TWI781513B - Intelligent sewing device - Google Patents

Intelligent sewing device Download PDF

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TWI781513B
TWI781513B TW110101348A TW110101348A TWI781513B TW I781513 B TWI781513 B TW I781513B TW 110101348 A TW110101348 A TW 110101348A TW 110101348 A TW110101348 A TW 110101348A TW I781513 B TWI781513 B TW I781513B
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air pressure
component
pressure control
chamber
moving part
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TW202227693A (en
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林浩庭
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國立中興大學
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Abstract

Disclosed is an intelligent sewing device, including a supporting base, a first pneumatic power assembly, a second pneumatic power assembly, an air pressure supply assembly, a cloth fixing assembly, a tailor assembly and a control assembly. The first pneumatic power assembly is disposed on the supporting base. The second pneumatic power assembly is connected to a first moving part of the first pneumatic power assembly. The air pressure supply component can provide air pressure for the first pneumatic power assembly and the second pneumatic power assembly. The cloth fixing assembly can be connected to a second moving part of the second pneumatic power assembly. The tailor assembly is disposed on the supporting base. The control assembly is electrically connected to a first air pressure control component, a second air pressure control component, a third air pressure control component, and a fourth air pressure control component.

Description

智慧型縫紉裝置Smart Sewing Device

本發明是有關於一種智慧型縫紉裝置，特別是一種具有氣壓動力組件的自動化縫紉平台。The invention relates to an intelligent sewing device, in particular to an automatic sewing platform with pneumatic power components.

現有技術為之縫紉機或刺繡機，其多需仰賴人工操作，此種方式十分耗時，且效率不彰。另外，若是使用一般的馬達，例如在考量成本的情況下，使用步進馬達作為自動化縫紉裝置移動布料的動力源，此種方式可能會導致控制響應差，且難以克服的振動問題。The prior art is sewing machine or embroidery machine, which mostly need to rely on manual operation, which is very time-consuming and inefficient. In addition, if a general motor is used, for example, a stepping motor is used as the power source for the automatic sewing device to move the fabric in consideration of cost. This method may lead to poor control response and difficult to overcome vibration problems.

除此之外，現有自動化縫紉裝置，還有許多難以克服的問題，舉例來說，縫製布料是極細緻的操作，因為布料在微小的力量下形狀就會改變，甚至產生扭曲，因而對自動化縫紉裝置的發展構成障礙。因此，需要一種智慧型縫紉裝置以改善上述習知問題。In addition, there are still many insurmountable problems in the existing automatic sewing devices. For example, sewing cloth is a very delicate operation, because the shape of the cloth will change or even twist under a small force, so it is difficult for automatic sewing The development of the device constitutes an obstacle. Therefore, there is a need for an intelligent sewing device to improve the above known problems.

為解決上述問題，本發明之智慧型縫紉裝置可應用於布料自動縫紉針車製程上，特別是，可應用於口罩的縫製製程上。本發明之智慧型縫紉裝置將能使服飾業、鞋業廠商、醫療用品生產商大幅降低人力及時間成本，在自動化上將有很大的助益。另外，本發明選定無桿式氣壓缸作為致動器，利用無桿式氣壓缸易設計與組裝等優點，可換取較大之工作空間。此外，本發明利用空氣之易取得性、安全性及可壓縮性等優點，將壓縮空氣所具有之壓力能，作為本發明二維之智慧型縫紉裝置驅動之用。因此，本發明二維之智慧型縫紉裝置具有結構簡單、乾淨、低成本、高安全性、高響應與節能等優點。In order to solve the above problems, the intelligent sewing device of the present invention can be applied to the automatic sewing process of fabrics, especially, it can be applied to the sewing process of masks. The intelligent sewing device of the present invention will greatly reduce manpower and time costs for apparel manufacturers, shoe manufacturers, and medical product manufacturers, and will be of great help in automation. In addition, the present invention selects the rodless pneumatic cylinder as the actuator, and utilizes the advantages of the rodless pneumatic cylinder, such as easy design and assembly, in exchange for a larger working space. In addition, the present invention utilizes the advantages of air availability, safety, and compressibility, etc., and uses the pressure energy of compressed air as the drive of the two-dimensional intelligent sewing device of the present invention. Therefore, the two-dimensional intelligent sewing device of the present invention has the advantages of simple structure, cleanliness, low cost, high safety, high response and energy saving.

基於上述目的，本發明提供一種智慧型縫紉裝置，包含承載基座、第一氣壓動力組件、第二氣壓動力組件、氣壓供應組件、布料固定組件、裁縫組件以及控制組件。Based on the above purpose, the present invention provides an intelligent sewing device, which includes a bearing base, a first pneumatic power component, a second pneumatic power component, an air supply component, a cloth fixing component, a tailor component and a control component.

第一氣壓動力組件可設置於承載基座上，並包含第一氣壓腔室、第一氣壓控制組件、第二氣壓腔室及第二氣壓控制組件。第一氣壓控制組件可設置於第一氣壓腔室上。第二氣壓腔室可與第一氣壓腔室相對設置。第二氣壓控制組件可設置於第二氣壓腔室上。第一移動部件可設置於第一氣壓腔室及第二氣壓腔室之間，並於第一方向運動。The first pneumatic power component can be arranged on the bearing base, and includes a first pneumatic chamber, a first pneumatic control component, a second pneumatic chamber and a second pneumatic control component. The first air pressure control component can be disposed on the first air pressure chamber. The second air pressure chamber may be disposed opposite to the first air pressure chamber. The second air pressure control component can be disposed on the second air pressure chamber. The first moving part can be arranged between the first air chamber and the second air chamber and move in the first direction.

第二氣壓動力組件包含第三氣壓腔室、第三氣壓控制組件、第四氣壓腔室、第四氣壓控制組件及第二移動部件。第三氣壓控制組件可設置於第三氣壓腔室上。第四氣壓腔室可與第四氣壓腔室相對設置。第四氣壓控制組件可設置於第四氣壓腔室上。第二移動部件可設置於第三氣壓腔室及第三氣壓腔室之間，與第一移動部件相連接，並於第二方向運動。The second pneumatic power assembly includes a third air chamber, a third air control assembly, a fourth air chamber, a fourth air control assembly and a second moving part. The third air pressure control component can be disposed on the third air pressure chamber. The fourth air pressure chamber can be arranged opposite to the fourth air pressure chamber. The fourth air pressure control component can be disposed on the fourth air pressure chamber. The second moving part can be arranged between the third air pressure chamber and the third air pressure chamber, connected with the first moving part, and move in the second direction.

氣壓供應組件可與第一氣壓控制組件、第二氣壓控制組件、第三氣壓控制組件及第四氣壓控制組件中的一個或多個相連接。The air pressure supply assembly may be connected to one or more of the first air pressure control assembly, the second air pressure control assembly, the third air pressure control assembly, and the fourth air pressure control assembly.

