Fabric auxiliary adjusting robot mechanism based on printing equipment

Abstract

The invention discloses a fabric auxiliary adjusting robot mechanism based on printing equipment, and relates to the technical field of fabric auxiliary adjusting robots, the fabric auxiliary adjusting robot mechanism comprises a rack assembly, a printing execution unit and a multi-degree-of-freedom manipulator, and the top of the rack assembly is provided with the printing execution unit and the multi-degree-of-freedom manipulator. The multi-shaft driving module driven by the magnetic suspension linear motor is matched with a plurality of driving joints connected in series and a tail end torque sensor, so that the alignment zero deviation of the printing execution unit can be ensured, and through the adsorption assembly, by utilizing the alternate layout of a vacuum chuck and an electric field adsorption unit and combining with a piezoelectric ceramic three-finger flexible clamping jaw, the printing efficiency is improved. The multi-degree-of-freedom manipulator can adapt to the characteristics of different fabrics such as silk and knitted fabrics, flexible clamping can be achieved, mechanical damage can be avoided, the motion trail of the multi-degree-of-freedom manipulator can be dynamically optimized in cooperation with real-time data collection of an all-in-one detection system and closed-loop feedback of an intelligent control system, and the stability and the yield of a complex printing process are remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of fabric auxiliary adjustment robots, in particular to a fabric auxiliary adjustment robot mechanism based on printing equipment. Background Art

[0002] The existing thermal transfer printing machine has a complex structure, a cumbersome processing process, and is heavily dependent on manual operation. In particular, when the fabric becomes skewed or wrinkled, the printing equipment needs to be stopped for adjustment, and the steps are cumbersome. The auxiliary adjustment robot structure currently used can easily cause damage to the fabric when processing the skewed or wrinkled position.

[0003] The defects of existing fabric auxiliary adjustment robots are: 1. Patent document US4897901A discloses a machine brushing fabric, equipped with a stacking worker and a tea set. However, the device in the above document has large deviations and instability during use, resulting in technical problems such as low processing accuracy; 2. Patent document US20050011059A1 discloses a machine and method for processing textile fabrics, but the device in the above document has a technical problem that it cannot guarantee accurate elimination of wrinkles and slippage defects; 3. Patent document US4610150A discloses knitted fabrics, and the knitting method and machine are the same, but the device in the above document has a technical problem that the fabric conveying tension cannot be guaranteed, resulting in wrinkles during the processing; 4. Patent document CN113201924A discloses a fabric defect detection system based on machine vision, but the device in the above document has a technical problem of low processing accuracy. Summary of the invention

[0004] The object of the present invention is to provide a fabric auxiliary adjustment robot mechanism based on a printing device to solve the technical problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a fabric auxiliary adjustment robot mechanism based on a printing device, comprising a frame assembly, a printing execution unit and a multi-degree-of-freedom manipulator, wherein the top of the frame assembly is respectively provided with a printing execution unit and a multi-degree-of-freedom manipulator, and the multi-degree-of-freedom manipulator comprises a multi-axis drive module, a flexible execution terminal, a quick-change connection mechanism, an all-in-one detection system and an intelligent control system; The multi-axis drive module includes a lateral movement module, a multi-degree-of-freedom joint module, and a terminal rotation joint. The lateral movement module is driven by a magnetic levitation linear motor. The multi-degree-of-freedom joint module includes a number of series-connected drive joints, and each drive joint is equipped with a high-precision encoder and a harmonic reducer. One end of the multi-degree-of-freedom joint module is installed on the outer wall of the lateral movement module. The terminal rotation joint uses a strain-type torque sensor to real-time feedback the rotation torque and deflection angle; The flexible execution terminal is connected to the end of the multi-axis drive module. The flexible execution terminal includes an adsorption component and / or a clamping component. The adsorption component is arranged with vacuum suckers and electric field adsorption units at intervals, and the adsorption surface of the electric field adsorption unit is covered with a flexible conductive silica gel layer. The clamping component uses a three-finger flexible gripper driven by piezoelectric ceramics, and a force sensor is integrated at the fingertips of the three-finger flexible gripper; The quick-change connection mechanism is arranged between the multi-axis drive module and the flexible execution terminal, and includes an electromagnetic locking unit and an automatic alignment guide pin. The electromagnetic locking unit uses a combination of Halbach array permanent magnets and electromagnetic coils to achieve millisecond-level locking / release. The automatic alignment guide pin is provided with a guide surface and an infrared positioning mark; The connection process of the quick-change connection mechanism is as follows: When the flexible execution terminal approaches the end of the multi-axis drive module, the infrared transmitter and receiver on the guide pin communicate, calculate the relative position deviation through the triangulation method. The conical guide surface of the guide pin guides the execution terminal to be initially aligned, eliminating the position error within ±2mm. The electromagnetic coil is energized, and the Halbach array permanent magnet generates a unilateral enhanced magnetic field (magnetic field strength ≥0.8T), adsorbing the execution terminal to the docking surface, reducing the distance to 0.1 - 0.5mm (non-contact preloading). The eddy current effect generated by the magnetic field change suppresses mechanical vibration to ensure stable adsorption. Subsequently, the electromagnetic locking unit is energized, the coil current reverses and increases, and the magnetic field strength of the Halbach array suddenly increases (reaching 1.5T) to achieve millisecond-level (<10ms) hard locking. The locking force is monitored by a magnetic flux sensor, and after reaching the threshold (such as 500N), a success signal is sent to the intelligent control system; The disconnection process of the quick-change connection mechanism is as follows: Input a reverse pulse current (lasting 5 - 10ms) to cancel the inherent magnetic field of the Halbach array, so that the locking force suddenly drops to a safe threshold (<50N). The pre-compressed spring inside the guide pin releases energy (energy storage coefficient k = 200N / mm), pushing the execution terminal away from the drive module, and the separation speed reaches 0.5m / s. The coil is fed with a decaying alternating current to eliminate the residual magnetism (residual magnetism <0.01T) to avoid interfering with subsequent operations. The infrared positioning system is recalibrated to prepare for the next connection.

