Gentle descent fabric pile delamination method and apparatus

Abstract

This invention discloses a method and apparatus for "slow-descent" layered adsorption of stacked fabrics. The method involves: first, setting the optimal adsorption force F of the suction cup for adsorbing the uppermost layer of fabric in the stacked fabric. x Secondly, F x Substituting into the formula, we can solve for Q and h. x The combined solution; then, choose any set of Q and h. x Adjust the airflow rate of the suction cup to Q; finally, adjust the suction cup surface to be parallel to the top layer of fabric in the fabric stack, and control the suction cup to move directly above the fabric stack h. i After that, h i Compared to h x The suction cup is 40-60mm larger than the fabric stack. Control the suction cup to move vertically downwards at a speed of 75-90mm / min until the suction cup is directly above the fabric stack. x At this point, the suction cup stops moving downwards, and the control system begins to move the suction cup to transfer the top layer of fabric from the fabric stack. The device includes a suction cup, a robotic arm body, a robotic arm controller, a microcontroller, an electro-proportional valve, and a user PC. This invention has a high success rate for layered adsorption of fabric stacks.

Description

Technical Field

[0001] This invention belongs to the field of automated garment production and relates to a "slow-fall" fabric stacking and layering adsorption method and device. Background Technology

[0002] The internal yarns and fiber structure of the fabric are densely interwoven, giving it a soft and breathable feel. Unlike rigid materials, fabrics are highly sensitive to changes in external forces, and different fabrics exhibit significant differences in their macroscopic mechanical properties. During fabric stacking, physical coupling phenomena exist between fabric layers, such as interlayer electrostatic forces and interlayer fiber fuzzing. These issues significantly impact fabric stacking and layering, thereby affecting the success rate of layering.

[0003] During fabric stacking, based on the relationship between the actuator and the fabric being grasped, existing grasping methods for flexible materials such as fabrics can be divided into contact and non-contact methods. The former includes physical adsorption (physical adsorption further includes electrostatic adsorption and vacuum negative pressure adsorption, such as...). Figure 1 As shown), media-bonded type (media-bonded type includes polymer-bonded type and cryogenic freezing type, such as...). Figure 2 (as shown) and mechanical clamping (mechanical clamping includes mechanical gripper gripping and needle penetration, such as...) Figure 3 (As shown), the latter includes Bernoulli type and vortex type, such as Figure 4 As shown, the Bernoulli suction cups in the Bernoulli actuator are a traditional Bernoulli suction cup and a Bernoulli suction cup with a baffle. The traditional Bernoulli suction cup includes a rubber plate 11, and the Bernoulli suction cup with a baffle includes a rubber plate 11 and a baffle 12. The vortex actuator's vortex suction cup includes a nozzle 13, a cylindrical wall 14, and a vortex suction cup 15. However, when using the above technology to grip fabric, the following problem always occurs:

[0004] After repeated manipulations of the fabric using mechanical clamping, the fabric will undergo irreversible plastic deformation such as creases. Figure 5 As shown in (a); the needle-punching method, which uses steel needles to directly penetrate the fabric for gripping, can cause damage to the fabric fibers, such as compression and breakage. Figure 5 (b) Meanwhile, when using mechanical clamping to layer fabric stacks, precise control of the actuator's movements is required to barely achieve fabric layering, resulting in a very low success rate.

[0005] The fabric has a certain degree of breathability. When the negative pressure adsorption method adsorbs the fabric, the airflow under the fabric will penetrate the fabric. This airflow is not conducive to the generation of the necessary pressure difference between the upper and lower surfaces of the fabric, so the negative pressure adsorption actuator cannot provide sufficient adsorption force. Therefore, in actual operation, the negative pressure supply is often increased to compensate for the insufficient adsorption force, which undoubtedly increases energy consumption. At the same time, when the negative pressure supply is increased, multiple layers of fabric are often adsorbed at the same time, resulting in a low success rate of layering.

[0006] For fabrics made of natural fibers, although electrostatic adsorption gripping is stable, it can cause electrostatic pollution to the fabric, which is not conducive to the next process. At the same time, similar to mechanical clamping, this method requires precise adjustment of electrostatic voltage to barely achieve fabric stacking and layering, resulting in a low success rate.