布料固定組件可與第二移動部件相連接。The cloth fixing assembly can be connected with the second moving part.

裁縫組件可設置於承載基座上。控制組件可與第一氣壓控制組件、第二氣壓控制組件、第三氣壓控制組件及第四氣壓控制組件電性連接。The tailoring component can be set on the carrying base. The control component can be electrically connected with the first air pressure control component, the second air pressure control component, the third air pressure control component and the fourth air pressure control component.

較佳地，第二氣壓動力組件具有四階數學模型描述之行為，此四階數學模型為：Preferably, the second aerodynamic component has a behavior described by a fourth-order mathematical model, and the fourth-order mathematical model is:

Figure 02_image001
Figure 02_image001

於此四階數學模型中，

Figure 02_image003
表示一時間，
Figure 02_image005
為該第二移動部件之移動量，
Figure 02_image007
為第二移動部件之移動速度，
Figure 02_image009
為第二移動部件之第三氣壓腔室之壓力，
Figure 02_image011
為第二移動部件之第四氣壓腔室之壓力，
Figure 02_image013
為第二氣壓動力組件之截面積，
Figure 02_image015
為黏滯摩擦係數，
Figure 02_image017
為庫侖摩擦係數，
Figure 02_image019
為第二移動部件之總行程，
Figure 02_image021
為第二移動部件之移動微小偏移量，
Figure 02_image023
為外部壓力，
Figure 02_image025
為排量係數，
Figure 02_image027
為供給壓力，
Figure 02_image029
為流率參數，
Figure 02_image031
為比熱常數，
Figure 02_image033
為第三氣壓腔室及該第四氣壓腔室之孔口寬度，
Figure 02_image035
為總體負載，
Figure 02_image037
為第二氣壓動力組件之質量，
Figure 02_image039
為絕對溫度值，
Figure 02_image041
為理想氣體常數，
Figure 02_image043
為控制組件對第三氣壓控制組件及該第四氣壓控制組件之控制訊號。 In this fourth-order mathematical model,
Figure 02_image003
means a time,
Figure 02_image005
is the movement amount of the second moving part,
Figure 02_image007
is the moving speed of the second moving part,
Figure 02_image009
is the pressure of the third air chamber of the second moving part,
Figure 02_image011
is the pressure of the fourth air chamber of the second moving part,
Figure 02_image013
is the cross-sectional area of the second pneumatic power component,
Figure 02_image015
is the coefficient of viscous friction,
Figure 02_image017
is the Coulomb friction coefficient,
Figure 02_image019
is the total stroke of the second moving part,
Figure 02_image021
is the small displacement of the second moving part,
Figure 02_image023
is the external pressure,
Figure 02_image025
is the displacement coefficient,
Figure 02_image027
For the supply pressure,
Figure 02_image029
is the flow rate parameter,
Figure 02_image031
is the specific heat constant,
Figure 02_image033
is the opening width of the third air chamber and the fourth air chamber,
Figure 02_image035
is the overall load,
Figure 02_image037
is the mass of the second pneumatic power component,
Figure 02_image039
is the absolute temperature value,
Figure 02_image041
is the ideal gas constant,
Figure 02_image043
It is the control signal of the control component to the third air pressure control component and the fourth air pressure control component.

較佳地，

Figure 02_image023
為1 × 105帕斯卡，
Figure 02_image025
為0.8，
Figure 02_image027
為6 × 105帕斯卡，
Figure 02_image029
為0.8，
Figure 02_image031
為1.4，
Figure 02_image039
為293K，
Figure 02_image041
為287 J/(kg·K)。 Preferably,
Figure 02_image023
is 1 x 105 Pascal,
Figure 02_image025
is 0.8,
Figure 02_image027
is 6 x 105 Pascals,
Figure 02_image029
is 0.8,
Figure 02_image031
is 1.4,
Figure 02_image039
for 293K,
Figure 02_image041
is 287 J/(kg·K).

較佳地，本發明之智慧型縫紉裝置更包含移動輔助組件，移動輔助組件與第一氣壓動力組件相對設置，第二氣壓動力組件與第一移動部件及移動輔助組件相連接，於第一方向運動。Preferably, the intelligent sewing device of the present invention further includes a moving auxiliary component, the moving auxiliary component is arranged opposite to the first pneumatic power component, and the second pneumatic power component is connected with the first moving part and the moving auxiliary component. sports.

較佳地，第一氣壓動力組件及第二氣壓動力組件包含無桿式氣壓缸。Preferably, the first pneumatic power component and the second pneumatic power component include rodless pneumatic cylinders.

較佳地，第一方向及第二方向於平面上相互垂直。Preferably, the first direction and the second direction are perpendicular to each other on a plane.

較佳地，控制組件更包含第一運動控制器、第二運動控制器、第一氣壓控制器及第二氣壓控制器。Preferably, the control component further includes a first motion controller, a second motion controller, a first air pressure controller and a second air pressure controller.

較佳地，第一運動控制器與第一氣壓控制器電性連接，第一氣壓控制器與第一氣壓控制組件及二氣壓控制組件電性連接，第一運動控制器依據第一氣壓動力組件之第一移動部件之第一移動量誤差值以回授控制方法控制第一氣壓控制器以控制第一氣壓控制組件及第二氣壓控制組件之氣壓。Preferably, the first motion controller is electrically connected to the first air pressure controller, the first air pressure controller is electrically connected to the first air pressure control assembly and the second air pressure control assembly, and the first motion controller is based on the first air pressure power assembly The error value of the first movement amount of the first moving part controls the first air pressure controller by a feedback control method to control the air pressure of the first air pressure control component and the second air pressure control component.

較佳地，第二運動控制器與第二氣壓控制器電性連接，第二氣壓控制器與第三氣壓控制組件及第四氣壓控制組件電性連接，第二運動控制器依據第二氣壓動力組件之第二移動部件之第二移動量誤差值以回授控制方法控制第二氣壓控制器以控制第三氣壓控制組件及第四氣壓控制組件之氣壓。Preferably, the second motion controller is electrically connected to the second air pressure controller, the second air pressure controller is electrically connected to the third air pressure control component and the fourth air pressure control component, and the second motion controller is based on the second air pressure power The error value of the second movement amount of the second moving part of the component controls the second air pressure controller to control the air pressure of the third air pressure control component and the fourth air pressure control component by a feedback control method.

較佳地，控制組件更包含軌跡設定器，軌跡設定器包含至少一軌跡資料。第一運動控制器、第二運動控制器、第一氣壓控制器、及第二氣壓控制器依據軌跡資料控制第一氣壓控制組件、第二氣壓控制組件、第三氣壓控制組件及該四氣壓控制組件。Preferably, the control unit further includes a track setter, and the track setter includes at least one track data. The first motion controller, the second motion controller, the first air pressure controller, and the second air pressure controller control the first air pressure control component, the second air pressure control component, the third air pressure control component and the four air pressure controls according to the trajectory data. components.

