A method and apparatus for improving the stability of a fabric during transfer

Abstract

The present application relates to a kind of method and device for improving the stability of fabric in the process of transfer, method is: in the process of using suction cup to transfer fabric, the morphology of fabric is monitored in real time and is analyzed, when the morphology of fabric is unstable form (i.e. the distance between fabric and the lower surface of suction cup is greater than 10mm), rapidly increase the air flow of suction cup (i.e. in less than 0.5s time, the air flow of suction cup is increased by 1-1.5 times);Device includes suction cup, mechanical arm body, mechanical arm controller, host computer PC, table top, industrial camera, electrical proportional valve and single-chip microcomputer;Suction cup is hard connected with the end of mechanical arm body;Mechanical arm body, mechanical arm controller, host computer PC are sequentially connected;Mechanical arm body is fixed on table top;Industrial camera is located in the side of table top and is connected with host computer PC;Suction cup, electrical proportional valve, single-chip microcomputer, host computer PC are sequentially connected.The present application significantly improves the stability of fabric in the process of transfer.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automatic production of clothes, and relates to a method and device for improving the stability of fabric during transfer. BACKGROUND

[0002] In the existing fabric transfer method, mechanical clamping type is mostly used, which has excellent stability during fabric transfer, but the force of mechanical clamping type is increased to maintain stability, or the transferred fabric is light and thin, which can also cause wrinkles or clamping marks on the surface of the fabric, affecting the quality of the final product.

[0003] In order to overcome the above-mentioned defects, non-contact technology is proposed, but because most of the existing fabrics have the characteristics of lightness, softness and air permeability, when they are transferred, the fabric will be subjected to air resistance opposite to the direction of movement. Under the action of air resistance, the shape of the fabric will change randomly and dynamically, resulting in a change in the center of gravity of the fabric. This phenomenon has a negligible impact on the stability of the fabric during transfer. Especially when using non-contact adsorption technology to transfer the fabric, the reduction of fabric stability brings a great risk of fabric detachment and falling. In addition, when external environmental interference occurs, such as mechanical interference and machine vibration, the fabric in the transfer process also faces the risk of instability and falling. The instability problem of fabric caused by non-contact technology for fabric transfer makes this technology not widely used in the field of fabric transfer.

[0004] Therefore, how to improve the stability of the fabric during transfer is a technical problem and challenge recognized by the academic and industrial circles. SUMMARY

[0005] The purpose of the present application is to solve the problems existing in the prior art and provide a method and device for improving the stability of fabric during transfer.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows:

[0007] A method for improving the stability of fabric during transfer, in the process of transferring fabric by using a suction cup, the shape of the fabric is monitored and analyzed in real time, and when the shape of the fabric is unstable, the air flow of the suction cup is rapidly increased;

[0008] The shape of the fabric is unstable, that is, the distance between the fabric and the lower surface of the suction cup is greater than 10 mm. After many tests, it is found that when the distance is greater than 10 mm, the fabric begins to fall. Therefore, the present application takes "the distance between the fabric and the lower surface of the suction cup is greater than 10 mm" as the basis for the shape of the fabric being unstable.

[0009] Rapidly increasing the air intake flow of the suction cup refers to increasing the air intake flow of the suction cup by 1-1.5 times in less than 0.5 s (i.e. assuming that the original air intake flow is Q, the air intake flow after increasing is 2Q-2.5Q); the control time of the present application is less than 0.5 s because the time from fabric instability to falling is about 0.7 s, so only within 0.7 s, it is possible to make the fabric re-stable; the control increase multiple is 1-1.5 times because: if the increase multiple is less than 1 times, the increase of the air intake flow still cannot provide sufficient adsorption force for the fabric about to lose stability and fall; if the increase multiple is greater than 1.5 times, the increase of the air intake flow will not further benefit the fabric stability, and meanwhile, the energy consumption will be increased.

[0010] As a preferred technical solution:

[0011] The method for improving the stability of the fabric during the conveying process as described above, the suction cup is a Bernoulli suction cup, a cyclone suction cup or a vacuum suction cup.

[0012] The method for improving the stability of the fabric during the conveying process as described above, the conveying is carried out along the horizontal direction, and the conveying speed is 300-500 mm / s.

[0013] The method for improving the stability of the fabric during the conveying process as described above, the falling rate of the fabric during the conveying process is not more than 10%, and the falling rate of the fabric during the conveying process in the prior art is about 30%, so that the present application significantly reduces the falling rate of the fabric during the conveying process.

