Fabric piece sorting and grabbing method and fabric separation treatment system

Abstract

The invention provides a fabric piece sorting and grabbing method and a fabric separation processing system.The method comprises the steps that a layout map of a current whole fabric is obtained from a computer layout system, reference coordinate points are preset on the layout map, and the deviation angle of the central axis of each fabric piece relative to the reference direction is calculated based on the layout map; a movement mechanism is controlled to drive a gripper mechanism to move, so that the centers of a plurality of grippers are located right above the reference coordinate point; the gripper mechanism is controlled to rotate in the horizontal direction based on the deviation angle, so that at least two grippers fall on the fabric piece; and the gripper mechanism is controlled to move downwards so as to grab the current fabric piece. According to the fabric piece sorting and grabbing method, movement and rotation of the grabbing mechanism are controlled by calculating the reference coordinate points and the central axis deviation angles of the fabric pieces, and accurate grabbing and sorting of the fabric pieces are achieved. According to the technical scheme, the problems of low manual sorting efficiency, low accuracy, high cost and the like in the traditional fabric piece preparation process are effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of material sorting, and in particular to a fabric piece sorting and grabbing method and a fabric separation and processing system. Background Art

[0002] In the production process of shoes, making the upper is a very critical link. For the production of the upper, it is usually necessary to use a variety of fabric pieces of different styles to ensure the production of diversified shoes that meet market demand. However, in the traditional shoemaking process, the sorting and grabbing of fabric pieces are usually done manually, which is not only time-consuming and labor-intensive, but also has a certain error rate, which is not conducive to improving production efficiency and quality.

[0003] Therefore, it is necessary to provide an automated fabric piece sorting and grabbing solution. Summary of the invention

[0004] The object of the present invention is to provide a fabric piece sorting and grabbing method and a fabric separation and processing system which can effectively improve the accuracy and efficiency of sorting fabric pieces.

[0005] In order to achieve the above-mentioned object, the present invention provides a fabric piece sorting and grabbing method, which is used to classify, grab and store a plurality of fabric pieces of different shapes in a whole piece of fabric processed by a cutting and separation system through a grabbing system, wherein the cutting and separation system divides the whole piece of fabric based on a layout diagram of a computer typesetting system, and the grabbing system includes a motion mechanism and a gripper mechanism connected to the motion mechanism, wherein the gripper mechanism includes N grippers N≥2 arranged at intervals; the sorting and grabbing method includes: Acquire a layout diagram of the entire current fabric from the computer layout system, the layout diagram being preset with reference coordinate points for grabbing and positioning, and calculate the offset angle of the central axis of each fabric piece relative to the reference direction based on the layout diagram; Controlling the motion mechanism to drive the gripper mechanism to move so that the centers of the N grippers are located directly above the reference coordinate point; Based on the offset angle, the gripper mechanism is controlled to rotate in a horizontal direction so that at least two of the grippers fall on the fabric piece; The gripper mechanism is controlled to move downward to grab the current fabric piece.

[0006] Preferably, the N grippers are arranged in parallel in a straight line.

[0007] Preferably, when N=3, when grabbing the fabric piece, the grabber in the middle position coincides with the reference coordinate point.

[0008] Preferably, the gripper mechanism further comprises two lifting and lowering pressure rods, which are respectively located on both sides of the gripper; when the gripper is controlled to move downward to grab the fabric piece, the pressure rod is controlled to move downward so that the pressure rod is pressed against the outside of the fabric piece.

[0009] Preferably, a straight line passing through the two pressure rods and a straight line passing through the N grippers are perpendicular to each other.

