembly and the sewing mechanism are installed on the machine frame. The arrangement mechanisms are arranged on the two sides of the workbench in pairs and provided with edge arrangement pieces which face the workbench surface and can be close to or away from the workbench surface to form a pressure applying structure; the pressing claw assembly is provided with a pressing claw with a pressure surface and can be pressed on the table top beside the edge trimming piece to bear the pressure of the edge trimming piece; the workbench is driven by the transfer driving part to be close to or away from the sewing mechanism, and the pressing claw assemblies synchronously move during moving to form a material shaping maintaining structure. Materials can be prevented from moving, stripping and springback of arc edges, the arc edges can be accurately stretched to be straight in cooperation with a multi-direction driving and visual recognition system, and manual efficiency improvement is replaced; the edge trimming difficulty is reduced through the lower supporting table, a workbench notch is matched with a sewing mechanism boss, stable transfer is achieved through the split layout, and the sewing precision and the yield are improved.

Description

Technical Field

[0001] This invention relates to the field of textile processing equipment, and in particular to an automatic alignment, flattening and sewing device and method for the curved edge of underwear crotch. Background Technology

[0002] The crotch area of ​​underwear typically uses a four-needle, six-thread sewing process to achieve a strong seam and a comfortable fit. Since the crotch is formed by joining the concave, curved edges of the front and back pieces, traditional production relies on manual stretching, alignment, and feeding into the sewing machine. This method is not only inefficient and labor-intensive, but also prone to defects such as misalignment, wrinkles, and skewing due to differences in operator skill, making it difficult to guarantee consistent product quality. Furthermore, the complex structure and large size of the four-needle, six-thread sewing machine severely restrict the placement and movement of automated components, making it difficult to achieve efficient automation of this process for a long time. To improve automation feasibility, the crotch preparation mechanism and sewing mechanism are often separated, but this introduces a process of transferring the material from the flattened area to the sewing station. During this transfer, the fabric lacks effective restraint, making it prone to shifting, slippage, or edge rebound, causing the initial flattening to fail and still failing to ensure sewing accuracy. Therefore, there is an urgent need for an automatic sewing technology solution for the crotch of underwear that can achieve stable flatness, reliable transfer, and precise sewing in a split layout. Summary of the Invention

[0003] To solve the above-mentioned technical problems, this invention discloses an automatic alignment, smoothing, and sewing device for the curved edge of underwear crotch. It includes a frame and a worktable, a finishing mechanism, a presser gripper assembly, and a sewing mechanism mounted on the frame. The finishing mechanism is arranged in pairs on both sides of the worktable and has an edge-finding component facing the worktable surface. The edge-finding component can approach or move away from the worktable surface to form a pressure structure on the worktable surface. The presser gripper assembly has presser grippers with pressure surfaces facing the worktable surface and can press against the worktable surface adjacent to the edge-finding component, forming a support structure for the edge-finding component. The material pressing structure for material pressure includes a worktable mounted on the drive end of a transfer drive unit via a support frame. A material hanging space is formed between the bottom surface of the worktable and the mounting surface of the drive end of the transfer drive unit for material to fall. The hanging space is equipped with a lower support platform, which can move towards the bottom surface of the worktable within the hanging space to form a lifting mechanism. The transfer drive unit is mounted on the frame and can drive the worktable and the lower support platform to move closer to or away from the sewing mechanism. When the worktable moves closer to the sewing mechanism, the pressure claw assembly moves synchronously with the worktable to form a shape-holding structure for the material on the worktable.

[0004] Specifically, the pressure claw assemblies are symmetrically arranged in pairs on both sides of the worktable and correspond to the sorting mechanism. The pressure claw assembly also includes a pressure claw lifting drive and a push claw drive. The pressure claw is a strip-shaped pressing plate structure, with one end connected to the pressure claw lifting drive to form a fixed end, and the other end extending toward the center line of the worktable. A clamping gap is formed between the pressure surface and the worktable surface. The pressure claw lifting drive is installed on the driving end of the push claw drive, forming a clamping position adjustment mechanism that can drive the pressure claw lifting drive and the pressure claw to reciprocate in the direction from the side of the worktable to the center line.

[0005] Specifically, the transfer drive is located at the bottom of the worktable, enabling the worktable to move closer to or further away from the sewing mechanism to form a linear drive path. Pressure claw displacement assemblies are respectively located on both sides of the transfer drive. Each pressure claw displacement assembly includes a loading platform and a displacement drive. The pressure claw assembly is mounted on the loading platform, which is located at the drive end of the displacement drive. The drive direction of the displacement drive is the same as and parallel to the drive direction of the transfer drive, causing the pressure claw assembly to reciprocate linearly between the initial position of the worktable and the sewing mechanism.

[0006] Specifically, the lower support platform includes a vibrating support plate and a lifting drive. The lifting drive is installed at the driving end of the transfer drive component and corresponds to the side of the worktable away from the sewing mechanism. The vibrating support plate is a thin plate with elastic deformation, with the material support plane facing the bottom surface of the worktable, and its end is connected to the driving end of the lifting drive. The lifting drive can drive the vibrating support plate to approach or move away from the bottom surface of the worktable in the vertical space, and stop suddenly at the driving stop point close to the bottom surface of the worktable. Through inertia, the other end of the vibrating support plate can swing up and down in the vertical space to form a springboard structure.

[0007] Specifically, the sewing station of the sewing mechanism is a convex platform. The worktable has a concave notch corresponding to the convex platform, forming a transitional edge structure for limiting and docking. The vibrating support plate has the same shape and size as the worktable, and its free end has a notch extending toward the fixed end. The vibrating support plate can cause the bottom of the hanging material to bend into the notch by undulating and swinging. At the end of the worktable facing the sewing mechanism, the material forms a triangular opening structure that is supported by both sides of the worktable and converges into the notch. The end of the notch does not exceed 1 / 2 the length of the worktable.

[0008] Specifically, it also includes a visual recognition system, which includes a lifting bracket and a camera. The camera is mounted on the rack above the workbench surface via the lifting bracket, and the camera is positioned facing the workbench surface.

[0009] Specifically, the sorting mechanism also includes a multi-directional drive assembly, which is mounted on the frame, and there are two multi-directional drive assemblies on the same side of the workbench. The edge trimming component is fixed to the drive end of the multi-directional drive assembly.

[0010] Specifically, the number of pressure claw assemblies set on the same loading platform is 5, and they are arranged at equal intervals. The pressure claw assembly also includes a secondary driving component. The push claw driving component is installed on the driving end of the secondary driving component. The secondary driving component is installed on the loading platform, and the driving direction is consistent with the displacement direction of the shifting driving component, forming a multi-finger adjustment mechanism in which the pressure claws on the same loading platform can be brought together or dispersed.

