A turning intelligent equidistant stitch sewing device with multiple needles

Abstract

The utility model relates to a kind of turning intelligent equidistance needle sewing equipment with multiple needles, especially discloses including base, the sewing head being set on base, workstation, pose data capture module and control center, sewing head, workstation, pose data capture module are electrically connected with control center;Pose data capture module is set on sewing head or / and workstation, the sewing head includes needle mechanism, the compression assembly being set in the side of needle mechanism, needle mechanism includes needle holder, the multiple groups of needle parts for independent sewing being set in needle holder and the first drive assembly for driving needle holder reciprocating motion, workstation includes board, multiple groups of needle holes being opened in board, multiple groups of needle holes are used in cooperation with multiple groups of needle parts;Compression assembly is compressed on workstation to be sewn, pose data capture module is used to obtain the position data, pose data or / and speed data in the movement process between compression assembly and workstation to be sewn.

Description

Technical Field

[0001] This utility model relates to the field of sewing machine technology, and in particular discloses a multi-needle intelligent equidistant stitch sewing device with turning needles. Background Technology

[0002] In the field of sewing equipment, multi-needle sewing equipment is widely used because it can improve sewing efficiency. However, existing multi-needle sewing equipment has significant technical shortcomings when dealing with sewing scenarios where the workpiece is turning: on the one hand, there is a lack of detection mechanisms that can accurately acquire the position, posture and speed data of the workpiece during its movement. It is impossible to compensate for the stitch length by adjusting the sewing speed of the needle part in real time, which results in the stitch length when the workpiece is turning is inconsistent with the stitch length when it is moving in a straight line, directly affecting the sewing quality. Utility Model Content

[0003] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a multi-needle intelligent equidistant stitch sewing device with turning.

[0004] To achieve the above objectives, this utility model provides a multi-needle intelligent equidistant stitch sewing device with turning mechanism, comprising a base, a sewing machine head mounted on the base, a worktable, a posture data capture module, and a control center. The sewing machine head, worktable, and posture data capture module are all electrically connected to the control center. The posture data capture module is mounted on the sewing machine head and / or the worktable. The sewing machine head includes a needle insertion mechanism and a clamping assembly mounted on the side of the needle insertion mechanism. The needle insertion mechanism includes a needle holder, multiple sets of needle insertion components for independent sewing mounted within the needle holder, and a first drive assembly for driving the reciprocating motion of the needle holder. The worktable includes a plate. Multiple sets of needle holes are formed on the plate, and these multiple sets of needle holes are used in conjunction with multiple sets of needle components. The clamping assembly clamps the workpiece to be sewn onto the worktable. The pose data capture module is used to acquire position data, posture data and / or speed data of the workpiece during its movement between the clamping assembly and the worktable. The control center calculates and processes the data obtained by the pose data capture module through the algorithm module to obtain output data. The control center uses the calculated output data to adjust the sewing speed of the needle components and compensates for the stitch length during the movement of the workpiece to be sewn, so that the stitch length of the workpiece when turning is consistent with the stitch length when moving in a straight line.

[0005] The equipment supports the sewing machine head, worktable, posture data capture module, and control center via a base. The sewing machine head's clamping component first fixes the workpiece to be sewn onto the worktable plate. Multiple sets of needle-feeding components of the needle-feeding mechanism can cooperate with multiple sets of needle holes on the plate to achieve multi-needle sewing. During operation, the posture data capture module acquires the position, posture, and speed data of the workpiece in real time. The control center processes this data through an algorithm module and adjusts the sewing speed of the needle-feeding components to compensate for the stitch length during the movement of the workpiece. This multi-needle design improves sewing efficiency, and intelligent data capture and speed control solve the problem of uneven stitch length when the workpiece turns, ultimately achieving consistent stitch length during turning and straight-line movement. At the same time, the clamping component ensures the stability of the workpiece during sewing, thus improving the overall sewing quality and level of intelligence.

[0006] The first drive assembly includes a first drive motor and a first connecting rod connected to the output end of the first drive motor. The other end of the first connecting rod is connected to the needle holder. The first drive motor drives the first connecting rod to move the needle holder up and down reciprocally. There are two sets of needle-feeding components and two sets of needle holes. The first set of needle-feeding components and the second set of needle-feeding components are arranged in parallel. The sewing needle of the first set of needle-feeding components corresponds to the first set of needle holes, and the sewing needle of the second set of needle-feeding components corresponds to the second set of needle holes. The first drive motor is used to drive the needle holder to move up and down reciprocally to drive the first set of needle-feeding components and the second set of needle-feeding components to simultaneously needle the workpiece to be sewn on the worktable.

[0007] The output end of the first drive motor is connected to the first connecting rod, and the other end of the first connecting rod is connected to the needle holder. There are two sets of needle lowering components and two sets of needle lowering holes. The sewing needles of the two sets of needle lowering components correspond one-to-one with the two sets of needle lowering holes. During operation, the first drive motor drives the first connecting rod to move the needle holder up and down reciprocally, thereby driving the two sets of needle lowering components to lower the needles onto the sewing workpiece synchronously. Its beneficial effect is that the reciprocating motion of the needle holder can be precisely controlled through the transmission structure of the motor and the connecting rod, ensuring the stability and accuracy of the needle lowering action. The synchronous operation of the two sets of needle lowering components not only significantly improves sewing efficiency, but also ensures the stitch alignment during multi-needle sewing through the corresponding design of the needle lowering components and needle lowering holes. At the same time, it provides a stable multi-needle sewing foundation for the subsequent control center to perform stitch length compensation for turning and straight movement, further optimizing the sewing quality and operational stability.

[0008] The plate is provided with a mounting plate, and the lower pin hole is located on the mounting plate. The plate is provided with a first mounting position and a second mounting position along the length of the plate. The mounting position is a recessed platform. The plate is provided with a first mounting hole. The mounting plate is provided with a second mounting hole that communicates with the first mounting hole. The mounting plate is housed in the first mounting position and is fixed to the plate by external fasteners passing through the first and second mounting holes.

[0009] The plate is equipped with a mounting plate, and the needle hole is opened on the mounting plate. The plate has a first mounting position and a second mounting position distributed along its length, and the mounting position is a recessed platform. The plate also has a first mounting hole, and the mounting plate has a second mounting hole communicating with the first mounting hole. The mounting plate is accommodated in the first mounting position and is fixed by external fasteners passing through the first and second mounting holes. Its advantages are that the recessed platform can accurately position the mounting plate, avoiding installation misalignment and ensuring the matching accuracy of the needle hole and the needle component. The first and second mounting positions allow the mounting plate to be adjusted according to sewing needs, improving the flexibility of the equipment. The fastener fixation ensures stability and facilitates disassembly and maintenance. Moreover, the needle hole is integrated into the mounting plate, and subsequent wear only requires replacement of the mounting plate, without replacing the entire plate, reducing maintenance and usage costs.