[0014] The present application also provides a device for realizing the method for improving the stability of the fabric during the conveying process as described in any one of the above, comprising a suction cup, a mechanical arm body, a mechanical arm controller, an upper computer PC, a table top, an industrial camera, an electrical proportional valve and a single-chip microcomputer;

[0015] The suction cup is hard connected with the end of the mechanical arm body, realizing the flexible movement of the suction cup; the mechanical arm body is connected with the mechanical arm controller, movement instructions are programmed in the mechanical arm controller, and the mechanical arm body can be driven to move the suction cup in space; the mechanical arm controller is connected with the upper computer PC;

[0016] The mechanical arm body is fixed on the table top; the industrial camera is located on one side of the table top and connected with the upper computer PC, and the industrial camera is used for collecting images containing the distance information between the fabric and the lower surface of the suction cup in real time and sending the images to the upper computer PC;

[0017] The suction cup and the electrical proportional valve are connected through an air pipe; the electrical proportional valve is connected with the analog signal I / O interface of the single-chip microcomputer; the single-chip microcomputer is connected with the upper computer PC;

[0018] The working process of the upper computer PC is as follows:

[0019] (a) write analog signal output program and signal communication program with improved target detection algorithm to the single-chip microcomputer, realize the single-chip microcomputer control the voltage size of the electric proportional valve, and then adjust the air flow of the suction cup, so that the suction cup adsorbs the fabric; the single-chip microcomputer used in the application is Arduino UNO, and the electric proportional valve uses SMC ITV type voltage control proportional valve;

[0020] The improved target detection algorithm adds a module for communication with the single-chip microcomputer, and adds a condition judgment statement (according to the code flow, generally if…then…) after the target detection algorithm when the algorithm prints the detection frame on the monitoring picture;

[0021] (b) compile motion instructions in the mechanical arm controller to drive the mechanical arm body to move the suction cup to transfer the fabric; the EC66 mechanical arm of Suzhou Elite Company is used in the application, and the basic motion instructions are compiled by using the jbi language developed by itself;

[0022] (c) run the improved target detection algorithm to analyze the image and judge whether the fabric form is unstable form, if not, no adjustment is made; if yes, the next step is entered;

[0023] (d) the improved target detection algorithm sends a signal to the single-chip microcomputer, and the single-chip microcomputer receives the signal and realizes the single-chip microcomputer control the voltage size of the electric proportional valve through the above-mentioned analog signal output program, and then increases the air flow of the suction cup by 1-1.5 times in less than 0.5s.

[0024] As a preferred technical solution:

[0025] The device as described above, the improved target detection algorithm is improved yolov5, which adds the "Importserial.tools.list_ports" statement, sets the baud rate to 9600, and adds the condition judgment statement "if name==‘unstable’

[0026] then Serialwrite(‘a’)” after yolov5.

[0027] The device as described above, further comprising a pneumatic three-way piece, a gas storage tank and an air compressor; the electric proportional valve, the pneumatic three-way piece, the gas storage tank and the air compressor are connected in series through the air pipe.

[0028] The device as described above, the suction cup is hard connected with the end of the mechanical arm body through bolts and flange surfaces.

[0029] Advantages:

[0030] (1) The application has strong effectiveness, can make the fabric in the transfer process about to fall off and restore stability in a short time, and improves the efficiency of automatic production of clothes.

[0031] (2) The application has high expandability, can adapt to different types of workpiece transfer conditions, and is conducive to wide application.

[0032] (3) The device of the application is simple in structure, easy to deploy, and reduces the equipment purchase cost. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is the running state diagram of the application when the fabric is not falling during the transfer of the fabric; in the diagram, (a) is the state diagram of the fabric when it starts to move, (b) is the state diagram when it loses stability, and (c) is the state diagram after the adsorption force is enhanced; the rectangular box around the fabric in (a) is the box automatically labeled when the algorithm detects loss of stability during the running of the target detection algorithm, which illustrates the effectiveness of the algorithm;

[0034] Figure 2 is a schematic diagram of the connection relationship of the device as a whole;

[0035] Among them, 1 is a mechanical arm body, 2 is a mechanical arm controller, 3 is a suction cup, 4 is an electrical proportional valve, 5 is an air compressor, 6 is an air tank, 7 is a single-chip microcomputer, 8 is an upper computer PC, 9 is a pneumatic three-way joint, 10 is an industrial camera, 11 is a fabric sample, and 12 is a table top. DETAILED DESCRIPTION

[0036] The application will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the application and not to limit the scope of the application. In addition, it should be understood that after reading the content taught by the application, those skilled in the art can make various modifications or modifications to the application, and these equivalent forms also fall within the scope defined by the claims attached to the present application.