[0011] Specifically, it also includes a control computer, which is connected to the sorting mechanism, the presser jaw assembly, the sewing mechanism, the presser jaw displacement assembly, the lower support platform, and the vision recognition system. The control computer receives and processes the image signals from the vision recognition system and outputs control signals to each mechanism component to form a signal transmission control mechanism.

[0012] A working method for an automatic alignment, smoothing, and sewing device for the curved edge of underwear crotch includes the following steps. Step 1: Lay the front and back pieces of the underwear to be sewn on the workbench from the side, with the workbench passing through the leg openings of the underwear and the edges of the crotch to be sewn facing each other. After starting the equipment, the vision recognition system takes an image of the crotch fabric and uploads it to the control computer, which then outputs control signals to each mechanism component. Step 2: The computer controls the lifting drive of the lower support platform to lift the fabric hanging below the workbench upwards, counteracting the gravitational resistance of the falling fabric. The vibrating support platform also vibrates elastically to shake off the wrinkles in the fabric. At the same time, the multi-directional drive component of the sorting mechanism drives the edge straightening component to accurately move to the bottom corner position. The edge straightening component applies pressure to the table surface and pulls to both sides away from the center line of the workbench, stretching the concave arc edge of the bottom corner straight. Step 3: The pressure claw assembly adjusts the position of the pressure claw through the push claw drive and the pressure claw lifting drive, so that the pressure claw presses on the worktable surface at the adjacent position of the edge trimming piece, receives the material pressure of the edge trimming piece and presses down the straightened bottom edge to form a fixed shape. Then the edge trimming piece of the finishing mechanism releases the pressure and traction on the fabric. Step 4: The transfer drive unit moves the worktable and the lower support platform toward the sewing position of the sewing mechanism. The presser claw displacement component moves the presser claw component and the worktable in the same direction in a straight line, maintaining the shaping state of the bottom edge, until the concave notch of the worktable is precisely aligned with the convex platform of the sewing mechanism. Step 5: Start the sewing mechanism to automatically align and sew the straight edges of the front and back crotch of the shaped underwear. During the sewing process, the presser claw assembly remains in a pressed state. Step 6: After the crotch edge is sewn, release the presser claw assembly, take out the sewn underwear, and complete the crotch seam finishing and sewing to obtain underwear in the crotch seam state. Advantages and effects

[0013] This invention features a movable worktable and pressure claw assembly to achieve synchronous displacement and shaping after leveling, preventing displacement, material slippage, and edge springback during transfer. A sorting mechanism, in conjunction with a multi-directional drive assembly and a vision recognition system, precisely positions and presses the bottom edge corners, stretching the curved edges to straighten them, replacing manual operation and improving processing efficiency. A lower support platform with a vibrating tray counteracts the resistance of fabric descent, shakes out wrinkles, and reduces the difficulty of edge trimming. The worktable recess adapts to the sewing mechanism's protrusion, overcoming the structural limitations of a four-needle six-thread machine, enabling fabric transfer without slippage or displacement in a split-layout configuration, improving sewing accuracy and yield. Attached Figure Description

[0014] Figure 1 This is one of the structural schematic diagrams of the automatic alignment, flattening and sewing equipment for the curved edge of the crotch of underwear according to the present invention; Figure 2 This is the second schematic diagram of the automatic alignment, flattening and sewing equipment for the curved edge of the crotch of underwear according to the present invention; Figure 3 This is the third structural schematic diagram of the automatic alignment, flattening and sewing equipment for the curved edge of the crotch of underwear according to the present invention; Figure 4 This is the fourth structural schematic diagram of the automatic alignment, flattening and sewing equipment for the curved edge of the crotch of underwear according to the present invention; Figure 5 This is a schematic diagram of the vibrating support plate of the automatic alignment, flattening and sewing equipment for the curved edge of the underwear crotch of the present invention. Figure 6 This is the fifth schematic diagram of the automatic alignment, smoothing and sewing equipment for the curved edge of the crotch of underwear according to the present invention. Figure 7 This is the sixth schematic diagram of the automatic alignment, flattening and sewing equipment for the curved edge of the crotch of underwear according to the present invention.

[0015] Legend: 1. Frame; 2. Workbench; 21. Transfer drive; 22. Support frame; 3. Sorting mechanism; 31. Edge trimmer; 32. Multi-directional drive assembly; 4. Pressure claw assembly; 41. Pressure claw; 42. Pressure claw lifting drive; 43. Push claw drive; 44. Secondary drive; 5. Material handling mechanism; 51. Material handling and shifting assembly; 52. Material handling head; 53. Clamping assembly; 531. Clamping drive; 532. Clamping fastener; 6. Sewing mechanism; 7. Pressure claw displacement assembly; 71. Loading platform; 72. Shifting drive; 8. Lower support platform; 81. Vibrating support plate; 82. Lifting drive; 83. Notch; 9. Vision recognition system; 91. Lifting bracket; 92. Camera; 10. Feeding mechanism; 101. Spreading platform; 102. Feeding drive. Detailed Implementation

[0016] The present invention will be further described below with reference to embodiments, but is not limited to the contents of the specification.