[0010] The pose data capture module is a lidar sensor or a camera sensor. The pose data capture module is mounted on the plate via the second mounting position. The pose data capture module is used to take pictures and / or videos of the workpiece to be sewn during the movement between the pressing component and the worktable, and transmit the pictures and / or videos to the control center.

[0011] The camera sensor includes a light-transmitting plate and a control circuit board mounted on the worktable, a camera module and a light compensation module mounted on the control circuit board, the camera module and the light compensation module being housed in a second mounting position, and the light-transmitting plate covering the second mounting position; the light compensation module has an LED light and a light sensor mounted on the side of the LED light; the camera module is used to take pictures of the workpiece to be sewn during the movement between the pressing component and the worktable, and the light compensation module is used to perform light compensation on the workpiece to be sewn during the movement between the pressing component and the worktable.

[0012] The pose data capture module uses a lidar sensor or a camera sensor, and is fixed in place via a pre-reserved second mounting position on the board. Its core function is to photograph and videotape the workpiece moving between the clamping assembly and the worktable, and transmit the acquired images or video data to the control center. The camera sensor specifically includes a camera module housed in the second mounting position, a light compensation module, and a light-transmitting plate covering the mounting position. The light compensation module consists of an LED light from the pose data capture module and a side-mounted illumination sensor. The camera module is responsible for image acquisition, and the light compensation module provides targeted light compensation for the area of ​​the workpiece to be sewn. Its beneficial effect is that it... The original second mounting position on the board eliminates the need for additional mounting structures, saving space and ensuring installation stability. The optional design of the LiDAR and camera sensors adapts to different sewing scenarios. The light compensation module paired with the camera sensor can sense ambient light through the light sensor and adjust the supplementary light with the LED position data capture module, ensuring the clarity and accuracy of image acquisition under complex lighting conditions. The light-transmitting plate protects the internal modules from sewing debris and dust without hindering data acquisition, ultimately providing the control center with accurate position data of the workpiece to be sewn. This lays a reliable foundation for the efficient operation of the stitch length compensation algorithm and further ensures the equidistant effect of turning and straight sewing.

[0013] The lower needle hole has an overall elongated oval structure, and the needle hole outline is enclosed by a first semicircular arc segment, a second semicircular arc segment, a first connecting segment, and a second connecting segment. The two ends of the first semicircular arc segment are connected to one end of the first connecting segment and one end of the second connecting segment, respectively. The other ends of the first connecting segment and the other ends of the second connecting segment are connected to the two ends of the second semicircular arc segment, thereby forming a closed needle hole outline shape. The arc length of the first semicircular arc segment is less than the arc length of the second semicircular arc segment. The long axes of the first group of lower needle holes and the second group of lower needle holes are distributed along the length direction of the plate and are arranged parallel to each other. The first semicircular arc segment of the first group of lower needle holes is located on the same side as the second semicircular arc segment of the second group of lower needle holes, and the first semicircular arc segment of the second group of lower needle holes is located on the same side as the second semicircular arc segment of the first group of lower needle holes. The needle insertion point of the first group of lower needle components is close to the second semicircular arc segment of the first group of lower needle holes, and the needle insertion point of the second group of lower needle components is close to the second semicircular arc segment of the second group of lower needle holes.

[0014] The lower needle hole has an overall elongated oval structure, formed by a shorter first semicircular arc segment, a longer second semicircular arc segment, and a first and second connecting segment. Two sets of lower needle holes are distributed along the length of the plate, with the first and second sets of lower needle holes arranged parallel to each other. The first semicircular arc segment of the first set of lower needle holes is on the same side as the second semicircular arc segment of the second set, and vice versa. The needle insertion points of both sets of lower needle components are close to the second semicircular arc segment of their respective lower needle holes. The beneficial effect is that the elongated oval hole structure and the difference in arc length design... The design provides ample space for simultaneous multi-needle stitching and adapts to the needle's movement trajectory during straight and turning movements of the workpiece, preventing interference between the needle and the hole wall. The placement of the needle point near the long arc segment further provides buffer space for the needle's up-and-down reciprocating motion and the workpiece's movement, reducing jamming or needle deviation. The parallel and symmetrically distributed arc design of the two sets of needle holes ensures the parallelism of the stitches during double-needle sewing. This, combined with the stitch length compensation function of the control center, further improves sewing accuracy. Simultaneously, the elongated hole structure is easy to manufacture and highly adaptable, stably meeting the operational requirements of the multi-needle stitching mechanism and ensuring smooth sewing. The first and second needle holes, distributed along the direction of movement (front and back) of the workpiece, form a "two-point positioning" system, effectively limiting the fabric's forward and backward movement during movement. Especially during turns, when the fabric is prone to positional shift due to centrifugal force or pulling, the front and back needle points firmly "anchor" the fabric, preventing it from sliding along the direction of movement. When the sewn piece moves, a single or concentrated stitch point can easily lead to excessive local tension, causing the fabric to stretch and deform. Distributing stitch points front and back can disperse the tension to two positions, forming a "tension buffer zone" along the direction of movement. This prevents the fabric from stretching, wrinkling, or other problems caused by excessive force in one direction, thus maintaining the original shape of the fabric.

[0015] The worktable also includes a driven roller. A through hole is provided on the plate, and the driven roller protrudes from the reference surface of the plate through the through hole. The clamping assembly includes a clamping drive, a second rotating linkage, and a clamping assembly. The clamping assembly includes a clamping mounting base, a bearing installed in the clamping mounting base, and a clamping wheel. The axis of the clamping wheel is parallel to the axis of the driven roller. One end of the second rotating linkage is connected to the output end of the clamping drive. The end of the second rotating linkage away from the clamping drive is rotatably mounted in the clamping mounting base via the bearing. The clamping wheel and the second rotating linkage abut against each other and rotate on the clamping mounting base. The clamping drive drives the second rotating linkage to rotate, thereby driving the clamping wheel to rotate. The clamping wheel and the driven roller together clamp the workpiece to be sewn. When the workpiece to be sewn moves, the clamping wheel and the driven roller rotate synchronously to realize the conveying of the workpiece to be sewn.

[0016] The clamping action of the pressure roller and the driven roller securely fixes the workpiece to be sewn, preventing deviation and wrinkles during sewing. This provides a stable working foundation for position data capture and stitch length compensation. The parallel axes of the two rollers ensure uniform clamping force. The bearing and synchronous rotation design significantly reduce frictional resistance during workpiece transport, preventing stitch deformation caused by jamming or pulling. The swing-type structure driven by the pressure drive facilitates rapid loading and unloading and can adapt to workpieces of different thicknesses. The overall structure is simple and reliable, improving the smoothness and stability of the sewing process and enhancing the adaptability of the equipment. In conjunction with the multi-needle stitching mechanism and intelligent stitch length compensation function, it further ensures the equidistant accuracy and sewing quality of straight and curved sewing.

