阅读说明：本技术 一种机器人缝纫装置 (robot sewing device ) 是由 陈才 罗天洪 郑讯佳 庹奎 胡洪杰 费国平 韩林宏 王旭丽 杨宝军 韩堃 郑登华 于 2019-11-27 设计创作，主要内容包括：本发明涉及缝纫设备技术领域,尤其涉及一种机器人缝纫装置,包括缝纫平台；伺服缝纫机用于对裁片进行缝纫；供料机构用于抓取裁片放至到缝纫平台上的叠料区域,完成多个裁片的叠放；缝纫机器人用于输送叠放在平台叠料视觉区上的裁片,将夹取的裁片输送至伺服缝纫机进行缝纫,并将缝纫后的裁片输送至放料平台；平台叠料视觉区设在缝纫平台上；放料平台固定在缝纫平台上；处理器与伺服缝纫机、供料机构以及缝纫机器人机构电连接。本发明中供料机构抓取裁片并实现多个裁片的叠放,通过缝纫机器人将叠放的裁片输送至伺服缝纫机处进行缝纫,然后将缝纫完的裁片输送至放料平台上,实现自动叠裁片、下料、缝纫,提高机器人缝纫工作站的作业效率。(The invention relates to the technical field of sewing equipment, in particular to an robot sewing device which comprises a sewing platform, a servo sewing machine, a feeding mechanism, a processor, a feeding mechanism and a sewing robot mechanism, wherein the servo sewing machine is used for sewing cut pieces, the feeding mechanism is used for grabbing the cut pieces to be placed in a material overlapping area on the sewing platform to complete the overlapping of a plurality of cut pieces, the sewing robot is used for conveying the cut pieces overlapped on a platform material overlapping visual area, the clamped cut pieces are conveyed to the servo sewing machine to be sewn, the sewn cut pieces are conveyed to a material placing platform, the platform material overlapping visual area is arranged on the sewing platform, the material placing platform is fixed on the sewing platform, the processor is electrically connected with the servo sewing machine, the feeding mechanism and the sewing robot mechanism, the feeding mechanism grabs the cut pieces and realizes the overlapping of the plurality of cut pieces, the overlapped cut pieces are conveyed to the servo sewing machine by the sewing robot to be sewn, the sewn cut pieces are conveyed to the material placing platform, the.)

1, robot sewing device, characterized by comprising a sewing platform (1);

the servo sewing machine (2), the said servo sewing machine (2) is set up on the said Sewing terrace (1), is used for sewing the cut-parts;

the feeding mechanism (3) is arranged on the sewing platform (1) and used for grabbing cut pieces to be placed in a material stacking area on the sewing platform (1) and completing stacking of the cut pieces;

the sewing robot mechanism (4) is arranged on the sewing platform (1) and used for conveying cut pieces stacked on the platform stacking visual area, conveying the clamped cut pieces to the servo sewing machine (2) for sewing, and conveying the sewn cut pieces to the feeding platform (5);

the platform stacking visual area is arranged on the sewing platform (1) and is positioned at the periphery of the servo sewing machine (2);

the feeding platform (5) is fixed on the sewing platform (1) and is positioned beside the sewing robot mechanism (4);

the treater, the treater with servo sewing machine (2), feeding mechanism (3) and sewing machine people mechanism (4) electricity are connected for the pay-off of control feeding mechanism (3), and control sewing machine people mechanism (4) remove cut-parts cooperation servo sewing machine (2) sews.

2. kind of robot sewing device of claim 1, characterized in that, feeding mechanism (3) include feeding robot (31), the terminal anchor clamps of feed (32), get material vision module (33) and lamination vision module (34), feeding robot (31) are fixed on sewing platform (1), feeding terminal anchor clamps (32) are fixed the end of feeding robot (31), it establishes to get material vision module (33) on sewing platform (1), and is located the periphery of feeding robot (31) is used for right cut-parts that feeding terminal anchor clamps (32) were got are fixed a position and are discerned, lamination vision module (34) are established the top of servo sewing machine (2) is used for taking a picture to the cut-parts of platform stack material vision district and are fixed a position and are discerned, feeding robot (31), it all with to get material vision module (33) and lamination vision module (34) the treater electricity is connected.

3. kinds of robot sewing device according to claim 1, characterized in that, the sewing robot mechanism (4) includes a servo sewing robot (41) and a sewing robot end gripper assembly, the servo sewing robot (41) is fixed on the sewing platform (1), the sewing robot end gripper assembly is provided at the end of the servo sewing robot (41).

