A sorting device and a sorting trajectory production method based on instantaneous force feedback

Abstract

The application provides a sorting device and a sorting track production method based on instantaneous force feedback. The sorting device comprises a controller, a mechanical hand electrically connected with the controller, and at least two clamping jaws arranged on the mechanical hand and connected with the mechanical hand through fixing members. The clamping jaw comprises a first power member fixedly connected with the mechanical hand, a second power member connected with the first power member, a horizontal sensor arranged on the second power member, and a clamping jaw body connected with the second power member. The horizontal sensor is electrically connected with the controller, is used for detecting the inclination of the second power member and transmitting the inclination to the controller, and the second power member controls the clamping jaw body to clamp or release. The second power member is movably connected with the end of the first output shaft of the first power member. After the to-be-sorted cloth piece is grabbed, the sorting track is automatically generated based on the instantaneous force generated by pulling between the to-be-sorted cloth piece and the base cloth, and the to-be-sorted cloth piece is separated through reverse dragging, so that reprogramming and debugging are not needed, and the production efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of garment manufacturing technology, and in particular to a sorting device and a sorting trajectory production method based on instantaneous force feedback. Background Technology

[0002] Currently, in garment production lines, fabric pieces are laser-cut and then automatically picked up by robotic arms. The fabric for the same garment set is placed into a single turnover box. This presents three main problems: 1. In the preceding process, when manually arranging different sized fabric pieces, the positions of each set of pieces vary to maximize fabric utilization. The robotic arm must determine the position and area of ​​each piece and program different sorting trajectories accordingly. Otherwise, the fabric is easily pulled up, requiring manual smoothing before cutting the next sheet. 2. When the number of fabric pieces per sheet is not fixed, as the number increases, the remaining scraps become more numerous and scattered, weakening the suction of the cutting bed and increasing the risk of being pulled up. The robotic arm's sorting trajectory needs to be re-taught. 3. When teaching the robotic arm and programming, the adhesion between the fabric and the base fabric needs to be repeatedly verified and patterns identified. Reverse pulling is required to prevent the fabric from being pulled up, resulting in low debugging efficiency. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a sorting device and a sorting trajectory production method based on instantaneous force feedback. By replacing manual material handling with a robotic arm, a sorting trajectory can be automatically generated based on the instantaneous force generated by the pulling between the fabric pieces after gripping. The fabric pieces are then separated by dragging in the opposite direction. This eliminates the need for re-teaching and reprogramming each time different working conditions are encountered, thereby reducing R&D costs and improving the level of intelligent production.

[0004] This invention is achieved through the following technical solution:

[0005] A sorting device includes a controller, a robotic arm, and at least two grippers. Each gripper includes a first power component, a second power component, a level sensor, and a gripper body. The first power component is fixedly connected to the robotic arm, and the second power component is movably connected to the output end of the first power component. The level sensor is disposed on the second power component, and the gripper body is connected to the second power component. The second power component controls the gripper body to clamp or release. The robotic arm, the level sensor, the first power component, and the second power component are all connected to the controller, which controls the movement of the robotic arm.

[0006] Furthermore, the output end of the first power component is provided with a ball head seat, and the end of the second power component near the first power component is provided with a ball head, with the ball head seat covering the ball head; the inner diameter of the ball head seat is larger than the outer diameter of the ball head, and the opening of the ball head seat is smaller than the diameter of the ball head.

[0007] Furthermore, the side wall of the ball head seat is provided with a through groove along the output direction of the first power component, and the ball head is provided with a locking block adapted to the width of the through groove; wherein, when no external force is applied to the ball head, the locking block disengages from the through groove under the gravity of the ball head.

[0008] Furthermore, the sorting equipment also includes a pressure sensor, which is electrically connected to the controller. The pressure sensor is disposed on either the ball head or the ball head, and is coaxially disposed with the output shaft of the first power component.

