Sock Seam Positioning Method Based on Intelligent Vision and Its Expanding Mechanism for Application

Abstract

The present invention relates to the field of electromechanical technology, and particularly to a sock seam positioning method based on intelligent vision and an expanding mechanism applied thereto. The sock seam positioning method based on intelligent vision includes the following steps: S1: Transfer the sock to a preset sock expanding working position, and in the sock expanding working position, use the expanding mechanism to push open and insert the sock, so that the expanding part of the expanding mechanism expands to completely open the sock; S2: Completely turn outwards the different-color card strip along the upper edge of the sewing line of the sock seam by using friction; S3: Locate the two symmetric intersection points of the sewing line and the sock head closing line, close the different-color card strip, and straighten the sewing line of the sock; S4: Load the material, move the sock, so that the sewing line of the sock is caught in the card slot; S5: Judge whether the different-color card strip along the upper edge of the sewing line is completely above the card slot and remains flat. The present invention has a high degree of automation and good positioning effect, is applicable to the processing of various types of socks, and has a wide application range.

Description

Technical Field

[0001] The present invention relates to the field of mechatronics technology, and specifically relates to a sock seam positioning method based on intelligent vision and a spreading mechanism applied thereto. Background Art

[0002] Socks are a kind of clothing item worn on the feet, which play a role in protecting the feet, health care and aesthetic decoration. When socks are produced, they need to go through operations such as knitting, sewing, dyeing and shaping. Currently, there is an integrated knitting machine for sock processing, which is widely used in large-scale production and can realize full-automatic sock tube knitting, sock head sewing and other sock processing work. It has a high degree of automation and can greatly reduce the investment in labor costs. However, the initial investment of the integrated knitting machine is relatively high, and it is suitable for large and medium-sized sock factories to produce socks in large quantities. Therefore, small sock factories generally use independent knitting machines and sewing machines, which have lower purchase costs and less pressure on labor training. The transfer of socks between the knitting machine and the sewing machine is generally manual loading and unloading, but the efficiency of this kind of loading and unloading method is relatively low. In order to improve the efficiency, such as the sock conveyor and integrated knitting, sewing, turning and knitting sock machine disclosed in Chinese Patent (Publication No.: CN114481430A), in this patented technology, the sock conveyor is installed between the sock knitting machine and the sock sewing machine, including a moving component, a clamping component and a driving component supported by a bracket. The clamping component is driven by the moving component and can move between a position close to and away from the sock feeding path; the clamping component is used to clamp the socks at the sock feeding path at the close position; the driving component is linked with the clamping component and is used to drive the clamping component to move to move the clamped socks out of the sock knitting machine, which can assist in transporting the socks between the sock knitting machine and the sock sewing machine and can improve the smoothness of sock transfer. However, in actual use, this sock conveyor can only transfer thin socks that can be smoothly sucked into the sock suction cylinder, and it cannot well realize the loading and unloading work of socks with slightly thicker thickness, and it cannot perform the detection work of sock seams. The sock seam positioning effect is poor, which easily leads to a decline in the quality of finished products and the yield rate, and the economic benefit is relatively low. Summary of the Invention

[0003] The technical problem to be solved by the present invention: The existing sock processing method cannot well realize the positioning of sock seams, cannot perform the detection work of sock seams, the sock seam positioning effect is poor, which easily leads to a decline in the quality of finished products and the yield rate, and the economic benefit is relatively low.

[0004] To solve the above technical problems, the first aspect of the present invention adopts the following technical solution: A sock seam positioning method based on intelligent vision, including the following steps:

[0005] S1: Grasp the positions on both sides of the sock mouth of the sock to be processed, squeeze the sock mouth to open it for the insertion of a preset expanding mechanism, transfer the sock to the preset sock expanding working position, and inside the sock expanding working position, use the expanding mechanism to push open and insert the sock. When the expanding part of the expanding mechanism overlaps with the sewing line of the sock, make the expanding part of the expanding mechanism expand to fully open the sock;

[0006] S2: Move the sock and completely turn outwards the different-color card material tape along the upper edge of the sewing line of the sock seam by using friction;