[0007] When using a medium-adhesive method to grip the fabric, medium residue will be left on the gripping site of the fabric surface. Since the medium is mostly a chemical agent, it may cause chemical corrosion to the fibers. This method is quite harmful to the fabric.

[0008] Non-contact adsorption technology is widely used in material handling, especially in the semiconductor industry for non-contact adsorption of wafers or silicon wafers. For example, patent CN202211337592 discloses a die handling device, detection device, and method including a non-contact chuck. The non-contact chuck is used for non-contact adsorption of dies and includes an air outlet connected to an air tube. The air outlet has a variable cross-section structure, where the cross-sectional area of ​​the air outlet increases from the side closer to the air tube to the side farther away from the air tube. A rectifier is installed inside the air outlet near the air tube, and several rectifier holes are opened on the periphery of the rectifier. This invention can achieve non-contact die pick-up and flipping, avoid die damage, improve detection accuracy, and thus effectively improve die handling and detection efficiency. Patent CN202220920902 discloses a spiral Bernoulli semiconductor wafer chuck. The chuck includes a sealing plate with multiple spiral Bernoulli chucks distributed on its front end. A compressed air passage is located on the back of the sealing plate, connecting to each of the spiral Bernoulli chucks. Each spiral Bernoulli chuck has a central adsorption area surrounded by spiral air channels. This spiral Bernoulli semiconductor wafer chuck employs non-contact adsorption, effectively avoiding wafer scratches caused by contact by setting a non-contact strip between the chuck and the wafer. It can also adsorb wafers with large warping ranges and is compatible with precision mechanical equipment for easy handling and handheld use. Patent CN202111449914 discloses a thin and soft fabric picking device for automated underwear sewing equipment, including a guide lifting mechanism, a material support, a picking mechanism, and a picking displacement mechanism. The material support is movably fixed on the picking displacement mechanism, and the picking mechanism is installed on the picking displacement mechanism. The picking mechanism is displaced under the drive of the picking displacement mechanism. The picking mechanism is positioned towards the material support, and the displacement direction of the picking mechanism includes directions towards and away from the material support. The device maintains the fabric state through curved plates and folding plates to reduce wrinkles and folds. It uses a negative pressure needle for picking to prevent the thin and soft fabric from being tangled, ensuring the accuracy of picking. It is equipped with a damping adjustable mechanism to adjust the pressure during picking, improving the success rate of picking. It also uses an optical sensor to increase the accuracy and stability of picking.

[0009] The non-contact adsorption technology involved in the aforementioned existing patented technologies is designed for adsorbed materials such as crystals, wafers, and clothing fabrics. When performing the actual adsorption action on the adsorbed materials, the adsorption method of "fixed spacing + fixed air flow rate" is used. The reliability and success rate of this method depend heavily on the operator's experience after repeated practice. Moreover, the effectiveness of this method is limited to when there is only one layer of adsorbed material. If it is necessary to adsorb layer by layer from the stack, its success rate and reliability will be sharply reduced.

[0010] Therefore, the problem of fabric stacking and layering is a recognized technical challenge and difficulty in academia and industry. Summary of the Invention

[0011] The purpose of this invention is to solve the problems existing in the prior art and to provide a "slow-fall" fabric stacking and layering adsorption method and device.

[0012] To achieve the above objectives, the present invention adopts the following technical solution:

[0013] The "slow-descent" fabric stacking and layering adsorption method uses suction cups. First, the optimal adsorption force F for the suction cups to adsorb the top layer of fabric in the fabric stack is set. x F g +F e ≤F x <2(F) g +F e ), F g For the weight of the top layer of fabric, F e The electrostatic force between the topmost and second-topmost layers of fabric in a fabric stack;

[0014] Secondly, F x Substitute into the formula Solving the formula yields Q and h. x The combined solution, where ρ is the air density, kg / m³ 3 Q represents the airflow rate of the suction cup, in L / min; h x The optimal distance between the suction cup and the topmost layer of fabric when the suction cup is used to adhere to the fabric stack is measured in mm; R is the outer radius of the suction cup in mm; r d The radius of the suction cup nozzle is in mm;

[0015] Next, choose any pair of Q and h. x Adjust the airflow rate of the suction cup to Q;

