阅读说明：本技术 一种通过视觉定位的缝纫送料机构 (Sewing feeding mechanism through visual positioning ) 是由 胡小滨 陈初喜 于 2021-02-06 设计创作，主要内容包括：本发明公开了一种通过视觉定位的缝纫送料机构,包括机架,机架设有视觉识别机构和视觉取像区域,机架设有X向移动导轨,X向移动导轨上设有用于移动缝料装夹模板的机械手；机械手包括竖直布置的第一支臂第一支臂的下端连接有横向布置并能绕第一支臂转动的第二支臂,第二支臂的外端连接有横向布置并能转动的第三支臂；第三支臂的活动端设有升降和转动的花键轴,花键轴的下端连接有模板安装板；本发明通过视觉定位机械手执行端的模板安装板与缝料装夹模板连接,识别出缝料轮廓线并根据收缩余量计算出缝纫线迹,通过机械手的多级支臂旋转送料,提高圆弧线迹的缝纫质量。(The invention discloses a sewing feeding mechanism through visual positioning, which comprises a rack, wherein the rack is provided with a visual identification mechanism and a visual image capturing area, the rack is provided with an X-direction moving guide rail, and a manipulator for moving a sewing material clamping template is arranged on the X-direction moving guide rail; the manipulator comprises a first support arm and a second support arm, wherein the lower end of the first support arm is vertically arranged, the second support arm is transversely arranged and can rotate around the first support arm, and the outer end of the second support arm is connected with a third support arm which is transversely arranged and can rotate; the movable end of the third support arm is provided with a lifting and rotating spline shaft, and the lower end of the spline shaft is connected with a template mounting plate; according to the invention, the template mounting plate at the execution end of the visual positioning manipulator is connected with the sewing material clamping template, the sewing material contour line is identified, the sewing stitch is calculated according to the shrinkage allowance, and the multi-stage support arm of the manipulator is used for rotating and feeding, so that the sewing quality of the arc stitch is improved.)

1. The utility model provides a sewing feeding mechanism through vision positioning, includes frame (8), frame (8) be equipped with visual identification mechanism and vision and get for instance the region, characterized by: the machine frame (8) is provided with an X-direction moving guide rail (81), and a manipulator for moving the sewing material clamping template is arranged on the X-direction moving guide rail (81); the manipulator comprises a first support arm (1) which is vertically arranged, the lower end of the first support arm (1) is connected with a second support arm (2) which is transversely arranged and can rotate around the first support arm (1), and the outer end of the second support arm (2) is connected with a third support arm (3) which is transversely arranged and can rotate; a lifting and rotating spline shaft (4) is arranged at the movable end of the third support arm (3), and a template mounting plate (5) is connected to the lower end of the spline shaft (4); a first motor (31) for driving the spline shaft (4) to rotate and an air cylinder (32) for driving the spline shaft (4) to lift are arranged in the third support arm (3); the second support arm (2) is provided with a third motor (21) for driving the second support arm to rotate relative to the first support arm (1); the template mounting plate (5) is connected with the sewing material clamping template; the visual recognition mechanism recognizes the sewing material profile of the sewing material clamping template and generates the moving track of the manipulator.

2. The feed mechanism as claimed in claim 1, wherein: the rotation connecting end of the third support arm (3) is connected with the second support arm (2) through a first bearing (33), and a second motor (34) used for driving the third support arm (3) to rotate relative to the second support arm (2) is arranged in the third support arm (3).

3. The feed mechanism as claimed in claim 2, wherein: the expansion end of third support arm (3) be equipped with second bearing (35), integral key shaft (4) and the inner circle axial sliding fit of second bearing (35), integral key shaft (4) be connected with drive synchronizing wheel (41), drive synchronizing wheel (41) pass through initiative synchronizing wheel (31a) on hold-in range and first motor (31) and be connected.