4. robot sewing device according to claim 2, characterized in that the sewing robot end gripper assembly includes a sewing clamp (42), a pressure plate and a six-dimensional force sensor (43), the six-dimensional force sensor (43) is fixedly connected with the end of the robot, the sewing clamp (42) is mounted on the six-dimensional force sensor (43), the pressure plate is fixed on the sewing clamp (42).

5. robot sewing device according to claim 4, characterized in that the sewing clamp (42) is a quick-change mechanism.

6. kinds of robot sewing device of claim 4 or 5, wherein the pressing plate is provided with an anti-slip layer on its surface for increasing the friction between the pressing plate and the cut pieces.

7. The robotic sewing device of any of claims 1-5 and , wherein the sewing platform (1) comprises a platform frame (11), a panel (12) and a guard rail (13), the panel (12) is fixedly disposed on top of the platform frame (11), the guard rail (13) is fixedly disposed on the periphery of the panel (12), the servo sewing machine (2), the feeding mechanism (3), the sewing robot mechanism (4) and the platform overlapping vision zone are disposed on the panel (12), the feeding platform (5) is disposed on the periphery of the panel (12), and the processor is disposed on the platform frame (11).

8. kinds of robot sewing device according to claim 7, characterized in that the upper surface of the panel (12) is provided with a slip-increasing concave-convex surface for reducing the friction between the panel (12) and the cut pieces.

9. The robotic sewing device of any of claims 2-5 and , further comprising an online programming system coupled to the processor and electrically coupled to the lamination vision module (34) for receiving the photographs taken by the lamination vision module (34), creating a sewing trajectory for sewing the cut, and delivering the sewing trajectory to the processor.

Technical Field

The invention relates to the technical field of sewing equipment, in particular to an robot sewing device.

Background

The clothing industry is a typical labor-intensive industry, each enterprise needs a large number of workers with sewing technology, sewing equipment is developed rapidly, but the sewing materials are more, the process is complex, the sewing is still needed manually at present, the quality of products is difficult to guarantee when the workers work in large batch due to uneven technology, and a large amount of time is spent due to the fact that templates and other operations need to be newly made when different products are replaced, so that robot sewing workstations are urgently needed, and particularly self-adaptive sewing devices are needed.

Disclosure of Invention

The invention aims to solve the technical problem of providing robot sewing devices capable of realizing automatic cut piece folding, blanking and sewing.

The invention solves the technical problem that robot sewing devices comprise a sewing platform;

the servo sewing machine is arranged on the sewing platform and is used for sewing cut pieces;

the feeding mechanism is arranged on the sewing platform and used for grabbing cut pieces to be placed in a material stacking area on the sewing platform and stacking the cut pieces;

the sewing robot mechanism is arranged on the sewing platform and used for conveying cut pieces stacked on the platform stacking visual area, conveying the clamped cut pieces to the servo sewing machine for sewing, and conveying the sewn cut pieces to the feeding platform;

the platform stacking visual area is arranged on the sewing platform and is positioned at the periphery of the servo sewing machine;

the feeding platform is fixed on the sewing platform and is positioned beside the sewing robot mechanism;

the treater, the treater with servo sewing machine, feed mechanism and sewing machine people mechanism electricity are connected for control feed mechanism's pay-off, and control sewing machine people mechanism removes cut-parts cooperation servo sewing machine sews.

The invention has the beneficial effects that: the feeding mechanism is used for grabbing cut pieces and stacking the cut pieces, then the stacked cut pieces are conveyed to a servo sewing machine through a sewing robot to be sewn, and then the sewn cut pieces are conveyed to a feeding platform; the invention can realize automatic cut piece folding, blanking and sewing and improve the working efficiency of the robot sewing workstation.

On the basis of the technical scheme, the invention can be further improved as follows.

Step , feeding mechanism includes feeding robot, the terminal anchor clamps of feed, gets material vision module and lamination vision module, feeding robot fixes on the sewing platform, the terminal anchor clamps of feed are fixed feeding robot's end, it establishes to get the material vision module on the sewing platform, and is located feeding robot's periphery is used for right cut-parts that feeding terminal anchor clamps were got are fixed a position the discernment, the lamination vision module is established servo sewing machine's top is used for the opposite in the cut-parts in platform stack material vision district are shot and are fixed a position the discernment, feeding robot get material vision module and lamination vision module all with the treater electricity is connected.