較佳地，控制組件依據軌跡資料控制裁縫組件。Preferably, the control component controls the tailoring component according to the trajectory data.

為利貴審查員瞭解本發明之技術特徵、內容與優點及其所能達成之功效，茲將本發明配合附圖，並以實施例之表達形式詳細說明如下，而其中所使用之圖式，其主旨僅為示意及輔助說明之用，未必為本發明實施後之真實比例與精準配置，故不應就所附之圖式的比例與配置關係解讀、侷限本發明於實際實施上的權利範圍，合先敘明。For the benefit of the examiner to understand the technical features, content and advantages of the present invention and the effects that can be achieved, the present invention is hereby described in detail in the form of embodiments in conjunction with the accompanying drawings, and the drawings used therein, its The subject matter is only for illustration and auxiliary explanation, and not necessarily the true proportion and precise configuration of the present invention after implementation, so it should not be interpreted based on the proportion and configuration relationship of the attached drawings, and limit the scope of rights of the present invention in actual implementation. Together first describe.

以下將參照相關圖式，說明依本發明之智慧型縫紉裝置之實施例，為使便於理解，下述實施例中之相同元件係以相同之符號標示來說明。The following will refer to the relevant drawings to illustrate the embodiments of the intelligent sewing device according to the present invention. For ease of understanding, the same components in the following embodiments are described with the same symbols.

現請一併參閱第1圖至第6圖，其分別係為根據本發明之實施例之智慧型縫紉裝置之第一配置示意圖、第二配置示意圖、第一實施示意圖、第二實施示意圖、第三實施示意圖、第四實施示意圖。Please refer to Figures 1 to 6 together, which are respectively the first configuration diagram, the second configuration diagram, the first implementation diagram, the second implementation diagram, and the first configuration diagram of the intelligent sewing device according to the embodiment of the present invention. The third implementation schematic diagram, the fourth implementation schematic diagram.

本發明之智慧型縫紉裝置10包含承載基座100、第一氣壓動力組件200、第二氣壓動力組件300、至少一氣壓供應組件400、布料固定組件500、裁縫組件600以及控制組件700。The smart sewing device 10 of the present invention includes a bearing base 100 , a first pneumatic power component 200 , a second pneumatic power component 300 , at least one pneumatic supply component 400 , a cloth fixing component 500 , a tailor component 600 and a control component 700 .

進一步說明，第一氣壓動力組件200可設置於承載基座100上，並包含第一氣壓腔室201、第一氣壓控制組件202、第二氣壓腔室203、第二氣壓控制組件204及第一移動部件205。且在一實施例中，第一氣壓控制組件202可設置於第一氣壓腔室201上，第二氣壓腔室203可與第一氣壓腔室201相對設置，第二氣壓控制組件204可設置於第二氣壓腔室203上，而第一移動部件205可設置於第一氣壓腔室201及第二氣壓腔室203之間，並於第一方向運動。To further illustrate, the first pneumatic power assembly 200 can be arranged on the bearing base 100, and includes a first air pressure chamber 201, a first air pressure control assembly 202, a second air pressure chamber 203, a second air pressure control assembly 204 and a first air pressure chamber 201. Moving part 205 . And in one embodiment, the first air pressure control assembly 202 can be arranged on the first air pressure chamber 201, the second air pressure chamber 203 can be arranged opposite to the first air pressure chamber 201, and the second air pressure control assembly 204 can be arranged on the On the second air pressure chamber 203 , the first moving part 205 can be disposed between the first air pressure chamber 201 and the second air pressure chamber 203 and move in the first direction.

第二氣壓動力組件300可包含第三氣壓腔室301、第三氣壓控制組件302、第四氣壓腔室303、第四氣壓控制組件304及第二移動部件305。第三氣壓控制組件302可設置於第三氣壓腔室301上，第四氣壓腔室303可與第四氣壓腔室303相對設置，第四氣壓控制組件304可設置於第四氣壓腔室303上，第二移動部件305可設置於第三氣壓腔室301及第三氣壓腔室301之間，與第一移動部件205相連接，並於第二方向運動。The second pneumatic power assembly 300 may include a third air pressure chamber 301 , a third air pressure control assembly 302 , a fourth air pressure chamber 303 , a fourth air pressure control assembly 304 and a second moving part 305 . The third air pressure control assembly 302 can be arranged on the third air pressure chamber 301, the fourth air pressure chamber 303 can be arranged opposite to the fourth air pressure chamber 303, and the fourth air pressure control assembly 304 can be arranged on the fourth air pressure chamber 303 , the second moving part 305 can be disposed between the third air pressure chamber 301 and the third air pressure chamber 301 , connected with the first moving part 205 , and move in the second direction.

進一步說明，在一實施例中，第一方向及第二方向於一平面上相互垂直，第一方向可定義為Y軸方向，而第二方向可定義為X軸方向，也就是說，第一移動部件205係於Y軸方向運動，而第二移動部件305係於X軸方向運動。To further illustrate, in one embodiment, the first direction and the second direction are perpendicular to each other on a plane, the first direction can be defined as the Y-axis direction, and the second direction can be defined as the X-axis direction, that is, the first The moving part 205 moves in the Y-axis direction, and the second moving part 305 moves in the X-axis direction.

進一步說明，在一實施例中，第一氣壓動力組件200及第二氣壓動力組件300可包含無桿式氣壓缸，例如磁鐵式無桿氣缸、機械接觸式無桿氣缸等，而第一移動部件205及第二移動部件305可包含活塞。經用改變第一氣壓動力組件200及第二氣壓動力組件300之各氣壓腔室之氣壓，可移動活塞，以帶動第一移動部件205及第二移動部件305移動。本發明利用無桿式氣壓缸可使得本發明之智慧型縫紉裝置10具有結構簡單、乾淨、低成本、高安全性、高響應、節能等優點，且無桿式氣壓缸具有易設計及易組裝等優點，可具有較大之工作空間。To further illustrate, in one embodiment, the first pneumatic power assembly 200 and the second pneumatic power assembly 300 may include rodless pneumatic cylinders, such as magnet rodless cylinders, mechanical contact rodless cylinders, etc., and the first moving part 205 and the second moving part 305 may comprise pistons. By changing the air pressure of each air pressure chamber of the first pneumatic power assembly 200 and the second pneumatic power assembly 300 , the piston can be moved to drive the first moving part 205 and the second moving part 305 to move. The present invention uses the rodless pneumatic cylinder to make the intelligent sewing device 10 of the present invention have the advantages of simple structure, clean, low cost, high safety, high response, energy saving, etc., and the rodless pneumatic cylinder is easy to design and assemble And other advantages, can have a larger work space.