4. The feed mechanism as claimed in claim 3, wherein: the third support arm (3) is provided with an elliptical shell, and the second motor (34) and the second bearing (35) are distributed at two ends of the elliptical shell; a transmission synchronous wheel (6) is arranged in the middle of the elliptical shell, and the transmission synchronous wheel (6) is provided with outer ring gear teeth and inner ring gear teeth; the first motor (31) is positioned between the transmission synchronous wheel (6) and the second motor (34), and the driving synchronous wheel (31a) is connected with the outer ring gear teeth of the transmission synchronous wheel (6) through a first transmission belt; the driving synchronous wheel (41) is connected with the inner ring gear teeth of the transmission synchronous wheel (6) through a second transmission belt.

5. The feed mechanism as claimed in claim 4, wherein: the cylinder (32) is arranged between the second bearing (35) and the transmission synchronizing wheel (6); the second transmission belt is sleeved on the outer side of the air cylinder (32), and the elliptical shell is provided with a tensioning synchronous wheel (7).

6. The feed mechanism as claimed in claim 1, wherein: the cylinder body of the air cylinder (32) is connected with a lifting guide rail (42), and a lifting slide block (44) on the lifting guide rail (42) is connected with a piston rod of the air cylinder (32); the lifting slide block (44) is connected with the upper end of the spline shaft (4) through a third bearing (43).

7. The feed mechanism as claimed in claim 1, wherein: the template mounting plate (5) is provided with a locking switch (51), and the locking switch (51) is connected with a locking connecting rod (52).

8. The feed mechanism as claimed in claim 1, wherein: the machine frame (8) is provided with a Y-direction guide rail (82), and the Y-direction guide rail (82) is provided with a sliding overedger head (83).

9. The feed mechanism as claimed in claim 1, wherein: the sewing material clamping template is provided with a central coordinate point, a first reference point and a second reference point, wherein the first reference point and the second reference point are positioned on two sides of the central coordinate point; the vision recognition mechanism calculates the grabbing center coordinate of the manipulator according to the center coordinate point, and calculates the positioning angle of the sewing material clamping template according to the first reference point and the second reference point.

10. The feed mechanism as claimed in claim 9, wherein: the visual recognition mechanism calculates the sewing stitch according to the sewing material contour and converts the sewing stitch into the moving track of the manipulator.

Technical Field

The invention relates to sewing equipment, in particular to a sewing feeding mechanism positioned through vision.

Background

When the existing sewing machine works, an X-direction feeding mechanism and a Y-direction feeding mechanism are generally adopted to control sewing materials to move in an XY coordinate system, so that a sewing point is fed to a needle. The X-direction feeding mechanism and the Y-direction feeding mechanism have advantages on linear sewing stitches, but the sewing quality of circular-arc stitches such as sewing material outlines and the like needs to be improved.

Disclosure of Invention

Aiming at the current situation of the prior art, the invention provides an automatic feeding overedger which can adopt a manipulator polar coordinate system to carry out feeding movement and effectively improve the sewing quality of circular arc outline stitches.

The technical scheme adopted by the invention for solving the technical problems is as follows: a sewing feeding mechanism through visual positioning comprises a rack, wherein the rack is provided with a visual identification mechanism and a visual image capturing area, the rack is provided with an X-direction moving guide rail, and a manipulator for moving a sewing material clamping template is arranged on the X-direction moving guide rail; the manipulator comprises a first support arm and a second support arm, wherein the lower end of the first support arm is vertically arranged, the second support arm is transversely arranged and can rotate around the first support arm, and the outer end of the second support arm is connected with a third support arm which is transversely arranged and can rotate; the movable end of the third support arm is provided with a lifting and rotating spline shaft, and the lower end of the spline shaft is connected with a template mounting plate; a first motor for driving the spline shaft to rotate and an air cylinder for driving the spline shaft to lift are arranged in the third support arm; the second support arm is provided with a third motor for driving the second support arm to rotate relative to the first support arm; the template mounting plate is connected with the sewing material clamping template; the visual recognition mechanism recognizes the sewing material profile of the sewing material clamping template and generates the moving track of the manipulator.