The step feeding scheme has the advantages that the feeding robot grabs cut pieces through the feeding tail end clamp and places the cut pieces in the platform overlapping material visual area, then grabs other cut pieces to move and takes pictures through the material taking visual module for positioning and recognition, and carries the cut pieces to the platform overlapping material visual area to be overlapped with the front cut pieces according to the position information of the cut pieces in the platform overlapping material visual area taken pictures by the overlapping material visual module, so that the overlapping of a plurality of cut pieces is realized, and the sewing of the plurality of overlapped cut pieces is realized.

step, the sewing robot mechanism includes servo sewing robot and sewing robot end clamping jaw assembly, servo sewing robot fixes on the sewing platform, sewing robot end clamping jaw assembly establishes servo sewing robot's end.

The proposal adopting the step has the advantages that the servo sewing robot drives the tail end clamping jaw assembly of the sewing robot to enable the tail end clamping jaw assembly of the sewing robot to convey cut pieces to move on the sewing platform, and the servo sewing machine is matched to realize the sewing of multilayer cut pieces.

Step , the tail end clamping jaw assembly of the sewing robot comprises a sewing clamp, a pressing plate and a six-dimensional force sensor, the six-dimensional force sensor is fixedly connected with the tail end of the robot, the sewing clamp is installed on the six-dimensional force sensor, and the pressing plate is fixed on the sewing clamp.

The proposal of is adopted, which has the advantages that the six-dimensional force sensor is used for detecting the force change in the movement process, and the movement is realized under the standard force by the force feedback control, thus avoiding the slippage of the cutting piece.

, the sewing clamp is a quick-change mechanism.

The scheme of advancing has the advantage that the sewing clamp adopts a quick-change mechanism for quickly changing the model of the pressing plate.

, an anti-slip layer for increasing the friction force between the pressing plate and the cutting pieces is arranged on the surface of the pressing plate.

Adopt the beneficial effect of the above-mentioned scheme of advancing step to be used for increasing the frictional force of clamp plate and cut-parts, avoid appearing sliding relatively between clamp plate and the cut-parts.

Step , the sewing platform comprises a platform frame, a panel and a guard rail, the panel is fixedly arranged at the top of the platform frame, the guard rail is fixedly arranged at the periphery of the panel, the servo sewing machine, the feeding mechanism, the sewing robot mechanism and the platform overlapping visual area are arranged on the panel, the discharging platform is arranged at the periphery of the panel, and the processor is arranged on the platform frame.

The scheme of has the advantages that the platform frame supports the panel, the protective guard can isolate the mechanical mechanism on the panel from the outside of the panel, interference on the use of the whole device is avoided, meanwhile, the safety of operators is improved, and the harm of the sewing robot mechanism and the feeding mechanism to passengers in the work process is avoided.

And , arranging a slip increasing concave-convex surface on the upper surface of the panel for reducing the friction between the panel and the cut pieces.

The proposal of has the advantages that the friction between the cutting piece and the panel can be reduced by the arrangement of the slip increasing concave-convex surface, which is convenient for the cutting piece to move on the panel.

And , the system further comprises an online programming system, wherein the online programming system is connected with the processor and the lamination vision module and is used for receiving the pictures taken by the lamination vision module, generating a sewing track for sewing the cut, and conveying the sewing track to the processor.

The scheme of the step has the advantages that the picture of the cut piece is shot through the lamination vision module, the picture is processed, the processed picture is guided into the online programming system to generate a required track and is transmitted to the processor, so that the processor can control the coordinated operation of the sewing robot mechanism and the servo sewing machine.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a right side view of the present invention;

FIG. 3 is a top view of the present invention;

in the drawings, the components represented by the respective reference numerals are listed below:

1. the sewing machine comprises a sewing platform, 11, a platform frame, 12, a panel, 13, a protective guard, 2, a servo sewing machine, 3, a feeding mechanism, 31, a feeding robot, 32, a feeding end clamp, 33, a material taking visual module, 34, a lamination visual module, 4, a sewing robot mechanism, 41, a servo sewing robot, 42, a sewing clamp, 43, a six-dimensional force sensor, 5, a feeding platform, 6, a photoelectric sensor, 7 and a sewing information real-time display screen.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

