CN115787208A

CN115787208A - Parallel sewing robot

Info

Publication number: CN115787208A
Application number: CN202211294564.1A
Authority: CN
Inventors: 邵华; 张智; 郭晓航; 石灿玉
Original assignee: Wuhan University of Science and Engineering WUSE
Current assignee: Wuhan University of Science and Engineering WUSE
Priority date: 2022-10-21
Filing date: 2022-10-21
Publication date: 2023-03-14

Abstract

The invention relates to a parallel sewing robot which comprises a parallel device and an actuator, wherein the actuator is arranged on the parallel device and used for driving the actuator to move so as to perform sewing. The invention has the advantages of simple structure and reasonable design, can realize full-automatic sewing processing of three-dimensional sewing, edge covering, embroidery and the like so as to realize processing and sewing with different dimensions, and greatly improves the production efficiency.

Description

Parallel sewing robot

Technical Field

The invention relates to the technical field of sewing equipment, in particular to a parallel sewing robot.

Background

At present, the development of domestic and foreign sewing technology is very rapid, the textile and clothing industry gradually changes to industrialization and automation from an initial sewing machine to a large-scale embroidery machine, and the demand of people on clothes is more and more increased. The defects of low working efficiency, high labor cost and the like of the traditional foot-operated sewing machine on sewing complicated clothes cannot meet the current production and manufacturing requirements, so that the traditional sewing technology faces severe challenges, and an automatic device is urgently needed to replace the traditional sewing work. Nowadays, a large-scale embroidery machine is a relatively mature industrial application, the main function of the large-scale embroidery machine is patterns on textile clothes, the embroidery machine cannot realize the sewing, edge covering and other work of two kinds of cloth, and a working platform is a two-dimensional plane.

The existing parallel sewing robot is mainly a cooperative robot, cloth is pushed by a mechanical arm connected in series, and sewing work is finished by cooperation of a traditional sewing machine. This approach has the following drawbacks: (1) The sewing efficiency is slower than that of a large embroidery machine; (2) Preliminary preparation work such as installing cloth can be relatively cumbersome.

Disclosure of Invention

The invention aims to solve the technical problem of providing a parallel sewing robot and aims to solve the problems in the prior art.

The technical scheme for solving the technical problems is as follows:

a parallel sewing robot comprises a parallel device and an actuator, wherein the actuator is installed on the parallel device and used for driving the actuator to move so as to perform sewing.

The beneficial effects of the invention are: during sewing, the robot drives the actuator to perform sewing operation on the clothes, so that full-automatic sewing operation is realized, and the production efficiency is high.

The invention has simple structure and reasonable design, can realize full-automatic sewing processing of three-dimensional sewing, edge covering, embroidering and the like so as to realize processing and sewing with different dimensions, and greatly improve the production efficiency.

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

Further, the parallel device comprises a movable platform, a rotary driving mechanism and two linear driving mechanisms, and the actuator is arranged on the movable platform; the rotary driving mechanisms are fixedly arranged on one side of the movable platform, and the two linear driving mechanisms are relatively and fixedly arranged at two ends of the rotary driving mechanisms; the rotary driving mechanism and the two linear driving mechanisms are respectively in transmission connection with the movable platform through transmission parts.

The adoption of the further scheme has the beneficial effects that the actuator is arranged on the movable platform during sewing; the moving platform and the actuator can move in the X-axis direction and the Y-axis direction through the two linear driving mechanisms, and the moving platform and the actuator can move in the Z-axis direction through the rotary driving mechanism.

Further, the rotary driving mechanism comprises a rotary motor and a rotary rod, the rotary motor is fixedly connected, and the driving end of the rotary motor is fixedly connected with one end of the rotary rod; the other end of the rotating rod is in transmission connection with the movable platform through the corresponding transmission part.

The beneficial effects of adopting above-mentioned further scheme are that during sewing process, the rotating electrical machines starts to realize moving the removal of platform in the Z axle direction through rotary rod and the driving medium that corresponds, so that satisfy the sewing demand of Z axle direction, it is convenient to sew.

Further, every sharp actuating mechanism all includes sharp module, sharp module through corresponding the driving medium with move the platform and be connected.

Adopt above-mentioned further scheme's beneficial effect to be that during sewing process, two sharp modules can realize moving the platform at the removal of X axle and Y axle direction through the driving medium that corresponds respectively to satisfy the sewing demand of X axle and Y axle direction, the sewing is convenient.