[0007] S3: Locate the two symmetrical intersection points of the sewing line and the sock toe closing line by means of intelligent vision recognition. Use the preset first gripper and second gripper to respectively grasp the different-color card material tape along the upper edge of the sewing line at the two intersection points. At the same time, use the preset third gripper and fourth gripper to respectively grasp the two parts at the middle position between the two intersection points on the different-color card material tape, and use the preset fifth gripper to grasp below the sewing line of an intersection point close to the preset intelligent vision analysis mechanism. Then, control the expanding part of the expanding mechanism to contract, withdraw the sock and reset. Through the actions of the first gripper and the second gripper, stretch the different-color card material tape of the sock from the two intersection points to the widest position. At the same time, close the third gripper and the fourth gripper together to make the different-color card material tape close together, so as to straighten the sewing line of the sock, and at the same time keep the fifth gripper and the first gripper or the second gripper in horizontal action synchronization;

[0008] S4: Load the material. Align the sewing line of the sock with the positioning groove of the positioner of the preset sewing machine through 3D intelligent analysis, and move the sock so that the sewing line of the sock is stuck into the positioning groove;

[0009] S5: Use the intelligent camera preset in the intelligent vision analysis mechanism to judge whether the different-color card material tape along the upper edge of the sewing line is completely on the positioning groove and remains flat. When it is qualified, the loading is completed. Otherwise, discard it to ensure the finished product rate.

[0010] When the present invention works, it can realize a series of operations such as grasping and expanding the sock based on intelligent vision, completely turning outwards the different-color card material tape, positioning and grasping and stretching the different-color card material tape, and detecting the integrity and flatness of the different-color card material tape and the sewing line. It has a high degree of automation and good positioning effect. By replacing the traditional manual or mechanical loading and unloading in the way of intelligent vision, the investment in labor costs and equipment costs is greatly reduced. Moreover, it is applicable to the processing of various types of socks, has a wide application range, good versatility, is convenient to use, can reduce the training cost of operators to a certain extent, and improves economic benefits.

[0011] Preferably, in the step S1, the positions on both sides of the sock mouth of the sock to be processed are grabbed, the sock mouth is squeezed open for the insertion of a preset expanding mechanism, the sock is transferred to a preset sock expanding working position, and in the sock expanding working position, the sock is pushed open and inserted by the expanding mechanism. When the expanding part of the expanding mechanism overlaps with the sewing line of the sock, when the expanding part of the expanding mechanism expands to fully open the sock, the following steps are adopted: invert the sock so that the sock mouth faces upward, grab the positions on both sides of the sock mouth of the sock to be processed, squeeze the sock mouth open for the insertion of a preset expanding mechanism, transfer the sock to a preset sock expanding working position, and in the sock expanding working position, push open and insert the sock by the expanding mechanism. When the expanding part of the expanding mechanism overlaps with the sewing line of the sock, expand the expanding part of the expanding mechanism to fully open the sock, expand the sock, and after the sock rubs against the expanding part of the expanding mechanism, flip the expanding mechanism together with the sock so that the seam of the sock faces upward.

[0012] Preferably, in the step S1, the following steps are further included: judging whether the sock mouth of the sock is open by means of intelligent vision recognition, and if it is not open, the sock is discarded.

[0013] Preferably, in the step S2, when moving the sock and completely turning out the different-color card strip along the upper edge of the sewing line of the sock seam by using friction, the following steps are adopted: move the sock, and as the sock moves, gradually turn out the different-color card strip curled along the upper edge of the sewing line of the sock seam by using friction until it is completely turned out.

[0014] Preferably, in the step S3, the following steps are further included: judging whether the different-color card strip along the upper edge of the sewing line of the sock is completely turned out by means of intelligent vision recognition, and if the different-color card strip is not completely turned out, the sock is discarded.

[0015] Preferably, in the step S3, the following steps are further included: judging whether the sewing line of the sock and the different-color card strip form a closed flat ring by means of intelligent vision recognition, and if the sock is not successfully grabbed or does not form a closed flat ring, the sock is discarded.