[0006] Preferably, the multi-in-one detection system is integrated into a multi-degree-of-freedom manipulator, including a vision detection unit and a tensile force detection unit. The vision detection unit includes a high-speed camera and a laser measuring instrument, which are used to capture subtle changes in the fabric. The tensile force detection unit includes an optical fiber sensor arranged on the fabric transmission path, which is used to monitor the fabric tension in real time.

[0007] Preferably, the intelligent control system is communicatively connected to the main controller of the printing execution unit. The intelligent control system includes a fabric deformation prediction module, a motion correction module, and a force adjustment module. The fabric deformation prediction module is used to analyze the data collected by the high-speed camera through an artificial intelligence algorithm to predict the fabric deformation trend in advance. The motion correction module is used to automatically adjust the moving path of the multi-degree-of-freedom manipulator according to the prediction result. The force adjustment module is used to intelligently control the grasping force according to the data collected by the tensile force detection unit to avoid damaging the fabric.

[0008] Preferably, the frame assembly includes a horizontal support plate and a gantry bracket. The horizontal support plate is arranged along the fabric transmission direction. The gantry bracket straddles above the horizontal support plate, and the outer wall of the gantry bracket is installed inside the lateral movement module.

[0009] Preferably, the printing execution unit includes a bottom fixing seat, a printing head array, and a printing platform. The bottom of the bottom fixing seat is installed on the top of the horizontal support plate. The printing head array is provided with a screen positioning mechanism that can be lifted and lowered. The surface of the printing platform is provided with a microporous negative pressure adsorption layer, and the microporous negative pressure adsorption layer includes a honeycomb-shaped porous ceramic substrate and a partition controllable vacuum device.

[0010] Preferably, first brackets are installed at both the front end and the tail end of the top of the horizontal support plate. Collection rollers are arranged inside the first brackets. A group of second brackets are installed on the top of the horizontal support plate. A moving groove is formed inside the second brackets. A hydraulic cylinder is installed on the top of the second brackets. The output end of the hydraulic cylinder is installed with a moving block, and the outer wall of the moving block is movably connected to the inner wall of the moving groove. A rotating shaft is fitted and installed on one side of the moving block, and a guiding roller is installed inside the rotating shaft.

[0011] Preferably, the high-speed camera is equipped with an annular fill light and a 20 million pixel CMOS sensor, and the frame rate is ≥120fps; The laser measuring instrument uses a blue laser source, and the measurement accuracy is ±0.005mm.

[0012] Preferably, the multi-degree-of-freedom manipulator further includes: A pre-positioning execution module, integrated into the intelligent control system and connected to the vision detection unit. The pre-positioning execution module includes a vision feature point matching algorithm library; The fine-tuning actuator is installed at the end rotating joint of the multi-axis drive module. The fine-tuning actuator is signal-connected to the laser measuring instrument, and the rotation accuracy of the end rotating joint is ±0.01°. The tension balance controller is embedded in the adsorption component and / or clamping component of the flexible execution terminal. The tension balance controller is electrically connected to the force sensor and is configured with a closed-loop feedback circuit for dynamically adjusting the adsorption force.

[0013] Preferably, the working steps of the fabric auxiliary adjustment robot mechanism based on the printing equipment are as follows: S1. The lateral movement module quickly resets to the reference point of the frame assembly through the magnetic levitation linear motor. The high-speed camera of the vision detection unit is started to scan the working area in cooperation with the annular supplementary light. The laser measuring instrument establishes a three-dimensional space coordinate system. The tension detection unit uses the fiber optic sensor to collect the initial fabric tension data and records it as a reference threshold through the intelligent control system. S2. The vision detection unit is used to analyze the fabric texture and thickness, and the intelligent control system selects the adsorption or clamping strategy: Adsorption mode: The electric field adsorption unit activates the flexible conductive silica gel layer, and the vacuum chuck assists in fixing the thin and light fabric. Clamping mode: The three-finger flexible gripper driven by the piezoelectric ceramic adaptively adjusts the clamping force to avoid damaging the thick or elastic fabric. S3. When the printing execution unit performs printing, the laser measuring instrument scans the pattern edge to detect the positioning error. The multi-degree-of-freedom manipulator finely adjusts the fabric position in real time, and the end rotating joint avoids stretching deformation through the torque sensor. S4. The intelligent control system saves the current task parameters and optimizes the subsequent grasping strategy. S5. Train the model through historical data to predict the fabric deformation trend and optimize the path planning algorithm.