As shown in fig. 1, 2, 3, the embodiment of the present invention includes a sewing platform 1; the servo sewing machine 2 is arranged on the sewing platform 1 and is used for sewing cut pieces; the feeding mechanism 3 is arranged on the sewing platform 1 and used for grabbing cut pieces to be placed in a material stacking area on the sewing platform 1 and stacking a plurality of cut pieces; the sewing robot mechanism 4 is arranged on the sewing platform 1 and used for conveying cut pieces stacked on the platform stacking visual area, conveying the clamped cut pieces to the servo sewing machine 2 for sewing, and conveying the sewn cut pieces to the feeding platform 5; the platform stacking visual area is arranged on the sewing platform 1 and is positioned at the periphery of the servo sewing machine 2; the sewing machine comprises a feeding platform 5, wherein the feeding platform 5 is fixed on the sewing platform 1 and is positioned beside the sewing robot mechanism 4, a photoelectric sensor 6 for detecting that cut pieces are placed on the feeding platform 5 is arranged on the feeding platform 5, specifically, a through hole penetrating through the feeding platform 5 is arranged on the feeding platform 5, the photoelectric sensor 6 is arranged at the bottom of the feeding platform 5, and the photoelectric sensor 6 is positioned vertically below the through hole; the treater (in this application, the treater is prior art, does not describe its specific model here), the treater with servo sewing machine 2, feeding mechanism 3 and 4 electricity connections of sewing machine mechanism for control feeding mechanism 3's pay-off, and control sewing machine mechanism 4 removes cut-parts cooperation servo sewing machine 2 sews. In this embodiment, the treater is robot and sewing machine coordinated control system, including linkage PID control algorithm system, coordinated control system control robot removes cut-parts cooperation sewing machine and sews, mainly lies in 4 speeds of sewing machine mechanism and the matching control of servo sewing machine 2 speeds, realizes that the needle pitch of sewing is even and continuous needle.

The preferred embodiment does feed mechanism 3 includes feed robot 31, the terminal anchor clamps 32 of feed, gets material vision module 33 and lamination vision module 34, feed robot 31 fixes on sewing platform 1, feed robot 31 adopts four-axis robot, the terminal anchor clamps 32 of feed fixes feed robot 31's end, in this embodiment, feed terminal anchor clamps 32 adopts the sucking disc subassembly, and is specific, the sucking disc subassembly includes sucking disc fixing base and fixed the establishing a plurality of sucking discs on the sucking disc fixing base, the sucking disc fixing base passes through the bolt fastening at feed robot 31's end, perhaps fixes at feed robot 31's end through the structure of connecing soon, the sucking disc passes through pipeline intercommunication air supply, realizes the absorption of sucking disc to the cutting piece through the absorption of air supply, it establishes to get material vision module 33 on sewing platform 1, and is located feed robot 31's periphery is used for right the cutting piece that terminal anchor clamps are got carries out the location identification, lamination vision module 34 establishes servo 2's top is used for taking a picture in the platform the lamination vision area carries out the location identification, it includes that the vision module 33 and the vision module 34 picks up the lamination vision module and the lamination vision module 34 and the lamination information and the lamination module 34 and the lamination is carried out the lamination processing platform through the lamination, thereby the terminal lamination vision module 34 of taking a plurality of taking pictures and the lamination vision module 31, the lamination vision module and the lamination information and the lamination vision module are all connected to the lamination platform.

step, sewing machine people mechanism 4 includes servo sewing robot 41 and the terminal clamping jaw assembly of sewing robot, and in this embodiment, servo sewing robot 41 adopts six axis robot arm, servo sewing robot 41 fixes on sewing platform 1, the terminal clamping jaw assembly of sewing robot establishes servo sewing robot 41's end through servo sewing robot 41 drive the terminal clamping jaw assembly of sewing robot for the terminal clamping jaw assembly of sewing robot carries the cut-parts and removes on sewing platform 1, cooperation servo sewing machine 2 realizes the sewing of multilayer cut-parts, the terminal clamping jaw assembly of sewing robot includes sewing jig 42, clamp plate and six-dimensional force sensor 43, six-dimensional force sensor 43 with the terminal fixed connection of robot, sewing jig 42 installs on six-dimensional force sensor 43, the clamp plate is fixed on sewing jig 42 six-dimensional force sensor 43 is used for detecting the change of motion in-process, carries out force feedback control and realizes moving under the standard force, avoids the slip of cut-parts like this way in this embodiment, sewing jig 42 is quick change mechanism, sewing jig 42 adopts quick change mechanism for quick change mechanism.

In this embodiment, the clamp plate is equipped with on the surface and is used for the increase the skid resistant course of frictional force between clamp plate and the cut-parts, the skid resistant course is used for increasing the frictional force of clamp plate and cut-parts, avoids appearing relative slip between clamp plate and the cut-parts.

