Grabbing and visual positioning edge trimming device and method for textile with arc-shaped edge

Abstract

The invention relates to an arc-edge textile grabbing and visual positioning edge trimming device and method. The arc-edge textile grabbing and visual positioning edge trimming device comprises a rack, a workbench, an edge trimming mechanism and a visual recognition system. The workbench is installed on the rack, and the machining frame above the workbench is fixedly arranged on the rack. The edge trimming mechanism comprises paired air blowing leveling pieces on the two sides of the workbench and a positioning and fixing assembly with a positioning head on the machining frame, and the visual recognition system is arranged over the workbench. According to the device, feeding, material taking and edge trimming are automatically completed, manpower is saved, efficiency is improved, the device is suitable for batch production, visual recognition and multi-directional driving are matched, arc edges are accurately positioned, standard stretching and straightening are conducted, fixing blocks are extruded, air blowing and protruding edges cooperate to reduce wrinkles, follow-up machining elasticity nonuniformity is prevented, the sewing and edge covering precision is improved, and a foundation is built for high yield.

Description

Technical Field

[0001] This invention relates to the field of textile processing equipment, and more particularly to a device and method for gripping and visually positioning and trimming textiles with curved edges. Background Technology

[0002] In the processing of textiles with curved edges, such as underwear and lingerie, ensuring the straightness of these curved edges, such as the crotch edges of the front and back panels of underwear, is a crucial preliminary step for subsequent sewing and binding, directly affecting product quality and wearing experience. Currently, the industry still relies heavily on manual edge straightening. Workers must manually perform operations such as fabric spreading, curved edge positioning, stretching and straightening, and fixing. This is not only labor-intensive and inefficient, making it difficult to adapt to large-scale production, but also completely dependent on manual experience. Inconsistent stretching force and straightening standards result in uneven curved edge conditions in batches of products, leading to insufficient alignment accuracy during subsequent sewing and severely affecting quality consistency.

[0003] Existing mechanical hemming equipment also suffers from core defects: on the one hand, the clamping and fixing structure is poorly designed, and the fabric is prone to slippage and loss of grip when straightening the curved edge, making it impossible to achieve stable stretching and ensuring hemming accuracy; on the other hand, it lacks an effective pre-treatment mechanism, failing to eliminate wrinkles generated during fabric transfer and fixing before stretching. These wrinkles will "solidify" after stretching, resulting in uneven elasticity distribution in the curved edge area of ​​the sewn product, affecting wearing comfort. In view of this, the proposed solution is hereby put forward. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention discloses a device for gripping and visually positioning the edge trimming of textiles with curved edges. The device comprises a frame, a worktable, an edge trimming mechanism, and a visual recognition system. The worktable is mounted on the frame, and a processing rack is fixedly mounted on the frame and positioned above the worktable. The trimming mechanism includes air-blowing leveling components and a positioning and fixing assembly. The air-blowing leveling components are arranged in pairs on both sides of the worktable and can blow air from both sides of the worktable towards the center to form a trimming space with single-sided or double-sided airflow. The positioning and fixing assembly is mounted on the processing rack and has a positioning head facing the worktable surface. The positioning head can apply pressure to the worktable surface at the air-blowing trimming space, forming a material pressing and fixing mechanism for the material on the worktable. The visual recognition system is mounted on the frame and positioned directly above the worktable, facing its surface.

[0005] Specifically, it also includes a feeding mechanism, which is mounted on the frame and includes a spreading platform and a feeding drive. The spreading platform is fixed on the feeding drive and is set below the worktable. The feeding drive can drive the spreading platform to move along the blowing direction of the air-blowing leveling component to below the worktable, forming a feeding mechanism for the worktable.

[0006] Specifically, it also includes a material handling mechanism, which is mounted on the processing frame and is arranged in pairs with the air-blown leveling component. The material handling mechanism includes a material handling and shifting component, which has a material handling head that moves toward the spreading platform. The material handling head can move toward or away from the spreading platform to form a material handling path.

[0007] Specifically, the material handling mechanism further includes a material handling fixing component, which is installed on the processing frame and positioned on both sides of the worktable corresponding to the air-blown leveling part. The material handling fixing component includes a pressing fixing block, a clamping drive component, and a lifting drive component. The fixed end of the lifting drive component is fixedly mounted on the processing frame and connected to the fixed end of the pressure drive component. The movement direction of the drive end of the pressure drive component intersects with the material handling path of the material handling head. The pressing fixing block is fixedly connected to the drive end of the pressure drive component, forming a clamping mechanism in which the pressure drive component can drive the pressing fixing block to extend or retract toward the side of the worktable.