[0017] The sewing equipment also includes two sets of thread-cutting mechanisms respectively arranged on both sides of the workbench, and a thread-cutting drive unit that is driven and connected to the two sets of thread-cutting mechanisms. The thread-cutting mechanism includes a support arranged on the side of the workbench, a thread-cutting component arranged on the support, and a cover. The cover includes a hinge, a rotating shaft, and a housing arranged on the support. The housing is provided with a rotating part that rotates with the hinge. The rotating shaft passes through and connects the hinge and the rotating part. The housing rotates around the rotating shaft via the rotating part to cover or expose the thread-cutting component.

[0018] The sewing machine has two sets of thread-cutting mechanisms on each side of the worktable, and these two sets of thread-cutting mechanisms are driven by a thread-cutting drive. Each thread-cutting mechanism includes a support mounted on the side of the worktable, a thread-cutting component mounted on the support, and a cover. The cover consists of a hinge on the support, a rotating shaft, and a housing. The housing has a rotating part that rotates with the hinge. The rotating shaft passes through and connects the hinge and the rotating part. The housing can rotate around the rotating shaft via the rotating part to achieve either a closed cover for protection or an exposed operation of the thread-cutting component. Its advantage lies in the fact that the symmetrically arranged thread-cutting mechanisms on both sides, in conjunction with the thread-cutting drive, provide a comprehensive protection solution. This device is precisely adapted to multi-needle sewing scenarios, efficiently completing thread trimming after sewing and improving overall work efficiency. The rotating cover design allows the thread trimming component to be closed when not in use, preventing dust, sewing debris from getting in or causing injury from accidental contact. When in use, the thread trimming component can be quickly exposed for easy operation and maintenance. The compact structure and side mounting on the workbench do not occupy sewing space. Combined with multi-needle sewing and intelligent stitch length compensation functions, it perfects the equipment's full-process sewing capabilities while enhancing safety and ease of maintenance.

[0019] Both the first and second semicircular arc segments are provided with arc-shaped guide surfaces.

[0020] Both the first and second semicircular segments of the lower needle hole are equipped with arc-shaped guide surfaces. The beneficial effect of these guide surfaces is that they significantly reduce the frictional resistance between the sewing needle and the needle hole wall, preventing jamming and scraping during the reciprocating motion of the sewing needle and the movement of the workpiece. Simultaneously, they guide the movement trajectory of the sewing needle, further ensuring the accuracy of simultaneous multi-needle stitching and reducing needle wear. Compared to a straight surface structure, the arc-shaped guide surfaces also reduce stress concentration at the needle hole edge, improving the structural stability and durability of the lower needle hole, extending the service life of the mounting plate. Combined with the elongated oval profile of the lower needle hole and the multi-needle design, they continuously ensure the smoothness of the sewing process and the accuracy of the stitches, providing more reliable structural support for the stable operation of the intelligent stitch length compensation function.

[0021] The wire-cutting drive includes a third drive unit electrically connected to the control unit, a first rotating gear, a second rotating gear, and a third rotating connecting rod. The wire-cutting component includes a rotating shaft, a movable blade rotatably mounted on the rotating shaft, and a fixed blade. The output end of the third drive unit is connected to the first rotating gear, which is driven by the second rotating gear via a belt. The first rotating gear is fixedly mounted on the third rotating connecting rod. Two sets of first bevel gears are provided at the end of the third rotating connecting rod away from the first rotating gear. The rotating shafts of both wire-cutting mechanisms are provided with second bevel gears at the ends near the third rotating connecting rod. The two sets of second bevel gears mesh perpendicularly with the two sets of first bevel gears. The fixed blade is fixedly mounted on the side of the workbench and above the rotating shaft via a blade holder. The movable blade is rotatably mounted on the rotating shaft via the third rotating gear. The rotation of the third drive unit drives the first bevel gear on the third rotating connecting rod to rotate. The first bevel gear drives the second bevel gear to rotate. The second bevel gear drives the rotating shaft to rotate, which in turn drives the third rotating gear to rotate. The rotation of the third rotating gear drives the movable blade to rotate to approach or move away from the fixed blade to cut the wire.

[0022] The thread-cutting drive unit is electrically connected to the control unit, enabling automated control of the thread-cutting action. This adapts to the overall intelligent sewing process of the equipment, improving work efficiency. A combination of gear meshing and belt drive ensures precise and stable power transmission. The vertical meshing design of the two sets of first and second bevel gears allows for synchronous driving of the thread-cutting mechanisms on both sides of the worktable, perfectly meeting the thread-cutting needs of multi-needle sewing scenarios. The cooperative structure of the movable and fixed blades ensures reliable thread cutting. The overall transmission and thread-cutting structure is compact, not occupying core sewing space. It synergizes with the equipment's multi-needle sewing and intelligent stitch length compensation functions, further improving the automation and intelligence of the entire sewing process. Simultaneously, the reasonable structural design facilitates maintenance, enhancing the equipment's practicality and durability.

[0023] When the sewn part enters the turning stage, the pose data capture module (camera) continuously captures two adjacent position images at a sampling period of 0.1s. The algorithm first uses Gaussian filtering to remove noise and then uses the ORB algorithm to extract stable feature points of the part to be sewn (such as the center point of the sewn stitch). Combined with the preset pixel-physical conversion coefficient k = 2 pixels / mm, the pixel offset of the feature points in the two images is calculated (such as Δx = 10 pixels, Δy = 12 pixels), and then the actual physical position difference is calculated to be ≈7.81mm (greater than the preset stitch distance of 5mm). Simultaneously, the algorithm determines a turn by ensuring that the angle between the offset direction vectors of the feature points in three consecutive adjacent images is greater than 5°. Based on the core requirement that "the next position difference = the preset stitch distance", the algorithm derives the compensation speed v_complement = 5mm / 0.1s = 50mm / s, outputs a speed adjustment signal to the pressing mechanism (reducing the original conveying speed of 78.1mm / s to 50mm / s), and maintains a needle-feeding frequency of 10Hz, so that the actual position difference of the feature points in the next adjacent image is stabilized at 5mm, and finally the stitch distance is consistent with the straight line segment during the turn.