[0009] Furthermore, the gripper body includes a fixed frame, a linkage mechanism, and flexible fingers; the fixed frame is fixedly connected to the second power component, and the output shaft of the second power component passes through the fixed frame and is connected to the linkage mechanism; two flexible fingers are arranged opposite each other, and the two ends of the linkage mechanism are respectively movably connected to the top surfaces of the two flexible fingers near their inner sides, and the two ends of the fixed frame are respectively movably connected to the top surfaces of the two flexible fingers near their outer sides; when the output shaft of the second power component extends, the two flexible fingers approach each other, and when the output shaft of the second power component retracts, the two flexible fingers separate.

[0010] Furthermore, the linkage mechanism includes a crossbar fixedly and perpendicularly to the output shaft of the second power component, and a movable rod movably connected to the end of the crossbar, the other end of which is connected to the top surface of the flexible finger near its inner side; wherein the movable rod and the crossbar always form an acute angle.

[0011] Furthermore, the flexible finger includes a rigid part and a bionic part connected to the rigid part, the rigid part being connected to the fixing frame and the linkage mechanism; the bionic part includes a colloid and several phalanges embedded in the colloid.

[0012] Furthermore, the end and inner side of the flexible finger are provided with an anti-slip layer or covered with an anti-slip sleeve.

[0013] Furthermore, the gripper is provided with several grippers, each gripper being connected to the robot arm via a connector, and the grippers are centrally symmetrically distributed with respect to the connection point between the robot arm and the connector.

[0014] A sorting trajectory production method based on instantaneous force feedback, applied to the aforementioned sorting equipment, includes:

[0015] The controller moves the robotic arm until the gripper is above the fabric piece to be sorted.

[0016] The output shaft of the first power component extends, driving the second power component and the gripper body to press against the fabric piece to be sorted;

[0017] The second power component controls the gripper body to clamp the fabric piece to be sorted;

[0018] The robotic arm slowly lifts up, causing the gripper body to separate the surrounding fabric pieces from the base fabric.

[0019] During the process of the sorted fabric piece separating from the bottom fabric one after the other, the bottom fabric corresponding to the direction of the later separation will exert a non-vertical force on the gripper in that direction. If the force is greater than the threshold, the horizontal sensor of the gripper will tilt.

[0020] The horizontal sensor feeds a tilt signal back to the controller, which then controls the robot to move in the opposite direction of the force.

[0021] The process continues until the fabric pieces to be sorted are completely separated from the base fabric, at which point each level sensor returns to a horizontal state.

[0022] Compared with the prior art, the technical solution of the present invention and its beneficial effects are as follows:

[0023] (1) In the sorting device of the present invention, the second power member is movably disposed at the end of the first power member. Thus, after the second power member controls the gripper body to clamp the cloth to be sorted and during the process of the robot lifting, when the edge of the cloth to be sorted is not easily separated from the bottom cloth (later detached), the pulling of the cloth to be sorted and the bottom cloth will generate a non-vertical force on the gripper. If the force is greater than the threshold, the horizontal sensor of the gripper will tilt. The horizontal sensor will feed back the tilt signal to the controller. The controller controls the robot to move in the opposite direction of the force, so that the cloth to be sorted will be more easily detached from the bottom cloth in this direction and the bottom cloth will not be easily lifted.

[0024] (2) In the process of grasping the fabric piece to be sorted, the ball head with the horizontal sensor of the present invention is engaged in the through groove by the locking block to ensure that the horizontal sensor does not tilt. When the robot arm is lifted and the fabric piece to be sorted is separated from the bottom cloth, the locking block is disengaged from the through groove and the ball head is in a free state. Thus, when the instantaneous force in a certain direction is greater than the preset value and the horizontal sensor tilts during the pulling of the fabric piece to be sorted and the bottom cloth, the horizontal sensor transmits the tilt information to the controller. The controller controls the robot arm to move in the opposite direction, thereby avoiding the robot arm from being misoperated due to the horizontal sensor tilting accidentally triggered in other time sequences.

[0025] (3) The sorting trajectory production method based on instantaneous force feedback of the present invention uses a robotic arm to replace manual material handling. Based on the instantaneous force generated by the pulling between the fabric to be sorted and the base fabric after the fabric to be sorted is grasped, the sorting trajectory is automatically generated. The fabric to be sorted is separated by dragging in the opposite direction. This improves the previous situation where it was necessary to re-teach and reprogram each time a different working condition was encountered, thereby reducing R&D costs and improving the level of intelligent production. Attached Figure Description

[0026] Figure 1 This is a front view of the gripper provided in an embodiment of the present invention;

[0027] Figure 2 This is a perspective view of a sorting device provided in an embodiment of the present invention.