Furthermore, each transmission part comprises at least one transmission rod, one end of each transmission rod is rotatably connected with the movable platform, and the other end of each transmission rod is rotatably connected with the rotary driving mechanism or the corresponding linear driving mechanism.

The beneficial effects of adopting above-mentioned further scheme are that simple structure, reasonable in design, linear drive mechanism and rotary drive mechanism can realize moving the removal of platform in X axle and Y axle direction through the transfer line respectively to satisfy the sewing demand of X axle and Y axle direction, it is convenient to sew.

Furthermore, the actuator is a unilateral suture mechanism, the unilateral suture mechanism comprises a thread leading needle, a thread hooking needle and a unilateral driving piece, the thread leading needle is obliquely arranged, and the thread hooking needle is vertically arranged on one side of the thread leading needle; the unilateral driving piece is installed on the parallel device, is respectively in transmission connection with the thread guiding needle and the thread hooking needle, and is used for driving the thread guiding needle to reciprocate along the axis of the thread guiding needle and driving the thread hooking needle to move up and down.

Adopt above-mentioned further scheme's beneficial effect to be that during sewing process, can drive the lead wire needle through unilateral driving piece along its axis reciprocating motion and drive collude the line needle and reciprocate for the lead wire needle drives the stylolite and passes the clothing, makes the collude the stylolite on the line needle hook simultaneously, so that tie a knot with the stylolite, accomplish sewing operation.

Furthermore, the unilateral driving mechanism comprises a mounting plate, a unilateral motor and two gears, the mounting plate is fixedly mounted on the parallel device, and the thread leading needle and the thread hooking needle are respectively mounted on the mounting plate; the two gears are respectively and rotatably arranged on the mounting plate and are meshed with each other, and the two gears are respectively positioned on one side of the thread leading needle and one side of the thread hooking needle; one gear is in transmission connection with the thread guiding needle through a connecting rod, and the other gear is in transmission connection with the thread hooking needle through a cam assembly; the unilateral motor is fixedly arranged on the mounting plate, and the driving end of the unilateral motor is fixedly connected with the center of any one of the gears.

The further scheme has the advantages that during sewing, the corresponding gears are driven to rotate by the unilateral motor, and the two gears synchronously rotate by utilizing the meshing force between the two gears; on one hand, one gear drives the thread guiding needle to reciprocate along the axial direction of the gear through the connecting rod so as to lead the suture thread into or out of the clothes; meanwhile, the other gear drives the thread hooking needle to move up and down through the cam component so as to hook a suture thread on the thread guiding needle and tie a knot, full-automatic sewing operation of clothes is achieved, and production efficiency is high.

Furthermore, two limiting blocks are fixedly mounted on the mounting plate respectively, through holes are formed in the two limiting blocks respectively, the thread guiding needle and the thread hooking needle penetrate through the through holes respectively, and two ends of the connecting rod are rotatably connected with one of the gears and the thread guiding needle respectively; the cam component comprises a cam and a roller, the cam is fixedly connected with the other gear, the roller is rotatably installed on the thread hooking needle, the roller is attached to the cam in a rotating mode, and the roller is connected with the limiting block correspondingly through an elastic component.

The further scheme has the advantages that during sewing, the corresponding gears are driven to rotate by the unilateral motor, and the two gears synchronously rotate by utilizing the meshing force between the two gears; on one hand, one gear drives the thread guiding needle to reciprocate along the axial direction of the gear through the connecting rod so as to lead the suture thread into or out of the clothes; meanwhile, the other gear rotates through the cam, the cam drives the roller to rotate by utilizing the rotating fit between the cam and the roller, the special structure of the cam is utilized to drive the thread hooking needle to move up and down, and meanwhile, the roller returns by utilizing the elastic piece to hook a suture thread on the thread guiding needle and tie a knot, so that the full-automatic sewing operation of clothes is realized, and the production efficiency is high;

two stopper of design can carry on spacingly to lead wire needle and crocheting needle respectively in this scheme, guarantee lead wire needle and crocheting needle along the route reciprocating motion of settlement to accomplish the sewing operation of clothing.

Furthermore, the actuator is a bilateral suture mechanism, the bilateral suture mechanism comprises a thread guiding needle, a thread hooking device and a bilateral driving mechanism, the thread guiding needle is vertically arranged, and the thread hooking device is arranged below the thread guiding needle; the bilateral driving mechanism is installed on the parallel device, is in transmission connection with the thread leading needle and the thread hooking device respectively, and is used for driving the thread leading needle and the thread hooking device to move horizontally and driving the thread leading needle to move up and down and driving the thread hooking device to rotate.