[0016] To solve the above technical problems, the second aspect of the present invention adopts the following technical solution: an expanding mechanism, which applies the above-mentioned intelligent vision-based sock seam positioning method. The expanding mechanism includes an expanding rod, an expanding link group, an expanding transmission part and an expanding driving device. The expanding transmission part is limitedly installed on the expanding rod so as to be movable along the axial direction of the expanding rod. A plurality of expanding link groups are provided and are arranged in a circumferential direction around the expanding rod. The expanding link group is in transmission connection with the output part of the expanding driving device through the expanding transmission part. When the expanding driving device acts, the outsides of the plurality of expanding link groups move away from or close to the expanding rod.

[0017] When the present invention is working, an expansion drive device is used to drive a plurality of expansion connecting rod groups to move through an expansion transmission part, so that the outsides of the plurality of expansion connecting rod groups can be moved away from or close to the expansion rod, thereby realizing a change in the size of the expansion part of the expansion mechanism, and at the same time, it is convenient to adjust the range of size change. The present invention is suitable for the expansion work of socks of different specifications, has strong versatility, simple and reliable structure, and long service life.

[0018] Preferably, the expansion link group is provided with a first expansion link, a second expansion link, a third expansion link and a fourth expansion link, the head end of the first expansion link is rotatably mounted on the head end of the expansion rod, the head end of the second expansion link and the head end of the fourth expansion link are both rotationally connected to the tail end of the first expansion link, the head end of the third expansion link is rotationally connected to the tail end of the second expansion link, the third expansion link and the fourth expansion link remain parallel and are rotationally connected to the expansion transmission part respectively, the second expansion link is arranged to extend along the axial direction of the expansion rod and remain parallel to the axial direction of the expansion rod, and the second expansion link moves away from or approaches the expansion rod when the expansion drive device is actuated.

[0019] Preferably, the head end of the expansion rod is provided with a mushroom-shaped head for pushing open the sock opening of the sock.

[0020] Preferably, the outer cover of the expansion mechanism is provided with a replaceable protective layer for isolating the expansion mechanism and the socks.

[0021] The beneficial technical effects of the present invention include:

[0022] 1. The present invention can realize a series of tasks such as grabbing and expanding socks, completely everting heterochromatic card strips, positioning grabbing and stretching of heterochromatic card strips, and detecting the integrity and flatness of heterochromatic card strips and sutures based on intelligent vision. It has a high degree of automation and good positioning effect. It replaces traditional manual or mechanical loading and unloading by intelligent vision, greatly reducing the investment in labor costs and equipment costs. It is suitable for processing and use of various types of socks, has a wide range of applications, good versatility, and is easy to use. It can reduce the training cost of operators to a certain extent and improve economic benefits.

[0023] 2. The present invention adopts an expansion drive device to drive several expansion connecting rod groups through the expansion transmission part, which can realize the outer parts of several expansion connecting rod groups to move away from or close to the expansion rod, thereby realizing the change of the size of the expansion part of the expansion mechanism. At the same time, it is convenient to adjust the range of size change. It is suitable for the expansion work of socks of different specifications, has strong versatility, simple and reliable structure, and long service life.

[0024] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below with reference to the accompanying drawings:

[0026] Figure 1 is a flowchart of the working process of the sock seam positioning method based on intelligent vision;

[0027] Figure 2 is a schematic structural diagram of a spreading mechanism (the protective layer is hidden);

[0028] Figure 3 is Figure 2 a partial enlarged view of part A in

[0029] Figure 4 a schematic structural diagram of a sock;

[0030] Figure 5 is the working state of a spreading mechanism Figure 1 (the state where the different-color card tape of the sock is not turned out);

[0031] Figure 6 is the working state of a spreading mechanism Figure 2 (the state where the different-color card tape of the sock is completely turned out). Specific embodiments

[0032] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings of the embodiments of the present invention. However, the following embodiments are only the preferred embodiments of the present invention, not all of them. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative efforts all fall within the protection scope of the present invention.