[0010] The present invention also provides a fabric separation processing system, which includes a computer typesetting system, a cutting and separation system, and a grabbing system; The computer typesetting system is used to typeset a whole piece of fabric based on the patterns of the required fabric pieces of various styles, so as to maximize the utilization rate of the whole piece of fabric, so as to obtain a typesetting diagram, on which reference coordinate points for grabbing and positioning are preset; the computer typesetting system also calculates the offset angle of the central axis of each fabric piece relative to the reference direction based on the typesetting diagram; The cutting and separation system comprises a cutting platform, a three-axis moving device arranged above the cutting platform, a cutter connected to the three-axis moving device, and a cutting controller. The cutting platform is used to carry the whole piece of fabric to be cut; the cutting controller is connected to the computer typesetting system in communication, and the cutting controller is used to control the three-axis moving device to drive the cutter to move according to the typesetting diagram, so as to cut the whole piece of fabric into a plurality of fabric pieces; The grabbing system comprises a sorting platform, a motion mechanism arranged above the sorting platform, a gripping mechanism connected to the motion mechanism, and a gripping controller, wherein the gripping mechanism comprises N grippers arranged at intervals (N≥2); the sorting platform is used to receive the whole piece of fabric cut on the cutting platform; The grabbing controller is communicatively connected to the computer typesetting system, and is used to control the motion mechanism to move in the horizontal or vertical direction so that the centers of the N grippers are directly opposite to the reference coordinate point. The grabbing controller also controls the rotational movement of the gripping mechanism 32 based on the offset angle so that at least two of the grippers fall on the fabric piece.

[0011] Preferably, it further includes a frame, which includes a first section and a second section respectively located at both ends, and a conveyor belt circulating between the first section and the second section is arranged on the frame, the conveyor belt located in the first section forms the cutting platform, and the conveyor belt located in the second section forms the sorting platform.

[0012] Preferably, the N grippers are arranged in parallel in a straight line; when N=3, when grabbing the fabric piece, the gripper in the middle position coincides with the reference coordinate point.

[0013] Preferably, the gripper mechanism further comprises two lifting and lowering pressure rods, which are respectively located on both sides of the gripper; when the gripper is controlled to move downward to grab the fabric piece, the pressure rod is controlled to move downward so that the pressure rod is pressed against the outside of the fabric piece.

[0014] Preferably, a straight line passing through the two pressure rods and a straight line passing through the N grippers are perpendicular to each other.

[0015] Compared with the prior art, the fabric piece sorting and grabbing method provided by the above technical solution of the present invention divides the whole piece of fabric through the layout diagram of the computer typesetting system, and then uses the grabbing system to classify, grab and store fabric pieces of different shapes. The method calculates the offset angle of the central axis of the fabric piece and controls the movement and rotation of the gripper mechanism to achieve accurate grabbing and sorting of the fabric piece. This technical solution effectively solves the problems of low efficiency, low accuracy and high cost of manual sorting in the traditional fabric piece production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Flow chart of the crawling method in an embodiment of the present invention.

[0017] Figure 2 This is a layout diagram in an embodiment of the present invention.

[0018] Figure 3 This is a state diagram of the gripper mechanism in an embodiment of the present invention being located above the fabric piece before rotating.

[0019] Figure 4 for Figure 3 State diagram of the transfer mechanism after rotation.

[0020] Figure 5 It is a three-dimensional structural diagram of the fabric separation and processing system in an embodiment of the present invention.

[0021] Figure 6 It is a three-dimensional structural diagram of the gripper mechanism in an embodiment of the present invention.

[0022] Figure 7 for Figure 6 Diagram of the internal structure of the middle gripper mechanism. DETAILED DESCRIPTION

[0023] In order to explain the technical content, structural features, achieved objectives and effects of the present invention in detail, the following is a detailed description in conjunction with the implementation methods and the accompanying drawings.

[0024] This embodiment discloses a method for sorting and grabbing fabric pieces, which is used to classify, grab and store a number of fabric pieces of different shapes in a whole piece of fabric processed by a cutting and separation system through a grabbing system. Figures 1 to 6The cutting and separation system divides the whole piece of fabric based on the layout diagram of the computer typesetting system 1. The grabbing system includes a motion mechanism 31 and a gripping mechanism 32 connected to the motion mechanism 31. The gripping mechanism 32 includes N grippers 320 arranged at intervals, where N≥2. The grippers in this embodiment are preferably suction cups. Based on this, the sorting and grabbing method includes: S1: Obtain the layout diagram of the current entire fabric from the computer layout system. The layout diagram is preset with reference coordinate points for grabbing and positioning, and the reference coordinate points of each fabric piece and the offset angle of the central axis of each fabric piece relative to the reference direction are calculated based on the layout diagram. It should be noted that the reference coordinate point can be manually set in advance, or it can be automatically generated according to the calculation strategy, for example, the center point of the fabric piece is used as the reference coordinate point.