The beneficial effects of adopting above-mentioned further scheme are that during sewing process, bilateral actuating mechanism can drive the lead wire needle and collude line ware horizontal migration and drive the lead wire needle and reciprocate and drive the colluding line ware and rotate for the lead wire needle drives the stylolite and passes the clothing, makes the colluding line ware hook the stylolite on the lead wire needle simultaneously, so that tie a knot with the stylolite, accomplish the sewing operation.

Further, the bilateral driving mechanism comprises a mounting frame, a stitching plate, an upper driver and a lower driver, and the mounting frame is fixedly mounted on the parallel device; the sewing plate is horizontally and fixedly arranged and is positioned on one side of the mounting frame, and an opening which penetrates through the sewing plate up and down is formed in the sewing plate; the thread leading needle is inserted into the opening, and the thread hooking device is positioned below the stitching plate; the upper driver and the lower driver are arranged on the mounting frame in a vertically opposite mode and are respectively positioned on the upper side and the lower side of the sewing plate; the upper driver is in transmission connection with the thread guiding needle and is used for driving the thread guiding needle to move horizontally and move up and down; the lower driver is in transmission connection with the wire hooking device and is used for driving the wire hooking device to move horizontally and rotate.

The beneficial effects of adopting above-mentioned further scheme are that during sewing process, go up driver lead wire needle horizontal migration and reciprocate, the lower drive is used for the drive to collude line ware horizontal migration and rotate for the lead wire needle drives the stylolite and passes the clothing, makes the collude line ware hook the stylolite on the lead wire needle simultaneously, so that tie a knot with the stylolite, accomplish the sewing operation.

Drawings

FIG. 1 is a schematic view of the single-sided suture according to the present invention;

FIG. 2 is a second schematic view of the single-sided stitching of the present invention;

FIG. 3 is a schematic perspective view of a single-sided suturing mechanism of the present invention;

FIG. 4 is a front view of the single-sided suturing mechanism of the present invention;

FIG. 5 is a side view of the single-sided suturing mechanism of the present invention;

FIG. 6 is a schematic view of the overall structure of the double-sided stitching of the present invention;

FIG. 7 is a schematic view of the overall structure of the double-sided stitching of the present invention;

FIG. 8 is a perspective view of a double-sided suturing mechanism of the present invention;

FIG. 9 is a second schematic perspective view of the double-sided suturing mechanism of the present invention;

FIG. 10 is a front view of the double-sided suturing mechanism of the present invention;

FIG. 11 is a schematic view of a parallel arrangement according to the present invention;

FIG. 12 is a second schematic view of a parallel device according to the present invention;

FIG. 13 is a third schematic view of a parallel device according to the present invention.

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

1. moving the platform; 2. a rotating electric machine; 3. rotating the rod; 4. a linear module; 5. a transmission rod; 6. a thread guide needle; 7. a thread hooking needle; 8. mounting a plate; 9. a single-side motor; 10. a gear; 11. a connecting rod; 12. a limiting block; 13. a cam; 14. a roller; 15. an elastic member; 16. a wire hooking device; 17. a mounting frame; 18. sewing a plate; 19. an opening; 20. a static platform; 21. an electric push rod is arranged; 22. an upper motor; 23. an upper connecting rod; 24. a lower connecting rod; 25. a lower electric push rod; 26. and a lower motor.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Example 1

As shown in fig. 1 to 13, the present embodiment provides a parallel sewing robot, which includes a parallel device and an actuator, wherein the actuator is mounted on the parallel device and used for driving the actuator to move for sewing.

During sewing, the robot drives the actuator to perform sewing operation on the clothes, so that full-automatic sewing operation is realized, and the production efficiency is high.

This embodiment simple structure, reasonable in design can realize full automated sewing processing such as three-dimensional sewing, bordure and embroidery to realize the processing sewing of different dimensions, production efficiency improves greatly.

Example 2

On the basis of embodiment 1, as shown in fig. 11 to 13, in the present embodiment, the parallel device includes a movable platform 1, a rotary driving mechanism and two linear driving mechanisms, and the actuator is installed on the movable platform 1; the rotary driving mechanism is fixedly arranged at one side of the movable platform 1, and the two linear driving mechanisms are relatively and fixedly arranged at two ends of the rotary driving mechanism; the rotary driving mechanism and the two linear driving mechanisms are respectively in transmission connection with the movable platform 1 through transmission parts.

