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CN-121976359-A - Automatic stitching equipment using laser measurement scanning

CN121976359ACN 121976359 ACN121976359 ACN 121976359ACN-121976359-A

Abstract

The invention discloses automatic stitching equipment utilizing laser measurement scanning, which relates to the technical field of laser measurement and comprises an equipment base, wherein a cloth conveying belt is arranged on the top surface of the equipment base, two groups of cloth pressing mechanisms are arranged in the middle of the top surface of the cloth conveying belt, a station frame is arranged on the top of the equipment base, a movable seat is arranged on the inner side of the station frame, a stitching machine is arranged on the bottom surface of the movable seat near the butt joint of the two groups of cloth pressing mechanisms, the stitching machine is rotatably arranged on the bottom surface of the movable seat, a control module is arranged in the stitching machine, a laser scanner is arranged on the top surface of the station frame and is used for carrying out plane coordinate calibration on the top surface of the cloth conveying belt in advance, the laser scanner is used for acquiring coordinate information of a cloth stitching front path of the top surface of the cloth conveying belt based on the plane coordinate calibration of the top surface of the cloth conveying belt, and the control module is used for controlling the stitching angle of the stitching machine based on a track equation, so that the stitching machine can stitch stitching tracks of different shapes of the cloth conveying belt are ensured, and the stitching functions and effects of automatic stitching equipment are greatly enhanced.

Inventors

  • CHEN WENJIE
  • MA BAILIN
  • ZHAN ZHIYONG
  • CHEN XINHU

Assignees

  • 浙江宝仁自动化科技有限公司

Dates

Publication Date
20260505
Application Date
20240322

Claims (10)

  1. 1. The utility model provides an utilize automatic sewing up equipment of laser measurement scanning, including equipment base (1), the top surface of equipment base (1) is equipped with cloth conveyer belt (2), and the top surface middle part position of cloth conveyer belt (2) is equipped with two sets of cloth pressing mechanism (3), and equipment base (1) top is equipped with station frame (4), and the inboard of station frame (4) is equipped with removes seat (5), and the butt joint department that the bottom surface of removing seat (5) is close to two sets of cloth pressing mechanism (3) is equipped with sewing machine (6), its characterized in that: The sewing machine (6) is rotatably arranged on the bottom surface of the movable seat (5), a control module is arranged in the sewing machine (6), a laser scanner (7) is arranged on the top surface of the station frame (4), and the laser scanner (7) performs plane coordinate calibration on the top surface of the cloth conveying belt (2) in advance; the laser scanner (7) acquires coordinate information of a cloth pre-sewing path on the top surface of the cloth conveying belt (2) based on the top surface calibration plane coordinates of the cloth conveying belt (2); The control module fits a track equation of the coordinate information according to the coordinate information; the control module controls the stitching angle of the stitching machine (6) based on the trajectory equation.
  2. 2. An automated sewing apparatus using laser measurement scanning according to claim 1, wherein the cloth conveyer belt (2) comprises a driving toothed belt (21), wherein driving gears (22) are engaged with inner sides of two ends of the driving toothed belt (21), a first conveyer belt (23) and a second conveyer belt (24) are arranged on side surfaces of the driving toothed belt (21), one ends of the first conveyer belt (23) and the second conveyer belt (24) are embedded with conveyer belt wheels (25), and the other ends of the first conveyer belt (23) and the second conveyer belt (24) are respectively connected with the driving gears (22) of two ends of the driving toothed belt (21).
  3. 3. An automated sewing apparatus using laser measurement scanning according to claim 2, wherein the two groups of cloth pressing mechanisms (3) each comprise a mechanism main frame (31), a first guide wheel (32) and a second guide wheel (33) are respectively installed at two ends of the mechanism main frame (31), a third guide wheel (35) and a power gear (36) are arranged at the middle position of the mechanism main frame (31), and cloth pressing belts (34) are nested outside the first guide wheel (32), the second guide wheel (33), the third guide wheel (35) and the power gear (36).
  4. 4. An automated suturing device utilizing laser survey scanning according to claim 3, wherein the drive gear (22) is on the same vertical plane as the central axis of the second guide wheel (33).
  5. 5. An automated sewing apparatus using laser measurement scanning according to claim 1, wherein the bottom surface of the movable seat (5) is provided with an arc track (52), the inner side of the arc track (52) is provided with an adjusting shaft (53) matched with the arc track (52), the bottom end of the adjusting shaft (53) is fixedly connected with the top surface of the sewing machine (6), the side surface of the adjusting shaft (53) is provided with an adjusting track (54), one end of the adjusting track (54) is fixedly connected with a ball nut (55), and an adjusting screw (56) is inserted into the inner side of the ball nut (55).
  6. 6. An automated stitching device employing laser measurement scanning according to claim 5, wherein the top surface of the stitching machine (6) is fixedly connected with a rotating shaft (61), the top end of the rotating shaft (61) is rotatably connected with the bottom surface of the movable seat (5), and the center of the rotating shaft (61) coincides with the center of the arc-shaped track (52).
  7. 7. An automated stitching device employing laser measurement scanning according to claim 1, wherein the plane coordinates marked by the laser scanner (7) are X-axis with the midline of the junction of the two sets of cloth pressing mechanisms (3) and Y-axis with the back side of the cloth conveyor belt (2).
  8. 8. The automated sewing apparatus using laser measurement scanning of claim 7, wherein the laser scanner (7) scans the cloth on the top surface of the cloth conveying belt (2), obtains N pieces of coordinate information according to the length of the cloth sewing path, N is a positive integer, the laser scanner (7) transmits the N pieces of coordinate information to the control module, and the control module fits a trajectory equation according to the N pieces of coordinate information, where y=f (X), where X is a value on the X axis, and Y is a value on the Y axis.
  9. 9. An automated stitching device utilizing laser survey scanning according to claim 8, wherein the control module derives a slope equation based on the trajectory equation, k = f' (x), and the control module obtains the stitching angle of the stitcher (6) based on the slope equation: k=tanA; wherein k is the slope of the cloth sewing path tangent, A is the included angle between the cloth sewing path tangent and the X axis, namely the sewing angle of the sewing machine (6).
  10. 10. The automatic stitching device utilizing laser measurement scanning according to claim 9, wherein the laser scanner (7) collects coordinate information of a post-stitching path of a cloth on the top surface of the cloth conveyor belt (2) and texture data of the post-stitching path of the cloth based on the top surface calibration plane coordinates of the cloth conveyor belt (2), and the control module judges whether the stitching of the cloth is defective according to the texture data: If the defect exists, the control module marks the defect based on the coordinate information of the path after the cloth is sewn, the defect coordinate is obtained, and the control module controls the sewing machine (6) to eliminate the defect through the defect coordinate; If the defect does not exist, the cloth conveying belt (2) directly outputs cloth.