[0017] like Figures 1 to 3As shown, this invention relates to an automatic alignment, smoothing, and sewing device for the curved edge of underwear crotch. It includes a frame 1 and a worktable 2, a finishing mechanism 3, a pressure claw assembly 4, and a sewing mechanism 6 mounted on the frame 1. The finishing mechanisms 3 are arranged in pairs on both sides of the worktable 2 and have edge-finding components 31 facing the worktable 2 surface. The edge-finding components 31 can approach or move away from the worktable 2 surface to form a pressure structure on the worktable 2 surface. The pressure claw assembly 4 has pressure claws 41 with pressure surfaces facing the worktable 2 surface, and can press against the worktable 2 surface adjacent to the edge-finding components 31 to form a support for the edge-finding components 31. The material pressure structure has a worktable 2 mounted on the drive end of the transfer drive 21 via a support frame 22. A material hanging space is formed between the bottom surface of the worktable 2 and the mounting surface of the drive end of the transfer drive 21 for material to fall. The hanging space is provided with a lower support platform 8, which can move towards the bottom surface of the worktable 2 within the hanging space to form a lifting mechanism. The transfer drive 21 is mounted on the frame 1 and can drive the worktable 2 together with the lower support platform 8 to move closer to or away from the sewing mechanism 6. When the worktable 2 moves closer to the sewing mechanism 6, the pressure claw assembly 4 moves synchronously with the worktable to form a shaping and holding structure for the material on the worktable 2. When this equipment is in operation, the operator first lays the front and back crotch pieces of the underwear to be sewn on both sides of the workbench 2, ensuring that the two leg openings of the underwear are aligned with the workbench 2, with the workbench 2 passing through the leg openings, the crotch hem facing down, and the curved edge of the crotch facing up. The curved edges of the front and back crotch pieces to be sewn are also aligned. During the laying process, the fabric is kept flat, wrinkle-free, and without shifting, laying the foundation for subsequent hemming, transfer, and sewing operations. After the fabric is laid out, the equipment is started. The pair of finishing mechanisms 3 located on both sides of the workbench 2 begin working first. Their core function is to pull and flatten the concave curved edge of the crotch into a straight edge. During operation, the hemming component 31 of the finishing mechanism 3 (i.e., the pressure head that directly contacts the fabric) is driven by the drive structure to gradually approach the workbench 2 until the hemming component 31 is in contact with the workbench and applies stable pressure to the two corners of the underwear crotch, forming a pressure structure on the workbench and firmly pressing down the corner fabric to prevent shifting. Subsequently, the two side straightening mechanisms 3 operate synchronously, slowly pulling their respective edge straightening components 31 away from the center of the worktable 2. Through continuous and uniform traction, the originally concave arc-shaped bottom edge is gradually stretched and straightened until the bottom arc edge becomes completely straight. At this time, the edge straightening component 31 maintains pressure and traction on the corner fabric to ensure that the straight edge does not spring back or deform. After the bottom arc edge is flattened, the pressure claw assembly 4 immediately starts, working in conjunction with the straightening mechanism 3 to achieve edge shaping.Under the driving action, the pressure claw 41 on the pressure claw assembly 4 moves precisely to a position adjacent to the edge trimmer 31. Its pressure surface facing the worktable 2 is in contact with the worktable surface, applying uniform pressure to the straight edge of the flattened crotch fabric, forming a pressing structure that bears the pressure of the edge trimmer 31 on the material. This structure not only helps the edge trimmer 31 fix the fabric and prevents the edge fabric from slipping or shifting during the traction process, but also allows for independent shaping and fixing of the straight edge after the edge trimmer 31 is released, firmly locking the flattened fabric state and preventing the edge from springing back to an arc shape due to loss of traction. After the pressure claw 41 stably presses the straight edge of the crotch and completes the shaping, the edge trimmer 31 of the finishing mechanism 3 gradually moves away from the worktable 2, releasing the pressure and traction on the crotch fabric. At this time, the straight edge of the crotch is completely fixed by the pressure claw 41 of the pressure claw assembly 4, ensuring that the flattened state remains unchanged. Subsequently, the transfer drive 21 is activated, causing the worktable 2, which is movably mounted on the frame 1, to begin to move. The worktable 2 slowly moves closer to the sewing position of the sewing mechanism 6. During this process, the pressure claw assembly 4 moves synchronously with the worktable 2, forming a shaping and holding structure for the underwear fabric on the worktable 2. The pressure claw 41 always maintains a tight grip on the crotch edge and will not loosen due to the displacement of the worktable 2, nor will it slide relative to the worktable 2. This allows the underwear fabric to be smoothly and accurately transferred to the sewing area of ​​the sewing mechanism 6 in a straight and flat state, ensuring that the crotch edge does not shift or change its straightness during the transfer process. The workbench 2 is securely mounted on the drive end of the transfer drive component 21 via a support frame 22. The support frame 22 has a vertical support structure, creating a certain height gap between the bottom surface of the workbench 2 and the mounting surface of the drive end of the transfer drive component 21. This gap is the hanging space for the underwear material to fall. When the crotch of the underwear is laid out on the workbench 2, the crotch and front and back panels of the underwear will naturally fall into this space. The fabric area of ​​the hanging parts on both sides accounts for most of the total area of ​​the underwear and is relatively heavy, which will exert a downward pull on the crotch arc edge. To solve this problem, the lower support platform 8 starts synchronously to work with the edge trimming mechanism 3. During trimming, it starts to lift the fabric under the workbench and maintains the lift during the transfer process. The lifting work is completed after the material is transferred to the sewing structure position. This device uses the displacement of the worktable 2 to approach the sewing mechanism 6, rather than directly connecting the worktable 2 and the sewing mechanism 6 or driving the sewing mechanism 6 to move closer to the worktable 2. The core reason is to adapt to the structural characteristics of the four-needle six-thread sewing machine: the machine head of the four-needle six-thread sewing machine is large and has a special structure. If the two are directly connected, the position of the machine head will directly interfere with the installation and working stroke of the finishing mechanisms 3 on both sides of the worktable 2, causing the finishing mechanisms 3 to be unable to properly perform edge traction and edge finishing operations, affecting the overall operation of the equipment. If the sewing machine itself is installed on the displacement drive mechanism, and the drive mechanism drives the sewing machine to move closer to the worktable 2, it will be affected by the vibration of the sewing machine itself during operation. The high-frequency vibration of the sewing machine during operation will be directly transmitted to the displacement drive mechanism, which will not only cause the drive mechanism to run unstably and reduce its accuracy, affecting the alignment accuracy during sewing, but also accelerate the wear of the components of the displacement drive mechanism, increase equipment maintenance costs, and shorten its service life.