[0014] Preferably, the following steps are further included in the S1: S11. The vision detection unit captures the subtle deformations (including wrinkles and offsets) during the fabric transmission process. The fiber optic sensor monitors the tension fluctuations in real time. When it detects that the tension exceeds the preset threshold, it triggers an intervention instruction for the multi-degree-of-freedom manipulator.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention uses a multi-axis drive module driven by a magnetic suspension linear motor in combination with a number of serially connected drive joints and terminal torque sensors to ensure zero deviation in the alignment of the printing execution unit. Then, through the adsorption component, the vacuum suction cup and the electric field adsorption unit are alternately arranged, combined with the piezoelectric ceramic three-finger flexible clamp, which can not only adapt to the characteristics of different fabrics such as silk and knitting, but also flexibly clamp to avoid mechanical damage. The Halbach electromagnetic quick-change mechanism supports rapid tool switching, and cooperates with the infrared positioning guide pin to improve the docking accuracy of the tooling. In combination with the real-time data acquisition of the all-in-one detection system and the closed-loop feedback of the intelligent control system, the motion trajectory of the multi-degree-of-freedom manipulator can be dynamically optimized to form an integrated coordination of "perception-decision-execution", significantly improve the stability and yield rate of complex printing processes, and achieve the effect of improving efficiency, accuracy and intelligence. 2. The present invention adopts the setting of an all-in-one detection system and an intelligent control system, uses a 20-megapixel CMOS camera in a visual detection unit in combination with a laser measuring instrument, captures fabric texture deformation at a frame rate of ≥120fps with the assistance of a ring fill light, and combines the optical fiber sensor arranged in the tension detection unit to realize dual-modal perception of fabric tension field and dynamic deformation. The intelligent control system establishes a fabric deformation trend model through a fabric deformation prediction module, drives the motion correction module to optimize the moving path of the multi-degree-of-freedom manipulator in real time, and at the same time, the force adjustment module dynamically adjusts the clamping parameters according to the tension distribution data, forming a closed-loop control of "monitoring-prediction-execution", so that the multi-degree-of-freedom manipulator can still maintain precise force control during high-speed movement, thereby eliminating the defects of wrinkles and slippage, and providing alignment guarantee for the printing process; 3. The present invention forms a stable and open working space by extending the horizontal support plate along the fabric transmission direction and cooperating with the cross-layout layout of the gantry bracket, which not only ensures the rigidity requirement of the multi-degree-of-freedom manipulator for lateral movement, but also provides sufficient operating depth for dynamic adjustment of the fabric. The first bracket integrates a double-station collecting roller, and the second bracket cooperates with the hydraulic cylinder to drive the position of the guide roller group, which is conducive to ensuring the tension of the fabric transmission, thereby achieving the effect of reducing wrinkles; 4. The present invention integrates the bottom fixing seat and the horizontal support plate, and cooperates with the liftable screen positioning mechanism, which is conducive to the rapid adaptation of screen frames of different specifications. The microporous negative pressure adsorption layer of the printing platform adopts a combination of a honeycomb porous ceramic substrate and a partitioned controllable vacuum device, which is conducive to forming an independent negative pressure control area, which can not only improve the uniformity of substrate adsorption, but also compensate for material deformation through partitioned pressure adjustment, thereby achieving the effect of improving the accuracy of the printing execution unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure flow of the multi-degree-of-freedom manipulator of the present invention; Figure 2 It is a schematic diagram of the system flow structure of the present invention; Figure 3 Schematic diagram of the overall system architecture process of the present invention; Figure 4 Schematic diagram of the control logic process structure of the multi-degree-of-freedom manipulator of the present invention; Figure 5 Schematic diagram of the working process of the quick-change connection mechanism of the present invention; Figure 6 Schematic diagram of the overall structure of the present invention; Figure 7 Schematic diagram of the overall structure with top view of the present invention; Figure 8 Schematic diagram of the second bracket structure of the present invention; Figure 9 Schematic diagram of the structure of the printing execution unit of the present invention.