[0008] Specifically, the material picking and shifting assembly further includes a horizontal drive component and a vertical drive component. The horizontal drive component is fixedly mounted on the processing frame, and the vertical drive component is fixedly connected to the drive end of the horizontal drive component. The material picking head is located at the drive end of the vertical drive component, and the initial position of the drive end of the vertical drive component is higher than the plane where the worktable surface is located. The material picking head is driven by the vertical drive component to perform a grasping action towards or away from the spreading platform. The horizontal drive component can drive the vertical drive component together with the material picking head to move above the worktable surface until the material picking head and the worktable surface have overlapping projections.

[0009] Specifically, the extrusion fixing block is provided with a protruding edge, which is located on the pressure surface of the extrusion fixing block facing the worktable. The end face of the protruding end of the protruding edge is arc-shaped, and the bottom surface is provided with several straight grooves from the fixing end to the protruding end. The straight grooves penetrate the end face of the protruding edge to form a groove on the end face. The bottom surface of the protruding edge can gradually cover the worktable surface when the extrusion fixing block approaches the worktable, forming a pushing and rubbing action on the worktable surface.

[0010] Specifically, the extrusion fixing block is also provided with through holes. There are multiple through holes arranged in a row at intervals. When the extrusion fixing block contacts the side of the worktable, the through holes are higher than its upper edge. The through holes are connected to the air inlet of the air blowing leveling part to form a blowing hole for uniform air blowing.

[0011] Specifically, the positioning and fixing assembly further includes a multi-directional drive assembly, which is mounted on the processing frame and is arranged on both sides of the material handling and shifting assembly. The positioning head is fixedly mounted on the drive end of the multi-directional drive assembly, and the movement of the multi-directional drive assembly is controlled by a vision recognition system.

[0012] Specifically, it also includes a control computer and a pneumatic assembly. The control computer is connected to the feeding mechanism, the material handling mechanism, the edge trimming mechanism, the vision recognition system, and the pneumatic assembly to form a control assembly. The pneumatic assembly is connected to the air-blowing leveling component to form a sealed air passage.

[0013] A method for using a device for gripping and visually positioning edge trimming of textiles with curved edges, the method comprising the following steps: Step 1: Place the curved edge textile to be trimmed at the preset marked position on the spreading platform of the feeding mechanism, start the equipment, and the feeding drive will move the spreading platform along the feeding path to the picking position to complete the feeding. Step 2: The material picking and shifting component moves the material picking head towards the spreading platform and grabs the curved edge of the fabric. Then, the fabric is moved to the top of the workbench, allowing the rest of the fabric to hang naturally on the side of the workbench. The pressing and fixing block of the material picking and fixing component extends to the side of the workbench, and the flange fits with the side of the workbench. The flattened fabric is pushed and rubbed through the gap to flatten it. After completion, the fabric is pressed and fixed to the side of the workbench, and then the material picking head releases the fabric. Step 3: The air blowing leveling components on both sides of the workbench blow air towards the center of the workbench to form an air blowing leveling space, flattening the fabric on the workbench surface. At the same time, the vision recognition system takes a picture of the flattened fabric and transmits the picture to the control computer. After receiving the picture, the control computer identifies the corner coordinates of the curved edge fabric and outputs control signals to the multi-directional drive component. Step 4: After receiving the control signal from the control computer, the multi-directional drive component moves the positioning head to the position directly above the corner coordinates of the fabric's curved edge. The positioning head applies downward pressure to tighten the fabric corner. The multi-directional drive component then pulls the positioning head away from the center line of the worktable, stretching the curved edge of the fabric to a straight state until it reaches the required straightness for subsequent processing, thus completing the edge trimming operation. Advantages and effects

[0014] This device features an automated feeding, unloading, and edge trimming process, eliminating the need for manual operation and improving work efficiency. Combined with visual recognition and multi-directional drive components, it can accurately position curved edges and perform standard stretching and straightening, facilitating subsequent sewing or hemming. Through the combined action of the extrusion fixing block, air blowing, and protruding edge, wrinkles in the fabric on the worktable are reduced before traction, preventing uneven elasticity during subsequent processing and providing a foundation for high yield rates in subsequent processing. Attached Figure Description

[0015] Figure 1 This is one of the structural schematic diagrams of the grasping and visual positioning edge trimming device of the present invention; Figure 2 This is the second schematic diagram of the structure of the grasping and visual positioning edge trimming device of the present invention; Figure 3This is the third schematic diagram of the structure of the grasping and visual positioning edge trimming device of the present invention; Figure 4 This is the fourth schematic diagram of the structure of the grasping and visual positioning edge trimming device of the present invention; Figure 5 This is a schematic diagram of the protruding edge of the present invention.

