Cutting and collecting integrated control method and device

Abstract

The application belongs to the technical field of cutting equipment, and provides a cutting and collecting integrated control method and equipment, which comprises the following steps: cutting the to-be-cut cloth into cloth with a preset cutting pattern; determining the position at which a gripper grabs the cloth with the preset pattern according to the preset cutting pattern, transferring the cloth with the preset pattern to a collecting platform by the gripper, and determining the position of a corresponding collecting device according to feature information extracted from the preset cutting pattern to perform classified stacking and collecting. The application has the advantage that it realizes flexible cloth flatness by controlling the selection of the cloth grabbing position of the collecting mechanism and controlling the cloth flatness of the supporting rod device, so that the cloth is always in a flat state during transfer; meanwhile, different cloth sizes and features in the preset cutting pattern are recognized and extracted to perform classified stacking and collecting.

Description

Technical Field

[0001] This invention relates to the field of cutting equipment technology, and in particular to a method and equipment for integrated cutting and material collection control. Background Technology

[0002] Fabric is the material used to make clothing. In the garment production process, large rolls of fabric need to be cut into irregularly sized pieces using cutting equipment to facilitate garment making. However, after the fabric is cut, there are two methods for collecting it: one is manual collection, which is inefficient and prone to causing wrinkles; the other is to use a collection device to drag the fabric from the cutting platform to the collection platform. However, due to the high coefficient of friction between the fabric and the cutting platform, and the fabric's elasticity, the fabric may be stretched or become "high in the middle and drooping around the edges" during the dragging process, easily causing wrinkles. This affects the subsequent processing accuracy of the fabric and the quality of the finished garment. Summary of the Invention

[0003] The technical problem to be solved by this invention is to provide a cutting and collecting integrated control method and equipment. It controls the selection of the fabric gripping position by the collecting mechanism and controls the support rod device to flatten the fabric, so as to achieve flat picking and collecting of flexible fabric and solve the problem of keeping the fabric in a flat state during transportation. At the same time, it classifies and stacks the fabric according to the information such as the size and characteristics of different fabrics in the preset cutting pattern.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A method for integrated cutting and receiving control includes the following steps:

[0006] Cut the fabric to be cut into the preset pattern;

[0007] The position of the gripper to grasp the fabric of the preset pattern is determined according to the preset cutting pattern. The fabric cut into the preset pattern is transferred to the receiving platform through the gripper. The position of the corresponding receiving device is determined according to the feature information extracted from the preset cutting pattern, so as to classify and stack the receiving materials.

[0008] Furthermore, the step of determining the gripper's grasping position includes:

[0009] The position of each pattern on the fabric to be cut is determined according to the preset cutting pattern to form a cutting image;

[0010] The outline of each pattern is determined based on the cut image, and the left and right boundaries of each pattern and the distance between the left and right boundaries are determined accordingly.

[0011] The gripping position of the gripper is determined by moving it from the left boundary to the right boundary along a preset straight line at a preset distance.

[0012] Furthermore, when the distance traveled in a preset straight line exceeds half the distance between the left and right boundaries, the intersection of the preset straight line and the pattern is used as the gripping position of the gripper.

[0013] Furthermore, the method includes the steps of: determining the position of the support rod lifting the fabric of the preset pattern according to the preset cutting pattern; and always lifting the fabric of the preset pattern when the gripper transfers the fabric cut into the preset pattern.

[0014] Furthermore, the step of determining the position of the support rod lifting the preset patterned fabric includes:

[0015] The position of each pattern on the fabric to be cut is determined according to the preset cutting pattern to form a cutting image;

[0016] The outline of each pattern is determined based on the cut image, and the center of gravity of each pattern is determined accordingly. The center of gravity is used as the position for the support rod to lift the fabric of the preset pattern.

[0017] The present invention also provides an integrated cutting and collecting device, which includes a cutting mechanism that is controlled by a signal from a motion control board to perform a cutting action, and a collecting mechanism that is provided with a pair of grippers. The motion control board determines the position of the grippers gripping the fabric of the preset pattern according to a preset cutting pattern, and determines the position of the corresponding collecting device according to the feature information extracted from the preset cutting pattern.

[0018] Furthermore, the step of the motion control board determining the gripper's grasping position includes:

[0019] The position of each pattern on the fabric to be cut is determined according to the preset cutting pattern to form a cutting image;

[0020] The outline of each pattern is determined based on the cut image, and the left and right boundaries of each pattern and the distance between the left and right boundaries are determined accordingly.

[0021] The gripping position of the gripper is determined by moving it from the left boundary to the right boundary along a preset straight line at a preset distance.

[0022] Furthermore, the receiving mechanism is also equipped with a support rod, which is configured to always lift the fabric of the preset pattern when the gripper transfers the fabric cut into the preset pattern; the motion control board determines the position of the support rod lifting the fabric of the preset pattern according to the preset cutting pattern.