Preferably, the sewing platform 1 comprises a platform frame 11, a panel 12 and a guard rail 13, the panel 12 is fixedly arranged at the top of the platform frame 11, the guard rail 13 is fixedly arranged at the periphery of the panel 12, the servo sewing machine 2, the feeding mechanism 3, the sewing robot mechanism 4 and the platform overlapping visual area are arranged on the panel 12, the material placing platform 5 is arranged at the periphery of the panel 12, and the processor is arranged on the platform frame 11. Platform frame 11 supports panel 12, and rail guard 13 can keep apart outside mechanical mechanism and the panel 12 on the panel 12, avoids considering to cause the interference to the use of whole device, can improve operating personnel's security simultaneously, avoids sewing robot mechanism 4 and feeding mechanism 3 to cause the injury to the personnel of taking in work. Be equipped with on the upper surface of panel 12 and be used for reducing the smooth concave-convex surface that increases of frictional force between panel 12 and the cut-parts, the setting that increases smooth concave-convex surface can reduce the frictional force between cut-parts and panel 12, the removal of cut-parts on panel 12 of being convenient for.

Still include online programming system, online programming system is connected with the treater and lamination vision module 34 electricity is connected for receive the photo that lamination vision module 34 was shot, generate and carry out the sewing orbit of sewing to the cutting, and give the sewing orbit the treater takes out the cutting picture through lamination vision module 34, and handles the picture, imports the required orbit of online programming system generation after handling, transmits for the treater, so that the treater control sewing machine people constructs 4 and servo sewing machine 2's cooperative work.

In this embodiment, still include information system, information system includes sewing information real-time display screen 7, switch, information-based software, information-based system is used for gathering feeding mechanism 3 and sewing machine people mechanism 4's information, can real time monitoring feeding mechanism 3 and sewing machine people mechanism 4's state and production output.

The system also comprises an auxiliary hardware assembly, wherein the auxiliary hardware assembly comprises a workpiece jig, a tool loading clamp, a tool coordinate calibration device, a workpiece coordinate calibration device and a vision and infrared distance meter loading clamp, the workpiece jig is a mechanism for placing and positioning a workpiece, pressing plates of different types can be used for cutting pieces with synchronous shapes and sizes, the workpiece jig can be fixedly arranged on the panel 12, a sensor is arranged on the workpiece jig and used for detecting whether the pressing plates are arranged or not so as to facilitate the servo sewing robot 41 to replace the pressing plates according to production requirements, the tool loading clamp is a mechanism for connecting the tool and the robot, in the embodiment of the invention, the tool loading clamp refers to a sewing clamp 42, the tool coordinates are two classic calibration blocks, coordinate calibration is carried out by a robot self-carrying four-point method (the technology is the prior art, the specific structure of the robot is not described), the workpiece coordinate calibration device is a classic calibration block, the workpiece coordinate calibration is carried out by the robot self-carrying three-point method, the workpiece coordinates are calibrated on the workpiece jig to ensure that the workpiece coordinates are , the vision loading clamp is used for fixing the vision loading station, the vision loading clamp, the vision station is used for fixing the vision and the infrared distance meter loading clamp and the lamination mechanism.

The working principle is that before work, cut pieces are placed on a frame body, the frame body is placed beside a work material mechanism, after the work is started, a processor controls a feeding robot 31 to move to the position above the cut pieces and controls an air source to suck air, a suction disc on a feeding end clamp 32 adsorbs the cut pieces, the feeding robot 31 drives the cut pieces to pass through the position above a material taking visual module 33, the material taking visual module 33 takes pictures of the cut pieces, then the cut pieces are moved to a platform overlapping visual area to be placed, then the controller controls the feeding robot 31 to move to the position of the frame body again to suck other cut pieces, the cut pieces are moved to the position of the material taking visual module 33 to be positioned and identified, the cut pieces sucked again are conveyed to the overlapping visual area to be overlapped with front pieces according to the position information of the platform overlapping visual area, after a required number of the cut pieces are overlapped, a servo sewing robot 41 drives a pressing plate to press the overlapped cut pieces, then drives the overlapped cut pieces to move to a servo sewing machine 2 to perform sewing, and in the moving process, a six-dimensional force sensor 43 is used for detecting changes in the motion process of the cut pieces, force feedback control is implemented to realize the movement under the standard force feedback control, thus.

According to the invention, a feeding mechanism 3 is used for grabbing cut pieces and stacking a plurality of cut pieces, then the stacked cut pieces are conveyed to a servo sewing machine 2 through a sewing robot for sewing, and then the sewn cut pieces are conveyed to a feeding platform 5; the invention can realize automatic cut piece folding, blanking and sewing and improve the working efficiency of the robot sewing workstation.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.