Fabric recovery equipment and fabric recovery control method

Abstract

The invention provides fabric recovery equipment and a fabric recovery control method. The fabric recycling equipment comprises a first conveying mechanism, a first image collecting mechanism, a warp stripping mechanism and a weft separating mechanism. The first conveying mechanism is used for conveying fabrics in the conveying direction; the first image acquisition mechanism is used for acquiring a first image of the fabric on the first conveying mechanism; the warp yarn stripping mechanism is located on the downstream of the first conveying mechanism in the conveying direction and used for receiving the fabric and stripping the warp yarn in the fabric according to the first image; and the weft yarn separating mechanism is positioned at the downstream of the first conveying mechanism in the conveying direction and is used for separating weft yarns in the fabric after the warp yarns are stripped by the warp yarn stripping mechanism. The fabric recycling equipment can independently recycle the warp yarns and the weft yarns in the fabric, and the recycling value can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of textiles, and particularly to a fabric recycling device and a fabric recycling control method. Background Art

[0002] Woven fabrics are formed by warp knitting and weft knitting of warp yarns and weft yarns. In existing recycling technologies, chemical and biological methods are usually used to dissolve cotton in the fabric for recycling, or mechanical equipment is used to recycle the whole piece of fabric to obtain a mixed recycling material of warp yarns and weft yarns. Warp yarns usually contain high-quality fibers or cotton, etc., while weft yarns usually contain synthetic materials such as polyester, nylon, and spandex, as well as some low-quality cotton. If the whole piece of fabric is mechanically recycled, the warp yarns and weft yarns cannot be separated, so pure high-quality fibers or cotton materials cannot be recycled, reducing the recycling value.

[0003] The above information disclosed in the background art section is only used to enhance the understanding of the background of the present disclosure, and thus it may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0004] The purpose of the present disclosure is to provide a fabric recycling device and a fabric recycling control method, which can separately recycle the warp yarns and weft yarns in the fabric, make the best use of everything, and improve the recycling value.

[0005] To achieve the above purpose, the present disclosure provides a fabric recycling device, including a first conveying mechanism, a first image acquisition mechanism, a warp yarn stripping mechanism, and a weft yarn separating mechanism. The first conveying mechanism is used to convey the fabric in the conveying direction; the first image acquisition mechanism is used to acquire a first image of the fabric on the first conveying mechanism; the warp yarn stripping mechanism is located downstream of the first conveying mechanism in the conveying direction and is used to receive the fabric and strip the warp yarns in the fabric according to the first image. The weft yarn separating mechanism is located downstream of the first conveying mechanism in the conveying direction and is used to separate the weft yarns in the fabric after the warp yarn stripping mechanism strips the warp yarns.

[0006] According to some embodiments of the present disclosure, the fabric recycling device further includes: a second conveying mechanism, which is located between the first conveying mechanism and the stripping mechanism in the conveying direction. The second conveying mechanism includes a plurality of second sub-conveying mechanisms arranged at intervals along a first horizontal direction and is used to receive the fabric and convey the fabric to the warp yarn stripping mechanism; wherein, the first horizontal direction is perpendicular to the conveying direction.

[0007] According to some embodiments of the present disclosure, the second sub-conveying mechanism includes a pressure roller and a second conveyor belt. The pressure roller is located above one end of the second conveyor belt close to the first conveying mechanism. When the fabric is conveyed to the second conveying mechanism, the fabric is clamped between the pressure roller and the second conveyor belt. The second conveying mechanism further includes: a plurality of first cutting knives, at least a part of the first cutting knives is disposed between the pressure rollers of adjacent second sub-conveying mechanisms, and is used for cutting the fabric when the fabric is clamped between the pressure roller and the second conveyor belt and being conveyed.