[0017] In the figure: 1. Frame assembly; 2. Printing execution unit; 3. Multi-degree-of-freedom manipulator; 4. Multi-axis drive module; 5. Flexible execution terminal; 6. Quick-change connection mechanism; 7. Multi-in-one detection system; 8. Intelligent control system; 9. Lateral movement module; 10. Multi-degree-of-freedom joint module; 11. End rotation joint; 12. Adsorption component; 13. Clamping component; 14. Vacuum suction cup; 15. Electric field adsorption unit; 16. Three-finger flexible gripper; 17. Electromagnetic locking unit; 18. Automatic alignment guide pin; 19. Vision detection unit; 20. Tensile force detection unit; 21. High-speed camera; 22. Laser measuring instrument; 23. Fiber optic sensor; 24. Fabric deformation prediction module; 25. Motion correction module; 26. Force adjustment module; 27. Horizontal support plate; 28. Gantry bracket; 30. Fixed seat; 31. Printing head array; 32. Printing platform; 33. Micro-hole negative pressure adsorption layer; 34. First bracket; 35. Collection roller; 36. Second bracket; 37. Moving groove; 38. Hydraulic cylinder; 39. Moving block; 40. Rotating shaft; 41. Guide roller. Detailed implementation manners

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention 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 should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0020] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] Example 1: Please refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 and Figure 7 , an embodiment provided by the present invention: A fabric auxiliary adjustment robot mechanism based on a printing device, including a frame assembly 1, a printing execution unit 2, and a multi-degree-of-freedom manipulator 3. The printing execution unit 2 and the multi-degree-of-freedom manipulator 3 are respectively arranged on the top of the frame assembly 1. The multi-degree-of-freedom manipulator 3 includes a multi-axis drive module 4, a flexible execution terminal 5, a quick-change connection mechanism 6, a multi-in-one detection system 7, and an intelligent control system 8; The multi-axis drive module 4 includes a lateral movement module 9, a multi-degree-of-freedom joint module 10, and a terminal rotation joint 11. The lateral movement module 9 is driven by a magnetic levitation linear motor. The multi-degree-of-freedom joint module 10 includes a number of series-connected drive joints, and each drive joint is equipped with a high-precision encoder and a harmonic reducer. One end of the multi-degree-of-freedom joint module 10 is installed on the outer wall of the lateral movement module 9. The terminal rotation joint 11 uses a strain-type torque sensor to real-time feedback the rotation torque and deflection angle; The flexible execution terminal 5 is connected to the end of the multi-axis drive module and includes an adsorption component 12 and / or a clamping component 13. The adsorption component 12 is arranged with vacuum suction cups 14 and electric field adsorption units 15 arranged at intervals, and the adsorption surface of the electric field adsorption unit 15 is covered with a flexible conductive silica gel layer. The clamping component 13 uses a three-finger flexible gripper 16 driven by piezoelectric ceramics, and a force sensor is integrated at the fingertips of the three-finger flexible gripper 16; The quick-change connection mechanism 6 is arranged between the multi-axis drive module 4 and the flexible execution terminal 5, and includes an electromagnetic locking unit 17 and an automatic alignment guide pin 18. The electromagnetic locking unit 17 adopts a combination of a Halbach array permanent magnet and an electromagnetic coil to achieve millisecond-level locking / release. The automatic alignment guide pin 18 is provided with a guide surface and an infrared positioning mark; Furthermore, the multi-axis drive module 4 driven by the magnetic levitation linear motor cooperates with several series-connected drive joints and terminal torque sensors to ensure zero deviation of the printing execution unit 2. Then, through the adsorption component 12, the vacuum suction cup 14 and the electric field adsorption unit 15 are alternately arranged, and combined with the piezoelectric ceramic three-finger flexible clamp 16, it can not only adapt to the characteristics of different fabrics such as silk and knitting, but also flexibly clamp to avoid mechanical damage. The Halbach electromagnetic quick-change mechanism supports fast tool switching, and cooperates with the infrared positioning guide pin to improve the docking accuracy of tooling. Combined with the real-time data acquisition of the all-in-one detection system 7 and the closed-loop feedback of the intelligent control system 8, it can dynamically optimize the motion trajectory of the multi-degree-of-freedom manipulator 3, forming an integrated coordination of "perception-decision-execution", significantly improving the stability and yield rate of complex printing processes, and achieving the effect of improving efficiency, accuracy and intelligence.

[0022] Example 2: Please refer to Figure 1 , Figure 2 , Figure 4 , an embodiment provided by the present invention: an all-in-one detection system 7 is integrated in a multi-degree-of-freedom manipulator 3, including a visual detection unit 19 and a tension detection unit 20, the visual detection unit 19 includes a high-speed camera 21 and a laser measuring instrument 22, which are used to capture subtle changes in the fabric, and the tension detection unit 20 includes an optical fiber sensor 23 arranged on the fabric transmission path, which is used to monitor the fabric tension in real time; The intelligent control system 8 is connected to the main controller of the printing execution unit 2 in communication. The intelligent control system 8 includes a fabric deformation prediction module 24, a motion correction module 25 and a strength adjustment module 26. The fabric deformation prediction module 24 is used to analyze the data collected by the high-speed camera 21 through an artificial intelligence algorithm to predict the fabric deformation trend in advance. The motion correction module 25 is used to automatically adjust the moving path of the multi-degree-of-freedom manipulator 3 according to the prediction result. The strength adjustment module 26 is used to intelligently control the grasping force to avoid damaging the fabric according to the data collected by the tension detection unit 20; High-speed camera 21 is equipped with a ring fill light and a 20-megapixel CMOS sensor with a frame rate of ≥120fps; The laser measuring instrument 22 uses a blue laser source with a measurement accuracy of ±0.005mm; Furthermore, through the settings of the multi-in-one detection system 7 and the intelligent control system 8, the vision detection unit 19 uses a 20-megapixel CMOS camera in combination with a laser measuring instrument 22 to capture the deformation of the fabric texture at a frame rate of ≥120 fps with the assistance of a ring-shaped fill light. Combining with the fiber optic sensors 23 arranged by the tensile force detection unit 20, it realizes the dual-modal perception of the fabric tension field and dynamic deformation. The intelligent control system 8 establishes a fabric deformation trend model through the fabric deformation prediction module 24, drives the motion correction module 25 to optimize the movement path of the multi-degree-of-freedom manipulator 3 in real time. At the same time, the force adjustment module 26 dynamically adjusts the clamping parameters according to the tensile force distribution data, forming a closed-loop control of "monitoring - prediction - execution", enabling the multi-degree-of-freedom manipulator 3 to maintain precise force control during high-speed movement, thereby eliminating the defects of wrinkles and slippage and providing alignment guarantee for the printing process.