除此之外，在一實施例中，本發明可更包含移動輔助組件800，此移動輔助組件800與第一氣壓動力組件200相對設置，第二氣壓動力組件300與第一移動部件205及移動輔助組件800相連接，於第一方向運動。而此移動輔助組件800可為未由氣壓驅動之無桿式氣壓缸、或是其它具有可平順滑行的移動部件的裝置，以使得第二氣壓動力組件300在第一移動部件205的帶動下，可於第一方向上平穩移動。另外，在另一實施例中，若是需要增加驅動力或是有其他的考量，亦可利用氣壓或是其它動力驅動輔助組件800，使得第二氣壓動力組件300可於第一方向上被施加更大的動能。In addition, in one embodiment, the present invention may further include a moving auxiliary assembly 800, the moving auxiliary assembly 800 is arranged opposite to the first pneumatic power assembly 200, and the second pneumatic power assembly 300 is connected to the first moving part 205 and the moving assembly 800. The auxiliary assembly 800 is connected to move in a first direction. And this moving auxiliary assembly 800 can be a rodless pneumatic cylinder not driven by air pressure, or other devices with moving parts that can slide smoothly, so that the second pneumatic power assembly 300 is driven by the first moving part 205, Can move smoothly in the first direction. In addition, in another embodiment, if it is necessary to increase the driving force or there are other considerations, air pressure or other power can also be used to drive the auxiliary component 800, so that the second pneumatic power component 300 can be applied more in the first direction. Great momentum.

至少一氣壓供應組件400可與第一氣壓控制組件202、第二氣壓控制組件204、第三氣壓控制組件302及第四氣壓控制組件304中的一個或多個相連接。且在一實施例中，氣壓供應組件400可包含氣壓鋼瓶或氣壓供應裝置，並可設置複數個或一個氣壓供應組件400，以分別與第一氣壓控制組件202、第二氣壓控制組件204、第三氣壓控制組件302及第四氣壓控制組件304中的一個或多個相連接，或是使第一氣壓控制組件202、第二氣壓控制組件204、第三氣壓控制組件302及第四氣壓控制組件304中的一個或多個共用同一個氣壓供應組件400，但並不以此為限，只要在氣壓供應組件400可提供充足的氣壓使第一氣壓動力組件200及第二氣壓動力組件300的情況下，皆可依實際需求進行配置。At least one air pressure supply assembly 400 can be connected to one or more of the first air pressure control assembly 202 , the second air pressure control assembly 204 , the third air pressure control assembly 302 and the fourth air pressure control assembly 304 . And in an embodiment, the air pressure supply assembly 400 may include an air pressure cylinder or an air pressure supply device, and a plurality or one air pressure supply assembly 400 may be provided to communicate with the first air pressure control assembly 202, the second air pressure control assembly 204, the first air pressure control assembly 204, and the first air pressure control assembly 204 respectively. One or more of the three air pressure control assemblies 302 and the fourth air pressure control assembly 304 are connected, or the first air pressure control assembly 202, the second air pressure control assembly 204, the third air pressure control assembly 302 and the fourth air pressure control assembly One or more of 304 share the same air pressure supply assembly 400, but it is not limited thereto, as long as the air pressure supply assembly 400 can provide sufficient air pressure to make the first air pressure power assembly 200 and the second air pressure power assembly 300 All can be configured according to actual needs.

布料固定組件500可與第二移動部件305相連接，因此在第一移動部件205及第二移動部件305的帶動下，布料固定組件500可於平面上任意移動。且在一實施例中，布料固定組件500可包含夾具或是其他固定機構，以將布料，例如口罩穩定地固定，以利後續的縫製或是其他加工。The cloth fixing assembly 500 can be connected with the second moving part 305 , so driven by the first moving part 205 and the second moving part 305 , the cloth fixing assembly 500 can move arbitrarily on the plane. And in one embodiment, the cloth fixing assembly 500 may include a clamp or other fixing mechanism to stably fix the cloth, such as a mask, for subsequent sewing or other processing.

裁縫組件600可設置於承載基座100上。在一實施例中，裁縫組件600包含裁縫機、工業用裁縫機等。而在另一實施例中，裁縫組件600亦可接受控制，以開啟、關閉、調整縫紉速度、縫紉樣式等。The tailoring assembly 600 can be disposed on the carrying base 100 . In one embodiment, the tailoring assembly 600 includes a tailoring machine, an industrial tailoring machine, and the like. In another embodiment, the tailoring component 600 can also be controlled to open, close, adjust sewing speed, sewing style and so on.

控制組件700可與第一氣壓控制組件202、第二氣壓控制組件204、第三氣壓控制組件302、第四氣壓控制組件304電性連接，以控制該些組件。The control component 700 can be electrically connected with the first air pressure control component 202 , the second air pressure control component 204 , the third air pressure control component 302 , and the fourth air pressure control component 304 to control these components.

另外，在一實施例中，如第2圖所示，控制組件700可更包含第一運動控制器701、第二運動控制器702、第一氣壓控制器703及第二氣壓控制器704。控制組件700可包含電腦，或是其它具有運算、通訊及控制功能之裝置。控制組件700可以回授控制方法進行控制。在一實施例中，回授控制方法可包含PID控制法、模糊控制法，但並不以此為限。In addition, in an embodiment, as shown in FIG. 2 , the control unit 700 may further include a first motion controller 701 , a second motion controller 702 , a first air pressure controller 703 and a second air pressure controller 704 . The control component 700 may include a computer, or other devices with computing, communication and control functions. The control component 700 can be controlled by a feedback control method. In one embodiment, the feedback control method may include PID control method and fuzzy control method, but is not limited thereto.

且在一實施例中，如第5圖所示，第一運動控制器701與第一氣壓控制器703電性連接，第一氣壓控制器703與第一氣壓控制組件202及第二氣壓控制組件204電性連接，第一運動控制器701可依據第一氣壓動力組件200之第一移動部件205之第一移動量誤差值以回授控制方法控制第一氣壓控制器703以控制第一氣壓控制組件202及該第二氣壓控制組件204之氣壓。And in one embodiment, as shown in FIG. 5, the first motion controller 701 is electrically connected to the first air pressure controller 703, and the first air pressure controller 703 is connected to the first air pressure control assembly 202 and the second air pressure control assembly. 204 is electrically connected, and the first motion controller 701 can control the first air pressure controller 703 with a feedback control method according to the first movement error value of the first moving part 205 of the first pneumatic power assembly 200 to control the first air pressure control The air pressure of the assembly 202 and the second air pressure control assembly 204 .