[0033] In the following description, terms such as "inner", "outer", "upper", "lower", "left", "right", etc. indicating orientation or position relationship are only for convenience of describing the embodiments and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. Embodiment 1:

[0034] Please refer to Figure 1 , this embodiment discloses a sock seam positioning method based on intelligent vision, including the following steps:

[0035] S1: Grab the positions on both sides of the sock mouth 51 of the sock to be processed, squeeze the sock mouth 51 to open it for inserting a preset spreading mechanism, transfer the sock to a preset sock spreading working position, insert and top open the sock through the spreading mechanism in the sock spreading working position, and when the spreading part of the spreading mechanism overlaps with the sewing line 53 of the sock, make the spreading part of the spreading mechanism expand to completely open the sock;

[0036] S2: Move the sock and use friction to completely turn the different - colored card - material tape 55 at the upper edge of the sewing thread 53 of the sock seam 52 outwards;

[0037] S3: Locate the two symmetrical intersection points of the sewing thread 53 and the sock - toe closing line 54 by means of intelligent vision recognition. Use the preset first gripper and second gripper to respectively grasp the different - colored card - material tape 55 at the upper edge of the sewing thread 53 at the two intersection points. At the same time, use the preset third gripper and fourth gripper to respectively grasp two parts at the middle position between the two intersection points on the different - colored card - material tape 55. After using the preset fifth gripper to grasp the lower part of the sewing thread 53 at an intersection point close to the preset intelligent vision analysis mechanism, control the expansion part of the expansion mechanism to contract, withdraw from the sock and reset. Stretch the different - colored card - material tape 55 of the sock from the two intersection points to the widest position by the actions of the first gripper and the second gripper. At the same time, close the third gripper and the fourth gripper together to make the different - colored card - material tape 55 close together to straighten the sewing thread 53 of the sock, and keep the horizontal actions of the fifth gripper and the first gripper or the second gripper synchronized;

[0038] S4: Loading. Align the sewing thread 53 of the sock with the card - slot of the card - positioner of the preset sewing machine through 3D intelligent analysis, and move the sock so that the sewing thread 53 of the sock is stuck into the card - slot;

[0039] S5: Use the intelligent camera preset in the intelligent vision analysis mechanism to judge whether the different - colored card - material tape 55 at the upper edge of the sewing thread 53 is completely above the card - slot and remains flat. When it is qualified, the loading is completed. Otherwise, give up to ensure the finished - product rate.

[0040] When this embodiment works, it can realize a series of operations such as grasping and expanding the sock based on intelligent vision, completely turning the different - colored card - material tape 55 outwards, positioning and grasping and stretching the different - colored card - material tape 55, and detecting the integrity and flatness of the different - colored card - material tape 55 and the sewing thread 53. It has a high degree of automation and good positioning effect. By replacing the traditional manual or mechanical loading and unloading in an intelligent vision way, it greatly reduces the investment in labor costs and equipment costs. And it is applicable to the processing of various types of socks, with a wide application range, good versatility, convenient to use, can reduce the training cost of operators to a certain extent, and improve economic benefits.

[0041] In specific implementation, in step S1, the positions on both sides of the sock mouth 51 of the sock to be processed are grasped, the sock mouth 51 is squeezed to open for the insertion of a preset expanding mechanism, the sock is transferred to a preset sock expanding working position, and in the sock expanding working position, the sock is pushed open and inserted by the expanding mechanism. When the expanding part of the expanding mechanism overlaps with the sewing line 53 of the sock, when the expanding part of the expanding mechanism expands to fully open the sock, the following steps are adopted: invert the sock so that the sock mouth 51 faces upward, grasp the positions on both sides of the sock mouth 51 of the sock to be processed, squeeze the sock mouth 51 to open for the insertion of a preset expanding mechanism, transfer the sock to a preset sock expanding working position, and in the sock expanding working position, the sock is pushed open and inserted by the expanding mechanism. When the expanding part of the expanding mechanism overlaps with the sewing line 53 of the sock, the expanding part of the expanding mechanism expands to fully open the sock, causing the sock to expand. After the sock rubs against the expanding part of the expanding mechanism, the expanding mechanism together with the sock is flipped so that the seam 52 of the sock faces upward.