[0018] When the worktable 2 moves to the preset position under the drive of the transfer drive 21 and the straight edge of the bottom crotch is precisely aligned with the sewing position of the sewing mechanism 6, the transfer drive 21 stops working, the worktable 2 and the presser claw assembly 4 remain stationary, and the presser claw 41 continues to press the edge of the bottom crotch to provide a stable fabric state for subsequent sewing operations. Subsequently, the sewing mechanism 6 is activated to automatically align and sew the straight edges of the crotch area of ​​the front and back pieces of the underwear after it has been flattened and shaped. During the sewing process, the presser claw assembly 4 remains in a shaping and holding state until the crotch edge is sewn. Then, the presser claw 41 is released, and the operator takes out the sewn underwear, completing a complete work process. The entire transfer process, through the synchronous displacement of the worktable 2 and the presser claw assembly 4, combined with the shaping and holding function of the presser claw 41, achieves a smooth transfer of the underwear fabric from the flattened and leveled position to the sewing position. This effectively solves the problems of easy fabric shifting, easy edge rebound, and low transfer accuracy in traditional transfer methods. At the same time, through the design of the displacement of the worktable 2, the adverse effects of the structure and vibration of the four-needle six-thread sewing machine are avoided, which not only ensures the normal operation of the finishing mechanism 3, but also improves the sewing accuracy and reduces equipment maintenance costs. like Figure 4As shown, the pressure claw assemblies 4 are symmetrically arranged in pairs on both sides of the worktable 2 and correspond to the sorting mechanism 3. The pressure claw assembly 4 also includes a pressure claw lifting drive 42 and a push claw drive 43. The pressure claw 41 is a strip-shaped pressing plate structure, one end of which is connected to the pressure claw lifting drive 42 to form a fixed end, and the other end extends toward the center line of the worktable 2. A clamping gap is formed between the pressure surface and the table surface of the worktable 2. The pressure claw lifting drive 42 is installed on the driving end of the push claw drive 43, forming a clamping position adjustment mechanism that can drive the pressure claw lifting drive 42 and the pressure claw 41 to reciprocate in the direction from the side to the center line of the worktable 2. After startup, the pusher drive 43 takes the lead, driving the pressure claw lifting drive 42 and the pressure claw 41 connected to it to move smoothly along the side of the worktable 2 towards the center line, precisely adjusting the horizontal position of the pressure claw 41 until the pressure surface of the pressure claw 41 is precisely aligned with the straight edge of the bottom crotch of the adjacent area of ​​the edge trimmer 31, ensuring that the pressure claw 41 can fully bear the pressure of the edge trimmer 31 on the material, while covering the leveled edge area to avoid the presence of a pressing blind spot. After the position is adjusted, the pressure claw lifting drive 42 is activated, driving the pressure claw 41 to move downward, gradually reducing the clamping gap between the pressure surface of the pressure claw 41 and the worktable 2 surface, until the pressure surface is tightly attached to the crotch fabric on the worktable 2 surface, and applying a uniform and stable clamping force to form a pressing structure that bears the pressure of the edge trimming component 31; in the clamping state, the pressure claw 41 can not only assist the edge trimming component 31 in further fixing the fabric and prevent the edge fabric from slipping or shifting during the traction process of the edge trimming component 31, but also independently achieve the shaping and fixing of the straight edge after the edge trimming component 31 is subsequently released. After the pressure claw 41 stably clamps the straight edge of the crotch and completes the shaping, the edge trimming component 31 of the finishing mechanism 3 gradually moves away from the worktable 2 surface, releasing the pressure and traction on the corner fabric of the underwear. At this time, the straight edge of the crotch is completely fixed by the pressure claw 41 of the pressure claw assembly 4, ensuring that the flattened state remains unchanged. Subsequently, the transfer drive unit 21 is activated, which drives the worktable 2 to move the underwear fabric on the table surface, and the pressure claw assembly that holds the fabric in place to keep the crotch edge straight begins to move synchronously with the worktable.

[0019] like Figures 1 to 3As shown, the transfer drive component 21 is located at the bottom of the worktable 2, enabling the worktable 2 to move closer to or further away from the sewing mechanism 6 in a linear drive path. Pressure claw displacement assemblies 7 are respectively arranged on both sides of the transfer drive component 21. Each pressure claw displacement assembly 7 includes a carrying platform 71 and a shift drive component 72. The pressure claw assembly 4 is mounted on the carrying platform 71, which is located at the drive end of the shift drive component 72. The drive direction of the shift drive component 72 is the same as and parallel to the drive direction of the transfer drive component 21, causing the pressure claw assembly 4 to reciprocate linearly between the initial position of the worktable 2 and the sewing mechanism 6. A set of pressure claw displacement assemblies 7 is symmetrically arranged on both sides of the transfer drive component 21, corresponding one-to-one with the pressure claw assemblies 4 on both sides of the worktable 2, and is used to drive the pressure claw assemblies 4 to achieve displacement. Each pressure gripper displacement assembly 7 includes a platform 71 and a shifting drive 72. The platform 71 is a flat structure adapted for mounting the pressure gripper assembly 4. The pressure gripper assembly 4 is firmly mounted on the platform 71 to ensure synchronous movement between the pressure gripper assembly 4 and the platform 71. The shifting drive 72 is fixedly mounted on the frame 1, and its drive end is connected to the side of the platform 71 away from the pressure gripper assembly 4. The drive direction of the shifting drive 72 is exactly the same as and parallel to the drive direction of the transfer drive 21 to ensure coordinated displacement. During operation, when the transfer drive 21 is activated, it drives the worktable 2 towards the sewing mechanism. When the presser claws move closer or further away, the pressure claw displacement components 7 on both sides start synchronously. The displacement drive component 72 outputs driving force, which drives the loading platform 71 to make linear reciprocating motion. Since the pressure claw component 4 is installed on the loading platform 71, and the displacement drive component 72 and the transfer drive component 21 have the same driving direction and synchronous movement rhythm, the pressure claw component 4 can move back and forth linearly between the loading platform 71 and the sewing position of the sewing mechanism 6 under the drive of the displacement drive component 72. Finally, the synchronous displacement of the pressure claw component 4 and the loading platform 2 is achieved, ensuring that the pressure claw component 4 always presses the fabric on the loading platform 2 and does not produce relative displacement.

[0020] like Figure 3As shown, the lower support platform 8 includes a vibrating support plate 81 and a lifting drive 82. The lifting drive 82 is installed at the drive end of the transfer drive component 21 and corresponds to the side of the worktable 2 away from the sewing mechanism. The vibrating support plate 81 is a thin plate with elastic deformation, with the material support plane facing the bottom surface of the worktable 2, and its end is connected to the drive end of the lifting drive 82. The lifting drive 82 can drive the vibrating support plate 81 to move closer to or away from the bottom surface of the worktable 2 in the vertical space, and stop suddenly at the drive stop point close to the bottom surface of the worktable 2. Through inertia, the other end of the vibrating support plate 81 can swing up and down in the vertical space to form a springboard structure. When the edge trimming component 31 of the straightening mechanism 3 presses the two sides of the crotch of the underwear, preparing to pull to both sides to straighten the curved edge of the crotch, Because the cuffs of the underwear naturally fall into the hanging space, and the front and back panels of the underwear have a triangular structure, the fabric area of ​​the hanging parts on both sides accounts for most of the total area of ​​the underwear, making it relatively heavy. This will exert a downward pulling force on the crotch edge. At this time, when the edge straightening component 31 pulls, it not only needs to overcome the elastic resistance of the underwear fabric itself, but also the gravitational resistance generated by the downward movement of the fabric in the middle part of the crotch edge. This increases the difficulty of straightening the edge, resulting in uneven pulling force, inability to completely straighten the edge, and even fabric stretching and deformation. To solve this problem, the lower support platform 8 starts synchronously to work with the edge straightening mechanism 3. While the edge straightening component 31 presses the crotch edge corner of the underwear, the lifting drive 82 starts, and the driving force pushes the vibrating support plate 81 upward. The vibrating support plate 81 is brought into contact with the hanging underwear fabric, lifting it upwards until the gravitational resistance generated by the falling fabric is effectively counteracted. At this point, when the edge trimmer 31 pulls the fabric to both sides, it only needs to overcome the elastic resistance of the fabric itself, greatly reducing the difficulty of straightening the curved edge. Simultaneously, the lifting drive 82 uses a control method of quickly pushing up and immediately stopping. Because the vibrating support plate 81 is an elastic thin plate with one end shaped like a springboard, under the action of the lifting drive 82's rapid push and sudden stop, its free end will generate continuous undulating vibrations under the action of elastic restoring force, thus shaking the fabric. The vibration can cause the fabric to be slightly lifted upwards multiple times, during which... This effectively reduces the contact friction between the edges of the worktable 2 and the fabric, preventing the fabric from getting stuck on the edges and ensuring smooth movement when the edge trimmer 31 is pulled to both sides, thus reducing traction resistance. In addition, it can effectively shake out wrinkles on the fabric, especially around the leg openings of the underwear. Since the leg openings of the underwear are fitted onto the worktable with the leg openings facing forward and backward, with the front end corresponding to the direction of the worktable 2 moving towards the sewing mechanism 6, shaking out the leg opening wrinkles can reduce the wind resistance at the edge of the leg opening when the worktable 2 moves, reducing the chance of the fabric shifting during the movement. It can also shake the leg openings to a better roundness, so that when the underwear transitions from the worktable 2 to the sewing mechanism 6, the edge of the leg opening is flat and smooth, effectively reducing the occurrence of edge jamming and ensuring smooth subsequent sewing.