[0028] Illustration:

[0029] Robotic arm - 100; Base - 110; Fixing strip - 120; Connector - 130; Flange - 140;

[0030] Gripper-200; First power component-210; First output shaft-211; Ball head seat-212; Through groove-213; Second power component-220; Second output shaft-221; Ball head-222; Locking block-223; Gripper body-230; Fixing frame-231; Crossbar-232; Movable rod-233; Rigid part-234; Bionic part-235; Anti-slip layer-236. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] See Figure 1 and Figure 2 A sorting device includes a controller (not shown), a robotic arm 100 electrically connected to the controller, and at least two grippers 200 disposed on the robotic arm. The grippers 200 are connected to the robotic arm 100 via fasteners. In this embodiment, the grippers 200 are connected to a fixing strip 120 via a base 110, the fixing strip 120 is fixedly connected to a connector 130, and the fastener 130 is fixedly connected to the robotic arm 100 via a flange 140. The controller controls the movement of the robotic arm 100.

[0033] The gripper 200 includes a first power component 210 fixedly connected to the robot arm 100, a second power component 220 connected to the first power component 210, a horizontal sensor (not shown) disposed on the second power component 220, and a gripper body 230 connected to the second power component 220. The horizontal sensor is electrically connected to a controller and is used to detect the tilt of the second power component 220 and transmit the information to the controller. The second power component 220 controls the gripper body 230 to clamp or release. The second power component 220 is movably connected to the end of the first output shaft 211 of the first power component 210.

[0034] Usage: The controller controls the movement of the robotic arm 100 until the gripper 200 is positioned above the fabric piece to be sorted. The first output shaft 211 of the first power unit 210 extends, driving the second power unit 220 and the gripper body 230 to press against the fabric piece to be sorted. When the end of the gripper body 230 touches the fabric piece to be sorted, the controller controls the second power unit 230 to clamp the fabric piece to be sorted. The robotic arm slowly rises, causing the gripper body 230 to separate the fabric piece from the base fabric. During the pulling process with the base fabric, the separation of the fabric piece from the base fabric occurs sequentially. When one side of the fabric piece is difficult to separate from the base fabric, a non-vertical force is generated on the gripper. If this force exceeds a threshold, the horizontal sensor of the gripper tilts. The horizontal sensor feeds the tilt signal back to the controller, which controls the robotic arm to move in the opposite direction of the force, making it easier for the fabric piece to be sorted to separate from the base fabric in that direction and preventing the base fabric from being lifted. This process continues until the fabric piece to be sorted is completely separated from the backing fabric, at which point the level sensor returns to a horizontal position. It is understandable that the backing fabric exerts a non-vertical instantaneous tension on the fabric piece to be sorted, and this instantaneous tension is constantly changing.

[0035] By replacing manual material handling with robotic arms, a sorting trajectory is automatically generated based on the instantaneous force generated by the pulling between the fabric piece to be sorted and the base fabric after the fabric piece is grasped. The fabric piece to be sorted is separated by dragging it in the opposite direction. This improves the previous situation where it was necessary to re-teach and reprogram each time a different working condition was encountered, thereby reducing R&D costs and improving the level of intelligent production.

[0036] Specifically, the first output shaft 211 of the first power component 210 is provided with a ball joint 212 at its end, and the second power component 220 is provided with a ball head 222 at its end near the first power component 210. The ball joint 212 covers the ball head 222. The inner diameter of the ball joint 212 is larger than the outer diameter of the ball head 222, and the opening of the ball joint 212 is smaller than the outer diameter of the ball head 222. This allows the ball head 222 to rotate relative to the ball joint 212 and to have vertical movement space relative to the ball joint 212, that is, it allows the second power component 220 to rotate relative to the first power component 210 and to have a certain displacement space in the axial direction. The first power component 210 can be a cylinder, and the second power component 220 can be a motor.