During sewing, the actuator is arranged on the movable platform 1; the moving platform 1 and the actuator can move in the X-axis direction and the Y-axis direction through the two linear driving mechanisms, and the moving platform 1 and the actuator can move in the Z-axis direction through the rotary driving mechanism.

Preferably, in this embodiment, the movable platform 1 is preferably horizontally disposed.

Preferably, in this embodiment, the parallel device further includes a stationary platform 20, and the rotary driving mechanism and the two linear driving mechanisms are respectively mounted on the stationary platform 20.

The stationary platform 20 is preferably a trapezoidal plate, and the rotary drive mechanism and the two linear drive mechanisms are respectively installed on one side of the trapezoidal plate.

Preferably, in the present embodiment, the static platform 20 is a plate-shaped structure, which is a polygonal plate, such as a rectangular plate, a pentagonal plate, a hexagonal plate, or the like.

Example 3

On the basis of the embodiment 2, in the embodiment, the rotation driving mechanism includes a rotating motor 2 and a rotating rod 3, the rotating motor 2 is fixedly connected, and the driving end of the rotating motor is fixedly connected with one end of the rotating rod 3; the other end of the rotating rod 3 is in transmission connection with the movable platform 1 through a corresponding transmission part.

During sewing process, the rotating motor 2 is started, and the moving platform 1 moves in the Z-axis direction through the rotating rod 3 and the corresponding transmission part, so that the sewing requirement in the Z-axis direction is met, and the sewing is convenient.

Preferably, in the present embodiment, the rotating electrical machine 2 is preferably fixed at the center of one side of the stationary platform 20.

Preferably, in the present embodiment, the rotating rod 3 has a long strip-shaped plate-like structure or a straight rod-shaped structure.

Example 4

On the basis of any one of embodiments 2 to 3, in this embodiment, each linear driving mechanism includes a linear module 4, and the linear module 4 is connected to the movable platform 1 through a corresponding transmission member.

During sewing process, the two linear modules 4 can realize the movement of the movable platform 1 in the X-axis direction and the Y-axis direction through the corresponding transmission parts respectively, so that the sewing requirements in the X-axis direction and the Y-axis direction are met, and the sewing is convenient.

Preferably, in this embodiment, the two linear modules 4 are oppositely installed on one side of the static platform 20 near two ends thereof.

It should be noted that the two linear modules 4 are respectively adopted in the prior art, and the specific structure and principle thereof are not described herein again.

Example 5

On the basis of any one of embodiments 2 to 4, in this embodiment, each transmission member includes at least one transmission rod 5, and one end of each transmission rod 5 is rotatably connected to the movable platform 1, and the other end is rotatably connected to the rotary driving mechanism or the corresponding linear driving mechanism.

This scheme simple structure, reasonable in design, linear drive mechanism and rotary drive mechanism can realize moving platform 1 through transfer line 5 respectively in the removal of X axle and Y axle direction to satisfy the sewing demand of X axle and Y axle direction, it is convenient to sew.

Preferably, in this embodiment, each transmission member includes a plurality of transmission rods 5, preferably two transmission rods 5, two transmission rods are distributed side by side, one end of each transmission rod is rotatably connected with the movable platform 1 through a universal joint cross or a spherical hinge, and the other end of each transmission rod is rotatably connected with the other end of the rotating rod 3 or a sliding block on a corresponding linear driving mechanism through a universal joint cross or a spherical hinge.

In addition, each drive rod 5 is preferably of a straight rod-like construction.

Example 6

On the basis of any one of embodiments 1 to 5, as shown in fig. 1 to 5, in this embodiment, the actuator is a single-side suture mechanism, the single-side suture mechanism includes a thread guiding needle 6, a thread hooking needle 7 and a single-side driving member, the thread guiding needle 6 is obliquely arranged, and the thread hooking needle 7 is vertically installed on one side of the thread guiding needle 6; the unilateral driving piece is arranged on the parallel device, is respectively in transmission connection with the thread guiding needle 6 and the thread hooking needle 7, and is used for driving the thread guiding needle 6 to move back and forth along the axis of the thread guiding needle and driving the thread hooking needle 7 to move up and down.

During sewing, the single-side driving piece can drive the thread guide needle 6 to move along the axis of the thread guide needle and drive the thread guide needle 7 to move up and down, so that the thread guide needle 6 drives the suture thread to penetrate through clothes, and meanwhile, the thread guide needle 7 hooks the suture thread on the thread guide needle, so that the suture thread is knotted, and the sewing operation is completed.