[0024] The beneficial effects of this utility model are as follows: The core principle of the pose data capture module is "real-time data capture of the pose data capture module - intelligent algorithm control of the pose data capture module - multi-structure collaborative adaptation of the pose data capture module." The base supports the sewing machine head, worktable, pose data capture module, and control center. The workpiece to be sewn is clamped and fixed by the clamping component and driven rollers. The pose data capture module (LiDAR or a camera with illumination compensation) collects the movement pose data of the workpiece. After algorithm processing, the control center adjusts the speed of multiple needle-feeding components driven by the first drive component to compensate for the stitch length. Simultaneously, the elongated oval structure of the needle hole adapts to the arc-shaped guide surface of the needle body. The activity utilizes a belt drive system via a gear-position data capture module to automatically cut threads on both sides of the workbench. Its advantages include: synchronized multi-needle stitching significantly improves sewing efficiency; precise data capture and speed compensation completely solve the problem of uneven stitch length when the workpiece turns, ensuring consistent stitch length in straight lines and turns; clamping and roller conveying prevent workpiece shifting and wrinkling; the needle hole design reduces needle interference and wear; the modular design of the mounting plate reduces maintenance costs; and automatic control of the thread cutting mechanism and protective cover enhance operational safety. Overall, it achieves a synergistic improvement in sewing efficiency, precision, stability, and full-process intelligence, adapting to diverse sewing needs. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0026] Figure 2 For the present utility model Figure 1 A magnified structural diagram of part A in the middle;

[0027] Figure 3This is a schematic diagram of the needle-feeding mechanism of this utility model;

[0028] Figure 4 This is a schematic diagram of the structure of the plate component of this utility model;

[0029] Figure 5 For the present utility model Figure 4 A magnified structural diagram of part B in the middle section;

[0030] Figure 6 This is a schematic diagram of the clamping assembly of this utility model;

[0031] Figure 7 This is a schematic diagram of the workbench and wire-cutting mechanism of this utility model;

[0032] Figure 8 This is a schematic diagram of the wire cutting mechanism and wire cutting drive of this utility model;

[0033] Figure 9 This is a schematic diagram of the movable blade and the fixed blade of this utility model;

[0034] Figure 10 A schematic diagram of the structure of a sewing thread without using the sewing equipment of the present invention;

[0035] Figure 11 This is a schematic diagram of the sewing thread structure of the sewing device using the present invention.

[0036] The reference numerals in the figures include:

[0037] 1. Base; 2. Sewing machine head; 3. Worktable; 4. Posture data capture module; 5. Control center; 6. Needle insertion mechanism; 7. Pressing assembly; 8. Needle holder; 9. Needle insertion component; 11. First drive assembly; 12. Plate; 13. Needle insertion hole; 14. First drive motor; 15. First connecting rod; 16. Mounting plate; 17. First mounting position; 19. Second mounting position; 21. First mounting hole; 22. Second mounting hole; 23. Camera module; 24. Light compensation module; 25. Light-transmitting plate; 26. First semicircular arc segment; 27. Second semicircular arc segment; 28. First connecting segment; 29. ​​Second connecting segment; 31. 32. Needle insertion point; 33. Driven roller; 34. Pressing drive component; 35. Second rotating connecting rod; 36. Pressing assembly; 37. Pressing mounting base; 38. Bearing; 39. Pressing wheel; 40. Thread cutting mechanism; 41. Support; 42. Thread cutting component; 43. Cover part; 44. Hinge; 45. Rotating shaft; 46. Housing; 47. Rotating part; 48. Arc-shaped guide surface; 49. Third drive component; 51. First rotating gear; 52. Second rotating gear; 53. Third rotating connecting rod; 54. Rotating shaft; 55. Movable blade; 56. Fixed blade; 57. First bevel gear; 58. Second bevel gear; 59. Third rotating gear. Detailed Implementation

[0038] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0039] Please see Figures 1 to 11 As shown, this utility model discloses a multi-needle intelligent equidistant stitch sewing device with turning mechanism, comprising a base 1, a sewing machine head 2, a worktable 3, a posture data capture module 4, and a control center 5, all mounted on the base 1. The sewing machine head 2, worktable 3, and posture data capture module 4 are electrically connected to the control center 5. The posture data capture module 4 is mounted on the sewing machine head 2 and / or the worktable 3. The sewing machine head 2 includes a needle insertion mechanism 6 and a pressing component 7 mounted on the side of the needle insertion mechanism 6. The needle insertion mechanism 6 includes a needle holder 8, multiple sets of needle insertion components 9 for independent sewing mounted within the needle holder 8, and a first driving component 11 for driving the needle holder 8 to reciprocate. The worktable 3 includes a plate... Part 12, multiple sets of needle holes 13 are formed on the plate 12, and the multiple sets of needle holes 13 are used in conjunction with multiple sets of needle components 9; the pressing assembly 7 presses the workpiece to be sewn onto the worktable 3; the position data capture module 4 is used to acquire position data, posture data and / or speed data of the workpiece to be sewn during the movement process between the pressing assembly 7 and the worktable 3; the control center 5 calculates and processes the data obtained by the position data capture module 4 through the algorithm module to obtain output data; the control center 5 uses the calculated output data to adjust the sewing speed of the needle component 9 and compensates for the stitch length during the movement of the workpiece to be sewn, so that the stitch length of the workpiece to be sewn when turning is consistent with the stitch length when moving in a straight line.

[0040] The equipment supports the sewing machine head 2, worktable 3, posture data capture module 4, and control center 5 via base 1. The clamping component 7 of the sewing machine head 2 first fixes the workpiece to be sewn onto the plate 12 of the worktable 3. The multiple sets of needle-feeding components 9 of the needle-feeding mechanism 6 can cooperate with the multiple sets of needle holes 13 on the plate 12 to achieve multi-needle sewing. During operation, the posture data capture module 4 acquires the position, posture, and speed data of the workpiece in real time. The control center 5 calculates and processes these data through the algorithm module and adjusts the sewing speed of the needle-feeding components 9 to compensate for the stitch length during the movement of the workpiece. The multi-needle design improves sewing efficiency, and the intelligent data capture and speed control solve the problem of uneven stitch length when the workpiece turns. Ultimately, the stitch length is consistent between turning and straight-line movement. At the same time, the clamping component 7 ensures the stability of the workpiece during sewing, thus improving the overall sewing quality and intelligence level.

[0041] Of course, in actual use, the user can also turn off the pose data capture module 4 through the control cabinet (or the control panel electrically connected to the control cabinet) of the intelligent equidistant stitch sewing equipment for turning. After turning off the pose data capture module 4, the actual operation of the intelligent equidistant stitch sewing equipment for turning is the same as that of a traditional sewing machine, and the stitch distance diagram it presents is as follows. Figure 10 Image showing the effect of the medium stitch spacing.

[0042] The first drive assembly 11 includes a first drive motor 14 and a first connecting rod 15 connected to the output end of the first drive motor 14. The other end of the first connecting rod 15 is connected to the needle holder 8. The first drive motor 14 drives the first connecting rod 15 to drive the needle holder 8 to move up and down reciprocally. There are two sets of needle insertion components 9 and two sets of needle insertion holes 13. The first set of needle insertion components 9 and the second set of needle insertion components 9 are arranged in parallel. The sewing needle of the first set of needle insertion components 9 corresponds to the first set of needle insertion holes 13, and the sewing needle of the second set of needle insertion components 9 corresponds to the second set of needle insertion holes 13. The first drive motor 14 is used to drive the needle holder 8 to move up and down reciprocally to drive the first set of needle insertion components 9 and the second set of needle insertion components 9 to simultaneously insert needles into the workpiece to be sewn placed on the worktable 3.