[0025] S2: Control the motion mechanism 31 to drive the gripper mechanism 32 to move so that the centers of the N grippers 320 are located directly above the reference coordinate point.

[0026] S3: Controlling the gripper mechanism 32 to rotate in the horizontal direction based on the offset angle, so that at least two grippers 320 fall on the fabric piece.

[0027] S4: Control the gripper mechanism 32 to move downward to grab the current fabric piece.

[0028] On the other hand, the N grippers 320 are arranged in parallel in a straight line. Moreover, when N=3, when grabbing the fabric piece, the gripper 320 in the middle position coincides with the reference coordinate point.

[0029] Taking the production of uppers as an example, first, the computer typesetting system 1 performs typesetting design on the entire fabric according to the design of the shoe currently being produced, and generates a reasonable fabric typesetting diagram, such as Figure 2 The typesetting principle of computer typesetting system 1 is to maximize the utilization of the entire fabric, optimize the utilization of the fabric, and reduce waste.

[0030] Then, the whole piece of fabric used as the upper is sent to the cutting and separation system. The cutting and separation system uses a laser cutting device to accurately cut the whole piece of fabric according to the layout diagram generated by the computer typesetting system 1 to generate a variety of fabric pieces with different shapes.

[0031] Next, the grabbing system operates to classify, grab and store the separated fabric pieces. The specific process is as follows: a. Obtaining layout information: The computer layout system 1 transmits the generated layout to the gripping system. The gripping system calculates the offset angle of the central axis of each fabric piece based on the layout.

[0032] b. Positioning grippers: The motion mechanism 31 drives the gripper mechanism 32 to move above the fabric piece, ensuring that the centers of the three grippers 320 are located directly above the reference coordinate point of the fabric piece.

[0033] c. Angle adjustment: Based on the offset angle, the system controls the gripper mechanism 32 to rotate in the horizontal direction so that the two grippers 320 fall on the fabric piece. Figure 3 , a fabric piece numbered 14 in the whole fabric, wherein the offset angle of the axis X1 relative to the standard view direction X2 is α. When the gripper P2 located in the middle position of the gripper mechanism 32 is relative to the reference coordinate point C of the fabric piece, at this time, the three grippers 320a, 320b, and 320c are all located in the empty area of ​​the fabric piece. In this state, the fabric piece cannot be grasped. Therefore, after the gripper mechanism 32 is rotated by an angle of α, the grippers 320a and 320c fall on the fabric piece respectively and are located on both sides of the central axis X1, so that the fabric piece can be stably grasped.

[0034] d. Grasping action: After the adjustment is completed, the gripper mechanism 32 moves vertically downward, and the two grippers 320 contact the fabric piece to ensure stable grasping.

[0035] e. Classification and storage: After grabbing, the motion mechanism 31 moves the fabric pieces to the designated classification and storage area. Each fabric piece is stored in the corresponding area according to the predetermined classification standard for subsequent processing.

[0036] In another preferred embodiment of the present invention, Figures 2 to 6 , also discloses a fabric separation processing system, which includes a computer typesetting system 1, a cutting and separation system and a grabbing system.

[0037] The computer typesetting system 1 is used to typeset a whole piece of fabric based on the patterns of the required fabric pieces of various styles, so as to maximize the utilization rate of the whole piece of fabric, and obtain a typesetting diagram, on which reference coordinate points for grabbing and positioning are preset. The computer typesetting system 1 also calculates the offset angle of the central axis of each fabric piece relative to the reference direction based on the typesetting diagram.

[0038] The cutting and separation system includes a cutting platform 20, a three-axis moving device 21 arranged above the cutting platform 20, a cutter 22 connected to the three-axis moving device 21, and a cutting controller. The cutting platform 20 is used to carry the whole piece of fabric to be cut; the cutting controller is communicated with the computer typesetting system 1, and the cutting controller is used to control the three-axis moving device 21 to drive the cutter 22 to move according to the typesetting diagram, so as to cut the whole piece of fabric into a plurality of fabric pieces.