[0008] According to some embodiments of the present disclosure, the warp stripping mechanism includes: a stripping platform for supporting the fabric; a rotating roller disposed on the downstream side of the stripping platform in the conveying direction; a plurality of stripping knives disposed on the rotating roller and capable of rotating with the rotating roller; the stripping knife includes a main body portion and a tip, the tip is disposed on the main body portion and protrudes along the circumference of the main body portion, and is used for stripping the warp of the fabric located on the stripping platform; a yarn gripper located below the plurality of stripping knives, and is used for grasping the warp stripped by the stripping knife and pulling the warp out of the fabric.

[0009] According to some embodiments of the present disclosure, the fabric recycling device further includes a first recycling mechanism located below the warp stripping mechanism. The first recycling mechanism includes: a first blower and a first recycling box. The first blower has a pipeline communicated with the first recycling box, and the first blower is used for sucking the warp clamped by the yarn gripper into the first recycling box.

[0010] According to some embodiments of the present disclosure, the weft separating mechanism includes: a second cutting knife movably disposed above the warp stripping mechanism, and is used for cutting the remaining weft in the fabric with a preset length value after the warp is stripped; a suction head located on at least one side of the second cutting knife, and is used for sucking the cut weft.

[0011] According to some embodiments of the present disclosure, the fabric recycling device further includes a second recycling mechanism. The second recycling mechanism includes a second blower and a second recycling box. The second blower has pipelines respectively communicated with the suction head and the second recycling box, and is used for sucking the cut weft into the second recycling box.

[0012] According to some embodiments of the present disclosure, the fabric recycling device further includes: a fabric detector disposed on one side of the warp stripping mechanism close to the first conveying mechanism, and is used for detecting whether the fabric reaches a preset position.

[0013] According to some embodiments of the present disclosure, the fabric recycling device further includes: a third recycling mechanism, the third recycling mechanism includes a robotic arm and a third recycling bin. When the fabric detector detects that the end of the fabric reaches the preset position, the warp stripping mechanism stops stripping the warp, and the robotic arm is used to put the remaining fabric into the third recycling bin.

[0014] According to some embodiments of the present disclosure, the third recycling mechanism further includes a pneumatic pipeline. A suction cup is provided at the end of the robotic arm, and the pneumatic pipeline is connected to the suction cup to provide negative pressure for the suction cup to adsorb and put the remaining fabric into the third recycling bin; alternatively, a clamping jaw is provided at the end of the robotic arm, and the clamping jaw is used to be able to clamp the remaining fabric and put it into the third recycling bin.

[0015] According to some embodiments of the present disclosure, the fabric recycling device further includes: a second image acquisition mechanism for acquiring a second image of the fabric on the second conveying mechanism.

[0016] According to some embodiments of the present disclosure, the fabric recycling device further includes: a controller electrically connected to the first conveying mechanism, the first image acquisition mechanism, the warp stripping mechanism, and the weft separation mechanism respectively; the controller is used to process the first image, obtain the structural information of the fabric and the density value of the warp in the fabric, and determine that the pattern of the fabric conforms to the target pattern according to the structural information, and the density value is less than the preset density threshold, control the first conveying mechanism to convey the fabric to the warp stripping mechanism, and control the warp stripping mechanism to strip the warp of the fabric. After the warp is stripped, control the weft separation mechanism to separate the weft in the fabric.

[0017] An embodiment of the present disclosure also provides a fabric recycling control method, which is applied to a fabric recycling device. The fabric recycling device includes a first image acquisition mechanism, a first conveying mechanism, a warp stripping mechanism, and a weft separating mechanism sequentially arranged in the conveying direction. The method includes: obtaining a first image of the fabric on the first conveying mechanism acquired by the first image acquisition mechanism; processing the first image to obtain the structural information of the fabric and the density value of the warp in the fabric; determining that the pattern of the fabric conforms to a target pattern according to the structural information, and the density value of the warp is less than a preset density threshold, generating a first control signal and a second control signal, and sending the first control signal to the first conveying mechanism to control the first conveying mechanism to convey the fabric to the warp stripping mechanism, and sending the second control signal to the warp stripping mechanism to control the warp stripping mechanism to strip the warp of the fabric; generating a third control signal and sending the third control signal to the weft separating mechanism to control the weft separating mechanism to separate the weft in the fabric after the warp is stripped.