[0016] Finally, adjust the suction cup surface to be parallel to the top layer of fabric in the fabric stack, and control the suction cup to move directly above the fabric stack. i After that, h i Compared to h x Large 40-60mm (h) i Excessive size will reduce efficiency, and excessively large h i This cannot be achieved in certain confined production lines; h i (Too slow a speed will not give the fabric enough reaction time, reducing the success rate of layering.) Control the suction cup to move vertically downwards at a speed of 75-90mm / min (too high a speed will not give the fabric enough reaction time and may cause the suction cup to collide with the table; too low a speed will greatly reduce efficiency) until the suction cup moves directly above the fabric stack. xAt this point, the suction cup stops moving downwards, and immediately control the suction cup to start moving the top layer of fabric in the fabric stack.

[0017] Theoretically, as the suction cups gradually move downwards, the distance between them gradually decreases to h. x The fabric should be successfully layered, but in reality, the fabric may be affected by external factors (such as fuzz between layers, airflow, etc.) and thus cannot be accurately separated into layers. x The area is stratified. This necessitates the slow-fall triggered adsorption method proposed in this invention, the specific principle of which is as follows:

[0018] When the intake flow rate is constant, the magnitude of the adsorption force F a The relationship between the variation and the spacing h is as follows: Figure 6 As shown, the adsorption force decreases exponentially with increasing spacing. We assume that the optimal adsorption force required to successfully adsorb a single layer of fabric is F. x The corresponding optimal spacing is h. x The principle of the "slow-fall" adsorption method is: setting an initial spacing h. i Let the non-contact suction cup move from h i The location gradually and slowly moves towards h. x Get closer, until you are with h x When the layers overlap, the fabric can be successfully adsorbed onto a single layer. This is essentially a natural optimization process. Experiments have verified that this method has outstanding advantages such as strong versatility, high reliability, and high success rate.

[0019] The "slow-fall" fabric stacking and layering adsorption method described above has a success rate of over 93%.

[0020] As described above, the "slow-descent" fabric stacking and layering adsorption method uses Bernoulli suction cups, swirling suction cups, or vacuum suction cups.

[0021] The present invention also provides a “slow-falling” fabric stacking and layering adsorption device for implementing the “slow-falling” fabric stacking and layering adsorption method as described in any of the preceding claims, comprising a suction cup, a robotic arm body, a robotic arm controller, a microcontroller, an electro-proportional valve, and a user PC.

[0022] The suction cup is rigidly connected to the end of the robotic arm body, enabling flexible movement of the suction cup; the robotic arm body is connected to the robotic arm controller, and motion commands are executed in the robotic arm controller, which can drive the robotic arm body to move the suction cup in space; the robotic arm controller is connected to the user PC via an IP interface.

[0023] The suction cup and the electro-proportional valve are connected via an air tube; the electro-proportional valve is connected to the analog signal I / O interface of the microcontroller; the microcontroller is connected to the user's PC.

[0024] The workflow of the user PC is as follows:

[0025] (a) Receive a set of Q and h x ;

[0026] (b) Program the microcontroller to control the electric proportional valve to switch the air intake flow of the suction cup on and off, and at the same time control the voltage of the electric proportional valve to adjust the air intake flow of the suction cup to Q.

[0027] (c) Program the motion command program for the robotic arm controller to control the movement of the robotic arm body, thereby adjusting the suction cup surface to be parallel to the top layer of fabric in the fabric stack, and controlling the suction cup to move directly above the fabric stack. i Afterward, control the suction cup to move vertically downward at a speed of 75-90 mm / min until the suction cup moves directly above the fabric stack. x At that point, the suction cup stopped moving downwards.

[0028] As a preferred technical solution:

[0029] The “slow-descent” fabric stacking and layering adsorption device described above also includes a force sensor; the force sensor is installed in the robotic arm body and is used to send a feedback signal to the robotic arm controller after the suction cup adsorbs the top layer of fabric in the fabric stack.

[0030] The “slow-fall” fabric stacking and layering adsorption device described above also includes a pneumatic triplet, an air tank, and an air compressor; the electric proportional valve, the pneumatic triplet, the air tank, and the air compressor are connected in series via air pipes.

[0031] As described above, in the “slow-descent” fabric stacking and layering adsorption device, the suction cups are rigidly connected to the end of the robotic arm body via bolts and flanges.