[0042] Preferably, the sock can be conveyed by a material transfer mechanism such as a conveyor belt, inverted to expose the position of the sock mouth 51. At this time, the two ends of the flat sock mouth 51 can be clamped by a clamping mechanism, and the sock mouth 51 can be opened by squeezing. Of course, the middle two sides of the sock body of the sock mouth 51 can also be clamped by the clamping mechanism, and the sock mouth 51 can also be opened by stretching. The expanding mechanism is inserted through the sock mouth 51. When the expanding part of the expanding mechanism overlaps with the sewing line 53 of the sock, the expanding part of the expanding mechanism expands to fully open the sock, causing the sock to expand. At this time, the sock is in close contact with the expanding part of the expanding mechanism, which is convenient for subsequently turning out the different-color card strip 55 by friction. Please refer to Figure 4 and Figure 5 , after the sock is knitted and cut, the different-color card strip 55 along the upper edge of the sewing line 53 will curl due to knitting technology or other factors, which is not conducive to the subsequent sewing of the seam 52. By making the sock in close contact with the expanding mechanism and pulling the sock, the curled different-color card strip 55 can be completely turned out by friction, which is convenient for subsequent grasping and sewing work.

[0043] In specific implementation, in step S1, the following steps are also included: judging whether the sock mouth 51 is open by means of intelligent vision recognition. When it is not open, the sock is discarded and allowed to fall back into the material box for the next grasping or manually fed by workers.

[0044] Preferably, in step S2, when moving the sock and using friction to completely turn the different-color card strip 55 at the upper edge of the suture line 53 of the sock seam 52 outwards, the following steps are adopted. Move the sock. As the sock moves, use friction to gradually turn out the different-color card strip 55 that is turned up at the upper edge of the suture line 53 of the sock seam 52 until it is completely turned outwards. In specific implementation, in step S3, the following steps are further included. Determine whether the different-color card strip 55 at the upper edge of the suture line 53 of the sock is completely turned out by means of intelligent vision recognition. When the different-color card strip 55 is not completely turned out, discard the sock.

[0045] In this embodiment, in step S3, the following steps are further included. Determine whether the suture line 53 of the sock and the different-color card strip 55 form a closed flat ring shape by means of intelligent vision recognition. When the sock is not successfully grasped or does not form a closed flat ring shape, discard the sock. Embodiment 2:

[0046] Please refer to Figure 2 , this embodiment provides a spreading mechanism, which applies the intelligent vision-based sock seam positioning method of the above-mentioned embodiment. The spreading mechanism includes a spreading rod 1, a spreading link group 2, a spreading transmission part 3, and a spreading driving device 4. The spreading transmission part 3 is installed on the spreading rod 1 in a limited manner and is movable along the axial direction of the spreading rod 1. A plurality of spreading link groups 2 are provided and are arranged around the spreading rod 1 in the circumferential direction. The spreading link group 2 is in transmission connection with the output part of the spreading driving device 4 through the spreading transmission part 3. When the spreading driving device 4 operates, the outside of the plurality of spreading link groups 2 moves away from or approaches the spreading rod 1.

[0047] Please refer to Figures 2 to 5 , when this embodiment works, the spreading driving device 4 drives the plurality of spreading link groups 2 to act through the spreading transmission part 3, which can realize that the outside of the plurality of spreading link groups 2 moves away from or approaches the spreading rod 1, so as to realize the change of the size of the spreading part of the spreading mechanism. At the same time, it is convenient to adjust the range of size change, which is suitable for the spreading work of socks of different specifications, has strong versatility, simple and reliable structure, and long service life.

[0048] Preferably, the expanding link group 2 is provided with a first expanding link 21, a second expanding link 22, a third expanding link 23 and a fourth expanding link 24. The head end of the first expanding link 21 is rotatably installed at the head end of the expanding rod 1. The head ends of the second expanding link 22 and the fourth expanding link 24 are both rotatably connected to the tail end of the first expanding link 21. The head end of the third expanding link 23 is rotatably connected to the tail end of the second expanding link 22. The third expanding link 23 and the fourth expanding link 24 are kept parallel and are respectively rotatably connected to the expanding transmission part 3. The second expanding link 22 is arranged to extend along the axial direction of the expanding rod 1 and is kept parallel to the axial direction of the expanding rod 1. The second expanding link 22 moves away from or approaches the expanding rod 1 when the expanding driving device 4 acts.