[0037] A method for improving the stability of fabric during transfer, in the process of transferring fabric by using a suction cup (Bernoulli suction cup, cyclone suction cup or vacuum suction cup), the shape of the fabric is monitored and analyzed in real time, and when the fabric shape is in a state of instability, the air flow of the suction cup is rapidly increased;

[0038] The transfer is carried out along the horizontal direction, and the transfer speed is 300-500 mm / s;

[0039] The fabric shape is in a state of instability, that is, the distance between the fabric and the lower surface of the suction cup is greater than 10 mm;

[0040] Rapidly increasing the air flow of the suction cup means increasing the air flow of the suction cup by 1-1.5 times in less than 0.5 s.

[0041] The drop rate of the fabric during the transfer process is not more than 10%.

[0042] An apparatus for improving the stability of fabric during the transfer process, which implements the method for improving the stability of fabric during the transfer process as described above, comprises a suction cup 3, a mechanical arm body 1, a mechanical arm controller 2, a host computer PC 8, a table top 12, an industrial camera 10, an electric proportional valve 4, a single-chip microcomputer 7, a pneumatic three-way joint 9, an air tank 6, and an air compressor 5. Figure 2 As shown, the apparatus comprises a suction cup 3, a mechanical arm body 1, a mechanical arm controller 2, a host computer PC 8, a table top 12, an industrial camera 10, an electric proportional valve 4, a single-chip microcomputer 7, a pneumatic three-way joint 9, an air tank 6, and an air compressor 5.

[0043] The suction cup 3 is hard connected to the end of the mechanical arm body 1 through bolts and flange surfaces; the mechanical arm body 1 is fixed on the table top 12, and the mechanical arm body 1 is connected with the mechanical arm controller 2; the mechanical arm controller 2 is connected with the host computer PC 8.

[0044] The industrial camera 10 is located on one side of the table top and is connected with the host computer PC 8, and the industrial camera 10 is used to collect images containing the distance information between the fabric 11 and the lower surface of the suction cup 3 in real time and send them to the host computer PC 8.

[0045] The suction cup 3, the electric proportional valve 4, the pneumatic three-way joint 9, the air tank 6, and the air compressor 5 are connected in series through air pipes; the electric proportional valve 4 is connected with the analog signal I / O interface of the single-chip microcomputer 7; the single-chip microcomputer 7 is connected with the host computer PC 8.

[0046] The working process of the host computer PC 8 is as follows:

[0047] (a) Write analog signal output program and signal communication program with improved target detection algorithm into the single-chip microcomputer 7 to realize the single-chip microcomputer 7 controlling the voltage size of the electric proportional valve 4, and then adjusting the air flow of the suction cup 3, so that the suction cup 3 adsorbs the fabric 11.

[0048] The improved target detection algorithm is an improved yolov5, which adds an “Importserial.tools.list_ports” statement, sets the baud rate to 9600, and adds a conditional judgment statement “if name==‘unstable’then Serialwrite(‘a’)” after the yolov5.

[0049] (b) Compile motion instructions in the mechanical arm controller 2 to drive the mechanical arm body 1 to move the suction cup 3 to transfer the fabric 11.

[0050] (c) Run the improved target detection algorithm to analyze the images and determine whether the fabric 11 is in an unstable form. If not, no adjustment is made; if yes, the next step is entered.

[0051] (d) the improved target detection algorithm sends a signal to the single-chip microcomputer 7, and the single-chip microcomputer 7 receives the signal and controls the voltage of the electric proportional valve 4 through the above-mentioned analog signal output program, thereby increasing the air flow of the suction cup 3 by 1-1.5 times in less than 0.5s.

[0052] The superiority of the present application is further illustrated by comparing the falling rate of the fabric transfer process without using the method of the present application and using the method of the present application as follows:

[0053] The fabric used is polyester taffeta lining fabric, and the suction cup used is Bernoulli suction cup.

