Cloth sewing speed synchronization method based on robot control system
A control system and robot technology, which are applied in the direction of program-controlled sewing machines, control devices for sewing machines, and mechanisms for cutting threads in sewing machines, etc., can solve the problems of unsightly sewing results, reduced sewing quality, uneven stitches, etc., Achieve the effect of low cost, simple operation and strong compatibility
Inactive Publication Date: 2019-09-20
珞石(北京)科技有限公司
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Problems solved by technology
[0005] At present, there are no similar cases in the research on the collaborative sewing speed matching between robots and sewing machines based on the robot control system; The result is not beautiful and the quality of sewing is reduced, so how to provide a method for synchronizing the sewing speed of fabrics is particularly necessary and important
Method used
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[0039] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.
[0040] The invention provides a cloth sewing speed synchronization method based on a robot control system. The robot in the method adopts a robot with six degrees of freedom.
[0041] Such as figure 1 As shown, the cloth sewing speed synchronization method based on the robot control system in the embodiment of the present invention includes the following steps:
[0042] Step S1, determining the mapping relationship between the linear range of the sewing machine speed and the output signal quantity of the robot.
[0043] Step S2...
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The invention provides a cloth sewing speed synchronization method based on a robot control system. The method includes: determining a mapping relation between a linear area of rotating speed of a sewing machine and output signal amount of a robot; converting the rotating speed of the sewing machine and the output signal amount of the robot, and determining a speed synchronization area in track of the robot; determining a function relation between speed of the robot and the rotating speed of the sewing machine; setting multiple control signal amounts when the robot controls working of the sewing machine; controlling to automatically complete feeding by a robot controller, and determining moving track of the robot, wherein the rotating speed of the sewing machine synchronously changes along with the speed of the robot during sewing; controlling to automatically complete presser foot lifting, thread cutting and discharging operations by the robot controller according to corresponding control signal amount. Synchronization of sewing speed of the robot sewing machine and TCP speed of the robot is realized so as to control needle pitch; action during sewing is controlled automatically, so that automatic synchronous sewing is realized.
Description
technical field [0001] The invention relates to the technical field of industrial robots, in particular to a cloth sewing speed synchronization method based on a robot control system. Background technique [0002] At present, the sewing of most fabrics still relies on manual work. Robots have become the focus of automatic sewing applications because of their strong versatility and flexibility. However, robot automatic sewing is a complex task, where the stitches not only affect the appearance of sewn clothes, etc., but also affect the quality of sewing. Therefore, the control of stitches is particularly important. [0003] For the control of stitches, the common manual operation is to control the speed of the sewing machine through the pedal to control the stitches; but it is obvious that the stitches obtained manually are greatly affected by human factors. However, when the robot replaces the manual sewing, due to the non-constant speed of the robot (such as acceleration a...
Claims
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IPC IPC(8): D05B19/00D05B29/02D05B33/00D05B65/00D05B69/18
CPCD05B19/00D05B29/02D05B33/00D05B65/00D05B69/18
Inventor 赵艳梅韩峰涛韩建欢袁顺宁张彪
Owner 珞石(北京)科技有限公司