[0039] The grabbing system includes a sorting platform 30, a motion mechanism 31 disposed above the sorting platform 30, a gripping mechanism 32 connected to the motion mechanism 31, and a grabbing controller, wherein the gripping mechanism 32 includes N grippers 320 disposed at intervals, where N ≥ 2. The sorting platform 30 is used to receive the whole piece of fabric cut on the cutting platform 20.

[0040] The grabbing controller is communicatively connected to the computer typesetting system 1, and is used to control the motion mechanism 31 to move in the horizontal or vertical direction so that the centers of the N grippers are directly opposite to the reference coordinate point. The grabbing controller also controls the rotational movement of the gripping mechanism 32 based on the offset angle so that at least two grippers 320 fall on the fabric piece.

[0041] The working principle and working mode of the fabric separation and processing system are detailed in the fabric piece sorting and grabbing method in the above embodiment, which will not be repeated here.

[0042] Specifically, Figure 7 The gripping controller includes a hollow rotating platform 322, a driving motor 323 and a telescopic driver 325. The hollow rotating platform 322 is connected to the telescopic driver 325 through a connecting shaft 324, and the gripper 320 is installed at the telescopic end of the telescopic driver 325. The driving motor 323 is used to provide rotational power for the hollow rotating platform 322. The control process of rotating the gripper 320 is as follows: the driving motor 323 rotates, driving the hollow rotating platform 322 to move, and then the hollow rotating platform 322 drives the connecting shaft 324 to rotate, then the connecting shaft 324 drives the telescopic driver 325 to rotate, and thus the telescopic driver 325 drives the gripper 320 to rotate.

[0043] In addition, the telescopic actuator 325 provides telescopic control for the gripper 320 so as to make the gripper 320 contact or separate from the fabric piece.

[0044] On the other hand, the gripper mechanism 32 also includes two lifting and lowering pressure rods 321, which are respectively located on both sides of the gripper 320; when the gripper 320 is controlled to move downward to grab the fabric piece, the pressure rod 321 is controlled to move downward so that the pressure rod 321 is pressed against the outer part of the fabric piece. In this embodiment, through the setting of the pressure rod 321, when the gripper 320 grabs the fabric piece, the pressure rod 321 presses against the edge of the outer area of ​​the fabric piece, thereby separating the fabric piece from the entire piece of fabric and avoiding lifting the entire piece of fabric.

[0045] Furthermore, the straight line passing through the two pressure rods 321 and the straight line passing through the N grippers 320 are perpendicular to each other, thereby preventing the pressure rods 321 from interfering with the grippers 320 .

[0046] On the other hand, the fabric separation and processing system further includes a frame, which includes a first section 40 and a second section 41 respectively located at both ends. A conveyor belt that circulates between the first section 40 and the second section 41 is provided on the frame 4. The conveyor belt located in the first section 40 forms a cutting platform 20, and the conveyor belt located in the second section 41 forms a sorting platform 30. In this embodiment, the whole piece of fabric is first placed on the conveyor belt in the first section 40. After the cutting is completed, the conveyor belt moves to transfer the whole piece of fabric that has been cut and separated to the second section 41 for sorting by the grabbing system.

[0047] In summary, the present invention discloses a method for sorting and grabbing fabric pieces and a processing system for implementing the method. The above scheme divides the whole piece of fabric through the layout diagram of the computer typesetting system 1, and then uses the grabbing system to classify, grab and store fabric pieces of different shapes. The scheme calculates the offset angle of the central axis of the fabric piece and controls the movement and rotation of the gripper mechanism to achieve accurate grabbing and sorting of the fabric piece. This technical solution effectively solves the problems of low efficiency, low accuracy and high cost of manual sorting in the traditional fabric piece production process.