Preferably, in this embodiment, a threading hole is disposed at one end of the thread guiding needle 6 close to the thread hooking needle 7.

In addition, a hook for hooking the thread is fixedly connected to one end of the thread hooking needle 7 close to the thread guiding needle 6.

Example 7

On the basis of the embodiment 6, in the embodiment, the single-side driving mechanism comprises a mounting plate 8, a single-side motor 9 and two gears 10, the mounting plate 8 is fixedly mounted on the parallel device, and the thread guiding needle 6 and the thread hooking needle 7 are respectively mounted on the mounting plate 8; the two gears 10 are respectively and rotatably arranged on the mounting plate 8 and are meshed with each other, and are respectively positioned at one side of the thread guiding needle 6 and one side of the thread hooking needle 7; one gear 10 is in transmission connection with the thread guiding needle 6 through a connecting rod 11, and the other gear 10 is in transmission connection with the thread hooking needle 7 through a cam component; the single-side motor 9 is fixedly arranged on the mounting plate 8, and the driving end of the single-side motor is fixedly connected with the center of any one gear 10.

During sewing, the single-side motor 9 drives the corresponding gear 10 to rotate, and the meshing force between the two gears 10 is utilized to realize the synchronous rotation of the two gears 10; on one hand, one gear 10 drives the thread guiding needle 6 to reciprocate along the axial direction of the gear through a connecting rod 11 so as to lead the suture thread into or out of the clothes; meanwhile, the other gear 10 drives the thread hooking needle 7 to move up and down through the cam component so as to hook a suture thread on the thread hooking needle 6 and tie a knot, full-automatic sewing operation of clothes is achieved, and production efficiency is high.

Preferably, in this embodiment, the mounting plate 8 is vertically disposed below the movable platform 1, and is fixedly connected to the movable platform 1 through bolts.

Example 8

On the basis of embodiment 7, in this embodiment, two limiting blocks 12 are respectively and fixedly mounted on the mounting plate 8, through holes are respectively formed in the two limiting blocks 12, the thread guiding needle 6 and the thread hooking needle 7 are respectively inserted into the two through holes, and two ends of the connecting rod 11 are respectively rotatably connected with one of the gears 10 and the thread guiding needle 6; the cam component comprises a cam 13 and a roller 14, the cam 13 is fixedly connected with the other gear 10, the roller 14 is rotatably installed on the thread hooking needle 7, is in rotatable fit with the cam 13, and is connected with the corresponding limiting block 12 through an elastic component 15.

During sewing, the single-side motor 9 drives the corresponding gear 10 to rotate, and the meshing force between the two gears 10 is utilized to realize the synchronous rotation of the two gears 10; on one hand, one gear 10 drives the thread guiding needle 6 to reciprocate along the axial direction of the gear through a connecting rod so as to lead the suture thread into or out of the clothes; meanwhile, the other gear 10 rotates through the cam 13, the cam 13 drives the roller 14 to rotate by utilizing the rotating fit between the cam 13 and the roller 14, the special structure of the cam 13 is utilized to drive the thread hooking needle 7 to move up and down, and meanwhile, the roller returns by utilizing the elastic piece 15 to hook and knot the suture thread on the thread hooking needle 6, so that the full-automatic sewing operation of the clothes is realized, and the production efficiency is high;

two stopper 12 of design can carry on spacingly to thread guiding needle 6 and crochet hook 7 respectively in this scheme, guarantee thread guiding needle 6 and crochet hook 7 along the route reciprocating motion of settlement to accomplish the sewing operation of clothing.

Preferably, in this embodiment, two gears 10 are vertically and rotatably mounted on one side of the mounting plate 8 through rotating shafts, respectively, and the single-side motor 9 is fixedly mounted on the other side of the mounting plate 8, and its driving end extends horizontally and penetrates through the mounting plate 8 to be fixedly connected with one end of the rotating shaft on the corresponding gear 10, so as to drive the corresponding gear 10 to rotate.

Preferably, in this embodiment, the two limit blocks 12 are respectively and fixedly mounted on the mounting plate 8, and are respectively located below the two gears 10; the thread guiding needle 6 and the thread hooking needle 7 are respectively inserted in the through holes of the two limit blocks 12, and the two ends of the thread guiding needle respectively extend out of the two through holes.