[0054] The method of the present application is used in the fabric transfer process: when the distance between the fabric and the lower surface of the suction cup is greater than 10mm, the air flow of the suction cup is increased by 1.5 times in 0.3s, and the running state of the fabric without falling during the fabric transfer process is shown in Figure 1 As shown in Tables 1-3, when the moving speed is 300mm / s, the fabric does not fall; when the moving speed is 400mm / s, the falling rate is 10%; and when the moving speed is 500mm / s, the falling rate is 10%;

[0055] The method of the present application is not used in the fabric transfer process: the target detection algorithm in the present application is not used, and the air flow of the suction cup is not increased by 1-1.5 times in less than 0.5s when the distance between the fabric and the lower surface of the suction cup is greater than 10mm; as shown in Tables 1-3, when the moving speed is 300mm / s, the falling rate is 30%; when the moving speed is 400mm / s, the falling rate is 50%; and when the moving speed is 500mm / s, the falling rate is 80%;

[0056] Table 1: Results of 10 tests at a transfer speed of 300mm / s

[0057]

[0058] Table 2: Results of 10 tests at a transfer speed of 400mm / s

[0059]

[0060]

[0061] Table 3: Results of 10 tests at a transfer speed of 500mm / s

[0062]

[0063] From the above results, it can be seen that as the transfer speed increases, the fabric drop rate gradually increases without using the method of the present application; when using the method of the present application, the fabric drop rate is reduced by 88%, greatly improving the success rate of fabric transfer; at the same time, it can be found that the smaller the transfer speed, the stronger the effectiveness of the method of the present application.

Claims

1. A method for improving the stability of fabric during the transfer process, characterized in that, The device used includes a suction cup (3), a robotic arm body (1), a robotic arm controller (2), a host computer PC (8), a table (12), an industrial camera (10), an electric proportional valve (4), and a microcontroller (7). The suction cup (3) is rigidly connected to the end of the robotic arm body (1); the robotic arm body (1) is connected to the robotic arm controller (2); the robotic arm controller (2) is connected to the host computer PC (8); The robotic arm body (1) is fixed on the table (12); the industrial camera (10) is located on one side of the table and connected to the host computer PC (8). The industrial camera (10) is used to collect images containing the distance information between the fabric and the lower surface of the suction cup (3) in real time and send them to the host computer PC (8). The suction cup (3) and the electric proportional valve (4) are connected by an air pipe; the electric proportional valve (4) is connected to the analog signal I / O interface of the microcontroller (7); the microcontroller (7) is connected to the host computer PC (8); The workflow of the host computer PC (8) is as follows: (a) Write the analog signal output program and the signal communication program with the improved target detection algorithm to the microcontroller (7) so that the microcontroller (7) controls the voltage of the electric proportional valve (4) and adjusts the air flow of the suction cup (3) so that the suction cup (3) adsorbs the fabric. The improved target detection algorithm adds a module that communicates with the microcontroller, and also adds a target detection algorithm after a conditional statement when the algorithm prints the detection box on the monitoring screen. (b) Write motion instructions in the robotic arm controller (2) to drive the robotic arm body (1) to move the suction cup (3) to transfer the fabric; (c) Run the improved target detection algorithm to analyze the image and determine whether the fabric shape is unstable. If not, no adjustment is made; if so, proceed to the next step. The unstable state is when the distance between the fabric and the lower surface of the suction cup (3) is greater than 10mm; (d) Improve the target detection algorithm to send a signal to the microcontroller (7). After receiving the signal, the microcontroller (7) controls the voltage of the electric proportional valve (4) through the above analog signal output program, thereby increasing the air flow of the suction cup (3) by 1 to 1.5 times in less than 0.5s.

2. The method for improving the stability of fabric during the transfer process according to claim 1, characterized in that, The suction cup (3) is a Bernoulli suction cup, a vortex suction cup, or a vacuum suction cup.

3. The method for improving the stability of fabric during the transfer process according to claim 1, characterized in that, The transfer is carried out horizontally at a speed of 300~500 mm / s.

4. The method for improving the stability of fabric during the transfer process according to claim 1, characterized in that, The improved target detection algorithm is the improved YOLOv5, which adds the statement "Import serial.tools.list_ports", sets the baud rate to 9600, and adds the conditional statement "if name == 'unstable' then Serialwrite('a')".

5. The method for improving the stability of fabric during the transfer process according to claim 1, characterized in that, It also includes a pneumatic triplet (9), an air tank (6) and an air compressor (5); the electric proportional valve (4), the pneumatic triplet (9), the air tank (6) and the air compressor (5) are connected in series via air pipes.

6. The method for improving the stability of fabric during the transfer process according to claim 1, characterized in that, The suction cup (3) is rigidly connected to the end of the robotic arm body (1) by bolts and flange face.

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