[0021] The sewing station of the sewing mechanism 6 is a convex platform. The worktable 2 has a concave notch corresponding to the convex platform, forming a transition edge structure for limiting and connecting. The sewing station of the sewing mechanism 6 has a convex platform, which corresponds to the sewing position of the sewing machine. It is used to receive the transferred underwear fabric and provide stable sewing support. Correspondingly, the end of the worktable 2 near the sewing mechanism 6 has a concave notch that perfectly matches the shape and size of the convex platform. The concave notch and the convex platform are precisely connected to form a transition edge structure for limiting and connecting. This structure can ensure that when the worktable 2 moves to the sewing mechanism 6, the two are smoothly connected, avoiding steps or gaps, preventing the fabric from being blocked during the transfer process, and at the same time achieving limiting and positioning to ensure that the crotch edge is accurately aligned with the sewing station. like Figure 5As shown, the vibrating support plate 81 has the same shape and size as the worktable 2, and its free end has a notch 83 extending towards the fixed end. The vibrating support plate 81 can cause the bottom of the hanging material to bend into the notch 83 by undulating and swinging. At the end of the worktable 2 facing the sewing mechanism 6, the material forms a triangular opening structure that is supported by both sides of the worktable 2 and converges into the notch 83. The end of the notch 83 does not exceed 1 / 2 of the length of the worktable 2. When the lifting drive 82 moves the vibrating support plate 81 upward to lift the hanging underwear fabric, since the leg opening of the underwear is a ring structure, a part of the ring leg opening will inevitably fall exactly into the notch 83 of the vibrating support plate 81. At this time, the vibrating support plate 81 vibrates continuously under the action of elasticity. On the one hand, the vibration will cause the fabric at the notch 83 to move slightly up and down, so that the waistband of the underwear that was originally attached to the support plate can smoothly pass through the edge of the notch 83. On the other hand, the continuous vibration will guide more waistband edges to slide along the edge of the free end of the vibrating support plate 81 to the notch 83 position, so that the fabric at the notch 83 is in a natural hanging state and does not contact the vibrating support plate 81. Since the end position of the notch 83 does not exceed 1 / 2 of the length of the workbench 2, that is, it ends near the center line of the workbench 2, this design can make the underwear present a stable pocket-shaped structure before it moves with the workbench 2: the two sides of the workbench 2 provide effective support for the front and back pant pieces of the underwear. The hanging front and back pant pieces, under their own weight and the guidance of vibration, move towards the notch 83. The gap narrows to form a triangular pocket structure. The rear end of the vibrating support plate 81, without the notch, maintains its normal lifting position on the fabric, ensuring overall fabric stability. This triangular pocket structure effectively improves the smoothness and accuracy of fabric transfer to the sewing mechanism 6. When the presser claw assembly 4 carries the shaped underwear fabric to the sewing mechanism 6 along with the worktable 2, the triangular pocket at the front end can accurately align with the sewing position of the sewing mechanism 6, allowing the sewing machine to smoothly and accurately thread the fabric into the leg opening of the underwear, avoiding fabric accumulation caused by the vibrating support plate 81, which would block the leg opening entrance. At the same time, it effectively prevents displacement caused by fabric accumulation during fabric transfer, avoiding displacement and deformation of the shaped crotch edge, thereby reducing the production of defective products and improving the yield rate.

[0022] It also includes a visual recognition system 9, which comprises a lifting bracket 91 and a camera 92. The camera 92 is mounted on the frame 1 above the workbench 2 via the lifting bracket 91, and is positioned facing the workbench surface. The visual recognition system 9 identifies the edges and corners of the crotch seam of the underwear before fabric processing. Specifically, the lifting bracket 91 mounts the camera 92 above the workbench 2. The camera 92 captures images of the workbench 2 surface and uploads them to a computer. The computer system identifies the crotch edges and corners of the front and back pieces of the underwear and outputs the coordinates of these corners relative to the workbench 2. These coordinates are fed back to the system to control the movement of the processing mechanism 3, ensuring that the edge trimmer 31 accurately presses down on the crotch edges and corners of the front and back pieces of the underwear to be sewn. Simultaneously, it identifies the curvature of the crotch edge and determines the pressing position of the pressure claw 41, assisting in edge trimming and shaping. The workbench is equipped with a light-emitting panel to form a light curtain, which can provide uniform backlighting for the fabric during visual recognition and shooting, eliminate table shadows and reflection interference, effectively enhance the clarity of the outline of the underwear fabric edge, and thus improve the accuracy of the visual recognition system in recognizing the crotch corner and arc edge position, ensuring the accuracy of subsequent edge trimming and presser positioning.

[0023] like Figure 1 , Figure 6 and Figure 7As shown, the sorting mechanism 3 also includes a multi-directional drive assembly 32, which is mounted on the frame 1 and located above the worktable 2. There are two multi-directional drive assemblies 32 on the same side of the worktable 2. The edge trimming component 31 is fixedly mounted on the drive end of the multi-directional drive assembly 32. The multi-directional drive assembly 32 is mounted on the frame 1 and located above the worktable 2. Two sets of multi-directional drive assemblies 32 are set on the same side of the worktable 2, and the edge trimming component 31 is fixedly mounted on the drive end of the multi-directional drive assembly 32. Using the table surface of the worktable 2 as the reference plane, the direction from the side of the worktable 2 to the center line is defined as the Y direction, the horizontal direction perpendicular to the Y direction on the same horizontal plane is defined as the X direction, and the vertical direction perpendicular to the horizontal planes containing X and Y is defined as the Z direction. These three directions together constitute a spatial positioning coordinate system. The multi-directional drive assembly 32 is composed of a horizontal X-drive component, a horizontal Y-drive component, and a vertical Z-drive component. The horizontal X-drive component and the horizontal Y-drive component use linear screw motors, while the vertical Z-drive component uses a telescopic cylinder. The horizontal Y-drive component is installed at the drive end of the horizontal X-drive component, and the vertical Z-drive component is installed at the drive end of the horizontal Y-drive component. The three components work together to form a spatial movement drive group, which can drive the edge piece 31 to move flexibly in six directions (X, Y, and Z) within the space above the worktable 2. After the visual recognition system transmits the coordinate signal of the crotch corner of the underwear to the multi-directional drive assembly 32, the horizontal X-drive component and the horizontal Y-drive component work together to move the edge piece 31 precisely to the top of the corner coordinate. Then, the vertical Z-drive component starts, driving the edge piece 31 to move vertically downward until the end contacts the fabric and applies a pressing force, thus achieving stable pressing of the crotch corner. The edge trimmer 31 adopts a cylindrical or club-shaped structure, with its ends covered with a buffer anti-slip layer or anti-slip sleeve. This increases the friction between the edge trimmer 31 and the fabric, ensuring no slippage during traction, while also providing flexible contact with the fabric to prevent scratches or damage during pressing and pulling. After clamping, the two sets of multi-directional drive components 32 on the same side move away from each other along the X direction. Through the friction between the edge trimmer 31 and the fabric, they simultaneously pull the crotch corners to both sides, gradually stretching the originally concave crotch arc edge into a straight state, thus completing the edge trimming operation.