[0043] The output end of the first drive motor 14 is connected to the first connecting rod 15, and the other end of the first connecting rod 15 is connected to the needle holder 8. There are two sets of needle lowering components 9 and needle lowering holes 13. The sewing needles of the two sets of needle lowering components 9 correspond one-to-one with the two sets of needle lowering holes 13. During operation, the first drive motor 14 drives the first connecting rod 15 to move the needle holder 8 up and down reciprocally, thereby driving the two sets of needle lowering components 9 to lower the needles of the workpiece synchronously. Its beneficial effect is that the reciprocating motion of the needle holder 8 can be precisely controlled through the transmission structure of the motor and the connecting rod, ensuring the stability and accuracy of the needle lowering action. The synchronous operation of the two sets of needle lowering components 9 not only significantly improves sewing efficiency, but also ensures the stitch alignment during multi-needle sewing through the corresponding design of the needle lowering components 9 and the needle lowering holes 13. At the same time, it provides a stable multi-needle sewing foundation for the subsequent control center 5 to perform stitch length compensation for turning and straight movement, further optimizing the sewing quality and operational stability.

[0044] The plate 12 is provided with a mounting plate 16, and the lower pin hole 13 is located on the mounting plate 16. The plate 12 is provided with a first mounting position 17 and a second mounting position 19 arranged along the length direction of the plate 12. The mounting position is a recessed platform. The plate 12 is provided with a first mounting hole 21. The mounting plate 16 is provided with a second mounting hole 22 that communicates with the first mounting hole 21. The mounting plate 16 is accommodated in the first mounting position 17 and is fixed to the plate 12 by external fasteners passing through the first mounting hole 21 and the second mounting hole 22.

[0045] A mounting plate 16 is provided on the plate 12, and the needle hole 13 is opened on the mounting plate 16. The plate 12 has a first mounting position 17 and a second mounting position 19 distributed along its length direction, and the mounting position is a recessed platform. The plate 12 also has a first mounting hole 21, and the mounting plate 16 has a second mounting hole 22 communicating with the first mounting hole 21. The mounting plate 16 is accommodated in the first mounting position 17 and is fixed by external fasteners passing through the first mounting hole 21 and the second mounting hole 22. Its advantages are that the recessed platform can accurately position the mounting plate 16, avoid installation offset and ensure the matching accuracy of the needle hole 13 and the needle component 9. The first and second mounting positions 19 allow the mounting plate 16 to be adjusted according to sewing needs, improving the flexibility of the equipment. The fastener fixation ensures stability and facilitates disassembly and maintenance. Moreover, the needle hole 13 is integrated on the mounting plate 16, and subsequent wear only requires replacement of the mounting plate 16, without replacing the entire plate 12, reducing maintenance and use costs.

[0046] The pose data capture module 4 is a lidar sensor or a camera sensor. The pose data capture module 4 is mounted on the plate 12 via the second mounting position 19. The pose data capture module 4 is used to take pictures and / or videos of the workpiece to be sewn during the movement between the pressing assembly 7 and the worktable 3, and transmit the photos and / or videos to the control center 5.

[0047] The camera sensor includes a light-transmitting plate 25 and a control circuit board mounted on the workbench 3, a camera module 23 and a light compensation module 24 mounted on the control circuit board, the camera module 23 and the light compensation module 24 being housed within the second mounting position 19, and the light-transmitting plate 25 covering the second mounting position 19; the light compensation module 24 has an LED light and a light sensor mounted on the side of the LED light; the camera module 23 is used to take pictures of the workpiece to be sewn during the movement between the pressing assembly 7 and the workbench 3, and the light compensation module 24 is used to perform light compensation on the workpiece to be sewn during the movement between the pressing assembly 7 and the workbench 3.

[0048] The pose data capture module 4 uses a lidar sensor or a camera sensor and is fixedly installed through the second mounting position 19 reserved on the plate 12. Its core function is to take pictures and videos of the workpiece to be sewn moving between the pressing assembly 7 and the worktable 3, and transmit the acquired images or video data to the control center 5. The camera sensor specifically includes a camera module 23 housed in the second mounting position 19, a light compensation module 24, and a light-transmitting plate 25 covering the mounting position. The light compensation module 24 consists of an LED light from the pose data capture module 4 and a side illumination sensor. The camera module 23 is responsible for image acquisition, and the light compensation module 24 provides targeted light compensation for the area of ​​the workpiece to be sewn. The benefits are that the original second mounting position 19 of the reused board 12 does not require an additional mounting structure, saving space and ensuring installation stability. The optional design of the lidar and camera sensor can adapt to different sewing scene requirements. The light compensation module 24 paired with the camera sensor can sense the ambient light through the light sensor and adjust the supplementary light with the help of the LED pose data capture module 4, ensuring the clarity and accuracy of image acquisition under complex lighting conditions. The light-transmitting plate 25 can protect the internal modules from sewing debris and dust without hindering data acquisition. Ultimately, it provides the control center 5 with accurate pose data of the workpiece to be sewn, laying a reliable foundation for the efficient operation of the stitch length compensation algorithm and further ensuring the equidistant effect of turning and straight sewing.

[0049] The lower pinhole 13 has an overall elongated oval structure, and its outline is formed by a first semicircular arc segment 26, a second semicircular arc segment 27, a first connecting segment 28, and a second connecting segment 29. The two ends of the first semicircular arc segment 26 are connected to one end of the first connecting segment 28 and one end of the second connecting segment 29, respectively. The other ends of the first connecting segment 28 and the second connecting segment 29 are respectively connected to the two ends of the second semicircular arc segment 27, thus forming a closed pinhole outline shape. The arc length of the first semicircular arc segment 26 is less than the arc length of the second semicircular arc segment 27. The long axis of the first group of lower pinholes 13 is aligned with the first... The long axes of the two sets of lower needle holes 13 are distributed along the length of the plate, and the first set of lower needle holes 13 and the second set of lower needle holes 13 are arranged parallel to each other. The first semicircular arc segment 26 of the first set of lower needle holes 13 is located on the same side as the second semicircular arc segment 27 of the second set of lower needle holes 13. The first semicircular arc segment 26 of the second set of lower needle holes 13 is located on the same side as the second semicircular arc segment 27 of the first set of lower needle holes 13. The needle insertion point 31 of the first set of lower needle components 9 is close to the second semicircular arc segment 27 of the first set of lower needle holes 13, and the needle insertion point 31 of the second set of lower needle components 9 is close to the second semicircular arc segment 27 of the second set of lower needle holes 13.