[0049] In specific implementation, the expanding link group 2 can be replaced with any existing expandable device with adjustable size such as an expanding airbag, an expanding swing arm group, etc.

[0050] Preferably, the head end of the expanding rod 1 is provided with a mushroom-shaped head 11 for pushing open the sock mouth 51 of the sock.

[0051] As a further improvement of this embodiment, the periphery of the expanding mechanism is covered with a replaceable protective layer for isolating the expanding mechanism and the sock. In specific implementation, the protective layer can be set to be made of a fabric with appropriate friction such as nylon fabric, which can avoid damaging the sock while ensuring sufficient friction. In specific implementation, the protective layer can be fixed by any suitable fixing method such as snap connection or bonding. For example, in this embodiment, by setting a fixing nut at the head end of the expanding rod 1, one end of the protective layer is fixed to the head end of the expanding rod 1 by means of threaded connection, with firm connection and convenient replacement of the protective layer, reducing the labor intensity of the operator.

[0052] The beneficial technical effects of this embodiment include: The present invention can realize a series of operations such as grasping and expanding the sock based on intelligent vision, completely turning out the different-color carding tape, positioning and grasping and stretching the different-color carding tape, and detecting the integrity and flatness of the different-color carding tape and the sewing thread. It has a high degree of automation and good positioning effect. By replacing the traditional manual or mechanical loading and unloading with the intelligent vision method, the investment in labor cost and equipment cost is greatly reduced, and it is applicable to the processing of various types of socks, with a wide application range and good versatility. At the same time, it is convenient to use, can reduce the training cost of operators to a certain extent, and improve economic benefits.

[0053] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the content described in the drawings and the above specific implementation manner. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A method for positioning the sock seam based on intelligent vision, characterized in that, Including the following steps: S1: Grab the positions on both sides of the sock mouth (51) of the sock to be processed, squeeze the sock mouth (51) to open it for the insertion of a preset expanding mechanism, transfer the sock to a preset sock expanding working position, in the sock expanding working position, use the expanding mechanism to push open and insert the sock, when the expanding part of the expanding mechanism overlaps with the sewing line (53) of the sock, make the expanding part of the expanding mechanism expand to fully open the sock; S2: Move the sock, and completely turn outwards the different-color card tape (55) along the upper edge of the sewing line (53) of the sock seam (52) by using friction; S3: Locate the two symmetric intersection points of the sewing line (53) and the sock toe closing line (54) by means of intelligent vision recognition, use a preset first gripper and second gripper to respectively grab the different-color card tape (55) along the upper edge of the sewing line (53) at the two intersection points, at the same time, use a preset third gripper and fourth gripper to respectively grab two parts at the middle positions between the two intersection points on the different-color card tape (55), and use a preset fifth gripper to grab below the sewing line (53) of an intersection point close to the preset intelligent vision analysis mechanism, then control the expanding part of the expanding mechanism to contract, withdraw the sock and reset it, through the actions of the first gripper and the second gripper, stretch the different-color card tape (55) of the sock to the widest position from the two intersection points, at the same time, close the third gripper and the fourth gripper together to make the different-color card tape (55) close together to straighten the sewing line (53) of the sock, and at the same time keep the horizontal actions of the fifth gripper and the first gripper or the second gripper synchronized; S4: Load the material, align the sewing line (53) of the sock with the positioning groove of the positioner of a preset sewing machine through 3D intelligent analysis, move the sock to make the sewing line (53) of the sock snap into the positioning groove; S5: Use a preset intelligent camera of the intelligent vision analysis mechanism to judge whether the different-color card tape (55) along the upper edge of the sewing line (53) is completely on the positioning groove and remains flat. When it is qualified, the loading is completed. Otherwise, discard it to ensure the finished product rate.