而第二運動控制器702可與第二氣壓控制器704電性連接，第二氣壓控制器704與第三氣壓控制組件302及第四氣壓控制組件304電性連接，第二運動控制器702依據第二氣壓動力組件300之該第二移動部件305之一第二移動量誤差值以回授控制方法控制第二氣壓控制器704以控制該第三氣壓控制組件302及第四氣壓控制組件304之氣壓。The second motion controller 702 can be electrically connected to the second air pressure controller 704, and the second air pressure controller 704 is electrically connected to the third air pressure control assembly 302 and the fourth air pressure control assembly 304. The second motion controller 702 is based on The second movement error value of the second moving part 305 of the second pneumatic power assembly 300 controls the second air pressure controller 704 to control the third air pressure control assembly 302 and the fourth air pressure control assembly 304 by a feedback control method. air pressure.

而在另一實施例中，控制組件700可更包含軌跡設定器705。軌跡設定器705可包含至少一軌跡資料。因此，第一運動控制器701、第二運動控制器702、第一氣壓控制器703、及第二氣壓控制器704可依據軌跡資料控制第一氣壓控制組件202、該第二氣壓控制組件204、第三氣壓控制組件302及第四氣壓控制組件304。In another embodiment, the control component 700 may further include a trajectory setter 705 . The track setter 705 can include at least one track data. Therefore, the first motion controller 701, the second motion controller 702, the first air pressure controller 703, and the second air pressure controller 704 can control the first air pressure control component 202, the second air pressure control component 204, The third air pressure control component 302 and the fourth air pressure control component 304 .

而在另一實施例中，控制組件700亦可依據軌跡資料控制裁縫組件600，例如依據軌跡資料控制裁縫組件600之開啟、關閉、調整縫紉速度、縫紉樣式等功能。In another embodiment, the control unit 700 can also control the tailoring unit 600 according to the track data, for example, control the opening and closing of the tailoring unit 600, adjust the sewing speed, sewing style and other functions according to the track data.

在一較佳的實施例中，第二氣壓動力組件300可具有四階數學模型描述之行為，此四階數學模型為：

Figure 02_image045
In a preferred embodiment, the second aerodynamic component 300 can have a behavior described by a fourth-order mathematical model, and the fourth-order mathematical model is:
Figure 02_image045

在此四階數學模型中，

Figure 02_image003
表示時間，
Figure 02_image005
為第二移動部件305之移動量，
Figure 02_image007
為第二移動部件305之移動速度，
Figure 02_image009
為第二移動部件305之第三氣壓腔301之壓力，
Figure 02_image011
為第二移動部件之第四氣壓腔室303之壓力，
Figure 02_image013
為第二氣壓動力300之截面積，
Figure 02_image015
為黏滯摩擦係數，
Figure 02_image017
為庫侖摩擦係數，
Figure 02_image019
為第二移動部件305之總行程，
Figure 02_image021
為第二移動部件305之移動微小偏移量，
Figure 02_image023
為外部壓力，
Figure 02_image025
為排量係數，
Figure 02_image027
為供給壓力，
Figure 02_image029
為流率參數，
Figure 02_image031
為比熱常數，
Figure 02_image033
為第三氣壓腔室301及第四氣壓腔室303之孔口寬度，
Figure 02_image035
為總體負載，
Figure 02_image037
為第二氣壓動力組件300之質量，
Figure 02_image039
為絕對溫度值，
Figure 02_image041
為理想氣體常數，
Figure 02_image043
為控制組件對第三氣壓控制組件302及第四氣壓控制組件304之控制訊號。 In this fourth-order mathematical model,
Figure 02_image003
indicates time,
Figure 02_image005
is the movement amount of the second moving part 305,
Figure 02_image007
is the moving speed of the second moving part 305,
Figure 02_image009
is the pressure of the third air chamber 301 of the second moving part 305,
Figure 02_image011
is the pressure of the fourth air pressure chamber 303 of the second moving part,
Figure 02_image013
is the cross-sectional area of the second pneumatic force 300,
Figure 02_image015
is the coefficient of viscous friction,
Figure 02_image017
is the Coulomb friction coefficient,
Figure 02_image019
is the total stroke of the second moving part 305,
Figure 02_image021
is the small displacement of the second moving part 305,
Figure 02_image023
is the external pressure,
Figure 02_image025
is the displacement coefficient,
Figure 02_image027
For the supply pressure,
Figure 02_image029
is the flow rate parameter,
Figure 02_image031
is the specific heat constant,
Figure 02_image033
is the opening width of the third air pressure chamber 301 and the fourth air pressure chamber 303,
Figure 02_image035
is the overall load,
Figure 02_image037
is the mass of the second pneumatic power assembly 300,
Figure 02_image039
is the absolute temperature value,
Figure 02_image041
is the ideal gas constant,
Figure 02_image043
It is the control signal of the control unit to the third air pressure control unit 302 and the fourth air pressure control unit 304 .

另外，

Figure 02_image047
、
Figure 02_image049
及
Figure 02_image051
是與上述該些係數或是函數相關聯的方程式，分別可由牛頓第二運動定律及流體質量守恆的關係得出。 in addition,
Figure 02_image047
,
Figure 02_image049
and
Figure 02_image051
are the equations associated with the above coefficients or functions, which can be obtained from Newton's second law of motion and the relationship of fluid mass conservation respectively.

且在一實施例中，

Figure 02_image023
為1 × 105帕斯卡，
Figure 02_image025
為0.8，
Figure 02_image027
為6 × 105帕斯卡，
Figure 02_image029
為0.8，
Figure 02_image031
為1.4，
Figure 02_image039
為293K，
Figure 02_image041
為287 J/(kg·K)。 And in one embodiment,
Figure 02_image023
is 1 x 105 Pascal,
Figure 02_image025
is 0.8,
Figure 02_image027
is 6 x 105 Pascals,
Figure 02_image029
is 0.8,
Figure 02_image031
is 1.4,
Figure 02_image039
for 293K,
Figure 02_image041
is 287 J/(kg·K).

另外，藉由四階數學模型可得到：

Figure 02_image053
、
Figure 02_image055
。 In addition, the fourth-order mathematical model can be obtained:
Figure 02_image053
,
Figure 02_image055
.

其中，

Figure 02_image057
、
Figure 02_image059
、
Figure 02_image061
、
Figure 02_image063
。 in,
Figure 02_image057
,
Figure 02_image059
,
Figure 02_image061
,
Figure 02_image063
.

在該些方程式中，

Figure 02_image065
與
Figure 02_image067
為估測項，
Figure 02_image069
與
Figure 02_image071
為正交函數，
Figure 02_image073
為輸出誤差，
Figure 02_image075
為滑動面，
Figure 02_image077
為自然數。由此可以得知氣壓、位移速度及控制訊號間等關係。 In these equations,
Figure 02_image065
and
Figure 02_image067
is an estimate,
Figure 02_image069
and
Figure 02_image071
is an orthogonal function,
Figure 02_image073
is the output error,
Figure 02_image075
is the sliding surface,
Figure 02_image077
is a natural number. From this, the relationship between air pressure, displacement speed and control signals can be known.