[0050] The lower needle hole 13 has an overall elongated oval structure, formed by a shorter first semicircular arc segment 26, a longer second semicircular arc segment 27, and the first and second connecting segments 29. Two sets of lower needle holes 13 are distributed along the length of the plate 12, with the first and second sets of lower needle holes 13 arranged parallel to each other. The first semicircular arc segment 26 of the first set of lower needle holes 13 is on the same side as the second semicircular arc segment 27 of the second set of lower needle holes 13, and vice versa. The needle insertion points 31 of both sets of lower needle components 9 are close to their respective corresponding lower needle hole 13's second semicircular arc segment 27. This has beneficial effects. The advantages lie in the fact that the elongated hole structure and the design of the arc length difference provide ample space for simultaneous multi-needle stitching and adapt to the needle movement trajectory when the workpiece is being sewn in a straight line and when turning, avoiding interference between the needle and the hole wall. The design of the needle insertion point 31 close to the long arc segment further reserves buffer space for the needle's up-and-down reciprocating motion and the movement of the workpiece, reducing jamming or needle deviation. The parallel and same-side arc distribution design of the two sets of needle holes 13 ensures the parallelism of the stitches in double-needle sewing. In conjunction with the stitch length compensation function of the control center 5, it further improves sewing accuracy. At the same time, the elongated hole structure is easy to process and highly adaptable, and can stably meet the operational requirements of the multi-needle stitching mechanism 6, ensuring the smoothness of the sewing process. The two needle insertion points 31, the first and second needle holes, are distributed along the movement direction (front and back) of the workpiece to be sewn, which is equivalent to forming a "two-point positioning", which can effectively limit the back-and-forth movement of the fabric during the movement process. Especially when turning, the fabric is prone to displacement due to centrifugal force or pulling. The front and rear needle points 31 can firmly "anchor" the fabric, preventing it from sliding along the direction of movement. When the sewn piece moves, a single or concentrated needle point 31 can easily lead to excessive local tension, causing the fabric to stretch and deform. The front and rear distributed needle points 31 can disperse the tension to two positions, forming a "tension buffer zone" along the direction of movement, preventing the fabric from stretching, wrinkling, and other problems caused by excessive force in one direction, thus maintaining the original shape of the fabric.

[0051] The worktable 3 also includes a driven roller 32. A through hole is provided on the plate 12, and the driven roller 32 protrudes from the reference surface of the plate 12 through the through hole. The clamping assembly 7 includes a clamping drive 33, a second rotating connecting rod 34, and a clamping assembly 35. The clamping assembly 35 includes a clamping mounting base 36, a bearing 37 installed in the clamping mounting base 36, and a clamping wheel 38. The axis of the clamping wheel 38 is parallel to the axis of the driven roller 32. One end of the second rotating connecting rod 34 is connected to the clamping drive 33. The output end is connected, and the end of the second rotating connecting rod 34 away from the pressing drive member 33 is rotatably mounted in the pressing mounting base 36 via the bearing 37. The pressing wheel 38 is in contact with the second rotating connecting rod 34 and rotates on the pressing mounting base 36. The pressing drive member 33 drives the second rotating connecting rod 34 to rotate, thereby driving the pressing wheel 38 to rotate. The pressing wheel 38 and the driven roller 32 jointly clamp the workpiece to be sewn. When the workpiece to be sewn moves, the pressing wheel 38 and the driven roller 32 rotate synchronously to realize the conveying of the workpiece to be sewn.

[0052] The clamping action of the pressure roller 38 and the driven roller 32 securely fixes the workpiece to be sewn, preventing deviation and wrinkles during sewing. This provides a stable working foundation for position data capture and stitch length compensation. The parallel axes of the two rollers ensure uniform clamping force. The bearing 37 and synchronous rotation design significantly reduce frictional resistance during workpiece transport, preventing needle deformation caused by jamming or pulling. The swing-type structure driven by the pressure drive 33 facilitates rapid loading and unloading and can adapt to workpieces of different thicknesses. The overall structure is simple and reliable, improving the smoothness and stability of the sewing process and enhancing the adaptability of the equipment. In conjunction with the multi-needle needle insertion mechanism 6 and the intelligent stitch length compensation function, it further ensures the equidistant accuracy and sewing quality of straight and curved sewing.

[0053] The sewing equipment also includes two sets of thread-cutting mechanisms 39 respectively arranged on both sides of the workbench 3, and a thread-cutting drive unit that is driven and connected to the two sets of thread-cutting mechanisms 39. The thread-cutting mechanism 39 includes a support 41 arranged on the side of the workbench 3, a thread-cutting component 42 arranged on the support 41, and a cover part 43. The cover part 43 includes a hinge 44, a rotating shaft 45, and a housing 46 arranged on the support 41. The housing 46 is provided with a rotating part 47 that rotatably cooperates with the hinge 44. The rotating shaft 45 passes through and connects the hinge 44 and the rotating part 47. The housing 46 rotates around the rotating shaft 45 via the rotating part 47 to achieve the covering or exposure of the thread-cutting component 42.

[0054] The sewing equipment has two sets of thread-cutting mechanisms 39 on both sides of the workbench 3, and the two sets of thread-cutting mechanisms 39 are driven by the thread-cutting drive. The thread-cutting mechanism 39 includes a support 41 installed on the side of the workbench 3, a thread-cutting component 42 provided on the support 41, and a cover part 43. The cover part 43 is composed of a hinge 44 on the support 41, a rotating shaft 45, and a housing 46. The housing 46 is provided with a rotating part 47 that rotatably cooperates with the hinge 44. The rotating shaft 45 passes through and connects the hinge 44 and the rotating part 47. The housing 46 can rotate around the rotating shaft 45 through the rotating part 47 to achieve the covering protection or exposure operation of the thread-cutting component 42. Its beneficial effect is that... The symmetrically arranged thread-cutting mechanisms 39 on both sides, in conjunction with the thread-cutting drive, can accurately adapt to multi-needle sewing scenarios, efficiently complete the thread-cutting operation after sewing, and improve overall work efficiency. The rotating structure design of the cover part 43 can cover the thread-cutting component 42 when not in use to prevent dust, sewing debris from getting in or people from accidentally touching and getting injured. When in use, the thread-cutting component 42 can be quickly exposed for easy operation and maintenance. The overall structure is compact and installed on the side of the workbench 3, without occupying sewing work space. In conjunction with multi-needle sewing, intelligent stitch length compensation and other functions, it improves the equipment's full-process sewing operation capability, while also improving the safety and ease of maintenance of the equipment.

[0055] Both the first semicircular arc segment 26 and the second semicircular arc segment 27 are provided with arc-shaped guide surfaces 48.

[0056] Both the first semicircular segment 26 and the second semicircular segment 27 of the lower needle hole 13 are provided with arc-shaped guide surfaces 48. The beneficial effect is that the arc-shaped guide surface 48 can significantly reduce the frictional resistance between the sewing needle of the lower needle component 9 and the needle hole wall, avoiding jamming and scraping problems when the sewing needle moves up and down and when the workpiece to be sewn moves. At the same time, it guides the movement trajectory of the sewing needle, further ensuring the accuracy of multi-needle synchronous needle insertion and reducing needle wear. Compared with the straight surface structure, the arc-shaped guide surface 48 can also reduce the stress concentration at the edge of the needle hole, improve the structural stability and durability of the lower needle hole 13, extend the service life of the mounting plate 16, and work together with the elongated hole contour and multi-needle design of the lower needle hole 13 to continuously ensure the smoothness of the sewing process and the accuracy of the stitches, providing more reliable structural support for the stable operation of the intelligent stitch length compensation function.