In order to optimize the technical scheme, the invention also comprises the following improved technical scheme.

The rotating connecting end of the third support arm is connected with the second support arm through a first bearing, and a second motor for driving the third support arm to rotate relative to the second support arm is arranged in the third support arm.

The movable end of the third support arm is provided with a second bearing, the spline shaft is in axial sliding fit with the inner ring of the second bearing, the spline shaft is connected with a driving synchronous wheel, and the driving synchronous wheel is connected with a driving synchronous wheel on the first motor through a synchronous belt.

The third support arm is provided with an elliptical shell, and the second motor and the second bearing are distributed at two ends of the elliptical shell; a transmission synchronous wheel is arranged in the middle of the elliptical shell and is provided with outer ring gear teeth and inner ring gear teeth; the first motor is positioned between the transmission synchronizing wheel and the second motor, and the driving synchronizing wheel is connected with the outer ring gear teeth of the transmission synchronizing wheel through a first transmission belt; the driving synchronizing wheel is connected with the inner ring gear teeth of the driving synchronizing wheel through a second transmission belt.

The cylinder is arranged between the second bearing and the transmission synchronizing wheel; the second transmission belt is sleeved outside the cylinder, and the elliptical shell is provided with a tensioning synchronous wheel.

The cylinder body of the cylinder is connected with a lifting guide rail, and a lifting slide block on the lifting guide rail is connected with a piston rod of the cylinder; the lifting slide block is connected with the upper end of the spline shaft through a third bearing.

The template mounting plate is provided with a locking switch, and the locking switch is connected with a locking connecting rod.

The machine frame is provided with a Y-direction guide rail, and the Y-direction guide rail is provided with a sliding overedger head.

The sewing material clamping template is provided with a central coordinate point, a first reference point and a second reference point, wherein the first reference point and the second reference point are positioned on two sides of the central coordinate point; and the visual recognition mechanism calculates the grabbing center coordinate of the manipulator according to the center coordinate point, and calculates the positioning angle of the sewing material clamping template according to the first reference point and the second reference point.

The visual recognition mechanism calculates the sewing stitch according to the sewing material contour and converts the sewing stitch into the moving track of the manipulator.

Compared with the prior art, the sewing feeding mechanism with the visual positioning function has the advantages that the template mounting plate at the executing end of the visual positioning manipulator is connected with the sewing material clamping template, the sewing material contour line is identified, the sewing stitch is calculated according to the shrinkage allowance, and the multi-stage support arm of the manipulator rotates to feed materials, so that the sewing quality of the arc stitch is improved.

Drawings

Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.

Fig. 2 is a schematic view of the overall structure of the robot hand of fig. 1.

Fig. 3 is a partial structural view of the robot hand of fig. 2.

Fig. 4 is a schematic view of the internal structure of the robot hand in fig. 3.

Fig. 5 is a bottom view of fig. 4.

Detailed Description

Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

Fig. 1 to 5 are schematic structural views of the present invention.

Wherein the reference numerals are: the device comprises a first support arm 1, a second support arm 2, a third motor 21, a third support arm 3, a first motor 31, a driving synchronous wheel 31a, a cylinder 32, a first bearing 33, a second motor 34, a second bearing 35, a spline shaft 4, a driving synchronous wheel 41, a lifting guide rail 42, a third bearing 43, a lifting slider 44, a template mounting plate 5, a locking switch 51, a locking connecting rod 52, a transmission synchronous wheel 6, a tensioning synchronous wheel 7, a frame 8, an X-direction moving guide rail 81, a Y-direction guide rail 82 and a overedger head 83.

The manipulator for sewing feeding comprises a first support arm 1 which is vertically arranged, the lower end of the first support arm 1 is connected with a second support arm 2 which is transversely arranged and can rotate around the first support arm 1, and the outer end of the second support arm 2 is connected with a third support arm 3 which is transversely arranged and can rotate. The movable end of the third support arm 3 is provided with a spline shaft 4 which can lift and rotate, and the lower end of the spline shaft 4 is connected with a template mounting plate 5. A first motor 31 for driving the spline shaft 4 to rotate and an air cylinder 32 for driving the spline shaft 4 to lift are arranged in the third arm 3. The second arm 2 is provided with a third motor 21 for driving it in rotation relative to the first arm 1.