In addition, two ends of the connecting rod 11 are respectively connected with a part of one gear 10 except the center and one end of the thread guiding needle close to the gear 10 in a rotating way through pin shafts.

Furthermore, the roller 14 is rotatably connected with one end of the crochet needle 7 close to the other gear 10 through a pin shaft, and is connected with the corresponding limit block 12 through an elastic piece 15.

Preferably, in this embodiment, the elastic member 15 is preferably a spring, and two ends of the elastic member are fixedly connected to the roller 14 and the corresponding stopper 12, respectively.

In the rotating process of the cam 13, the cam 13 pushes the roller 14 to rotate and drives the thread hooking needle 7 to move downwards to a set position, and at the moment, the spring is in a compressed state; the cam 13 continues to rotate, and at the same time, the roller 14 and the crochet hook 7 move upwards under the elastic force of the spring, so that the roller 14 is always attached to the cam 13 in a rotating mode.

Example 9

On the basis of any one of embodiments 1 to 5, as shown in fig. 6 to 10, in this embodiment, the actuator is a bilateral suturing mechanism, the bilateral suturing mechanism includes a thread guiding needle 6, a thread hooking device 16 and a bilateral driving mechanism, the thread guiding needle 6 is vertically arranged, and the thread hooking device 16 is installed below the thread guiding needle 6; the bilateral driving mechanism is arranged on the parallel device, is respectively in transmission connection with the thread guiding needle 6 and the thread hooking device 16, and is used for driving the thread guiding needle 6 and the thread hooking device 16 to move horizontally and driving the thread guiding needle 6 to move up and down and driving the thread hooking device 16 to rotate.

During sewing process, the bilateral driving mechanism can drive the thread guide needle 6 and the thread hooking device 16 to move horizontally and drive the thread guide needle 6 to move up and down and drive the thread hooking device to rotate, so that the thread guide needle 6 drives a suture thread to penetrate through clothes, and meanwhile, the thread hooking device 16 hooks the suture thread on the thread guide needle, so that the suture thread is knotted, and the sewing operation is completed.

The thread guide needle 6 and the thread hooking device 16 are both of the prior art.

The above examples 6 and 9 are side-by-side schemes.

Example 10

On the basis of the embodiment 9, in the embodiment, the bilateral driving mechanism comprises a mounting frame 17, a stitching plate 18, an upper driver and a lower driver, wherein the mounting frame 17 is fixedly mounted on the parallel device; the stitching plate 18 is horizontally and fixedly arranged and is positioned at one side of the mounting frame 17, and an opening 19 which penetrates through the stitching plate up and down is formed in the stitching plate; the thread guiding needle 6 is inserted in the opening 19, and the thread hooking device 16 is positioned below the stitching plate 18; the upper driver and the lower driver are arranged on the mounting frame 17 in an up-down opposite manner and are respectively positioned at the upper side and the lower side of the sewing plate 18; the upper driver is in transmission connection with the thread guiding needle 6 and is used for driving the thread guiding needle 6 to move horizontally and move up and down; the lower driver is in transmission connection with the thread hooking device 16 and is used for driving the thread hooking device 16 to horizontally move and rotate.

During sewing process, the upper driver thread leading needle 6 horizontally moves and moves up and down, and the lower driver is used for driving the thread hooking device 16 to horizontally move and rotate, so that the thread leading needle 6 drives a suture thread to penetrate through clothes, and meanwhile, the thread hooking device 16 hooks the suture thread on the thread leading needle, so that the suture thread is knotted, and the sewing operation is completed.

Preferably, in this embodiment, the opening 19 is preferably an elongated opening.

Preferably, in this embodiment, the upper driver includes an upper electric push rod 21 and an upper motor 22, the upper electric push rod 21 is horizontally and fixedly mounted on the mounting frame 17, and extends along the length direction of the opening 19; the upper motor 22 is fixedly arranged at one end of the upper electric push rod 21 and is fixedly connected with one end of an upper connecting rod 23, the other end of the upper connecting rod 23 is rotatably connected with one end of a lower connecting rod 24, and the other end of the lower connecting rod 24 is rotatably connected with one end of the thread guiding needle 6. When the device works, the upper electric push rod 21 stretches to realize the horizontal movement of the thread guiding needle 6 so as to adjust the horizontal position of the thread guiding needle 6; meanwhile, the upper motor 22 drives the thread guiding needle 6 to move up and down through the upper connecting rod 23 and the lower connecting rod 24.