[0032] Beneficial effects

[0033] (1) The present invention has high effectiveness and reliability, and can significantly improve the success rate of layering fabric stacking.

[0034] (2) The present invention has high scalability and can adapt to different layered grasping conditions, which is conducive to its wide application.

[0035] (3) The equipment of the present invention has a simple structure, is easy to deploy, and reduces the equipment purchase cost. Attached Figure Description

[0036] Figure 1 The diagram shows a physical adsorption type end effector in the prior art; (a) to (c) in the figure are schematic diagrams of comb-shaped electrode plate, roller electrostatic adsorption device and vacuum negative pressure adsorption device, respectively.

[0037] Figure 2 This is a schematic diagram of a media-adhesive end effector in the prior art; (a) and (b) in the figure are schematic diagrams of a polymer adhesive gripping device and a cryogenic freezing gripping device, respectively.

[0038] Figure 3 The diagram shows a mechanical gripping end effector in the prior art; (a) to (e) in the figure are schematic diagrams of a two-finger robot, a three-finger robot, a dual-arm four-finger robot, a needle-piercing gripper, and a Clupicker gripper, respectively.

[0039] Figure 4 This is a schematic diagram of a non-contact end effector in the prior art; (a), (b), and (c) in the figure are schematic diagrams of a traditional Bernoulli suction cup structure, a Bernoulli suction cup structure with a baffle, and a vortex suction cup structure, respectively; the arrows in the figure indicate the direction of gas flow.

[0040] Figure 5 This is a schematic diagram of the damage caused to the fabric by mechanical clamping; (a) and (b) in the figure are schematic diagrams of fabric creases and fiber compression, respectively;

[0041] Figure 6 The adsorption force F in this invention when the intake air flow rate is constant a A schematic diagram showing the relationship between the distance h and the spacing;

[0042] Figure 7 This is a diagram showing the results of the experimental stacking and layering of the present invention. In the diagram, (a) to (j) are the state diagrams after the first to tenth layers of denim fabric of fabric No. 1 were successfully layered.

[0043] Figure 8 This is a diagram showing the results of the experimental stacking and layering of the present invention. In the diagram, (k) to (t) are the state diagrams of the first to tenth layers of white fabric after the No. 4 fabric stack was successfully layered.

[0044] Figure 9 This is a schematic diagram of the device structure connection in this invention;

[0045] Among them, 1-robotic arm body, 2-robotic arm controller, 3-suction cup, 4-electric proportional valve, 5-air compressor, 6-air tank, 7-microcontroller, 8-user PC, 9-pneumatic triplet, 10-fabric stacking, 11-rubber plate, 12-baffle, 13-nozzle, 14-cylindrical wall, 15-swirling suction cup. Detailed Implementation

[0046] The present invention will be further described below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined by the appended claims.

[0047] A "slow-fall" fabric stacking and layering adsorption method, the specific process of which is as follows:

[0048] First, determine the optimal suction force F for the suction cup (Bernoulli cup, vortex cup, or vacuum cup) to adhere to the top layer of fabric in the fabric stack. x F g +F e ≤F x <2(F) g +F e ), F g For the weight of the top layer of fabric, F e The electrostatic force between the topmost and second-topmost layers of fabric in a fabric stack;

[0049] Secondly, F x Substitute into the formula Solving the formula yields Q and h. x The combined solution, where ρ is the air density, kg / m³ 3 Q represents the airflow rate of the suction cup, in L / min; h x The optimal distance between the suction cup and the topmost layer of fabric when the suction cup is used to adhere to the fabric stack is measured in mm; R is the outer radius of the suction cup in mm; r d The radius of the suction cup nozzle is in mm;

[0050] Next, choose any pair of Q and h. x Adjust the airflow rate of the suction cup to Q;

[0051] Finally, adjust the suction cup surface to be parallel to the top layer of fabric in the fabric stack, and control the suction cup to move directly above the fabric stack. i After that, h i Compared to h x The suction cup is 40-60mm larger than the fabric stack. Control the suction cup to move vertically downwards at a speed of 75-90mm / min until it is directly above the fabric stack. x At this point, the suction cup stops moving downwards, and the control suction cup begins to move the topmost layer of fabric in the fabric stack.

[0052] The success rate of "slow-fall" fabric stacking and layering adsorption is over 93%.

