Grabbing position and attitude control method and system of cloth grabbing device
A grasping device and attitude control technology, applied in the field of automatic sewing equipment, can solve problems affecting sewing quality, collision, pulling deformation, etc.
Active Publication Date: 2020-07-28
JACK SEWING MASCH CO LTD
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Problems solved by technology
However, if the fabric grabbing device is too close to the sewing line, it will collide with the automatic sewing equipment during the sewing process; if the fabric grabbing device is too far from the sewing line, the pieces will bulge, pull and deform, etc.
Therefore, gripping positions that are too far or too close will affect the sewing quality
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
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[0066] Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention.
[0067] It should be noted that the diagrams provided in this embodiment are only schematically illustrating the basic idea of the present invention, and only the components related to the present invention are shown in the diagrams rather than the number, shape and shape of the components in actual implementation. Dimensional drawing, the type, quantity and proportion of each component can be changed arbitrarily during actual impleme...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
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The invention provides a grabbing position and posture control method and system of a cloth grabbing device, comprising the steps that the attribute points of the cloth grabbing device can be set; theacceptable range [hmax, hmin] of a distance h between a fixing point and a sewing line middle point Q(n / 2) can be set; when the distance h between a fixing point and a sewing line middle point Q(n / 2)is set as h max and (X please refer to the full document), the position coordinate of the attribute points of the corresponding cloth grabbing device can be respectively calculated; whether h max and(X please refer to the full document) is the safe distance of the cloth grabbing device or not can be determined; the value of h max and (X please refer to the full document) can be adjusted; whetherthe difference value between h max and h min after adjustment is smaller than the predetermined error can be determined; if the difference value between h max and h min after adjustment is smaller than the predetermined error, the (X please refer to the full document) is the optimal safety distance of the cloth grabbing device; if the difference value between h max and h min after adjustment is not smaller than the predetermined error, the above flow will be repeated based on the adjusted h max and the adjusted h min till the difference value between the adjusted h max and the adjusted h minis smaller than the predetermined error. The grabbing position and posture control method and system of a cloth grabbing device can effectively guarantee sewing quality.
Description
technical field [0001] The invention relates to the technical field of automatic sewing equipment, in particular to a method and system for controlling the grabbing position and posture of a cloth grabbing device. Background technique [0002] With the development of the automatic sewing equipment industry, automatic sewing equipment is more and more used in different fields of production and life, and the auxiliary equipment matched with automatic sewing equipment is gradually enriched. Among them, the cloth is moved to the predetermined position by the cloth grabbing device, so as to realize the automatic supply of the cloth. [0003] During the sewing process, the cloth grabbing device grabs the cut piece according to a certain posture, so that the equidistant points on the sewing line pass the position of the needle one by one, so as to realize automatic sewing. However, if the fabric grabbing device is too close to the sewing line, it will collide with the automatic se...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
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IPC IPC(8): G05D3/12
CPCG05D3/12
Inventor 汪洁萍马泽陈思
Owner JACK SEWING MASCH CO LTD