[0037] The side wall of the ball head 212 is provided with a through groove 213 along the movement direction of the first output shaft 211, and the ball head 222 is provided with a locking block 223 adapted to the width of the through groove 213. When no external force is applied to the ball head 222, the locking block 223 disengages from the through groove 213 under the weight of the ball head 222. This embodiment also includes a pressure sensor (not shown), which is electrically connected to the controller. The pressure sensor is mounted on either the ball head 212 or the ball head 222, and is coaxially arranged with the first output shaft 211.

[0038] When the first output shaft 211 extends and the gripper body 230 contacts the fabric piece to be sorted, the robot arm 100 will continue to apply pressure until the ball head 222 retracts into the ball head seat 212 and the locking block 223 is locked into the through slot 213. After the pressure collected by the pressure sensor reaches the predetermined value, it sends a stop signal to the controller. During this process, the sensor does not change horizontal tilt, thus avoiding accidental triggering of the horizontal sensor tilt and causing the robot arm to malfunction.

[0039] After the fabric piece to be sorted is gripped, the robotic arm slowly lifts up. Under the action of gravity, the ball head 222 automatically resets, the clamping block 223 disengages from the through groove 213, and the ball head 222 is in a free state. Because the fabric piece to be sorted separates from the bottom fabric in a sequential manner during the pulling process, the bottom fabric corresponding to the direction of the later separation exerts a pulling force on the fabric piece to be sorted. This pulling force is not vertical. When the instantaneous force on one side exceeds the preset value and causes the sensor to tilt, the controller controls the robotic arm to move in the opposite direction until the fabric is separated and gripped, and the sensor returns to a horizontal state.

[0040] In this embodiment, there are two or more grippers 200. Each gripper 200 is connected to the robot arm 100 through a connector. The grippers are centrally symmetrically distributed with respect to the connection point between the robot arm and the connector. The same tilt information detected by each horizontal sensor corresponds to the moving driving force of the robot arm, so as to reduce the calculation complexity of the controller and thus improve the controller's control sensitivity of the robot arm.

[0041] Continue reading Figure 1 The gripper body 230 includes a fixed frame 231, a linkage mechanism, and flexible fingers. The fixed frame 231 is fixedly connected to the second power component 220. The second output shaft 221 passes through the fixed frame 231 and is connected to the linkage mechanism. Two flexible fingers are arranged opposite each other. The two ends of the linkage mechanism are movably connected to the top surfaces of the two flexible fingers near their inner sides, and the two ends of the fixed frame 231 are movably connected to the top surfaces of the two flexible fingers near their outer sides. When the second output shaft 221 extends, the two flexible fingers approach each other; when the second output shaft 221 retracts, the two flexible fingers separate.

[0042] The linkage mechanism includes a crossbar 232 fixedly and perpendicularly to the second output shaft 221, and a movable rod 233 movably connected to the end of the crossbar 232. The other end of the movable rod 233 is connected to the top surface of the flexible finger near the inside. The movable rod 233 and the crossbar 232 always form an acute angle, so that when the second output shaft 221 extends, it drives the two flexible fingers to move closer to each other.

[0043] The flexible finger includes a rigid part 234 and a bionic part 235 connected to the rigid part 234. The rigid part 234 is connected to the fixed frame 231 and the movable rod 233. The bionic part includes a gel and several finger joints built into the gel, simulating a human finger to provide better adaptability and flexibility during gripping. The tip and inner side of the flexible finger are also provided with an anti-slip layer 236 or covered with an anti-slip sleeve. On the one hand, this increases the friction of the gripper body 230 during the fabric gripping process, ensuring that the fabric can be gripped more firmly. On the other hand, it also protects the hard contact between the tip of the flexible finger and the fabric carrier, extending the service life of the flexible finger.

[0044] The sorting equipment and sorting trajectory production method based on instantaneous force feedback of the present invention use a robotic arm to replace manual material handling. Based on the instantaneous force generated by the pulling between the fabric piece to be sorted and the base fabric after the fabric piece to be sorted is grasped, the sorting trajectory is automatically generated. The fabric piece to be sorted is separated by dragging in the opposite direction. This improves the situation where it is necessary to re-teach and reprogram each time different working conditions are encountered, thereby reducing R&D costs and improving intelligent production efficiency.