[0024] like Figure 4As shown, there are 5 pressure claw assemblies 4 arranged on the same loading platform 71, and they are evenly spaced. The pressure claw assembly 4 also includes a secondary drive member 44. The push claw drive member 43 is installed on the drive end of the secondary drive member 44. The secondary drive member 44 is installed on the loading platform 71, and the drive direction is consistent with the displacement direction of the shift drive member 72, forming a multi-finger adjustment mechanism in which the pressure claws on the same loading platform 71 can be brought together or dispersed. Five sets of equally spaced pressure claw assemblies 4 are provided on the same loading platform 71. Each set corresponds to an independent secondary drive unit 44. The secondary drive unit 44 drives the pressure claw assembly 4 to move laterally. The push claw drive unit 43 adjusts the lateral position of the pressure claw and extends the pressure claw to the designated area. The pressure claw lifting drive unit 42 drives the pressure claw to press the underwear fabric on the table. The three are linked and controlled by the coordinate feedback from the vision recognition system so that the five pressure claws can flexibly close and separate. During operation, the pressure claw assemblies 4 on both sides move first. After receiving the coordinate signal from the vision recognition system, the secondary drive unit 44 first drives the entire set of pressure claw assemblies 4 to move laterally. In conjunction with the push claw drive unit 43, the pressure claw extends and moves to the two sides of the crotch edge to be sorted. After the position is aligned, the pressure claw lifting drive unit 42 lowers the pressure claw, so that the pressure claw presses the fabric to form a fixed fulcrum and prevents the fabric from shifting. Then, the edge trimmer 31 is lifted to release the fabric, the middle pressure claw assembly 4 is activated, the push claw drive 43 extends the claw and positions it at the residual curvature in the middle of the crotch edge, the pressure claw lifting drive 42 lowers the pressure claw to press the fabric, and then the push claw drive 43 drives the pressure claw forward. At this time, there is still a curvature in the crotch bottom between the two sides and the middle pressure claw. The pressure claw assembly 4 at the interval between the middle and the two sides moves laterally through the secondary drive 44, and then the push claw drive 43 extends the claw. After the pressure claw lifting drive 42 lowers the pressure claw to press the fabric, the secondary drive 44 drives the pressure claw forward to achieve the action of multi-finger coordinated edge pushing. After the edge pushing is completed, each secondary drive 44 works together again to adjust the distance between the pressure claws, so that the arched crotch edge after being pushed by the pressure claw is tightened and the edge is straight, preparing for subsequent transfer and sewing.

[0025] like Figure 1 and Figure 2As shown, it also includes a feeding mechanism 10, which is mounted on the frame 1 and includes a spreading platform 101 and a feeding drive 102. The spreading platform 101 is fixed on the feeding drive 102 and is positioned below the worktable 2. The feeding drive 102 can drive the spreading platform 101 to move below the worktable 2 to form a feeding mechanism for the worktable 2. The feeding mechanism 10 enables automatic feeding, eliminating the need for manual spreading of the underwear crotch on the workbench. The feeding mechanism 10 is adjacent to the workbench 2 and continuously feeds material from the loading position onto the workbench 2. The feeding mechanism consists of a feeding drive 102 and a spreading platform 101. The spreading platform 101 can hold the underwear material and is mounted on the feeding drive 102. The feeding drive 102 uses a linear screw motor, which drives the spreading platform 101 to move linearly on the same horizontal plane. The spreading platform 101 is horizontally positioned, and the placement position of the underwear is marked on the platform. The operator places the underwear with the crotch to be sewn in the correct position. Specifically, the crotch position of the underwear needs to face the feeding direction, i.e., from the loading position to the workbench 2, and the crotch position of the underwear should be placed in the set outline position. The front and back pieces are stacked, and the fabric in the crotch position is kept as flat as possible without folds or curls for subsequent material handling.

[0026] like Figure 1 , Figure 6 and Figure 7As shown, to further enhance the automation level of the device, it also includes a material picking mechanism 5. The material picking mechanism 5 is mounted on the frame 1 and is arranged on both sides of the workbench 2 corresponding to the sorting mechanism 3. It includes a material picking and shifting component 51, a material picking head 52, and a clamping component 53. The driving end of the material picking and shifting component 51 moves towards the spreading platform 31. The material picking head 52 is mounted on the driving end of the material picking and shifting component 51. The material picking head 52 can move towards or away from the spreading platform 31 to pick up materials, forming a material picking path. The clamping and flattening component 53 includes a clamping drive component 531 and a clamping component 532. The driving end of the clamping drive component 531 faces the side of the workbench 2 and the driving direction is perpendicular to the side of the workbench 2. The clamping component 532 is mounted on the driving end of the clamping drive component 531 and has a pressure surface facing the side of the workbench. Driven by the clamping drive component 531, the clamping component 532 can pass through the material picking path to press or loosen the side of the workbench. When the feeding drive unit 102 drives the spreading platform 101 to move the table with the underwear material placed on it along the feeding direction, the spreading platform 101 will pass through the picking positions of the two sets of picking mechanisms 5 in sequence. Each time it moves to a picking position, the spreading platform 101 stops moving and waits for the picking mechanism 5 at that position to complete the picking action before continuing to move to the next picking position. When the spreading platform 101 reaches the first picking position, the picking and shifting component 51 at that position is activated, driving the picking head 52 to approach the spreading platform 101 along the picking path until the picking head 52 contacts the underwear material on the spreading platform 101 and picks it up and fixes it at the preset gripping position. The gripping position is set to the crotch of the underwear front piece, and the gripping position maintains a certain distance from the sewing edge of the underwear crotch bottom to avoid damaging the edge to be sewn, while ensuring a firm grip and preventing it from falling off. After the gripping is completed, the picking and shifting component 51 drives the picking head 52 away from the spreading platform 101, while carrying the gripped underwear front piece towards the workbench 2, until it moves to the top of the workbench 2 and stops, waiting for the picking action of the second picking position to be completed. Subsequently, the spreading platform 101 continues to move forward until it reaches the material picking position of the second material picking mechanism 5 and stops. At this time, the state of the underwear to be sewn is as follows: the crotch of the front piece is picked up and lifted by the material picking head 52 of the first material picking mechanism 5, while the back piece remains spread out on the spreading platform 101, waiting for the second material picking mechanism 5 to pick it up. Immediately afterwards, the material picking and shifting component 51 of the second material picking mechanism 5 is activated, driving the material picking head 52 to approach the spreading platform 101 and grab and fix the crotch of the back piece of the underwear. The grabbing requirements are the same as for the front piece. After grabbing, the material picking head 52 is raised to a position higher than the workbench 2. When both the front and back pieces of the underwear are grabbed and lifted by the corresponding material picking heads 52 of the material picking mechanism 5, the front and back pieces naturally droop due to their own weight, with the drooping parts close to the sides of the workbench 2, waiting for the subsequent grabbing and fixing action.At this time, the clamping component 53 is activated, and the clamping drive component 531 outputs driving force, which drives the clamping component 532 to move closer to the side of the worktable 2. After passing through the material picking path, the material picking head 52 grabs and lifts the naturally hanging part of the fabric and presses it tightly against the side of the worktable 2 to achieve auxiliary fixation of the fabric.

