Sewing system and three-dimensional measurement device
An aspect of the present invention is a sewing system which includes a sewing machine that sews a workpiece, and a three-dimensional measurement device that measures a three-dimensional shape of the workpiece. According to an aspect of the present invention, it is possible to appropriately implement quality control of a product produced by sewing.
1. A sewing system comprising:
a sewing machine that sews a workpiece set at the sewing machine;
a three-dimensional measurement device disposed above the workpiece set at the sewing machine and that measures a three-dimensional shape of the workpiece; and
a control device that outputs a control command for controlling the sewing machine based on measurement data of the workpiece output from the three-dimensional measurement device,
wherein the control device is configured to correct a predetermined sewing data based on the measurement data of the workpiece output from the three-dimensional measurement device, the sewing data including a target moving condition of the workpiece.
2. The sewing system according to claim 1 , wherein
the three-dimensional measurement device measures the workpiece before being sewn by the sewing machine, and
the control device outputs the control command based on the measurement data of the workpiece acquired before the workpiece is sewn by the sewing machine.
3. The sewing system according to claim 2 , wherein
a specified region of a front surface of the workpiece is transferred to a sewing position immediately below a needle,
the three-dimensional measurement device measures the specified region before being transferred to the sewing position, and
the control device outputs the control command based on the measurement data of the specified region.
4. The sewing system according to claim 2 , wherein
the front surface of the workpiece includes a step,
the measurement data of the workpiece includes step data indicating the position and height of the step, and
the control device outputs the control command based on the step data.
5. The sewing system according to claim 4 , wherein
the control command includes an adjustment command of a relative position of a needle and the workpiece.
6. The sewing system according to claim 2 , wherein
the measurement data of the workpiece includes position data of the workpiece, and
the sewing system further includes:
a robot arm that supports the sewing machine to be movable; and
an arm control device that outputs a control command to the robot arm to adjust a relative position of the sewing machine and the workpiece, based on the position data of the workpiece.
7. The sewing system according to claim 6 , wherein
the three-dimensional measurement device is supported by the robot arm, and
the arm control device outputs a control command to the robot arm such that the sewing machine sews the workpiece after the three-dimensional measurement device measures the workpiece.
8. The sewing system according to claim 1 , further comprising:
a processing device that detects an abnormality of the workpiece based on measurement data of the workpiece output from the three-dimensional measurement device.
9. The sewing system according to claim 8 , wherein
the three-dimensional measurement device measures the workpiece after being sewn by the sewing machine, and
the processing device detects the abnormality based on the measurement data of the workpiece acquired after the workpiece is sewn by the sewing machine.
10. The sewing system according to claim 9 , wherein
the three-dimensional measurement device measures the three-dimensional shape of seams formed on the workpiece by the sewing machine.
11. The sewing system according to claim 10 , wherein
the measurement data of the seams includes height data of the seams, and
the processing device determines an abnormality of the seams based on the height data of the seams.
12. The sewing system according to claim 10 , wherein
the sewing machine includes a needle bar that holds a needle, and a throat plate that supports the workpiece to be sewn by the needle, and
the three-dimensional measurement device measures the seams in a state where the workpiece is being sewn by the needle.
13. The sewing system according to claim 10 , further comprising:
a display device that displays measurement data of the seams.
14. The sewing system according to claim 10 , wherein
the three-dimensional measurement device includes a measurement and determination result storage unit that stores measurement data of the seams.
15. The sewing system according to claim 8 , wherein
the sewing machine includes a needle bar that holds a needle, and a throat plate that supports the workpiece to be sewn by the needle, and
the three-dimensional measurement device measures the workpiece in a state being sewn by the needle.
16. The sewing system according to claim 1 , further comprising:
a display device that displays measurement data of the workpiece.
17. A sewing system comprising:
a sewing machine that sews a workpiece set at the sewing machine;
a three-dimensional measurement device disposed above the workpiece set at the sewing machine and that measures a three-dimensional shape of seams formed on the workpiece by the sewing machine; and
a processing device that detects an abnormality of the seams based on measurement data of the seams output from the three-dimensional measurement device,
wherein the processing device calculates feature amount data of the seams from the measurement data of the seams and collates the feature amount data with reference data indicating a feature amount of a three-dimensional shape of normal seams.