[0023] Furthermore, the step of determining the position of the support rod lifting the preset patterned fabric includes:

[0024] The position of each pattern on the fabric to be cut is determined according to the preset cutting pattern to form a cutting image;

[0025] The outline of each pattern is determined based on the cut image, and the center of gravity of each pattern is determined accordingly. The center of gravity is used as the position for the support rod to lift the fabric of the preset pattern.

[0026] Furthermore, the motion control board is configured to send signals to control the movement of the grippers and levers during the transfer of fabric cut into a preset pattern.

[0027] Compared with the prior art, the present invention has at least the following beneficial effects:

[0028] By selecting the gripper and support rod to hold the fabric during the collection process, the fabric remains flat throughout the collection and transfer process after cutting. This prevents the fabric from being dragged during collection and ensures it is placed smoothly on the collection platform. This flat and even handling of the fabric guarantees the accuracy of subsequent processing and the quality of the finished garment. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the integrated cutting and collecting device provided in the embodiments of the present invention;

[0030] Figure 2 This is a flowchart of the steps for determining the gripper position in the embodiments provided by the present invention;

[0031] Figure 3 This is a schematic diagram illustrating the determination of the gripper's grasping position in the embodiments provided by the present invention;

[0032] Figure 4 This is a schematic diagram of the receiving mechanism in the embodiment provided by the present invention;

[0033] Figure 5 This is a flowchart illustrating the steps for determining the position of the support rod lifting the fabric in the embodiments provided by the present invention. Detailed Implementation

[0034] It should be noted that in this invention, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0037] In this embodiment, as Figure 1 As shown, a cutting and collecting integrated device is provided, which includes a frame 1, a cutting area 11 and a collecting area 12 arranged sequentially along the conveying direction of the fabric, and a cutting mechanism 111 is provided in the cutting area 11.

[0038] The gantry frame 2 spans both sides of the frame 1 and is connected to both sides of the frame 1. The gantry frame 2 can slide along the length of the frame 1. The material receiving mechanism 121 is installed on the gantry frame 2 and transfers the cut fabric in the cutting area 11 to the material receiving area 12.

[0039] The cutting and movement processes of the cutting mechanism 111 and the receiving mechanism 121 are both controlled by the motion control board.

[0040] The receiving mechanism 121 is equipped with a pair of grippers 122. The motion control board determines the position of the grippers 122 to grasp the fabric of the preset pattern according to the preset cutting pattern.

[0041] The material collection mechanism provided by this invention uses two grippers 122 to simultaneously grasp both sides of the cut fabric in the cutting area 11, and then transfers the fabric from the cutting area 11 to the collection area 12 as the gantry frame 2 moves, completing the fabric collection. Furthermore, the fabric remains flat and wrinkle-free during the transfer process, improving the reliability of fabric collection. In addition, by controlling the relative distance between the two grippers, fabrics of different sizes can be gripped, improving the versatility of the collection mechanism.

[0042] Furthermore, as shown in the figure, after obtaining the outline of each pattern, the feature information of each pattern can be obtained based on the length of the outline or the area enclosed by each pattern. Therefore, after cutting, fabrics of different sizes and patterns can be transported to their corresponding receiving devices after being transferred to the receiving area based on their feature information. For example, if the fabric size is identified as L-size, the cut L-size fabric will eventually be transferred to its corresponding L-size receiving device.

[0043] Among them, such as Figure 2 As shown, the steps for determining the position of the gripper 122 in grasping the preset patterned fabric include:

[0044] S1. Determine the position of each pattern on the fabric to be cut according to the preset cutting pattern to form a cutting image;

[0045] S2. Determine the outline of each pattern based on the cut image, and use this to determine the left and right boundaries of each pattern and the distance between the left and right boundaries.

[0046] S3. The gripping position of the gripper is determined by moving the gripper from the left boundary to the right boundary by a preset straight line at a preset distance.

[0047] like Figure 3 As shown, the cutting image contains multiple cutting patterns of different sizes and shapes. The cutting mechanism 111 cuts the fabric according to these patterns, and then collects the cut fabric. During the fabric collection process, to prevent dragging of the fabric, the gripping position needs to be selected.

[0048] Specifically, firstly, the outline of the pattern is determined based on the cut image, and the left and right boundaries (lines a and b) of each pattern and the distance D between the left and right boundaries are determined accordingly. Then, based on the straight line determined between the two grippers as the preset straight line, the grippers move from the left boundary of the pattern to the right boundary at a preset distance. When the moving distance exceeds D / 2, the intersection point of the preset straight line and the pattern outline is determined, and this intersection point is used as the position where the grippers grab the fabric.

[0049] Furthermore, since there is a certain distance between the cutting area 11 and the receiving area 12, if the fabric in the cutting area 11 is transferred to the receiving area 12 by only the two grippers 122, the side of the fabric that is not gripped by the grippers 122 and the center of the fabric will fall into the gap between the cutting area 11 and the receiving area 12 or appear in a "high in the middle and drooping around the edges" shape during the transfer process, which will eventually cause the fabric in the receiving area 12 to wrinkle.