而在另一實施例中，第一氣壓動力組件200亦可具有四階數學模型描述之行為，此四階數學模型可為：

Figure 02_image079
In another embodiment, the first aerodynamic component 200 may also have a behavior described by a fourth-order mathematical model. The fourth-order mathematical model may be:
Figure 02_image079

在此四階數學模型中，

Figure 02_image003
表示時間，
Figure 02_image081
為第一移動部件205之移動量，
Figure 02_image083
為第一移動部件205之移動速度，
Figure 02_image085
為第一移動部件205之第一氣壓腔室201之壓力，
Figure 02_image087
為第一移動部件205之第二氣壓腔室203之壓力，
Figure 02_image089
為第一氣壓動力組件200之截面積，
Figure 02_image091
為黏滯摩擦係數，
Figure 02_image093
為庫侖摩擦係數，
Figure 02_image095
為第一移動部件205之總行程，
Figure 02_image097
為第一移動部件205之移動微小偏移量，
Figure 02_image099
為外部壓力，
Figure 02_image101
為排量係數，
Figure 02_image103
為供給壓力，
Figure 02_image105
為流率參數，
Figure 02_image107
為比熱常數，
Figure 02_image109
為第一氣壓腔室及第二氣壓腔室之孔口寬度，
Figure 02_image111
為總體負載，
Figure 02_image113
為第一氣壓動力組件200之質量，
Figure 02_image115
為絕對溫度值，
Figure 02_image117
為理想氣體常數，
Figure 02_image119
為控制組件對第一氣壓控制組件202及第二氣壓控制組件204之控制訊號。其中，該些常數或是方程式的數值會依據實際配置而與第二移動部件之數值有異，舉例來說，由於第一氣壓動力組件200設置於第二氣壓動力組件300下方，因此
Figure 02_image093
會與
Figure 02_image017
的數值不同。 In this fourth-order mathematical model,
Figure 02_image003
indicates time,
Figure 02_image081
is the movement amount of the first moving part 205,
Figure 02_image083
is the moving speed of the first moving part 205,
Figure 02_image085
is the pressure of the first air pressure chamber 201 of the first moving part 205,
Figure 02_image087
is the pressure of the second air pressure chamber 203 of the first moving part 205,
Figure 02_image089
is the cross-sectional area of the first pneumatic power component 200,
Figure 02_image091
is the coefficient of viscous friction,
Figure 02_image093
is the Coulomb friction coefficient,
Figure 02_image095
is the total stroke of the first moving part 205,
Figure 02_image097
is the small displacement of the first moving part 205,
Figure 02_image099
is the external pressure,
Figure 02_image101
is the displacement coefficient,
Figure 02_image103
For the supply pressure,
Figure 02_image105
is the flow rate parameter,
Figure 02_image107
is the specific heat constant,
Figure 02_image109
is the opening width of the first air chamber and the second air chamber,
Figure 02_image111
is the overall load,
Figure 02_image113
is the mass of the first pneumatic power assembly 200,
Figure 02_image115
is the absolute temperature value,
Figure 02_image117
is the ideal gas constant,
Figure 02_image119
It is the control signal of the control unit to the first air pressure control unit 202 and the second air pressure control unit 204 . Wherein, the values of these constants or equations will be different from the values of the second moving part according to the actual configuration. For example, since the first pneumatic power component 200 is arranged below the second pneumatic power component 300,
Figure 02_image093
will be with
Figure 02_image017
values are different.

在一實施例中，控制組件700可更包含軌跡追蹤器，或者，軌跡追蹤器可獨立於控制組件700之外，可依實際情況進行配置。軌跡追蹤器可對依據軌跡資料7062進行縫紉的部件進行追跡，以驗證縫紉結果是否與軌跡資料7062一致，以利後續的調整。舉例來說，在一實施例中，如第6圖所示，軌跡追蹤器可追跡後追跡資料7061，以比對縫紉的結果與軌跡資料7062之間的誤差。In an embodiment, the control component 700 may further include a trajectory tracker, or the trajectory tracker may be independent of the control component 700 and may be configured according to actual conditions. The trajectory tracker can track the parts that are sewn according to the trajectory data 7062 to verify whether the sewing result is consistent with the trajectory data 7062 for subsequent adjustments. For example, in one embodiment, as shown in FIG. 6 , the trajectory tracker can track the backtracking data 7061 to compare the error between the sewing result and the trajectory data 7062 .

而在另一實施例中，為了避免布料固定組件500或是其他部件移動過快而使得資料讀取遺失，例如以光學尺讀取時發生的數據遺失，軌跡追蹤器可設計為具有五階軌跡追蹤模型，其數學式如下：

Figure 02_image121
其中：
Figure 02_image123
Figure 02_image125
Figure 02_image127
Figure 02_image129
Figure 02_image131
Figure 02_image133
In another embodiment, in order to prevent the cloth fixing assembly 500 or other components from moving too fast and causing data loss, such as data loss that occurs when reading with an optical ruler, the trajectory tracker can be designed to have a fifth-order trajectory Tracking model, its mathematical formula is as follows:
Figure 02_image121
in:
Figure 02_image123
Figure 02_image125
Figure 02_image127
Figure 02_image129
Figure 02_image131
Figure 02_image133

其中

Figure 02_image135
、
Figure 02_image137
、
Figure 02_image139
分別為時間在零時的位置、速度與加速度，
Figure 02_image141
，
Figure 02_image143
與
Figure 02_image145
分別為時間在
Figure 02_image147
時的位置、速度與加速度。因此，在縫紉的過程中，控制組件700可以依據追跡資料7061所得到之縫紉結果與軌跡資料7062之間的誤差不斷的修正補償，以使得精準、智慧、自適應的控制可實現，達成智慧化縫紉的功效。 in
Figure 02_image135
,
Figure 02_image137
,
Figure 02_image139
are the position, velocity and acceleration at time zero, respectively,
Figure 02_image141
,
Figure 02_image143
and
Figure 02_image145
respectively at the time
Figure 02_image147
position, velocity and acceleration. Therefore, during the sewing process, the control component 700 can continuously correct and compensate the error between the sewing result obtained from the tracking data 7061 and the trajectory data 7062, so that accurate, intelligent, and adaptive control can be realized and intelligence can be achieved. The efficacy of sewing.