In addition, one end of the upper electric push rod 21 is connected with a limiting block 12 through a connecting rod, a through hole which penetrates through the limiting block 12 up and down is arranged on the limiting block 12, the thread guiding needle 6 can be installed at the through hole in a vertically moving mode, and the upper end and the lower end of the thread guiding needle respectively extend out of the through hole.

Preferably, in this embodiment, the lower driver includes a lower electric push rod 25 and a lower motor 26, the lower electric push rod 25 is horizontally and fixedly mounted on the mounting frame 17, and is parallel to the upper electric push rod 21; the lower motor 26 is fixedly arranged at one end of the lower electric push rod 25, the driving end of the lower electric push rod is horizontally arranged, and the lower electric push rod is fixedly connected with the wire hooking device 16. When the device works, the lower electric push rod 25 horizontally stretches to change the horizontal position of the wire hooking device 16; simultaneously, the lower motor 26 may drive the wire hooking device 16 to rotate.

The working principle of the invention is as follows:

during sewing, the movable platform 1 and the actuator can move in the X-axis direction and the Y-axis direction through the two linear modules 4, and the movable platform 1 and the actuator can move in the Z-axis direction through the rotary driving mechanism;

when the unilateral suture is performed, the unilateral motor 9 drives the corresponding gear 10 to rotate, and the meshing force between the two gears 10 is utilized to realize the synchronous rotation of the two gears 10; on one hand, one gear 10 drives the thread guiding needle 6 to reciprocate along the axial direction of the gear through a connecting rod so as to lead the suture thread into or out of the clothes; meanwhile, the other gear 10 rotates through the cam 13, the cam 13 drives the roller 14 to rotate by utilizing the rotating fit between the cam 13 and the roller 14, the special structure of the cam 13 drives the thread hooking needle 7 to move up and down, and meanwhile, the roller returns by utilizing the elastic piece 15 to hook and knot the suture thread on the thread hooking needle 6, so that the full-automatic sewing operation of the clothes is realized, and the production efficiency is high;

when the bilateral suture is performed, the upper electric push rod 21 stretches to realize the horizontal movement of the threading needle 6 so as to adjust the horizontal position of the threading needle 6; meanwhile, the upper motor 22 drives the thread guiding needle 6 to move up and down through the upper connecting rod 23 and the lower connecting rod 24;

meanwhile, the lower electric push rod 25 horizontally stretches to change the horizontal position of the thread hooking device 16; at the same time, the lower motor 26 can drive the thread hooking device 16 to rotate so as to hook the threading on the thread guiding needle 6 and perform knotting.

The sewing and weaving machine is based on a three-degree-of-freedom parallel mechanism to complete work, and an end effector can be installed on a movable platform 1 of the sewing and weaving machine to achieve sewing and weaving tasks. The parallel mechanism with three degrees of freedom can translate in the X, Y and Z axial directions, can realize three-dimensional suture, and the end effector is divided into two types: one is a double-sided suturing mechanism and the other is a single-sided suturing mechanism. The double-side sewing mechanism is mainly used for edge covering of clothes, and the single-side sewing mechanism can be used for sewing the clothes, embroidering patterns and the like.

At present, the research based on the parallel sewing robot is relatively less, the parallel sewing robot can completely replace the manual work to realize the sewing technology, can be arranged on a production line, greatly improves the working efficiency, can synchronously operate a plurality of parallel sewing robots, and has better effect on the three-dimensional sewing technology. The method also has a wide application scene in the aspect of personalized clothing design.

It should be noted that, the electronic components according to the present invention are all conventionally used, and the above-mentioned components are electrically connected to the controller, and the control circuit between the controller and each component is conventionally used.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

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.

Claims

1. A parallel sewing robot is characterized in that: the suturing device comprises a parallel device and an actuator, wherein the actuator is arranged on the parallel device and is used for driving the actuator to move so as to suture.

2. The parallel sewing robot according to claim 1, wherein: the parallel device comprises a movable platform (1), a rotary driving mechanism and two linear driving mechanisms, and the actuator is arranged on the movable platform (1); the rotary driving mechanisms are fixedly arranged on one side of the movable platform (1), and the two linear driving mechanisms are relatively and fixedly arranged at two ends of the rotary driving mechanisms; the rotary driving mechanism and the two linear driving mechanisms are respectively in transmission connection with the movable platform (1) through transmission parts.