[0023] Example 3: Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 、 Figure 7 and Figure 8 For an embodiment provided by the present invention, the frame assembly 1 includes a horizontal support plate 27 and a gantry bracket 28. The horizontal support plate 27 is arranged along the fabric transmission direction, and the gantry bracket 28 is straddled above the horizontal support plate 27, and the outer wall of the gantry bracket 28 is installed inside the lateral movement module 9; At the front end and the tail end of the top of the horizontal support plate 27, first brackets 34 are installed. Inside the first brackets 34, collecting rollers 35 are provided. A group of second brackets 36 are installed on the top of the horizontal support plate 27. A moving groove 37 is opened inside the second brackets 36. A hydraulic cylinder 38 is installed on the top of the second brackets 36. The output end of the hydraulic cylinder 38 is installed with a moving block 39, and the outer wall of the moving block 39 is movably connected to the inner wall of the moving groove 37. A rotating shaft 40 is fitted and installed on one side of the moving block 39, and a guiding roller 41 is installed inside the rotating shaft 40; Furthermore, by the horizontal support plate 27 extending along the fabric transmission direction and in cooperation with the layout of the gantry bracket 28 straddling, a stable and open working space is formed, which not only ensures the rigid demand for the lateral movement of the multi-degree-of-freedom manipulator 3 but also provides sufficient operating depth for the dynamic adjustment of the fabric. The first bracket 34 integrates a double-station collecting roller 35, and the second bracket 36 cooperates with the hydraulic cylinder 38 to drive the position of the guiding roller 41 group, which is beneficial to ensuring the tension of the fabric transmission and thus achieving the effect of reducing wrinkles.

[0024] Example 4: Please refer to Figure 3 、 Figure 6 、 Figure 7 and Figure 9, An embodiment provided by the present invention: The printing execution unit 2 includes a bottom fixing seat 30, a printing head array 31 and a printing platform 32. The bottom of the bottom fixing seat 30 is mounted on the top of the horizontal support plate 27. The printing head array 31 is provided with a screen positioning mechanism capable of lifting and lowering. The surface of the printing platform 32 is provided with a microporous negative pressure adsorption layer 33. The microporous negative pressure adsorption layer 33 includes a honeycomb porous ceramic substrate and a partition-controlled vacuum device; Furthermore, through the integrated installation of the bottom fixing seat 30 and the horizontal support plate 27, combined with the liftable screen positioning mechanism, it is beneficial to quickly adapt to different specifications of screen frames. The microporous negative pressure adsorption layer 33 of the printing platform 32 adopts a combination of a honeycomb porous ceramic substrate and a partition-controlled vacuum device, which is beneficial to form independent negative pressure control areas. It can not only improve the adsorption uniformity of the printed matter, but also compensate for material deformation through partition pressure adjustment, achieving the effect of improving the accuracy of the printing execution unit 2.

[0025] Embodiment 5: Please refer to Figure 4 , Figure 6 and Figure 7 , An embodiment provided by the present invention: First brackets 34 are installed at both the front end and the tail end of the top of the horizontal support plate 27. Collection rollers 35 are arranged inside the first brackets 34. A group of second brackets 36 are installed on the top of the horizontal support plate 27. A moving groove 37 is opened inside the second brackets 36. A hydraulic cylinder 38 is installed on the top of the second brackets 36. The output end of the hydraulic cylinder 38 is installed with a moving block 39. The outer wall of the moving block 39 is movably connected to the inner wall of the moving groove 37. A rotating shaft 40 is fitted and installed on one side of the moving block 39. A guiding roller 41 is installed on the inner wall of the rotating shaft 40; The multi-degree-of-freedom manipulator 3 further includes: A pre-positioning execution module, integrated in the intelligent control system 8 and connected to the vision detection unit 19. The pre-positioning execution module includes a vision feature point matching algorithm library; A fine-tuning execution mechanism, installed at the end rotating joint 11 of the multi-axis drive module 4. The fine-tuning execution mechanism is signal-connected to the laser measuring instrument 22, and the rotation accuracy of the end rotating joint 11 is ±0.01°; A tension balance controller, embedded in the adsorption component 12 and / or the clamping component (13) of the flexible execution terminal 5. The tension balance controller is electrically connected to the force sensor and is configured with a closed-loop feedback circuit for dynamically adjusting the adsorption force; Furthermore, the multi-degree-of-freedom manipulator 3 integrates a pre-positioning execution module, a fine-tuning actuator, and a tension balance controller. The pre-positioning execution module achieves fast response through visual feature point matching. The fine-tuning actuator uses a laser measuring instrument 22 to achieve positioning accuracy. The tension balance controller dynamically distributes the adsorption force through a force sensor array, reducing the adsorption deformation of the thin and light fabric. This collaborative working mechanism of the multi-module structure, combined with the modular design of the guide rail support, enables the device to achieve nanometer-level motion control while maintaining stable transportation.