綜上所述，本發明之智慧型縫紉裝置可應用於布料自動縫紉針車製程上，特別是，可應用於口罩的縫製製程上。本發明之智慧型縫紉裝置將能使服飾業、鞋業廠商、醫療用品生產商大幅降低人力及時間成本，在自動化上將有很大的助益。另外，本發明選定無桿式氣壓缸作為致動器，利用無桿式氣壓缸易設計與組裝等優點，可換取較大之工作空間。此外，本發明利用空氣之易取得性、安全性及可壓縮性等優點，將壓縮空氣所具有之壓力能，作為本發明二維之智慧型縫紉裝置驅動之用。因此，本發明二維之智慧型縫紉裝置具有結構簡單、乾淨、低成本、高安全性、高響應與節能等優點。To sum up, the intelligent sewing device of the present invention can be applied to the automatic sewing process of fabrics, especially, it can be applied to the sewing process of masks. The intelligent sewing device of the present invention will greatly reduce manpower and time costs for apparel manufacturers, shoe manufacturers, and medical product manufacturers, and will be of great help in automation. In addition, the present invention selects the rodless pneumatic cylinder as the actuator, and utilizes the advantages of the rodless pneumatic cylinder, such as easy design and assembly, in exchange for a larger working space. In addition, the present invention utilizes the advantages of air availability, safety, and compressibility, etc., and uses the pressure energy of compressed air as the drive of the two-dimensional intelligent sewing device of the present invention. Therefore, the two-dimensional intelligent sewing device of the present invention has the advantages of simple structure, cleanliness, low cost, high safety, high response and energy saving.

以上所述僅為舉例性，而非為限制性者。任何未脫離本發明之精神與範疇，而對其進行之等效修改或變更，均應包含於後附之申請專利範圍中。The above descriptions are illustrative only, not restrictive. Any equivalent modification or change made without departing from the spirit and scope of the present invention shall be included in the scope of the appended patent application.

10:智慧型縫紉裝置 100:承載基座 200:第一氣壓動力組件 201:第一氣壓腔室 202:第一氣壓控制組件 203:第二氣壓腔室 204:第二氣壓控制組件 205:第一移動部件 300:第二氣壓動力組件 301:第三氣壓腔室 302:第三氣壓控制組件 303:第四氣壓腔室 304:第四氣壓控制組件 305:第二移動部件 400:氣壓供應組件 500:布料固定組件 600:裁縫組件 700:控制組件 701:第一運動控制器 702:第二運動控制器 703:第一氣壓控制器 704:第二氣壓控制器 705:軌跡設定器 7061:追跡資料 7062:軌跡資料 800:移動輔助組件 10: Intelligent sewing device 100: carrying base 200: The first pneumatic power unit 201: The first air pressure chamber 202: The first air pressure control component 203: Second air pressure chamber 204: The second air pressure control component 205: First moving part 300: Second pneumatic power unit 301: the third air pressure chamber 302: The third air pressure control component 303: the fourth air pressure chamber 304: The fourth air pressure control component 305: Second moving part 400: Air pressure supply assembly 500: Cloth fixing components 600: Tailoring components 700: control components 701: The first motion controller 702: Second motion controller 703: The first air pressure controller 704: Second air pressure controller 705: track setter 7061: Tracking data 7062: Trajectory data 800: Mobile Assist Components

第1圖係為根據本發明之實施例之智慧型縫紉裝置之第一配置示意圖。Fig. 1 is a schematic diagram of the first configuration of the intelligent sewing device according to the embodiment of the present invention.

第2圖係為根據本發明之實施例之智慧型縫紉裝置之第二配置示意圖。Fig. 2 is a second configuration diagram of the intelligent sewing device according to the embodiment of the present invention.

第3圖係為根據本發明之實施例之智慧型縫紉裝置之第一實施示意圖。Fig. 3 is a schematic diagram of the first implementation of the intelligent sewing device according to the embodiment of the present invention.

第4圖係為根據本發明之實施例之智慧型縫紉裝置之第二實施示意圖。Fig. 4 is a second implementation schematic diagram of an intelligent sewing device according to an embodiment of the present invention.

第5圖係為根據本發明之實施例之智慧型縫紉裝置之第三實施示意圖。Fig. 5 is a schematic diagram of the third implementation of the intelligent sewing device according to the embodiment of the present invention.

第6圖係為根據本發明之實施例之智慧型縫紉裝置之第四實施示意圖。Fig. 6 is a schematic diagram of the fourth implementation of the intelligent sewing device according to the embodiment of the present invention.

10:智慧型縫紉裝置 10: Intelligent sewing device

100:承載基座 100: carrying base

200:第一氣壓動力組件 200: The first pneumatic power unit

300:第二氣壓動力組件 300: Second pneumatic power unit

400:氣壓供應組件 400: Air pressure supply assembly

500:布料固定組件 500: Cloth fixing components

600:裁縫組件 600: Tailoring components

700:控制組件 700: control components

800:移動輔助組件 800: Mobile Assist Components

Claims (7)