[0016] Legend: 1. Frame; 11. Processing rack; 2. Workbench; 3. Feeding mechanism; 31. Spreading platform; 32. Feeding drive; 4. Picking mechanism; 41. Picking and shifting assembly; 411. Picking head; 412. Horizontal drive; 413. Vertical drive; 42. Picking and fixing assembly; 421. Extrusion fixing block; 422. Clamping drive; 423. Lifting drive; 424. Protruding edge; 425. Straight groove; 5. Edge trimming mechanism; 51. Air blowing leveling component; 52. Positioning and fixing assembly; 521. Positioning head; 522. Multi-directional drive assembly; 6. Vision recognition system; 61. Lifting bracket; 62. Camera. Detailed Implementation

[0017] The present invention will be further described below with reference to embodiments, but is not limited to the contents of the specification.

[0018] like Figure 1As shown, this invention relates to a device for gripping and visually positioning edge trimming of textiles with curved edges. It includes a frame 1, a worktable 2, an edge trimming mechanism 5, and a visual recognition system 6. The worktable 2 is mounted on the frame 1, and a processing rack 11 is fixed on the frame 1 and positioned above the worktable 2. The trimming mechanism 5 includes an air-blowing leveling component 51 and a positioning and fixing component 52. The air-blowing leveling component 51 is arranged in pairs on both sides of the worktable 2 and can blow air from both sides of the worktable 2 towards the table surface of the worktable 2, forming a trimming space with single-sided or double-sided air blowing. The positioning and fixing component 52 is mounted on the processing rack 11 and has a positioning head 521 facing the table surface of the worktable 2. The positioning head 521 can apply pressure to the table surface of the worktable 2 at the air-blowing trimming space to form a pressing and fixing mechanism for the material on the worktable. The visual recognition system 6 is mounted on the frame 1 and is positioned directly above the worktable 2 facing its table surface. This device straightens the material on the workbench 2, specifically the curved edge to be sewn. After straightening, the curved edge is made straight, facilitating subsequent joining or binding. Specifically, the curved edge of the fabric to be straightened is placed on the workbench 2 and spread out. The air-blowing leveling components 51 on both sides of the workbench 2 of the straightening mechanism 5 blow air across the workbench 2, creating an air-blowing space to flatten the fabric. Then, the positioning heads 521 on the positioning and fixing components 52, facing the workbench, press and fix the corners of the curved edge of the fabric. Specifically, there are at least two positioning heads 521, which can press down two corners of the fabric respectively. After the positioning heads 521 press down the fabric, the device can straighten the curved edge of the fabric by adjusting the distance between the two positioning heads 521 on the same piece of underwear fabric. The straightened edge can then be used for subsequent joining or binding.

[0019] like Figure 1As shown, it also includes a feeding mechanism 3, which is mounted on the frame 1 and includes a spreading platform 31 and a feeding drive 32. The spreading platform 31 is fixed on the feeding drive 32 and is set below the worktable 2. The feeding drive 32 can drive the spreading platform 31 to move along the blowing direction of the air blowing leveling component 51 to below the worktable 2, forming a feeding mechanism for the worktable 2. The feeding mechanism 3 enables automatic feeding, eliminating the need for manual fabric spreading on the worktable. The feeding mechanism 3 is adjacent to the worktable 2 and continuously feeds fabric from the loading position onto the worktable 2. The feeding mechanism consists of a feeding drive 32 and a spreading platform 31. The spreading platform 31 can hold the fabric and is mounted on the feeding drive 32. The feeding drive 32 uses a linear screw motor to drive the spreading platform 31 to move linearly on the same horizontal plane. The spreading platform 31 is horizontally positioned, and the placement position of the fabric's curved edge is marked on its surface. Operators place the fabric pieces accordingly. Specifically, the curved edge of the fabric to be processed must face the feeding direction, i.e., from the loading position to the worktable 2, and the fabric must be placed in the pre-defined outline position, ensuring that the curved edge is as flat as possible without folds or curls for subsequent material handling.