[0048] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A method for sorting and grabbing fabric pieces, characterized in that: The method is used to classify, grasp and store a plurality of fabric pieces of different shapes in a whole piece of fabric processed by a cutting and separation system through a grasping system, wherein the cutting and separation system divides the whole piece of fabric based on a layout diagram of a computer typesetting system, and the grasping system comprises a motion mechanism and a gripper mechanism connected to the motion mechanism, wherein the gripper mechanism comprises N grippers arranged at intervals, where N≥2; the sorting and grasping method comprises: Acquire a layout diagram of the entire current fabric from the computer layout system, the layout diagram being preset with reference coordinate points for grabbing and positioning, and calculate the offset angle of the central axis of each fabric piece relative to the reference direction based on the layout diagram; Controlling the motion mechanism to drive the gripper mechanism to move so that the centers of the N grippers are located directly above the reference coordinate point; Based on the offset angle, the gripper mechanism is controlled to rotate in a horizontal direction so that at least two of the grippers fall on the fabric piece; The gripper mechanism is controlled to move downward to grab the current fabric piece.

2. The fabric piece sorting and grabbing method according to claim 1, characterized in that: The N grippers are arranged in parallel in a straight line.

3. The fabric piece sorting and grabbing method according to claim 2, characterized in that: When N=3, when grabbing the fabric piece, the gripper in the middle position coincides with the reference coordinate point.

4. The fabric piece sorting and grabbing method according to claim 2, characterized in that: The gripper mechanism also includes two lifting and lowering pressure rods, which are respectively located on both sides of the gripper; when the gripper is controlled to move downward to grab the fabric piece, the pressure rod is controlled to move downward so that the pressure rod is pressed against the outside of the fabric piece.

5. The fabric piece sorting and grabbing method according to claim 4, characterized in that: A straight line passing through the two pressure rods and a straight line passing through the N grippers are perpendicular to each other.

6. A fabric separation processing system, characterized in that: Including computer typesetting system, cutting and separation system and grabbing system; The computer typesetting system is used to typeset a whole piece of fabric based on the patterns of the required fabric pieces of various styles, so as to maximize the utilization rate of the whole piece of fabric, so as to obtain a typesetting diagram, on which reference coordinate points for grabbing and positioning are preset; the computer typesetting system also calculates the offset angle of the central axis of each fabric piece relative to the reference direction based on the typesetting diagram; The cutting and separation system comprises a cutting platform, a three-axis moving device arranged above the cutting platform, a cutter connected to the three-axis moving device, and a cutting controller. The cutting platform is used to carry the whole piece of fabric to be cut; the cutting controller is connected to the computer typesetting system in communication, and the cutting controller is used to control the three-axis moving device to drive the cutter to move according to the typesetting diagram, so as to cut the whole piece of fabric into a plurality of fabric pieces; The grabbing system comprises a sorting platform, a motion mechanism arranged above the sorting platform, a gripping mechanism connected to the motion mechanism, and a gripping controller, wherein the gripping mechanism comprises N grippers arranged at intervals (N≥2); the sorting platform is used to receive the whole piece of fabric cut on the cutting platform; The grabbing controller is communicatively connected to the computer typesetting system, and is used to control the movement of the motion mechanism in the horizontal or vertical direction so that the centers of the N grippers are directly opposite to the reference coordinate point. The grabbing controller also controls the rotational movement of the gripping mechanism based on the offset angle so that at least two of the grippers fall on the fabric piece.

7. The fabric separation processing system according to claim 6, characterized in that: It also includes a frame, which includes a first section and a second section located at both ends respectively, and a conveyor belt that circulates between the first section and the second section is arranged on the frame, the conveyor belt located in the first section forms the cutting platform, and the conveyor belt located in the second section forms the sorting platform.

8. The fabric separation processing system according to claim 6, characterized in that: The N grippers are arranged in parallel in a straight line; when N=3, when grabbing the fabric piece, the gripper in the middle position coincides with the reference coordinate point.

9. The fabric separation processing system according to claim 8, characterized in that: The gripper mechanism also includes two lifting and lowering pressure rods, which are respectively located on both sides of the gripper; when the gripper is controlled to move downward to grab the fabric piece, the pressure rod is controlled to move downward so that the pressure rod is pressed against the outside of the fabric piece.

10. The fabric separation processing system according to claim 9, characterized in that: A straight line passing through the two pressure rods and a straight line passing through the N grippers are perpendicular to each other.

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