3. The parallel sewing robot of claim 2, wherein: the rotary driving mechanism comprises a rotary motor (2) and a rotary rod (3), the rotary motor (2) is fixedly connected, and the driving end of the rotary motor is fixedly connected with one end of the rotary rod (3); the other end of the rotating rod (3) is in transmission connection with the movable platform (1) through corresponding transmission parts.

4. The parallel sewing robot of claim 2, wherein: every straight line actuating mechanism all includes sharp module (4), sharp module (4) through corresponding the driving medium with move platform (1) and be connected.

5. Parallel sewing robot according to any of claims 2-4, characterised in that: each transmission part comprises at least one transmission rod (5), one end of each transmission rod (5) is rotatably connected with the movable platform (1), and the other end of each transmission rod is rotatably connected with the rotary driving mechanism or the corresponding linear driving mechanism.

6. Parallel sewing robot according to any of claims 1-4, characterised in that: the actuator is a unilateral suture mechanism, the unilateral suture mechanism comprises a thread leading needle (6), a thread hooking needle (7) and a unilateral driving piece, the thread leading needle (6) is obliquely arranged, and the thread hooking needle (7) is vertically arranged on one side of the thread leading needle (6); the unilateral driving piece is installed on the parallel device, is respectively in transmission connection with the thread guiding needle (6) and the thread hooking needle (7), and is used for driving the thread guiding needle (6) to move back and forth along the axis of the thread guiding needle and driving the thread hooking needle (7) to move up and down.

7. The parallel sewing robot of claim 6, wherein: the single-side driving mechanism comprises a mounting plate (8), a single-side motor (9) and two gears (10), the mounting plate (8) is fixedly mounted on the parallel device, and the thread leading needle (6) and the thread hooking needle (7) are respectively mounted on the mounting plate (8); the two gears (10) are respectively and rotatably arranged on the mounting plate (8) and are meshed with each other, and are respectively positioned on one sides of the thread leading needle (6) and the thread hooking needle (7); one gear (10) is in transmission connection with the thread guiding needle (6) through a connecting rod (11), and the other gear (10) is in transmission connection with the thread hooking needle (7) through a cam component; the single-side motor (9) is fixedly arranged on the mounting plate (8), and the driving end of the single-side motor is fixedly connected with the center of any one gear (10).

8. The parallel sewing robot of claim 7, wherein: two limiting blocks (12) are fixedly mounted on the mounting plate (8) respectively, through holes penetrating through the limiting blocks (12) are formed in the limiting blocks respectively, the thread guiding needle (6) and the thread hooking needle (7) are inserted in the through holes respectively, and two ends of the connecting rod (11) are rotatably connected with one gear (10) and the thread guiding needle (6) respectively; the cam component comprises a cam (13) and a roller (14), the cam (13) is fixedly connected with the other gear (10), the roller (14) is rotatably installed on the thread hooking needle (7), and is attached to the cam (13) in a rotating mode and connected with the limiting block (12) through an elastic piece (15).

9. Parallel sewing robot according to any of claims 1-4, characterised in that: the actuator is a bilateral sewing mechanism, the bilateral sewing mechanism comprises a thread guiding needle (6), a thread hooking device (16) and a bilateral driving mechanism, the thread guiding needle (6) is vertically arranged, and the thread hooking device (16) is installed below the thread guiding needle (6); the bilateral driving mechanism is installed on the parallel device, is in transmission connection with the thread leading needle (6) and the thread hooking device (16) respectively, and is used for driving the thread leading needle (6) and the thread hooking device (16) to move horizontally and drive the thread leading needle (6) to move up and down and drive the thread hooking device (16) to rotate.

10. The parallel sewing robot of claim 9, wherein: the bilateral driving mechanism comprises a mounting rack (17), a suture plate (18), an upper driver and a lower driver, and the mounting rack (17) is fixedly mounted on the parallel device; the sewing plate (18) is horizontally and fixedly arranged, is positioned on one side of the mounting rack (17), and is provided with an opening (19) which penetrates through the mounting rack up and down; the thread guiding needle (6) is inserted in the opening (19), and the thread hooking device (16) is positioned below the stitching plate (18); the upper driver and the lower driver are arranged on the mounting rack (17) in a vertically opposite mode and are respectively positioned on the upper side and the lower side of the stitching plate (18); the upper driver is in transmission connection with the thread guiding needle (6) and is used for driving the thread guiding needle (6) to move horizontally and move up and down; the lower driver is in transmission connection with the wire hooking device (16) and is used for driving the wire hooking device (16) to horizontally move and rotate.