[0020] like Figures 2 to 4 As shown, it also includes a material picking mechanism 4, which is mounted on the processing frame 11 and is arranged in pairs with the air-blowing leveling component 51. The material picking and shifting component 41 has a material picking head 411 that moves toward the spreading platform 31. The material picking head 411 can move toward or away from the spreading platform 31 to pick up materials, forming a material picking path. The material handling mechanism 4 is used to grab fabric pieces from the spreading platform 31 and onto the workbench 2. Specifically, the material handling mechanism is installed on the processing frame 11 and is located on the side of the workbench, specifically on the side that the spreading platform 31 passes through in the feeding direction. At the material handling position, the material handling displacement component 41 moves the material handling head 411 close to the fabric piece on the spreading platform 31 and grabs it at the contact position. The grabbing position is the arc-shaped edge of the fabric piece, and there is a certain distance between the grabbing position and the edge. After grabbing the fabric, the material handling displacement component 41 moves the grabbing head 411 away from the spreading platform 31 and grabs the fabric to the top of the workbench 2 and stops. The position of the grabbing head 411 is always higher than the workbench 2, and the drooping part of the fabric piece after being grabbed will be close to the side of the workbench 2, waiting for subsequent grabbing and fixing.

[0021] The material handling mechanism 4 also includes a material handling fixing component 42, which is installed on the processing frame 11 and is located on both sides of the worktable 2 corresponding to the air-blowing leveling component 51. The material handling fixing component 42 includes a pressing fixing block 421, a clamping drive component 422, and a lifting drive component 423. The fixed end of the lifting drive component 423 is fixedly installed on the processing frame 11, and the lifting drive end is connected to the fixed end of the pressing drive component 422. The movement direction of the drive end of the pressing drive component 422 intersects with the material handling path of the material handling head 411. The pressing fixing block 421 is fixedly connected to the drive end of the pressing drive component 422, forming a clamping mechanism in which the pressing drive component 422 can drive the pressing fixing block 421 to move closer to or further away from the side of the worktable 2. The material picking and fixing component is used to fix the fabric picked up by the picking head 411. Specifically, when the picking head 411 picks up the fabric pieces one by one under the action of the picking and shifting component 41 and lifts them to the point of natural fall, the pressing and fixing block 421 will extend and press the falling part of the fabric onto the side plane of the worktable 2, so that the fabric pieces will not fall even if the picking head 411 stops picking, and the fabric pieces are fixed for subsequent automatic sorting and flattening work. The main function of the clamping drive 422 is to drive the pressing fixing block 421 to move horizontally and contact the side of the worktable 2 to apply pressure and fix the fabric to the side of the worktable 2. The lifting drive 423 can drive the pressure drive 422 to adjust the pressing and fixing position of the pressing fixing block 421 with the side of the worktable 2, that is, the size of the pressure area of ​​the pressing fixing block 421 and the side of the worktable 2. Since the curved edge of the fabric needs to be straightened later, for different types of fabrics, some are thin and elastic, while others are thicker and have less elastic deformation. By adjusting the size of the pressure area, the pressure on the fabric can be adjusted. For thin and elastic fabrics, the pressure area between the pressing fixing block 421 and the side of the worktable 2 can be increased to prevent the fabric from sliding when the edge is straightened, which would cause unevenness during subsequent sewing or binding. For fabrics with less deformation, the pressure area can be reduced so that the fabric can slide when the curved edge of the fabric is straightened and subjected to tension, compensating for the lack of elasticity and enabling subsequent joining and sewing.

[0022] To realize the shifting function of the gripping head 411 in gripping and placing, the material shifting component 41 also includes a horizontal drive 412 and a vertical drive 413. The horizontal drive 412 is fixedly mounted on the processing frame 11, and the vertical drive 413 is fixedly connected to the drive end of the horizontal drive 412. The material head 411 is set at the drive end of the vertical drive 413, and the initial position of the drive end of the vertical drive 413 is higher than the plane on which the worktable 2 is located. The material head 411 is driven by the vertical drive 413 to perform a gripping action towards or away from the spreading platform 31. The horizontal drive 412 can drive the vertical drive 413 together with the material head 411 to move above the worktable 2 until the material head 411 and the worktable 2 have overlapping projections. During operation, the driving direction of the horizontal drive component 412 is kept as horizontal as possible to the surface of the worktable 2. First, it drives the vertical drive component 413 and the gripping head 411 to move, stopping when the gripping head 411 is directly above the gripping position. The vertical drive component 413 then activates, driving the gripping head 411 to extend downwards from its initial position and retract when it grips the fabric on the spreading platform 31. At the retracted end position, the gripping head 411 is higher than the surface of the worktable 2. Then, the horizontal drive component 412 activates again, driving the gripping head 411 to move horizontally until it projects a superimposed image onto the worktable 2 surface. At this point, the fabric is tilted, meaning the curved edge of the fabric is lifted, and the middle portion is supported by the side edge of the worktable 2. This ensures that the fabric falls onto the worktable 2 surface after the gripping head 411 stops gripping. On the workbench 2, the fabric can be kept flat. Here, flatness refers to the part that is pressed and fixed by the compression fixing block 421. Taking the front and back pieces of underwear as an example, the corresponding crotch edges of the two pieces are curved and need to be sewn together to make the underwear body. Because the gripping head 411 grips the crotch area, the underwear is a triangle-like shape with a narrowing width from the waist to the crotch. This means that if the underwear is just lifted, the fabric will wrinkle longitudinally due to its own weight. These wrinkles will be pressed against the side of the workbench by the compression fixing block 421. As a result, when the fabric is sorted later, especially when the air blower flattens it with air, the fabric will still have wrinkles, affecting the subsequent sorting and sewing. However, after being supported by the side edge of the workbench, the problem of fabric wrinkles caused by its own weight can be effectively improved.