Sewing feeding mechanism through visual positioning, including frame 8, frame 8 is equipped with visual identification mechanism and vision and gets for instance the region, and frame 8 is equipped with X to moving guide 81, and the manipulator slides and sets up on X is to moving guide 81. The template mounting plate 5 is connected with a sewing material clamping template, and the sewing material clamping template identifies a sewing material profile through a visual identification mechanism to generate a moving feeding track of the manipulator.

The rotary connection end of the third arm 3 is connected to the second arm 2 via a first bearing 33, and a second motor 34 for driving the third arm 3 to rotate relative to the second arm 2 is provided in the third arm 3.

The movable end of the third support arm 3 is provided with a second bearing 35, the spline shaft 4 is axially matched with the inner ring of the second bearing 35 in a sliding manner, the spline shaft 4 is connected with a driving synchronous wheel 41, and the driving synchronous wheel 41 is connected with a driving synchronous wheel 31a on the first motor 31 through a synchronous belt.

The third arm 3 has an elliptical housing with a second motor 34 and a second bearing 35 distributed at both ends. The middle part of the elliptic shell is provided with a transmission synchronizing wheel 6, and the transmission synchronizing wheel 6 is provided with outer ring gear teeth and inner ring gear teeth. The first motor 31 is located between the transmission synchronizing wheel 6 and the second motor 34, and the driving synchronizing wheel 31a is connected with the outer ring gear teeth of the transmission synchronizing wheel 6 through a first transmission belt. The driving synchronizing wheel 41 is connected by inner ring gear teeth of the second belt-driven synchronizing wheel 6.

The cylinder 32 is arranged between the second bearing 35 and the driving sheave 6. The second transmission belt is sleeved outside the cylinder 32, and the elliptical shell is provided with a tensioning synchronous wheel 7.

The cylinder body of the air cylinder 32 is connected with a lifting guide rail 42, and a lifting slide block 44 on the lifting guide rail 42 is connected with a piston rod of the air cylinder 32. The lifting slider 44 is connected to the upper end of the spline shaft 4 via a third bearing 43.

The formwork mounting plate 5 is provided with a locking switch 51, and the locking switch 51 is connected with a locking connecting rod 52. After the sewing material clamping template is placed in the visual image capturing area, the visual recognition mechanism recognizes the position of the sewing material clamping template through vision and controls the manipulator to move, so that the template mounting plate 5 is connected with the sewing material clamping template.

The sewing material clamping template is provided with a center coordinate point, a first reference point and a second reference point, wherein the first reference point and the second reference point are positioned on two sides of the center coordinate point. And the visual recognition mechanism calculates the grabbing center coordinate of the manipulator according to the center coordinate point, and calculates the positioning angle of the sewing material clamping template according to the first reference point and the second reference point.

The visual recognition mechanism calculates the sewing stitch according to the sewing material contour and the contour shrinkage allowance, and converts the sewing stitch into the moving track of the manipulator. When the vision recognition mechanism calculates the sewing stitch, the center coordinate point of the sewing material clamping template is used as a circular point, and the polar coordinate system is used for planning the angle of the manipulator for rotating the sewing material clamping template, so that the sewing quality of the circular arc stitch is effectively improved.

An overlock machine head 83 is provided at one side of the frame. The frame 8 is provided with a Y-direction guide rail 82, and the overedger head 83 is slidably provided on the Y-direction guide rail 82. The sewing material is automatically sent to the overedger head 83 for overedging and sewing through a manipulator and a visual recognition mechanism.

While the preferred embodiments of the present invention have been illustrated, various changes and modifications may be made by one skilled in the art without departing from the scope of the invention.