[0026] Embodiment 6: Please refer to Figure 2 , an embodiment provided by the present invention: The working steps of the fabric auxiliary adjustment robot mechanism based on the printing equipment are as follows: S1. The lateral movement module 9 quickly resets to the reference point of the frame assembly 1 through a magnetic levitation linear motor. The high-speed camera 21 of the visual detection unit 19 is activated to scan the working area in cooperation with the annular supplementary light. The laser measuring instrument 22 establishes a three-dimensional space coordinate system. The fiber optic sensor 23 of the tensile force detection unit 20 collects the initial fabric tensile force data and records it as a reference threshold through the intelligent control system 8; S2. The visual detection unit 19 analyzes the fabric texture and thickness, and the intelligent control system 8 selects an adsorption or clamping strategy: Adsorption mode: The electric field adsorption unit 15 activates the flexible conductive silicone layer, and the vacuum chuck 14 assists in fixing the thin and light fabric; Clamping mode: The three-finger flexible gripper 16 driven by piezoelectric ceramics adaptively adjusts the clamping force to avoid damaging thick or elastic fabrics; S3. The motion correction module 25 generates a deviation correction trajectory according to the deformation prediction result. The 4 series joints of the multi-degree-of-freedom joint module 10 move in coordination, and the end rotating joint 11 compensates for the deflection angle in real time.

[0027] Magnetic levitation fast response: The lateral movement module 9 quickly translates in a frictionless manner to ensure the fabric flattening or alignment efficiency.

[0028] Printing synchronization monitoring: The laser measuring instrument 22 scans the printing edge to detect the positioning error, and the intelligent control system 8 dynamically optimizes the moving path of the multi-degree-of-freedom manipulator 3.

[0029] S4. When the printing execution unit 2 performs printing, the laser measuring instrument 22 scans the pattern edge to detect the positioning error. The multi-degree-of-freedom manipulator 3 fine-tunes the fabric position in real time, and the end rotating joint 11 avoids stretching deformation through the torque sensor; S5. The intelligent control system 8 saves the current task parameters and optimizes the subsequent grasping strategy; S6. Train the model through historical data to predict the fabric deformation trend and optimize the path planning algorithm; In S1, the following steps are also included: S11. The visual detection unit 19 captures minute deformations during the fabric transmission process, including wrinkles and offsets. The fiber optic sensor 23 monitors the tension fluctuations in real time. When the detected value exceeds the preset threshold, it triggers an intervention instruction for the multi-degree-of-freedom manipulator 3.