[0023] Specifically, in order to ensure the success rate of grasping and reduce the problem of grasping and dropping, the material grasping head 411 is a negative pressure needle suction cup. The negative pressure pneumatic assembly provides negative pressure to the needle suction cup to perform the action of grasping the fabric.

[0024] The extrusion fixing block 421 is also provided with through holes 511. There are multiple through holes 511 arranged in a row at intervals. When the extrusion fixing block 421 contacts the side of the worktable 2, the through holes 511 are higher than its upper edge. The through holes 511 are connected to the air port of the air blowing leveling part 51 to form a blowing hole for uniform air blowing.

[0025] like Figure 5 As shown, the pressing and fixing block 421 is provided with a protruding edge 424. The protruding edge 424 is located on the pressure surface of the pressing and fixing block 421 facing the worktable 2. The end face of the protruding end of the protruding edge 424 is arc-shaped, and the bottom surface is provided with several straight grooves 425 from the fixed end to the protruding end. The straight grooves 425 penetrate the end face of the protruding edge 424 to form a groove on the end face. The bottom surface of the protruding edge 424 can gradually cover the worktable 2 when the pressing and fixing block 421 is close to the worktable 2, forming a pushing and rubbing action on the worktable. During operation, the pressing and fixing block 421 is pushed towards the side of the worktable 2. To further prevent the fabric from wrinkling before it is blown flat, a protruding edge 424 protrudes from the pressing and fixing block 421, similar to a brim structure, and is parallel to and higher than the worktable 2 surface. During the pressing and fixing process of the pressing and fixing block 421, the protruding edge 424 will contact the fabric before the pressing and fixing block 421. Because the upper end of the fabric is pulled by the material taking head, as the pressing and fixing block 421 continues to advance, the end of the protruding edge 424 will also have a pushing and rubbing motion towards the center of the worktable, which, combined with the arc shape of the cross-section, creates a smooth and rounded effect. This reduces friction on the fabric caused by the pushing and rubbing motion, allowing the fabric on the lower edge of the worktable to be stressed, thus smoothing out this small portion of the fabric. This further prevents wrinkles from forming on the side. Since the pressing and fixing block 421 moves through a linear cylinder, it pushes out at a relatively fast speed. When pressing the side of the worktable, it generates airflow that is discharged between the protruding edge 424 and the fabric. A straight groove 425 is provided on the bottom surface of the protruding edge 424 to provide a channel for the airflow to be discharged. The airflow is discharged from the groove at the end of the protruding edge. In this process, the airflow also passes over the fabric, causing it to be flattened by the airflow, further improving the flattening effect and providing a foundation for subsequent edge trimming.

[0026] When air blowing is needed, the pressing and fixing block 421 presses the fabric against the side of the workbench and blows air through the through hole 511, which is higher than the workbench 2, in a direction parallel to the workbench surface. The airflow drives the fabric to be flattened for subsequent edge straightening and finishing operations. In addition, because the instantaneous airflow speed is relatively fast near the through hole 511, the Bernoulli effect causes the root to lift up and approach the airflow, resulting in arching. The protruding edge 424 can also cover the root of the fabric near the fixing point when blowing air, preventing the fixed root of the fabric from rolling up and arching, and avoiding uneven elasticity when stretching the whole side.

[0027] To prevent damage or snagging of the underwear fabric due to hard contact pressure when squeezing and fixing it, a buffer layer is provided on the pressure surface of the squeezing and fixing block 421 facing the worktable. The buffer layer can be made of polyethylene foam (pearl cotton) or similar materials, which will not provide much friction while having deformation cushioning properties.