[0057] The wire-cutting drive includes a third drive 49 electrically connected to the control unit, a first rotating gear 51, a second rotating gear 52, and a third rotating connecting rod 53. The wire-cutting component 42 includes a rotating shaft 54, a movable blade 55 rotatably mounted on the rotating shaft 54, and a fixed blade 56. The output end of the third drive 49 is connected to the first rotating gear 51, and the first rotating gear 51 is driven by the second rotating gear 52 via a belt. The first rotating gear 51 is fixedly mounted on the third rotating connecting rod 53. Two sets of first bevel gears 57 are provided at the end of the third rotating connecting rod 53 away from the first rotating gear 51. The rotating shafts 54 of the two sets of wire-cutting mechanisms 39 are close to the third rotating connecting rod 53. Each end is provided with a second bevel gear 58, and the two sets of second bevel gears 58 mesh perpendicularly with the two sets of first bevel gears 57 respectively; the fixed blade 56 is fixedly mounted on the side of the workbench 3 via a blade holder and located above the rotating shaft 54, and the movable blade 55 is rotatably mounted on the rotating shaft 54 ​​via a third rotating gear 59. The third driving member 49 rotates to drive the first bevel gear 57 on the third rotating connecting rod 53 to rotate, the first bevel gear 57 drives the second bevel gear 58 to rotate, the second bevel gear 58 drives the rotating shaft 54 ​​to rotate, which in turn drives the third rotating gear 59 to rotate, and the third rotating gear 59 rotates to drive the movable blade 55 to rotate to approach or move away from the fixed blade 56 to cut the wire.

[0058] The thread-cutting drive unit is electrically connected to the control unit to automate the thread-cutting action, adapting to the overall intelligent sewing process of the equipment and improving work efficiency. The combination of gear meshing and belt drive ensures the accuracy and stability of power transmission. The vertical meshing design of the two sets of first bevel gears 57 and second bevel gears 58 synchronously drives the thread-cutting mechanisms 39 on both sides of the worktable 3 to work together, perfectly adapting to the thread-cutting needs of multi-needle sewing scenarios. The cooperative structure of the movable blade 55 and the fixed blade 56 ensures reliable thread cutting. The overall transmission and thread-cutting structure is compact, not occupying core sewing space. It works synergistically with the equipment's multi-needle sewing and intelligent stitch length compensation functions, further improving the automation and intelligence level of the entire sewing process. At the same time, the reasonable structural design facilitates maintenance, enhancing the practicality and durability of the equipment.

[0059] When the sewn part enters the turning stage, the pose data capture module 4 (camera) continuously captures two adjacent position images at a sampling period of 0.1s. The algorithm first uses Gaussian filtering to remove noise and then uses the ORB algorithm to extract stable feature points of the part to be sewn (such as the center point of the sewn stitch). Combined with the preset pixel-physical conversion coefficient k = 2 pixels / mm, the pixel offset of the feature points in the two images is calculated (such as Δx = 10 pixels, Δy = 12 pixels), and then the actual physical position difference is calculated to be ≈7.81mm (greater than the preset stitch length of 5m). m); at the same time, the algorithm determines that the turning point is determined by the fact that the angle between the offset direction vectors of the feature points of three consecutive adjacent images is greater than 5°. Based on the core requirement of "the next position difference = the preset stitch distance", the algorithm derives the compensation speed v_comp = 5mm / 0.1s = 50mm / s, outputs a speed adjustment signal to the pressing mechanism (reduces the original conveying speed of 78.1mm / s to 50mm / s), and maintains a needle dropping frequency of 10Hz, so that the actual position difference of the feature points of the next group of adjacent images is stabilized at 5mm, and finally the stitch distance is consistent with the straight line segment during the turning process.

[0060] The rest of this embodiment is the same as that in Embodiment 1. Features not explained in this embodiment are explained using the methods in Embodiment 1, and will not be repeated here.

[0061] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​this utility model. The content of this specification should not be construed as a limitation of this utility model.

Claims

1. A multi-needle intelligent equidistant stitch sewing device with turning loops, characterized in that: The system includes a base (1), a sewing machine head (2) mounted on the base (1), a worktable (3), a pose data capture module (4), and a control center (5). The sewing machine head (2), the worktable (3), and the pose data capture module (4) are all electrically connected to the control center (5). The pose data capture module (4) is mounted on the sewing machine head (2) and / or the worktable (3). The sewing machine head (2) includes a needle insertion mechanism (6) and a pressing assembly (7) mounted on the side of the needle insertion mechanism (6). The needle insertion mechanism (6) includes a needle holder (8), multiple sets of needle insertion components (9) for independent sewing mounted inside the needle holder (8), and a first drive assembly (11) for driving the reciprocating motion of the needle holder (8). The worktable (3) includes a plate (12). Multiple sets of needle holes (13) are opened on the plate (12), and the multiple sets of needle holes (13) are used in conjunction with multiple sets of needle components (9); the pressing assembly (7) presses the workpiece to be sewn onto the worktable (3); the position data capture module (4) is used to acquire position data, posture data and / or speed data of the workpiece to be sewn during the movement process between the pressing assembly (7) and the worktable (3); the control center (5) calculates and processes the data obtained by the position data capture module (4) through the algorithm module to obtain output data; the control center (5) adjusts the sewing speed of the needle component (9) with the help of the calculated output data, and compensates for the stitch distance during the movement of the workpiece to be sewn, so that the stitch distance of the workpiece to be sewn when turning is consistent with the stitch distance of the workpiece when moving in a straight line.

2. The intelligent equidistant stitch sewing device with multi-needle turning mechanism according to claim 1, characterized in that: The first drive assembly (11) includes a first drive motor (14) and a first connecting rod (15) connected to the output end of the first drive motor (14). The other end of the first connecting rod (15) is connected to the needle holder (8). The first drive motor (14) drives the first connecting rod (15) to drive the needle holder (8) to move up and down reciprocally. There are two sets of needle-feeding components (9) and two sets of needle-feeding holes (13). The first set of needle-feeding components (9) and the second set of needle-feeding components (9) are arranged in parallel. The sewing needle of the first set of needle-feeding components (9) corresponds to the first set of needle-feeding holes (13), and the sewing needle of the second set of needle-feeding components (9) corresponds to the second set of needle-feeding holes (13). The first drive motor (14) is used to drive the needle holder (8) to move up and down reciprocally to drive the first set of needle-feeding components (9) and the second set of needle-feeding components (9) to simultaneously needle the workpiece to be sewn on the workbench (3).