[0053] A "slow-falling" fabric stacking and layering adsorption device is provided to implement the "slow-falling" fabric stacking and layering adsorption method described above, such as... Figure 9 As shown, it includes a suction cup 3, a robotic arm body 1, a robotic arm controller 2, a microcontroller 7, an electric proportional valve 4, a user PC 8, a force sensor, a pneumatic triplet 9, an air tank 6, and an air compressor 5;

[0054] The suction cup 3 is rigidly connected to the end of the robotic arm body 1 via bolts and flange face; the robotic arm body 1 is connected to the robotic arm controller 2; the robotic arm controller 2 is connected to the user PC 8;

[0055] The suction cup 3, the electro-proportional valve 4, the pneumatic triplet 9, the air tank 6, and the air compressor 5 are connected in series via air pipes; the electro-proportional valve 4 is connected to the analog signal I / O interface of the microcontroller 7; the microcontroller 7 is connected to the user PC 8.

[0056] A force sensor is installed inside the robotic arm body 1 to send a feedback signal to the robotic arm controller 2 after the suction cup 3 adsorbs the top layer of fabric in the fabric stack 10.

[0057] The workflow of user PC 8 is as follows:

[0058] (a) Receive a set of Q and h x ;

[0059] (b) Program the microcontroller 7 to control the electric proportional valve 4 to switch the air intake flow of the suction cup 3 on and off, and at the same time control the voltage of the electric proportional valve 4 to adjust the air intake flow of the suction cup 3 to Q.

[0060] (c) Compile motion command programs for the robotic arm controller 2 to control the movement of the robotic arm body 1, thereby adjusting the suction cup 3 to be parallel to the uppermost layer of fabric in the fabric stack 10, and controlling the suction cup 3 to move directly above the fabric stack 10. i Afterward, control the suction cup 3 to move vertically downward at a speed of 75-90 mm / min until the suction cup 3 moves directly above the fabric stack 10. x At that point, suction cup 3 stops moving downwards.

[0061] The invention will be further illustrated below with specific experimental data:

[0062] In actual operation, the fabric being adsorbed is a 200×200mm square denim fabric, and the fabric is stacked in 10 layers. All the suction cups used are Bernoulli suction cups.

[0063] Set the optimal adsorption force F x The suction cup has a pressure of 0.16 N, an airflow rate Q of 109 L / min, and the optimal distance h between the suction cup and the topmost layer of fabric when the suction cup is adsorbing a stack of fabrics. x It is 50mm;

[0064] Motion commands are programmed in the robotic arm controller to move the robotic arm body to a position about 90mm above the fabric stack. The microcontroller controls the electro-proportional valve to make the air intake flow of the Bernoulli suction cup immediately reach about 109L / min. Next, the robotic arm body moves the Bernoulli suction cup vertically downward at a fixed speed of 80mm / min. After adsorbing the top layer of denim fabric from the fabric stack, the downward movement is stopped immediately, and the suction cup is controlled to start transferring the top layer of fabric in the fabric stack. At this time, one layering of the fabric stack is completed.

[0065] Following the steps outlined above, the remaining fabric in the fabric stack was further subjected to stratified adsorption. This experiment tested a total of 7 fabric stacks, numbered 1, 2, 3, 4, 5, 6, and 7. Parallel experiments were conducted on these 7 fabric stacks. The stratified adsorption effect of each layer of fabric in fabric stacks 1 and 4 is as follows: Figures 7-8 As shown in Table 1, the final experimental results for the seven fabric stacks are as follows:

[0066] Table 1. Results of fabric stacking and layering adsorption test at a slow descent speed of 80 mm / min

[0067]

[0068] The data in the table above shows that the average success rate of fabric stacking and layering is 94% when the descent speed is 80 mm / min.

[0069] Motion commands are programmed in the robotic arm controller to move the robotic arm body to a position about 90mm above the fabric stack. The microcontroller controls the electro-proportional valve to make the air intake flow of the Bernoulli suction cup immediately reach about 109L / min. Next, the robotic arm body moves the Bernoulli suction cup vertically downward at a fixed speed of 180mm / min. After adsorbing the top layer of denim fabric from the fabric stack, the downward movement is stopped immediately, and the suction cup is controlled to start transferring the top layer of fabric in the fabric stack. At this time, one layering of the fabric stack is completed.