[0030] Working principle: The multi-axis drive module 4 driven by a maglev linear motor, in cooperation with several series-connected drive joints and an end torque sensor, can ensure zero deviation in the alignment of the printing execution unit 2. Then, through the adsorption assembly 12, with the alternating layout of the vacuum suction cups 14 and the electric field adsorption unit 15, combined with the piezoelectric ceramic three-finger flexible gripper 16, it can not only adapt to the characteristics of different fabrics such as silk and knitting, but also flexibly grip to avoid mechanical damage. The Halbach electromagnetic quick-change mechanism supports rapid tool switching, and in cooperation with the infrared positioning guide pins, it is beneficial to improve the accuracy of tooling docking. Together with the real-time data acquisition of the multi-in-one detection system 7 and the closed-loop feedback of the intelligent control system 8, it can dynamically optimize the motion trajectory of the multi-degree-of-freedom manipulator 3, forming an integrated coordination of "perception - decision - execution", significantly improving the stability and yield rate of complex printing processes, and achieving the effect of improving efficiency, accuracy, and intelligence. Through the settings of the multi-in-one detection system 7 and the intelligent control system 8, the vision detection unit 19 uses a 20 million-pixel CMOS camera in cooperation with a laser measuring instrument 22 to capture the fabric texture deformation at a frame rate of ≥120fps with the assistance of a ring-shaped fill light. Combined with the fiber optic sensors 23 arranged by the tensile force detection unit 20, it realizes the dual-modal perception of the fabric tension field and dynamic deformation. The intelligent control system 8 establishes a fabric deformation trend model through the fabric deformation prediction module 24, drives the motion correction module 25 to optimize the movement path of the multi-degree-of-freedom manipulator 3 in real time, and at the same time, the force adjustment module 26 dynamically adjusts the clamping parameters according to the tensile force distribution data, forming a closed-loop control of "monitoring - prediction - execution", enabling the multi-degree-of-freedom manipulator 3 to maintain precise force control during high-speed movement, thereby eliminating defects such as wrinkles and slippage, and providing alignment guarantee for the printing process. By extending the horizontal support plate 27 along the fabric transmission direction and cooperating with the cross-set layout of the gantry support 28, a stable and open working space is formed, which not only ensures the rigid requirements for the lateral movement of the multi-degree-of-freedom manipulator 3, but also provides sufficient operating depth for the dynamic adjustment of the fabric. The first support 34 integrates a double-station collecting roller 35, and the second support 36 cooperates with the hydraulic cylinder 38 to drive the position of the guide roller 41 group, which is beneficial to ensuring the tension of the fabric transmission, and thus achieving the effect of reducing wrinkles. Through the integrated installation of the bottom fixing seat 30 and the horizontal support plate 27, in cooperation with the liftable screen plate positioning mechanism, it is beneficial to quickly adapt to different specifications of screen frames. The microporous negative pressure adsorption layer 33 of the printing platform 32, which uses a honeycomb-shaped porous ceramic substrate combined with a partition-controlled vacuum device, is beneficial to form an independent negative pressure control area, which can not only improve the adsorption uniformity of the printing substrate, but also compensate for material deformation through partition pressure adjustment, achieving the effect of improving the accuracy of the printing execution unit 2. Through the multi-degree-of-freedom manipulator 3 integrating a pre-positioning execution module, a fine-tuning execution mechanism, and a tension balance controller, the pre-positioning execution module achieves rapid response through visual feature point matching, the fine-tuning execution mechanism achieves positioning accuracy with the help of the laser measuring instrument 22, and the tension balance controller realizes the dynamic distribution of the adsorption force through the force sensor array, reducing the adsorption deformation amount of the thin and light fabric.This multi-module structure collaborative working mechanism, combined with the modular design of the guide rail bracket, enables the device to achieve nanoscale motion control while maintaining stable transportation.

[0031] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A fabric auxiliary adjustment robot mechanism based on a printing device, comprising a frame assembly (1), a printing execution unit (2) and a multi-degree-of-freedom manipulator (3), characterized in that: A printing execution unit (2) and a multi-degree-of-freedom manipulator (3) are respectively arranged on the top of the frame assembly (1); the multi-degree-of-freedom manipulator (3) comprises a multi-axis drive module (4), a flexible execution terminal (5), a quick-change connection mechanism (6), an all-in-one detection system (7) and an intelligent control system (8); The multi-axis drive module (4) comprises a lateral movement module (9), a multi-degree-of-freedom joint module (10) and a terminal rotation joint (11); the lateral movement module (9) is driven by a magnetic suspension linear motor; the multi-degree-of-freedom joint module (10) comprises a plurality of drive joints connected in series, each drive joint comprises a high-precision encoder and a harmonic reducer; one end of the multi-degree-of-freedom joint module (10) is mounted on the outer wall of the lateral movement module (9); and the terminal rotation joint (11) adopts a strain-type torque sensor to provide real-time feedback of the rotation torque and the deflection angle; The flexible execution terminal (5) is connected to the end of the multi-axis drive module (4), and the flexible execution terminal (5) comprises an adsorption component (12) and / or a clamping component (13). The adsorption component (12) comprises a vacuum suction cup (14) and an electric field adsorption unit (15) arranged in an alternating manner, and the adsorption surface of the electric field adsorption unit (15) is covered with a flexible conductive silicone layer. The clamping component (13) comprises a three-finger flexible gripper (16) driven by piezoelectric ceramics, and the fingertips of the three-finger flexible gripper (16) are integrated with force sensors. The quick-change connection mechanism (6) is arranged between the multi-axis drive module (4) and the flexible execution terminal (5), and comprises an electromagnetic locking unit (17) and an automatic alignment guide pin (18); the electromagnetic locking unit (17) adopts a Halbach array permanent magnet and an electromagnetic coil combination to achieve millisecond-level locking / releasing; the automatic alignment guide pin (18) is provided with a guide surface and an infrared positioning mark.

2. The fabric auxiliary adjustment robot mechanism based on a printing device according to claim 1, characterized in that: The all-in-one detection system (7) is integrated into a multi-degree-of-freedom manipulator (3), and comprises a visual detection unit (19) and a tension detection unit (20); the visual detection unit (19) comprises a high-speed camera (21) and a laser measuring instrument (22) for capturing subtle changes in fabric; and the tension detection unit (20) comprises an optical fiber sensor (23) arranged on a fabric transmission path for real-time monitoring of fabric tension.

3. The fabric auxiliary adjustment robot mechanism based on a printing device according to claim 1, characterized in that: The intelligent control system (8) is communicatively connected to a main controller of a printing execution unit (2). The intelligent control system (8) comprises a fabric deformation prediction module (24), a motion correction module (25) and a force adjustment module (26). The fabric deformation prediction module (24) is used to analyze data collected by a high-speed camera (21) through an artificial intelligence algorithm to predict the fabric deformation trend in advance. The motion correction module (25) is used to automatically adjust the movement path of the multi-degree-of-freedom manipulator (3) according to the prediction result. The force adjustment module (26) is used to intelligently adjust the gripping force according to the data collected by the tension detection unit (20) to avoid damaging the fabric.