3. The intelligent equidistant stitch sewing device with multi-needle turning mechanism according to claim 1, characterized in that: The plate (12) is provided with a mounting plate (16), and the lower pin hole (13) is located on the mounting plate (16). The plate (12) is provided with a first mounting position (17) and a second mounting position (19) arranged along the length direction of the plate (12). The mounting position is a recessed platform. The plate (12) is provided with a first mounting hole (21). The mounting plate (16) is provided with a second mounting hole (22) that communicates with the first mounting hole (21). The mounting plate (16) is housed in the first mounting position (17) and is fixed on the plate (12) by external fasteners passing through the first mounting hole (21) and the second mounting hole (22).

4. The intelligent equidistant stitch sewing device with multi-needle turning mechanism according to claim 1, characterized in that: The pose data capture module (4) is a lidar sensor or a camera sensor. The pose data capture module (4) is mounted on the plate (12) via the second mounting position (19). The pose data capture module (4) is used to take pictures and / or videos of the sewn piece during the movement between the pressing assembly (7) and the worktable (3), and transmit the photos and / or videos to the control center (5).

5. A multi-needle intelligent equidistant stitch sewing device with turning mechanism according to claim 4, characterized in that: The camera sensor includes a light-transmitting plate (25) and a control circuit board set on the workbench (3), a camera module (23) and a light compensation module (24) set on the control circuit board. The camera module (23) and the light compensation module (24) are housed in the second mounting position (19), and the light-transmitting plate (25) covers the second mounting position (19). The light compensation module (24) has an LED light and a light sensor set on the side of the LED light. The camera module (23) is used to take pictures of the sewn piece during the movement between the pressing component (7) and the workbench (3), and the light compensation module (24) is used to perform light compensation on the sewn piece during the movement between the pressing component (7) and the workbench (3).

6. The intelligent equidistant stitch sewing device with multi-needle turning mechanism according to claim 2, characterized in that: The lower needle hole (13) has an overall elongated oval structure. The outline of the lower needle hole (13) is formed by a first semicircular arc segment (26), a second semicircular arc segment (27), a first connecting segment (28), and a second connecting segment (29). The two ends of the first semicircular arc segment (26) are respectively connected to one end of the first connecting segment (28) and one end of the second connecting segment (29). The other ends of the first connecting segment (28) and the other ends of the second connecting segment (29) are respectively connected to the two ends of the second semicircular arc segment (27), thereby forming a closed needle hole outline shape. The arc length of the first semicircular arc segment (26) is smaller than the arc length of the second semicircular arc segment (27). The long axis of the first group of lower needle holes (13) is connected to the second group of lower needle holes. The long axis of the holes (13) is distributed along the length of the plate (12), and the first group of needle holes (13) and the second group of needle holes (13) are arranged parallel to each other. The first semicircular arc segment (26) of the first group of needle holes (13) is located on the same side as the second semicircular arc segment (27) of the second group of needle holes (13). The first semicircular arc segment (26) of the second group of needle holes (13) is located on the same side as the second semicircular arc segment (27) of the first group of needle holes (13). The needle point (31) of the first group of needle components (9) is close to the second semicircular arc segment (27) of the first group of needle holes (13). The needle point (31) of the second group of needle components (9) is close to the second semicircular arc segment (27) of the second group of needle holes (13).

7. The intelligent equidistant stitch sewing device with multi-needle turning mechanism according to claim 1, characterized in that: The worktable (3) also includes a driven roller (32). A through hole is provided on the plate (12). The driven roller (32) protrudes from the reference surface of the plate (12) through the through hole. The clamping assembly (7) includes a clamping drive (33), a second rotating connecting rod (34), and a clamping assembly (35). The clamping assembly (35) includes a clamping mounting base (36), a bearing (37) installed in the clamping mounting base (36), and a clamping wheel (38). The axis of the clamping wheel (38) is parallel to the axis of the driven roller (32). One end of the second rotating connecting rod (34) is connected to the clamping drive (33). The output end of the second rotating link (34) is connected to the pressure drive (33). The end of the second rotating link (34) away from the pressure drive (33) is rotatably mounted in the pressure mounting seat (36) via the bearing (37). The pressure wheel (38) rotates against the second rotating link (34) on the pressure mounting seat (36). The pressure drive (33) drives the second rotating link (34) to rotate, thereby driving the pressure wheel (38) to rotate. The pressure wheel (38) and the driven roller (32) together clamp the workpiece to be sewn. When the workpiece to be sewn moves, the pressure wheel (38) and the driven roller (32) rotate synchronously to realize the conveying of the workpiece to be sewn.

8. A multi-needle intelligent equidistant stitch sewing device with turning loops according to claim 1, characterized in that: The sewing equipment also includes two sets of thread cutting mechanisms (39) respectively arranged on both sides of the workbench (3), and a thread cutting drive connected to the two sets of thread cutting mechanisms (39). The thread cutting mechanism (39) includes a support (41) arranged on the side of the workbench (3), a thread cutting component (42) arranged on the support (41), and a cover (43). The cover (43) includes a hinge (44), a rotating shaft (45), and a housing (46) arranged on the support (41). The housing (46) is provided with a rotating part (47) that rotates with the hinge (44). The rotating shaft (45) passes through and connects the hinge (44) and the rotating part (47). The housing (46) rotates around the rotating shaft (45) via the rotating part (47) to cover or expose the thread cutting component (42).

9. A multi-needle intelligent equidistant stitch sewing device for turning, as described in claim 6, characterized in that: Both the first semicircular arc segment (26) and the second semicircular arc segment (27) are provided with arc-shaped guide surfaces (48).

10. A multi-needle intelligent equidistant stitch sewing device with turning loops according to claim 8, characterized in that: The wire-cutting drive includes a third drive (49) electrically connected to the control unit, a first rotating gear (51), a second rotating gear (52), and a third rotating connecting rod (53). The wire-cutting component (42) includes a rotating shaft (54), a movable blade (55) rotatably mounted on the rotating shaft (54), and a fixed blade (56). The output end of the third drive (49) is connected to the first rotating gear (51), and the first rotating gear (51) is driven by the second rotating gear (52) via a belt. The first rotating gear (51) is fixedly mounted on the third rotating connecting rod (53). Two sets of first bevel gears (57) are provided at the end of the third rotating connecting rod (53) away from the first rotating gear (51). The rotating shafts (54) of the two sets of wire-cutting mechanisms (39) are close to the third rotating connecting rod (53). Each end of the blade is provided with a second bevel gear (58), and the two sets of second bevel gears (58) mesh perpendicularly with the two sets of first bevel gears (57); the fixed blade (56) is fixedly mounted on the side of the worktable (3) via a blade holder and located above the rotating shaft (54), and the movable blade (55) is rotatably mounted on the rotating shaft (54) via a third rotating gear (59). The third driving member (49) rotates to drive the first bevel gear (57) on the third rotating connecting rod (53) to rotate, the first bevel gear (57) drives the second bevel gear (58) to rotate, the second bevel gear (58) drives the rotating shaft (54) to rotate to drive the third rotating gear (59) to rotate, and the third rotating gear (59) rotates to drive the movable blade (55) to rotate to approach or move away from the fixed blade (56) to cut the wire.

Images