Description

Automatic stitching equipment using laser measurement scanning Technical Field The invention relates to the technical field of laser measurement, in particular to an automatic stitching device utilizing laser measurement scanning. Background The laser measuring scanner arranged on the automatic sewing equipment can acquire the cloth sewing path, particularly, after the laser wave hits the object, part of energy returns, when the laser receiver receives the returned laser wave, and the energy of the returned wave is enough to trigger a threshold value, the laser scanning equipment can calculate the distance value from the laser scanning equipment to the object. Then, the laser scanning device continuously emits laser pulse waves, the laser pulse waves are beaten on a mirror surface rotating at a high speed, and the laser pulse waves are emitted to all directions so as to form scanning of a two-dimensional area; However, the existing laser measurement scanning acquisition product has a sewing path such as a tunnel surrounding rock scanning and observing system based on a double-shield TBM technology disclosed in China patent publication No. CN109186480A and a large-scale revolving body appearance scanning measuring device and method disclosed in China patent publication No. CN106767418A, the angle of a sewing machine cannot be adjusted according to laser measurement scanning only by the laser measurement scanning product, so that an automatic sewing device can only sew cloth in a straight path, and the sewn cloth also needs manual quality inspection, thereby having very low efficiency. Disclosure of Invention In order to overcome the technical problems, the invention aims to provide an automatic stitching device utilizing laser measurement scanning, so as to solve the problem that the automatic stitching device has poor adaptability because the angle of a stitching machine cannot be adjusted according to the laser measurement scanning in the prior art. The aim of the invention can be achieved by the following technical scheme: The automatic sewing equipment comprises an equipment base, wherein a cloth conveying belt is arranged on the top surface of the equipment base, two groups of cloth pressing mechanisms are arranged in the middle of the top surface of the cloth conveying belt, a station frame is arranged on the top of the equipment base, a movable seat is arranged on the inner side of the station frame, a sewing machine is arranged at the position, close to the butt joint of the two groups of cloth pressing mechanisms, of the bottom surface of the movable seat, the sewing machine is rotatably arranged on the bottom surface of the movable seat, a control module is arranged in the sewing machine, a laser scanner is arranged on the top surface of the station frame and is used for carrying out plane coordinate calibration on the top surface of the cloth conveying belt in advance, the laser scanner is used for acquiring coordinate information of a cloth sewing front path of the top surface of the cloth conveying belt based on the plane coordinate calibration of the top surface of the cloth conveying belt, the control module is used for controlling the sewing angle of the sewing machine based on a track equation of the coordinate information. As a further scheme of the invention, the cloth conveyer belt comprises a driving toothed belt, driving gears are meshed with the inner sides of two ends of the driving toothed belt, a first conveyer belt and a second conveyer belt are arranged on the side face of the driving toothed belt, conveyer belt wheels are embedded into one ends of the first conveyer belt and the second conveyer belt, and the other ends of the first conveyer belt and the second conveyer belt are respectively connected with the driving gears of two ends of the driving toothed belt. As a further scheme of the invention, the two groups of cloth pressing mechanisms comprise a mechanism main frame, the two ends of the mechanism main frame are respectively provided with a first guide wheel and a second guide wheel, the middle part of the mechanism main frame is provided with a third guide wheel and a power gear, and cloth pressing belts are nested outside the first guide wheel, the second guide wheel, the third guide wheel and the power gear. As a further scheme of the invention, the driving gear and the central axis of the second guide wheel are positioned on the same vertical plane. As a further scheme of the invention, the bottom surface of the movable seat is provided with an arc-shaped track, the inner side of the arc-shaped track is provided with an adjusting shaft matched with the arc-shaped track, the bottom end of the adjusting shaft is fixedly connected with the top surface of the sewing machine, the side surface of the adjusting shaft is provided with an adjusting track, one end of the adjusting track is fixedly connected with a ball nut, and the inner side of the ball nut is penetrated with