[0028] The positioning and fixing component 52 also includes a multi-directional drive component 522, which is mounted on the processing frame 11 and arranged in pairs, respectively on both sides of the material picking and shifting component 41. The positioning head 521 is fixedly mounted on the drive end of the multi-directional drive component 522, and the movement of the multi-directional drive component 522 is controlled by the vision recognition system 6. A multi-directional drive assembly 522 is installed on each of the left and right sides of the material picking and shifting assembly 41. The material picking and shifting assembly 41 consists of two sets, arranged opposite each other. Therefore, the four sets of multi-directional drive assemblies 522 are positioned at the four corners of a square. This arrangement allows for the smoothing of the curved edges of two pieces of fabric when they need to be joined together, especially for the low-crotch curved edges of the front and back pieces of underwear. The X-direction is defined by the direction extending from the left and right sides of the material picking and shifting assembly 41; the Y-direction is defined by the direction perpendicular to the X-direction on the same horizontal plane; and the Z-direction is defined by the direction perpendicular to the plane containing the X and Y directions. This forms a spatial coordinate system. Specifically, the multi-directional drive assembly 522 consists of a horizontal X-drive component, a horizontal Y-drive component, and a vertical Z-drive component. The horizontal X-drive component is installed at a specific location. Both the horizontal X and horizontal Y-drive components are linear screw motors, and the vertical Z-drive component is 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 together form a single unit. Together, they form a spatial movement drive group, that is, with the processing frame 11 as the reference plane for horizontal movement, and the installation position of the horizontal X drive component as the initial position of horizontal displacement. By using three drive components, the positioning head 521 can move in the 6th direction in the space above the worktable 2. After the vision recognition system 6 recognizes the corner coordinates of the fabric, the positioning head 521 is accurately moved to the position directly above the corner coordinates. The vertical Z drive component is activated, and the positioning head 521 is lowered. After contacting the fabric, it continues to press down to generate pressure, forming a pressing and fixing effect on the fabric. After pressing the corner of the fabric, the horizontal X drive components on both sides of the material picking and shifting component 41 move away from the material picking and shifting component 41, driving the positioning head 521 to move to both sides. Because the corner of the fabric is still being pressed, the positioning heads 521 on the same side move away from each other. Through friction, the corner of the fabric's curved edge is pulled on the worktable 2 to pull the corner of the underwear crotch edge, stretching the curved line of the underwear crotch edge into a straight state, completing the edge trimming work.

[0029] Furthermore, a buffer friction layer / sleeve is provided on the end of the positioning head 521 facing the fabric. A silicone pad or silicone sleeve can be used. It not only has the property of being flexible in deformation, but also increases the friction at the end of the positioning head 521. When the curved edge of the fabric is pulled, friction can be increased to avoid the problem of material slippage caused by pulling. The positioning head 521 is columnar or club-shaped, and the end that contacts the fabric is a flat end face.

[0030] To improve the accuracy of the visual recognition system in identifying the position of fabric edges and corners, a flat light source is installed on the surface of the workbench 2, forming a light curtain surface. By setting up the light curtain, when the underwear crotch fabric is on the workbench 2, after the bottom light curtain illuminates it, the contrast between the edge outline of the fabric and the background light curtain is more obvious in the image captured by the camera, making the outline clearer and improving the accuracy of edge recognition, that is, improving the accuracy of identifying the coordinates of the edge and corner positions. Furthermore, the surface of the light curtain surface is a smooth surface. Whether it is the surface of the flat light source or the light-transmitting cover plate set as a plane to protect the light source from being damaged by the positioning head 521, the surface must be smooth to improve the success rate of the positioning head 521 in straightening the curved edge of the crotch fabric and reduce the friction between the fabric and the workbench surface.

[0031] The visual recognition system 6 includes a lifting bracket 61 and a camera 62. The camera 62 is mounted on the frame 1 above the workbench 2 via the lifting bracket 61, and is positioned facing the workbench surface. The visual recognition system 6 can identify the corners of the crotch seam of the underwear before fabric processing. Specifically, the lifting bracket 61 mounts the camera 62 directly above the workbench. The camera 62 can capture images of the workbench and upload them to a computer. The computer system can then identify the corners of the crotch seam of the front and back pieces of the underwear and output the coordinates of these corners relative to the workbench 2. These coordinates are fed back to the computer or system to control the movement of the positioning and fixing component 52, ensuring that the positioning head 521 accurately presses down on the corners of the crotch seam of the front and back pieces of the underwear to be sewn.