[0045] The foregoing description illustrates and describes preferred embodiments of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept by means of the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A sorting device, characterized in that, include: Controller; A robotic arm, which is connected to a controller, and the controller controls the movement of the robotic arm; The grippers include: A first power component, which is fixedly connected to the robotic arm; The second power component is movably connected to the output end of the first power component; A horizontal sensor is mounted on the second power component, and the horizontal sensor is electrically connected to the controller. The gripper body is connected to the second power component, and the second power component controls the gripper body to clamp or release. The gripper is provided with at least two grippers, and both the first power component and the second power component are connected to the controller; The first power component has a ball head seat at its output end and a ball head at its end near the first power component. The ball head seat covers the ball head. The inner diameter of the ball head seat is larger than the outer diameter of the ball head, and the opening of the ball head seat is smaller than the outer diameter of the ball head. The side wall of the ball head seat is provided with a through groove along the output direction of the first power component, and the ball head is provided with a locking block adapted to the width of the through groove; When no external force is applied to the ball head, the locking block disengages from the through groove under the gravity of the ball head.

2. The sorting equipment according to claim 1, characterized in that, It also includes a pressure sensor, which is electrically connected to the controller. The pressure sensor is disposed on either the ball joint or the ball joint, and is coaxially disposed with the output shaft of the first power component.

3. A sorting device according to claim 1, characterized in that, The gripper body includes a fixed frame, a linkage mechanism, and flexible fingers; the fixed frame is fixedly connected to the second power component, and the output shaft of the second power component passes through the fixed frame and is connected to the linkage mechanism. The flexible fingers are arranged opposite each other. The two ends of the linkage mechanism are movably connected to the top surfaces of the two flexible fingers near their inner sides, and the two ends of the fixing frame are movably connected to the top surfaces of the two flexible fingers near their outer sides. When the output shaft of the second power member extends, the two flexible fingers approach each other, and when the output shaft of the second power member retracts, the two flexible fingers separate.

4. A sorting device according to claim 3, characterized in that, The linkage mechanism includes a crossbar fixedly and perpendicularly to the output shaft of the second power component, and a movable rod movably connected to the end of the crossbar. The other end of the movable rod is connected to the top surface of the flexible finger near the inner side. The movable rod and the crossbar always form an acute angle.

5. A sorting device according to claim 3, characterized in that, The flexible finger includes a rigid part and a bionic part connected to the rigid part. The rigid part is connected to the fixing frame and the linkage mechanism. The bionic part includes a gel and several phalanges embedded in the gel.

6. A sorting device according to claim 3, characterized in that, The flexible finger is also provided with an anti-slip layer or covered with an anti-slip sleeve at its tip and inner side.

7. A sorting device according to claim 1, characterized in that, The gripper is provided with a plurality of grippers, each gripper being connected to the robotic arm via a connector, and the plurality of grippers are centrally symmetrically distributed with respect to the connection point between the robotic arm and the connector.

8. A sorting trajectory production method based on instantaneous force feedback, applied to the sorting equipment described in any one of claims 1 to 7, characterized in that, include: The controller moves the robotic arm until the gripper is above the fabric piece to be sorted. The output shaft of the first power component extends, driving the second power component and the gripper body to press against the fabric piece to be sorted; The second power component controls the gripper body to clamp the fabric piece to be sorted; The robotic arm slowly lifts up, causing the gripper body to separate the fabric piece to be sorted from the base fabric around its perimeter. During the process of the sorted fabric piece separating from the bottom fabric one after the other, the bottom fabric corresponding to the direction of the later separation will exert a non-vertical force on the gripper in that direction. If the force is greater than the threshold, the horizontal sensor of the gripper will tilt. The horizontal sensor feeds a tilt signal back to the controller, which then controls the robot to move in the opposite direction of the applied force; and so on. The process continues until the fabric pieces to be sorted are completely separated from the base fabric, at which point each level sensor returns to a horizontal state.

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