A speed coordination method of robot and sewing machine based on closed-loop control
A closed-loop control, sewing machine technology, applied in sewing machine components, program-controlled manipulators, sewing machine control devices, etc., can solve the problems that the feeding speed cannot respond in real time and does not cooperate with local movements, and achieves high control accuracy and simple system.
Active Publication Date: 2021-03-19
珞石(武汉)机器人有限公司
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Problems solved by technology
[0010] (2) The movement speed of the robot can only be adjusted according to the speed set by the sewing machine to complete the coordination;
[0011] (3) The robot has acceleration and deceleration during the sewing process, rather than a constant speed. If the feeding speed of the sewing machine cannot respond in real time, it will cause uncoordinated local movement
Method used
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[0036] 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.
[0037] like figure 1 As shown, the closed-loop control-based robot and sewing machine speed coordination method in the embodiment of the present invention includes the following steps:
[0038] Step S1, the robot system clamps the inner side of the cloth piece and controls the movement of the cloth piece, and calculates the moving speed V of the robot according to the set stitch distance tool , and transmit it to the sewing machine control system through the communication interface.
[0039] Specifically, the robot system incl...
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The invention provides a robot and sewing machine speed cooperation method based on closed-loop control, which comprises the following steps: a robot system clamps the inner side of a cloth piece andcontrols the movement of the cloth piece, and calculates the movement speed of a robot according to a set stitch length; a sewing machine control system receives the movement speed of the robot as thecloth feeding speed of a sewing machine step feeding mechanism; the rotating speed of a motor on the sewing machine is calculated according to the transmission ratio of the cloth feeding wheel to thesewing machine, analog semaphore corresponding to the rotating speed of the motor is sent to a motor control module of the sewing machine, and the motor control module outputs the rotating speed to drive the cloth feeding wheel of the sewing machine to move; and the speed of the cloth feeding wheel is collected, the sewing machine control system processes the rotating speed error of the cloth feeding wheel, the cloth feeding speed after closed-loop control is obtained, and the cloth feeding speed of the sewing machine cooperates with the speed of the robot in real time. The cloth feeding speed of the sewing machine is changed to achieve real-time cooperation with the movement speed of a robot tool; and the cloth feeding can accurately reach the receiving speed, the speed coordination is realized, and the control precision is high.
Description
technical field [0001] The invention relates to the technical field of industrial robots, in particular to a method for speed coordination between a robot and a sewing machine based on closed-loop control. Background technique [0002] Due to the flexibility of the fabric itself and the irregular shape, the application of robots in the sewing industry is relatively seldom, and the corresponding technology at home and abroad is not yet mature. According to the positional relationship between the robot and the sewing machine, it can be divided into two types: [0003] (1) Fixing of sewing machine: In this method, the robot controls the speed and direction of the cloth piece according to multiple sensors to achieve the required sewing effect. [0004] (2) The sewing machine is fixed on the motion unit of the robot: in this way, the fabric is static or controlled by a simple motion mechanism, and the robot is fixed to the sewing machine to move at the required speed and directi...
Claims
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IPC IPC(8): B25J11/00B25J9/16G05B19/416D05B27/10D05B69/10
CPCB25J9/1602B25J11/00D05B27/10D05B69/10G05B19/4163G05B2219/36521
Inventor 耿旭达曹华张媛韩建欢张彪袁顺宁
Owner 珞石(武汉)机器人有限公司