[0032] It also includes a control computer 7 and a pneumatic assembly 8. The control computer 7 is connected to the feeding mechanism 3, the picking mechanism 4, the edge-straightening mechanism 5, the vision recognition system 6, and the pneumatic assembly 8 to form a control assembly. The pneumatic assembly 8 is connected to the air-blowing leveling component 51 and the picking head 411 via air circuits. This device controls each mechanism through the control program in the control computer 7. After the material is placed, the control program is started, and the device begins to operate. It receives image signals from the vision recognition system 6, identifies and outputs coordinates through the vision recognition program in the computer, and controls the start and stop status of each motor, electric cylinder, and pneumatic assembly through control signals. All the hardware in this device are commercially available products, and the software working logic is as follows:

[0033] A method for using a gripping and visual positioning edge-trimming device for textiles with curved edges includes the following steps: Step 1: Place the curved edge textile to be trimmed at the preset marked position on the spreading platform of the feeding mechanism, start the equipment, and the feeding drive will move the spreading platform along the feeding path to the picking position to complete the feeding. Step 2: The material picking and shifting component moves the material picking head towards the spreading platform and grabs the curved edge of the fabric. Then, the fabric is moved to the top of the workbench, allowing the rest of the fabric to hang naturally on the side of the workbench. The pressing and fixing block of the material picking and fixing component extends to the side of the workbench, and the flange fits with the side of the workbench. The flattened fabric is pushed and rubbed through the gap to flatten it. After completion, the fabric is pressed and fixed to the side of the workbench, and then the material picking head releases the fabric. Step 3: The air blowing leveling components on both sides of the workbench blow air towards the center of the workbench to form an air blowing leveling space, flattening the fabric on the workbench surface. At the same time, the vision recognition system takes a picture of the flattened fabric and transmits the picture to the control computer. After receiving the picture, the control computer identifies the corner coordinates of the curved edge fabric and outputs control signals to the multi-directional drive component. Step 4: After receiving the control signal from the control computer, the multi-directional drive component moves the positioning head to directly above the corner coordinates of the fabric's curved edge. The positioning head applies downward pressure to tighten the fabric corner. The multi-directional drive component then pulls the positioning head away from the center line of the worktable, stretching the curved edge of the fabric to a straight state until it reaches the required straightness for subsequent processing, thus completing the edge trimming operation. This can be used for subsequent sewing or binding work to complete the edge trimming process.

[0034] 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. A device for gripping and visually positioning edge trimming of textiles with curved edges, characterized in that: It includes a frame (1), a workbench (2), an edge trimming mechanism (5), and a vision recognition system (6). The workbench (2) is installed on the frame (1), on which a processing rack (11) is fixed, and the processing rack (11) is located above the workbench (2). The trimming mechanism (5) includes an air-blowing leveling component (51) and a positioning and fixing component (52). The air-blowing leveling component (51) is arranged in pairs on both sides of the workbench (2) and can be moved from both sides of the workbench (2) to the center. Air is blown onto the workbench (2) to form a sorting space with single-sided or double-sided air blowing. The positioning and fixing component (52) is installed on the processing frame (11) and has a positioning head (521) facing the workbench (2). The positioning head (521) can apply pressure to the workbench (2) at the air blowing sorting space to form a pressing and fixing mechanism for the material on the workbench. The vision recognition system (6) is installed on the frame (1) and is located directly above the workbench (2) facing its surface.

2. The device for gripping and visually positioning curved edge textiles according to claim 1, characterized in that: It also includes a feeding mechanism (3), which is set on the frame (1) and includes a spreading platform (31) and a feeding drive (32). The spreading platform (31) is fixed on the feeding drive (32) and is set below the worktable (2). The feeding drive (32) can drive the spreading platform (31) to move along the blowing direction of the air blowing leveling component (51) to below the worktable (2) to form a feeding mechanism for the worktable (2).

3. The device for gripping and visually positioning curved edge textiles according to claim 1, characterized in that: It also includes a material picking mechanism (4), which is mounted on the processing frame (11) and is arranged in pairs with the air blowing leveling component (51). The material picking and shifting component (41) has a material picking head (411) that moves toward the spreading platform (31). The material picking head (411) can move toward or away from the spreading platform (31) to form a material picking path.

4. The device for gripping and visually positioning curved edge textiles according to claim 1, characterized in that: The material taking mechanism (4) further includes a material taking fixing component (42). The material taking fixing component (42) is installed on the processing frame (11) and is set on both sides of the worktable (2) corresponding to the air blowing leveling component (51). The material taking fixing component (42) includes a pressing fixing block (421), a clamping drive component (422) and a lifting drive component (423). The fixed end of the lifting drive component (423) is fixed on the processing frame (11), and the lifting drive end is connected to the fixed end of the pressure drive component (422). The movement direction of the drive end of the pressure drive component (422) intersects with the material taking path of the material taking head (411). The pressing fixing block (421) is fixed to the drive end of the pressure drive component (422), forming a clamping mechanism in which the pressure drive component (422) can drive the pressing fixing block (421) to move closer to or further away from the side of the worktable (2).