[0070] Following the steps described above, the remaining fabric in the fabric stack is further subjected to layered adsorption.

[0071] This experiment tested seven fabric stacks, numbered 1, 2, 3, 4, 5, 6, and 7, and the experiments were conducted in parallel for these seven fabric stacks. The final experimental results for the seven fabric stacks are shown in Table 2.

[0072] Table 2 Results of fabric stacking and layering adsorption test at a slow descent speed of 180 mm / min

[0073]

[0074]

[0075] The data in the table above shows that the average success rate of fabric stacking and layering is 37% when the descent speed is 180 mm / min.

[0076] The comparison shows that when layering, the Bernoulli suction cup should not move vertically downwards too quickly, otherwise it will reduce the average success rate of layering fabric stacking.

Claims

1. A "slow-fall" fabric stacking and layering adsorption method, employing suction cups, characterized by: First, determine the optimal suction force F for the suction cup to adhere to the top layer of fabric in the fabric stack. x F g +F e ≤F x <2(F) g +F e ), F g For the weight of the top layer of fabric, F e The electrostatic force between the topmost and second-topmost layers of fabric in a fabric stack; Secondly, F x Substitute into the formula Solving the formula yields Q and h. x The combined solution, where ρ is the air density, kg / m³ 3 Q represents the airflow rate of the suction cup, in L / min; h x The optimal distance between the suction cup and the topmost layer of fabric when the suction cup is used to adhere to the fabric stack is measured in mm; R is the outer radius of the suction cup in mm; r d The radius of the suction cup nozzle is in mm; Next, choose any pair of Q and h. x Adjust the airflow rate of the suction cup to Q; Finally, adjust the suction cup surface to be parallel to the top layer of fabric in the fabric stack, and control the suction cup to move directly above the fabric stack. i After that, h i Compared to h x The suction cup is 40-60mm larger than the fabric stack. Control the suction cup to move vertically downwards at a speed of 75-90mm / min until it is directly above the fabric stack. x At this point, the suction cup stops moving downwards, and the control suction cup begins to move the topmost layer of fabric in the fabric stack.

2. The "slow-fall" fabric stacking and layering adsorption method according to claim 1, characterized in that, The success rate of "slow-fall" fabric stacking and layering adsorption is over 93%.

3. The "slow-fall" fabric stacking and layering adsorption method according to claim 1, characterized in that, The suction cup can be a Bernoulli suction cup, a vortex suction cup, or a vacuum suction cup.

4. A "slow-falling" fabric stacking and layering adsorption device for implementing the "slow-falling" fabric stacking and layering adsorption method as described in any one of claims 1 to 3, characterized in that, It includes a suction cup (3), a robotic arm body (1), a robotic arm controller (2), a microcontroller (7), an electric proportional valve (4), and a user PC (8); 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 user PC (8); The suction cup (3) and the electro-proportional valve (4) are connected by an air pipe; the electro-proportional valve (4) is connected to the analog signal I / O interface of the microcontroller (7); the microcontroller (7) is connected to the user PC (8); The workflow of the user PC (8) is as follows: (a) Receive a set of Q and h x ; (b) Program the microcontroller (7) to control the electric proportional valve (4) to switch the air flow of the suction cup (3) on and off, and at the same time control the voltage of the electric proportional valve (4) to adjust the air flow of the suction cup (3) to Q. (c) Compile motion command programs for the robotic arm controller (2) to control the movement of the robotic arm body (1), thereby adjusting the suction cup (3) surface to be parallel to the uppermost layer of fabric in the fabric stack (10), and controlling the suction cup (3) to move directly above the fabric stack (10). i After that, control the suction cup (3) to move vertically downwards at a speed of 75-90 mm / min until the suction cup (3) moves directly above the fabric stack (10). x At that point, the suction cup (3) stops moving downwards.

5. The "slow-falling" fabric stacking and layering adsorption device according to claim 4, characterized in that, It also includes a force sensor; the force sensor is set inside the robotic arm body (1) and is used to send a feedback signal to the robotic arm controller (2) after the suction cup (3) adsorbs the uppermost layer of fabric in the fabric stack (10).

6. The "slow-falling" fabric stacking and layering adsorption device according to claim 4, 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.

7. The "slow-falling" fabric stacking and layering adsorption device according to claim 4, 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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