2. The method for positioning the sock seam according to claim 1 based on intelligent vision, characterized in that: In the step S1, when grabbing the positions on both sides of the sock mouth (51) of the sock to be processed, squeezing the sock mouth (51) to open it for the insertion of a preset expanding mechanism, transferring the sock to a preset sock expanding working position, in the sock expanding working position, using the expanding mechanism to push open and insert the sock, when the expanding part of the expanding mechanism overlaps with the sewing line (53) of the sock, making the expanding part of the expanding mechanism expand to fully open the sock, the following steps are adopted: Invert the sock so that the sock mouth (51) faces upwards, grab the positions on both sides of the sock mouth (51) of the sock to be processed, squeeze the sock mouth (51) to open it for the insertion of a preset expanding mechanism, transfer the sock to a preset sock expanding working position, in the sock expanding working position, use the expanding mechanism to push open and insert the sock, when the expanding part of the expanding mechanism overlaps with the sewing line (53) of the sock, make the expanding part of the expanding mechanism expand to fully open the sock, make the sock expand, after the sock rubs against the expanding part of the expanding mechanism, flip the expanding mechanism together with the sock so that the sock seam (52) faces upwards.

3. The method for positioning the sock seam according to claim 2 based on intelligent vision, characterized in that: In the step S1, the following steps are further included. The method of intelligent visual recognition is used to judge whether the sock mouth (51) of the sock is open. When it is not open, the sock is discarded.

4. The method for positioning the sock seam according to claim 1 based on intelligent vision, characterized in that: In the step S2, when moving the sock and completely turning out the different-color card strip (55) along the upper edge of the sewing thread (53) of the sock seam (52) by using the frictional force, the following steps are adopted. Move the sock. As the sock moves, gradually turn out the turned-up different-color card strip (55) along the upper edge of the sewing thread (53) of the sock seam (52) by using the frictional force until it is completely turned out.

5. The method for positioning the sock seam according to claim 1 based on intelligent vision is characterized in that: In the step S3, the following steps are further included. The method of intelligent visual recognition is used to judge whether the different-color card strip (55) along the upper edge of the sewing thread (53) of the sock is completely turned out. When the different-color card strip (55) is not completely turned out, the sock is discarded.

6. The method for positioning the sock seam according to claim 1 based on intelligent vision, characterized in that: In the step S3, the following steps are further included. The method of intelligent visual recognition is used to judge whether the sewing thread (53) of the sock and the different-color card strip (55) form a closed flat ring shape. When the sock is not successfully grasped or does not form a closed flat ring shape, the sock is discarded.

7. An expanding mechanism, which applies the intelligent vision-based sock seam positioning method according to any one of claims 1 to 6, is characterized in that: The expanding mechanism includes an expanding rod (1), an expanding link group (2), an expanding transmission part (3), and an expanding driving device (4). The expanding transmission part (3) is installed on the expanding rod (1) in a position-limited and movable manner along the axial direction of the expanding rod (1). A plurality of expanding link groups (2) are provided and arranged in a circumferential direction around the expanding rod (1). The expanding link group (2) is in transmission connection with the output part of the expanding driving device (4) through the expanding transmission part (3). The outsides of the plurality of expanding link groups (2) move away from or close to the expanding rod (1) when the expanding driving device (4) operates.

8. A spreading mechanism according to claim 7, characterized in that: The expanding link group (2) is provided with a first expanding link (21), a second expanding link (22), a third expanding link (23), and a fourth expanding link (24). The head end of the first expanding link (21) is rotatably installed at the head end of the expanding rod (1). The head ends of the second expanding link (22) and the fourth expanding link (24) are both rotatably connected to the tail end of the first expanding link (21). The head end of the third expanding link (23) is rotatably connected to the tail end of the second expanding link (22). The third expanding link (23) and the fourth expanding link (24) are kept parallel and are respectively rotatably connected to the expanding transmission part (3). The second expanding link (22) is arranged to extend along the axial direction of the expanding rod (1) and is kept parallel to the axial direction of the expanding rod (1). The second expanding link (22) moves away from or close to the expanding rod (1) when the expanding driving device (4) operates.

9. The expanding mechanism according to claim 7, characterized in that: The head end of the expanding rod (1) is provided with a mushroom-shaped head (11) for pushing open the sock mouth (51) of the sock.

10. A spreading mechanism according to claim 7, characterized in that: The periphery of the expanding mechanism is covered with a replaceable protective layer for isolating the expanding mechanism and the sock.

Images