5. The device for gripping and visually positioning edge trimming of textiles with curved edges according to claim 1, characterized in that: The material picking and shifting assembly (41) further includes a horizontal drive (412) and a vertical drive (413). The horizontal drive (412) is fixedly mounted on the processing frame (11). The vertical drive (413) is fixedly connected to the drive end of the horizontal drive (412). The picking head (411) is set at the drive end of the vertical drive (413). The initial position of the drive end of the vertical drive (413) is higher than the plane on which the workbench (2) is located. The picking head (411) is driven by the vertical drive (413) to make a grasping action towards or away from the spreading platform (31). The horizontal drive (412) can drive the vertical drive (413) together with the picking head (411) to move above the workbench (2) until the picking head (411) and the workbench (2) have overlapping projections.

6. The device for gripping and visually positioning curved edge textiles according to claim 1, characterized in that: The extrusion fixing block (421) is provided with a protruding edge (424), which is located on the pressure surface of the extrusion fixing block (421) facing the worktable (2). The end face of the protruding end of the protruding edge (424) is arc-shaped, and the bottom surface is provided with several straight grooves (425) from the fixed end to the protruding end. The straight grooves (425) penetrate the end face of the protruding edge (424) to form a groove on the end face. The bottom surface of the protruding edge (424) can gradually cover the worktable (2) when the extrusion fixing block (421) is close to the worktable (2), forming a pushing and rubbing action on the worktable.

7. The device for gripping and visually positioning edge trimming of textiles with curved edges according to claim 1, characterized in that: The extrusion fixing block (421) is also provided with through holes (511). There are multiple through holes (511) arranged in a row at intervals. When the extrusion fixing block (421) contacts the side of the worktable (2), the through holes (511) are higher than its upper edge. The through holes (511) are connected to the air port of the air blowing leveling part (51) to form a blowing hole for uniform air blowing.

8. The device for gripping and visually positioning curved edge textiles according to claim 1, characterized in that: The positioning and fixing component (52) further includes a multi-directional drive component (522), which is mounted on the processing frame (11) and there are 4 of them, respectively arranged on both sides of the material picking and shifting component (41). The positioning head (521) is fixedly mounted on the drive end of the multi-directional drive component (522), and the movement of the multi-directional drive component (522) is controlled by a vision recognition system (6).

9. The device for gripping and visually positioning edge trimming of textiles with curved edges according to claim 1, characterized in that: It also includes a control computer and a pneumatic assembly. The control computer is connected to the feeding mechanism (3), the picking mechanism (4), the edge trimming mechanism (5), the vision recognition system (6), and the pneumatic assembly to form a control assembly. The pneumatic assembly is connected to the air blowing leveling component (51) to form a sealed air passage.

10. A method of operation for the device for gripping and visually positioning edge trimming of textiles with curved edges as described in any one of claims 1-9, characterized in that: The working method includes the following steps: Step 1: Place the curved edge textile to be trimmed at the preset marked position on the spreading platform of the feeding mechanism, start the equipment, and the feeding drive will move the spreading platform along the feeding path to the picking position to complete the feeding. Step 2: The material picking and shifting component moves the material picking head towards the spreading platform and grabs the curved edge of the fabric. Then, the fabric is moved to the top of the workbench, allowing the rest of the fabric to hang naturally on the side of the workbench. The pressing and fixing block of the material picking and fixing component extends to the side of the workbench, and the flange fits with the side of the workbench. The flattened fabric is pushed and rubbed through the gap to flatten it. After completion, the fabric is pressed and fixed to the side of the workbench, and then the material picking head releases the fabric. Step 3: The air blowing leveling components on both sides of the workbench blow air towards the center of the workbench to form an air blowing leveling space, flattening the fabric on the workbench surface. At the same time, the vision recognition system takes a picture of the flattened fabric and transmits the picture to the control computer. After receiving the picture, the control computer identifies the corner coordinates of the curved edge fabric and outputs control signals to the multi-directional drive component. Step 4: After receiving the control signal from the control computer, the multi-directional drive component moves the positioning head to the position directly above the corner coordinates of the fabric's curved edge. The positioning head applies downward pressure to tighten the fabric corner. The multi-directional drive component then pulls the positioning head away from the center line of the worktable, stretching the curved edge of the fabric to a straight state until it reaches the required straightness for subsequent processing, thus completing the edge trimming operation.

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