4. The fabric auxiliary adjustment robot mechanism based on a printing device according to claim 1, characterized in that: The frame assembly (1) includes a horizontal support plate (27) and a gantry support (28). The horizontal support plate (27) is arranged to extend along the fabric transmission direction. The gantry support (28) is spanned above the horizontal support plate (27), and the outer wall of the gantry support (28) is installed inside the lateral movement module (9).

5. A fabric auxiliary adjustment robot mechanism based on a printing device according to claim 1, characterized in that: The printing execution unit (2) includes a bottom fixing seat (30), a printing head array (31), and a printing platform (32). The bottom of the bottom fixing seat (30) is installed on the top of the horizontal support plate (27). The printing head array (31) is provided with a screen positioning mechanism capable of lifting. The surface of the printing platform (32) is provided with a microporous negative pressure adsorption layer (33). The microporous negative pressure adsorption layer (33) includes a honeycomb porous ceramic substrate and a partition controllable vacuum device.

6. The fabric auxiliary adjustment robot mechanism based on a printing device according to claim 4, characterized in that: At the front end and the tail end of the top of the horizontal support plate (27), first supports (34) are installed. Inside the first supports (34), collecting rollers (35) are provided. A group of second supports (36) are installed on the top of the horizontal support plate (27). A moving groove (37) is formed inside the second supports (36). A hydraulic cylinder (38) is installed on the top of the second supports (36). The output end of the hydraulic cylinder (38) is installed with a moving block (39). The outer wall of the moving block (39) is movably connected to the inner wall of the moving groove (37). A rotating shaft (40) is fitted and installed on one side of the moving block (39). A guiding roller (41) is installed inside the rotating shaft (40).

7. A fabric auxiliary adjustment robot mechanism based on a printing device according to claim 2, characterized in that: The high-speed camera (21) is equipped with an annular fill light and a 20 million pixel CMOS sensor, and the frame rate ≥ 120fps; The laser measuring instrument (22) uses a blue laser source, and the measurement accuracy is ±0.005mm.

8. The fabric auxiliary adjustment robot mechanism based on a printing device according to claim 1, characterized in that: The multi-degree-of-freedom manipulator (3) further includes: A pre-positioning execution module, integrated in the intelligent control system (8) and connected to the vision detection unit (19). The pre-positioning execution module includes a vision feature point matching algorithm library; A fine-tuning execution mechanism, installed at the end rotating joint (11) of the multi-axis drive module (4). The fine-tuning execution mechanism is signal-connected to the laser measuring instrument (22), and the rotation accuracy of the end rotating joint (11) is ±0.01°; A tension balance controller, embedded in the adsorption component (12) and / or the clamping component (13) of the flexible execution terminal (5). The tension balance controller is electrically connected to the force sensor and is configured with a closed-loop feedback circuit for dynamically adjusting the adsorption force.

9. The usage method of a fabric auxiliary adjustment robot mechanism based on a printing device according to claim 7, characterized in that, The working steps of the fabric auxiliary adjustment robot mechanism based on the printing equipment are as follows: S1. The lateral movement module (9) quickly resets to the reference point of the frame assembly (1) through a magnetic levitation linear motor. The high-speed camera (21) of the vision detection unit (19) is started to scan the working area in cooperation with the annular fill light. The laser measuring instrument (22) establishes a three-dimensional space coordinate system. The tension detection unit (20) uses the fiber optic sensor (23) to collect the initial fabric tension data and records it as a reference threshold through the intelligent control system (8); S2. The vision detection unit (19) is used to analyze the fabric texture and thickness, and the intelligent control system (8) selects the adsorption or clamping strategy: Adsorption mode: The electric field adsorption unit (15) activates the flexible conductive silica gel layer, and the vacuum suction cup (14) assists in fixing the thin fabric; Clamping mode: The three-finger flexible gripper (16) driven by piezoelectric ceramics adaptively adjusts the clamping force to avoid damaging thick or elastic fabrics; S3. When the printing execution unit (2) performs printing, the laser measuring instrument (22) scans the pattern edge to detect the positioning error, and the multi-degree-of-freedom manipulator (3) finely adjusts the fabric position in real time. The end rotating joint (11) avoids stretching deformation through the torque sensor; S4. The intelligent control system (8) saves the current task parameters and optimizes the subsequent grasping strategy; S5. Train the model through historical data to predict the fabric deformation trend and optimize the path planning algorithm.

10. The method of using a fabric auxiliary adjustment robot mechanism based on a printing device according to claim 9, characterized in that, The following steps are further included in the S1: S11. The vision detection unit (19) captures the subtle deformations (including wrinkles and offsets) during the fabric transmission process. The fiber optic sensor (23) monitors the tension fluctuation in real time. When it detects that it exceeds the preset threshold, it triggers an intervention instruction for the multi-degree-of-freedom manipulator (3).

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