一種智慧型縫紉裝置，包含：一承載基座；一第一氣壓動力組件，設置於該承載基座上，包含：一第一氣壓腔室；一第一氣壓控制組件，設置於該第一氣壓腔室上；一第二氣壓腔室，與該第一氣壓腔室相對設置；一第二氣壓控制組件，設置於該第二氣壓腔室上；及一第一移動部件，設置於該第一氣壓腔室及該第二氣壓腔室之間，於一第一方向運動；一第二氣壓動力組件，包含：一第三氣壓腔室；一第三氣壓控制組件，設置於該第三氣壓腔室上；一第四氣壓腔室，與該第四氣壓腔室相對設置；一第四氣壓控制組件，設置於該第四氣壓腔室上；及一第二移動部件，設置於該第三氣壓腔室及該第三氣壓腔室之間，與該第一移動部件相連接，於一第二方向運動；至少一氣壓供應組件，與該第一氣壓控制組件、該第二氣壓控制組件、該第三氣壓控制組件及該第四氣壓控制組件中的一個或多個相連接； 一布料固定組件，與該第二移動部件相連接；一裁縫組件，設置於該承載基座上；以及一控制組件，與該第一氣壓控制組件、該第二氣壓控制組件、該第三氣壓控制組件及該第四氣壓控制組件電性連接，其中該第一方向及該第二方向於一平面上相互垂直，其中該控制組件更包含一第一運動控制器、一第二運動控制器、一第一氣壓控制器及一第二氣壓控制器，其中該第一運動控制器與該第一氣壓控制器電性連接，該第一氣壓控制器與該第一氣壓控制組件及該第二氣壓控制組件電性連接，該第一運動控制器依據該第一氣壓動力組件之該第一移動部件之一第一移動量誤差值以回授控制方法控制該第一氣壓控制器以控制該第一氣壓控制組件及該第二氣壓控制組件之氣壓。 An intelligent sewing device, comprising: a bearing base; a first air pressure power component set on the bearing base, including: a first air pressure chamber; a first air pressure control component set on the first air pressure On the chamber; a second air pressure chamber, arranged opposite to the first air pressure chamber; a second air pressure control assembly, arranged on the second air pressure chamber; and a first moving part, arranged on the first air pressure chamber Between the air pressure chamber and the second air pressure chamber, moving in a first direction; a second air pressure power assembly, including: a third air pressure chamber; a third air pressure control assembly, arranged in the third air pressure chamber chamber; a fourth air pressure chamber, which is arranged opposite to the fourth air pressure chamber; a fourth air pressure control assembly, which is arranged on the fourth air pressure chamber; and a second moving part, which is arranged on the third air pressure chamber Between the chamber and the third air pressure chamber, it is connected with the first moving part and moves in a second direction; at least one air pressure supply component is connected with the first air pressure control component, the second air pressure control component, the one or more of the third air pressure control assembly and the fourth air pressure control assembly are connected; A cloth fixing component is connected with the second moving part; a tailoring component is arranged on the bearing base; and a control component is connected with the first air pressure control component, the second air pressure control component, and the third air pressure control component. The control component and the fourth air pressure control component are electrically connected, wherein the first direction and the second direction are perpendicular to each other on a plane, wherein the control component further includes a first motion controller, a second motion controller, A first air pressure controller and a second air pressure controller, wherein the first motion controller is electrically connected to the first air pressure controller, the first air pressure controller is connected to the first air pressure control component and the second air pressure The control component is electrically connected, and the first motion controller controls the first air pressure controller in a feedback control method according to a first movement error value of the first moving part of the first pneumatic power component to control the first The air pressure of the air pressure control component and the second air pressure control component. 如請求項1之智慧型縫紉裝置，其中，該第二氣壓動力組件具有一四階數學模型描述之行為，該四階數學模型為：
Figure 110101348-A0305-02-0019-1
 其中，t表示一時間，x 1(t)為該第二移動部件之移動量，x 2(t)為該第二移動部件之移動速度，x 3(t)為該第二移動部件之該第三氣壓腔室之壓力，x 4為該第二移動部件之該第四氣壓腔 室之壓力，A為該第二氣壓動力組件之截面積，K f 為黏滯摩擦係數，K c 為庫侖摩擦係數，l為該第二移動部件之總行程，△為該第二移動部件之移動微小偏移量，P e 為外部壓力，C d 為排量係數，P s 為供給壓力，C 0為流率參數，k為比熱常數，w為該第三氣壓腔室及該第四氣壓腔室之孔口寬度，M L 為總體負載，M為該第二氣壓動力組件之質量，T s 為絕對溫度值，R為理想氣體常數，u(t)為該控制組件對該第三氣壓控制組件及該第四氣壓控制組件之控制訊號，且P e 為1×105帕斯卡，C d 為0.8，P s 為6×105帕斯卡，C 0為0.8，k為1.4，T s 為293K，R為287J/(kg．K)。 The intelligent sewing device according to claim 1, wherein the second pneumatic power component has a behavior described by a fourth-order mathematical model, and the fourth-order mathematical model is:
Figure 110101348-A0305-02-0019-1
 Among them, t represents a time, x 1 ( t ) is the moving amount of the second moving part, x 2 ( t ) is the moving speed of the second moving part, x 3 ( t ) is the moving speed of the second moving part The pressure of the third air pressure chamber, x4 is the pressure of the fourth air pressure chamber of the second moving part, A is the cross-sectional area of the second air pressure power component, K f is the coefficient of viscous friction, and K c is Coulomb Friction coefficient, l is the total stroke of the second moving part, △ is the small displacement of the second moving part, P e is the external pressure, C d is the displacement coefficient, P s is the supply pressure, C 0 is Flow rate parameter, k is the specific heat constant, w is the orifice width of the third air chamber and the fourth air chamber, M L is the overall load, M is the mass of the second air power component, T s is the absolute temperature value, R is the ideal gas constant, u ( t ) is the control signal of the control unit to the third air pressure control unit and the fourth air pressure control unit, and Pe is 1×10 5 Pascals , C d is 0.8, P s is 6×10 5 Pascals, C 0 is 0.8, k is 1.4, T s is 293K, R is 287J/(kg.K). 如請求項1之智慧型縫紉裝置，更包含一移動輔助組件，該移動輔助組件與該第一氣壓動力組件相對設置，該第二氣壓動力組件與該第一移動部件及該移動輔助組件相連接，於該第一方向運動。 The intelligent sewing device according to claim 1 further includes a movement assisting component, which is arranged opposite to the first pneumatic power component, and the second pneumatic power component is connected to the first moving part and the movement assisting component , moving in the first direction. 如請求項1之智慧型縫紉裝置，其中該第一氣壓動力組件及該第二氣壓動力組件包含無桿式氣壓缸。 According to claim 1, the smart sewing device, wherein the first pneumatic power component and the second pneumatic power component include rodless pneumatic cylinders. 如請求項1之智慧型縫紉裝置，其中該第二運動控制器與該第二氣壓控制器電性連接，該第二氣壓控制器與該第三氣壓控制組件及該第四氣壓控制組件電性連接，該第二運動控制器依據該第二氣壓動力組件之該第二移動部件之一第二移動量誤差值以回授控制方法控制該第二氣壓控制器以控制該第三氣壓控制組件及該第四氣壓控制組件之氣壓。 The intelligent sewing device according to claim 1, wherein the second motion controller is electrically connected to the second air pressure controller, and the second air pressure controller is electrically connected to the third air pressure control component and the fourth air pressure control component connected, the second motion controller controls the second air pressure controller with a feedback control method to control the third air pressure control assembly and The air pressure of the fourth air pressure control component. 如請求項1之智慧型縫紉裝置，其中該控制組件更包含一軌跡設定器，該軌跡設定器包含至少一軌跡資料，該第一運動控制器、該第二運動控制器、該第一氣壓控制器、及該第二氣壓控制器依據該軌跡資料控制該第一氣壓控制組件、該第二氣壓控制組件、該第三氣壓控制組件 及該第四氣壓控制組件。 Such as the intelligent sewing device of claim 1, wherein the control unit further includes a track setter, the track setter includes at least one track data, the first motion controller, the second motion controller, the first air pressure control device, and the second air pressure controller controls the first air pressure control component, the second air pressure control component, and the third air pressure control component according to the track data And the fourth air pressure control component. 如請求項6之智慧型縫紉裝置，其中該控制組件依據該軌跡資料控制該裁縫組件。 The intelligent sewing device according to claim 6, wherein the control unit controls the tailoring unit according to the trajectory data.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4074640A (en) * 1975-03-13 1978-02-21 Tokyo Juki Kogyo Kabushiki Kaisha Automatic sewing machine
CN111118687A (en) * 2020-03-27 2020-05-08 潍坊极尚智能科技有限公司 Process line winding device
CN111270428A (en) * 2020-03-19 2020-06-12 深圳市宜荣科技有限公司 Automatic sewing machine with movable sewing machine head

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4074640A (en) * 1975-03-13 1978-02-21 Tokyo Juki Kogyo Kabushiki Kaisha Automatic sewing machine
CN111270428A (en) * 2020-03-19 2020-06-12 深圳市宜荣科技有限公司 Automatic sewing machine with movable sewing machine head
CN111118687A (en) * 2020-03-27 2020-05-08 潍坊极尚智能科技有限公司 Process line winding device

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