[0027] It should be noted that the spreading platform 101 passes between the bottom surface of the workbench 2 and the vibrating support plate 81. The clamping fastener 532 is equipped with an air blowing port, and the air blowing port is higher than the clamping position of the clamping fastener 532 and the side of the workbench. The air blowing direction is towards the workbench surface and parallel to the workbench surface. When the clamping fastener 532 clamps the fabric and fixes it to the side of the workbench, the material taking head releases the crotch of the underwear and blows air to spread the fabric on the workbench surface.

[0028] This equipment also includes a control computer, which is connected to the sorting mechanism 3, the presser gripper assembly 4, the sewing mechanism 6, the presser gripper displacement assembly 7, the lower support platform 8, and the vision recognition system 9, forming a signal transmission control mechanism. Its control logic is as follows: the vision recognition system 5 sends image signals of the underwear fabric on the worktable 2 to the control computer. The control computer analyzes the image, identifies the coordinates of key positions such as the crotch corner and residual curvature, converts the coordinates into corresponding control signals, and sends them to each mechanism component, controlling each mechanism to operate in an orderly manner according to preset working steps. In this device, all drive mechanisms used for horizontal translation use linear screw motors, and all drive components used for vertical lifting use linear drive cylinders. The linear drive cylinders are supplied with air through a pneumatic assembly, which is connected to the control computer. The control computer controls the start / stop and air pressure of the pneumatic assembly, thereby controlling the extension and retraction of the linear drive cylinders. This, in conjunction with the linear screw motors, completes the precise displacement and movement of each mechanism. All hardware in this device consists of commercially available products. The software working logic is as follows:

[0029] A working method for an automatic alignment, smoothing, and sewing device for the curved edge of underwear crotch includes the following steps. Step 1: Lay the front and back pieces of the underwear to be sewn on the workbench from the side, with the workbench passing through the leg openings of the underwear and the edges of the crotch to be sewn facing each other. After starting the equipment, the vision recognition system takes an image of the crotch fabric and uploads it to the control computer, which then outputs control signals to each mechanism component. Step 2: The computer controls the lifting drive of the lower support platform to lift the fabric hanging below the workbench upwards, counteracting the gravitational resistance of the falling fabric. The vibrating support platform also vibrates elastically to shake off the wrinkles in the fabric. At the same time, the multi-directional drive component of the sorting mechanism drives the edge straightening component to accurately move to the bottom corner position. The edge straightening component applies pressure to the table surface and pulls to both sides away from the center line of the workbench, stretching the concave arc edge of the bottom corner straight. Step 3: The pressure claw assembly adjusts the position of the pressure claw through the push claw drive and the pressure claw lifting drive, so that the pressure claw presses on the worktable surface at the adjacent position of the edge trimming piece, receives the material pressure of the edge trimming piece and presses down the straightened bottom edge to form a fixed shape. Then the edge trimming piece of the finishing mechanism releases the pressure and traction on the fabric. Step 4: The transfer drive unit moves the worktable and the lower support platform toward the sewing position of the sewing mechanism. The presser claw displacement component moves the presser claw component and the worktable in the same direction in a straight line, maintaining the shaping state of the bottom edge, until the concave notch of the worktable is precisely aligned with the convex platform of the sewing mechanism. Step 5: Start the sewing mechanism to automatically align and sew the straight edges of the front and back crotch of the shaped underwear. During the sewing process, the presser claw assembly remains in a pressed state. Step 6: After the crotch edge is sewn, release the presser claw assembly, take out the sewn underwear, and complete the crotch seam finishing and sewing to obtain underwear in the crotch seam state.

[0030] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is impossible to exhaustively list all embodiments here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. An automatic alignment, smoothing, and sewing device for the curved edge of underwear crotch, characterized in that: It includes a frame (1) and a worktable (2), a finishing mechanism (3), a pressure claw assembly (4), and a sewing mechanism (6) mounted on the frame (1). The finishing mechanism (3) is arranged in pairs on both sides of the worktable (2) and is provided with an edge trimmer (31) facing the worktable (2). The edge trimmer (31) can be close to or away from the worktable (2) to form a pressure structure on the worktable. The pressure claw assembly (4) is provided with a pressure claw (41). The pressure claw (41) has a pressure surface facing the worktable (2) and can press against the worktable (2) adjacent to the edge trimmer (31) to form a pressing structure that bears the pressure of the edge trimmer (31) on the material. The table (2) is mounted on the drive end of the transfer drive (21) via a support frame (22). A material hanging space is formed between the bottom surface of the worktable (2) and the mounting surface of the drive end of the transfer drive (21) for material to hang. The hanging space is provided with a lower support platform (8). The lower support platform (8) can move toward the bottom surface of the worktable (2) in the hanging space to form a lifting mechanism. The transfer drive (21) is mounted on the frame (1) and can drive the worktable (2) together with the lower support platform (8) to move closer to or away from the sewing mechanism (6). When the worktable (2) moves closer to the sewing mechanism (6), the pressure claw assembly (4) moves synchronously with the worktable to form a shaping and holding structure for the material on the worktable (2).