[0050] To prevent fabric wrinkles, the fabric must be able to easily "cross" the gap between the cutting area 11 and the receiving area 12 when transferred from the cutting area 11 to the receiving area 12, and be placed flat within the receiving area 12. Therefore, as... Figure 4 As shown, a support rod 123 is provided on the receiving mechanism 121, wherein the length direction of the support rod 123 is perpendicular to the transfer direction (the conveying direction of the fabric) of the fabric from the cutting area 11 to the receiving area 12.

[0051] To avoid a shape that is "high in the middle and drooping around the edges", the support rod 123 needs to be aligned with the cut fabric. Therefore, it is particularly important to determine the position of the support rod 123 that lifts the fabric.

[0052] like Figure 5 As shown, the step of determining the position of the support rod lifting the fabric in this invention includes:

[0053] A1. Determine the position of each pattern on the fabric to be cut according to the preset cutting pattern to form a cutting image;

[0054] A2. Determine the outline of each pattern based on the cut image, and use this to determine the center of gravity of each pattern. Use the center of gravity as the position where the support rod lifts the fabric.

[0055] By lifting the center of gravity of the cut fabric with a support rod, the fabric can easily "cross" the gap between the cutting area 110 and the receiving area 120 when it is transferred from the cutting area 110 to the receiving area 120. It is placed flat in the receiving area 120 without the "high in the middle and drooping around the edges" shape. Combined with the gripper gripping the fabric on both sides, the fabric is picked up and received flat, thus ensuring the accuracy of subsequent processing and the quality of the finished garment.

[0056] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A cutting and collecting integrated control method, characterized by, The method comprises the steps of: cutting the cloth to be cut into cloth of preset patterns; determining the position of the gripper to grab the cloth of preset patterns according to the preset cutting pattern, transferring the cloth of preset patterns to the receiving area by the gripper, and determining the corresponding position of the receiving device according to the feature information extracted from the preset cutting pattern to classify and stack the cloth; wherein the step of determining the position of the gripper to grab comprises: determining the position of each pattern on the cloth to be cut to form a cutting image according to the preset cutting pattern; determining the contour line of each pattern according to the cutting image, and determining the left and right boundaries of each pattern and the distance between the left and right boundaries; moving by a preset distance from the left boundary to the right boundary along a preset straight line determined between the two grippers, and taking the intersection point of the preset straight line and the pattern as the grabbing position of the gripper; the preset distance is the distance when the distance between the left and right boundaries exceeds half; determining the position of the supporting rod to lift the cloth of preset patterns according to the preset cutting pattern; and always lifting the cloth of preset patterns when the gripper transfers the cloth of preset patterns; The step of determining the position of the supporting rod to lift the cloth of preset patterns comprises: determining the position of each pattern on the cloth to be cut to form a cutting image according to the preset cutting pattern; determining the contour line of each pattern according to the cutting image, and determining the center of gravity of each pattern, taking the center of gravity as the position of the supporting rod to lift the cloth of preset patterns.

2. A cutting and collecting integrated device using the cutting and collecting integrated control method of claim 1, comprising a cutting mechanism controlled by a signal from a motion control board card to perform a cutting action, characterized in that, The device further comprises a receiving mechanism, and a pair of grippers are arranged on the receiving mechanism; the motion control board card determines the position of the grippers to grab the cloth of preset patterns according to the preset cutting pattern, and determines the corresponding position of the receiving device according to the feature information extracted from the preset cutting pattern; The step of determining the position of the gripper to grab by the motion control board card comprises: determining the position of each pattern on the cloth to be cut to form a cutting image according to the preset cutting pattern; determining the contour line of each pattern according to the cutting image, and determining the left and right boundaries of each pattern and the distance between the left and right boundaries; moving by a preset distance from the left boundary to the right boundary along a preset straight line, and taking the intersection point of the preset straight line and the pattern as the grabbing position of the gripper; the preset distance is the distance when the distance between the left and right boundaries exceeds half.

3. The cutting and collecting integrated device according to claim 2, wherein, The receiving mechanism is further provided with a supporting rod configured to always lift the cloth of preset patterns when the gripper transfers the cloth of preset patterns; the motion control board card determines the position of the supporting rod to lift the cloth of preset patterns according to the preset cutting pattern.

4. The cutting and collecting integrated device according to claim 3, wherein, The step of determining the position of the supporting rod to lift the cloth of preset patterns comprises: determining the position of each pattern on the cloth to be cut to form a cutting image according to the preset cutting pattern; determining the contour line of each pattern according to the cutting image, and determining the center of gravity of each pattern, taking the center of gravity as the position of the supporting rod to lift the cloth of preset patterns.

5. The cutting and collecting integrated device according to claim 3, wherein, The motion control board card is configured to send signals to control the movement of the gripper and the supporting rod when transferring the cloth of preset patterns.

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