2. The automatic alignment, leveling, and sewing equipment for the curved edge of the crotch of underwear according to claim 1, characterized in that: The pressure claw assembly (4) is symmetrically arranged in pairs on both sides of the workbench (2) and corresponds to the sorting mechanism (3). The pressure claw assembly (4) also includes a pressure claw lifting drive (42) and a push claw drive (43). The pressure claw (41) is a strip-shaped pressing plate structure, one end of which is connected to the pressure claw lifting drive (42) to form a fixed end, and the other end extends toward the center line of the workbench (2). The pressure surface forms a clamping gap with the workbench (2) surface. The pressure claw lifting drive (42) is installed on the driving end of the push claw drive (43) to form a clamping position adjustment mechanism that can drive the pressure claw lifting drive (42) and the pressure claw (41) to reciprocate in the direction from the side to the center line of the workbench (2).

3. The automatic alignment, leveling, and sewing equipment for the curved edge of the crotch of underwear according to claim 1, characterized in that: The transfer drive (21) is located at the bottom of the workbench (2) and can drive the workbench (2) to move closer to or away from the sewing mechanism (6) to form a linear drive path. The transfer drive (21) is provided with pressure claw displacement components (7) on both sides. The pressure claw displacement components (7) include a loading platform (71) and a shift drive (72). The pressure claw component (4) is installed on the loading platform (71). The loading platform is located at the drive end of the shift drive (72). The drive direction of the shift drive (72) is the same as and parallel to the drive direction of the transfer drive (21), which drives the pressure claw component (4) to reciprocate linearly between the initial position of the workbench (2) and the sewing mechanism (6).

4. The automatic alignment, leveling, and sewing equipment for the curved edge of the crotch of underwear according to claim 1, characterized in that: The lower support platform (8) includes a vibrating support plate (81) and a lifting drive (82). The lifting drive (82) is installed on the driving end of the transfer drive (21) and corresponds to the side of the worktable (2) away from the sewing mechanism. The vibrating support plate (81) is a thin plate with elastic deformation. The material support plane is set facing the bottom surface of the worktable (2), and the end is connected to the driving end of the lifting drive (82). The lifting drive (82) can drive the vibrating support plate (81) to approach or move away from the bottom surface of the worktable (2) in the vertical space, and stop suddenly at the driving stop point close to the bottom surface of the worktable (2). Through inertia, the other end of the vibrating support plate (81) can swing up and down in the vertical space to form a springboard structure.

5. The automatic alignment, leveling, and sewing equipment for the curved edge of the crotch of underwear according to claim 4, characterized in that: The sewing station of the sewing mechanism (6) is a convex platform. The workbench (2) is provided with a concave notch corresponding to the convex platform, forming a transition edge structure for limiting and docking. The vibrating support plate (81) is the same in shape and size as the workbench (2), and the free end has a notch (83) extending toward the fixed end. The vibrating support plate (81) can make the bottom of the falling material fall into the notch (83) by undulating and swinging. At one end of the workbench (2) facing the sewing mechanism (6), the material forms a triangular opening structure that is supported by both sides of the workbench (2) and converges to the notch (83). The end position of the notch (83) does not exceed 1 / 2 of the length of the workbench (2).

6. The automatic alignment, leveling, and sewing equipment for the curved edge of the crotch of underwear according to claim 1, characterized in that: It also includes a visual recognition system (9), which includes a lifting bracket (91) and a camera (92), the camera (92) being mounted on the frame (1) above the workbench (2) via the lifting bracket (91), and the camera (92) being positioned facing the workbench.

7. The automatic alignment, smoothing, and sewing equipment for the curved edge of the crotch of underwear according to claim 1, characterized in that: The sorting mechanism (3) also includes a multi-directional drive assembly (32), which is mounted on the frame (1). The number of multi-directional drive assemblies (32) on the same side of the workbench (2) is 2. The edge trimmer (31) is fixed to the drive end of the multi-directional drive assembly (32).

8. The automatic alignment, leveling, and sewing equipment for the curved edge of the crotch of underwear according to claim 1, characterized in that: The number of pressure claw assemblies (4) set on the same loading platform (71) is 5, and they are arranged at equal intervals. The pressure claw assembly (4) also includes a secondary drive (44). The push claw drive (43) is installed on the drive end of the secondary drive (44). The secondary drive (44) is installed on the loading platform (71), and the drive direction is consistent with the displacement direction of the shift drive (72), forming a multi-finger adjustment mechanism on the same loading platform (71) where the pressure claws can be brought together or dispersed.

9. The automatic alignment, leveling, and sewing equipment for the curved edge of the crotch of underwear according to claim 1, characterized in that: It also includes a control computer, which is connected to the sorting mechanism (3), the presser assembly (4), the sewing mechanism (6), the presser displacement assembly (7), the lower support (8), and the vision recognition system (9) respectively. The control computer receives and processes the image signals from the vision recognition system (5) and outputs control signals to each mechanism component to form a signal transmission control mechanism.

10. A method for operating an automatic alignment, smoothing, and sewing device for the curved edge of the crotch of underwear as described in any one of claims 1-9, characterized in that: The following work steps are included Step 1: Lay the front and back pieces of the underwear to be sewn on the workbench from the side, with the workbench passing through the leg openings of the underwear and the edges of the crotch to be sewn facing each other. After starting the equipment, the vision recognition system takes an image of the crotch fabric and uploads it to the control computer, which then outputs control signals to each mechanism component. Step 2: The computer controls the lifting drive of the lower support platform to lift the fabric hanging below the workbench upwards, counteracting the gravitational resistance of the falling fabric. The vibrating support platform also vibrates elastically to shake off the wrinkles in the fabric. At the same time, the multi-directional drive component of the sorting mechanism drives the edge straightening component to accurately move to the bottom corner position. The edge straightening component applies pressure to the table surface and pulls to both sides away from the center line of the workbench, stretching the concave arc edge of the bottom corner straight. Step 3: The pressure claw assembly adjusts the position of the pressure claw through the push claw drive and the pressure claw lifting drive, so that the pressure claw presses on the worktable surface at the adjacent position of the edge trimming piece, receives the material pressure of the edge trimming piece and presses down the straightened bottom edge to form a fixed shape. Then the edge trimming piece of the finishing mechanism releases the pressure and traction on the fabric. Step 4: The transfer drive unit moves the worktable and the lower support platform toward the sewing position of the sewing mechanism. The presser claw displacement component moves the presser claw component and the worktable in the same direction in a straight line, maintaining the shaping state of the bottom edge, until the concave notch of the worktable is precisely aligned with the convex platform of the sewing mechanism. Step 5: Start the sewing mechanism to automatically align and sew the straight edges of the front and back crotch of the shaped underwear. During the sewing process, the presser claw assembly remains in a pressed state. Step 6: After the crotch edge is sewn, release the presser claw assembly, take out the sewn underwear, and complete the crotch seam finishing and sewing to obtain underwear in the crotch seam state.

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