[0018] According to some embodiments of the present disclosure, the method further includes: processing the first image to obtain a first angle value of the warp in the fabric; if the first angle value is less than or equal to a preset angle threshold, generating the second control signal.

[0019] According to some embodiments of the present disclosure, the fabric recycling device further includes a second conveying mechanism, which is arranged between the first conveying mechanism and the warp stripping mechanism in the conveying direction. The second conveying mechanism includes a plurality of second sub-conveying mechanisms spaced apart in a first horizontal direction, and the first horizontal direction is perpendicular to the conveying direction. The method further includes: if the first angle value is greater than the preset angle threshold, generating a fourth control signal and sending the fourth control signal to the plurality of second sub-conveying mechanisms to control the plurality of second sub-conveying mechanisms to have different conveying speeds when the fabric reaches the plurality of second sub-conveying mechanisms, so as to adjust the fabric to make the first angle value of the warp less than or equal to the preset angle threshold.

[0020] According to some embodiments of the present disclosure, the second conveying mechanism further includes a plurality of first cutting knives, and the first cutting knives are arranged between adjacent second sub-conveying mechanisms. The method further includes: if the first angle value of the warp is less than or equal to the preset angle threshold, generating a fifth control signal and sending the fifth control signal to the plurality of second sub-conveying mechanisms to control the plurality of second sub-conveying mechanisms to convey the fabric at the same speed, so that the fabric is cut into multiple pieces when passing through the first cutting knives.

[0021] According to some embodiments of the present disclosure, the fabric recycling device further includes a second image acquisition mechanism, and the method further includes: acquiring a second image of the fabric located on the second conveying mechanism acquired by the second image acquisition mechanism; processing the second image to obtain a second angle value of the warp yarns of the fabric; if the second angle value is greater than the preset angle threshold, generating an alarm signal for controlling the fabric recycling device to give an alarm.

[0022] According to some embodiments of the present disclosure, the fabric recycling device further includes a first recycling mechanism located below the stripping mechanism. The first recycling mechanism includes a first blower and a first recycling box. The first blower has a pipeline communicating with the first recycling box. The method further includes: generating a first recycling signal and sending the first recycling signal to the first recycling mechanism to control the first blower to suck the stripped warp yarns into the first recycling box.

[0023] According to some embodiments of the present disclosure, the method further includes: acquiring a length value of the weft yarns of the fabric after stripping the warp yarns; if the length value is greater than or equal to a preset length value, generating a sixth control signal and sending the sixth control signal to the first conveying mechanism, the second conveying mechanism, and the warp yarn stripping mechanism to control the first conveying mechanism, the second conveying mechanism, and the warp yarn stripping mechanism to stop operating; generating the third control signal and sending the third control signal to the weft yarn separation mechanism to control the weft yarn separation mechanism to separate the weft yarns having the length value.

[0024] According to some embodiments of the present disclosure, sending the sixth control signal to the first conveying mechanism and the second conveying mechanism to control the first conveying mechanism and the second conveying mechanism to stop operating includes: sending the sixth control signal to the first conveying mechanism and the second conveying mechanism to control the first conveying mechanism and the second conveying mechanism to convey the fabric in a direction opposite to the conveying direction to a preset distance and then stop operating.

[0025] According to some embodiments of the present disclosure, the fabric recycling device further includes a second recycling mechanism. The second recycling mechanism includes a second blower and a second recycling box. The second blower is respectively connected to the weft yarn separation mechanism and the second recycling box. The method further includes: generating a second recycling signal and sending the second recycling signal to the second recycling mechanism to control the second blower to suck the weft yarns separated by the weft yarn separation mechanism into the second recycling box.

[0026] According to some embodiments of the present disclosure, the fabric recycling device further includes a fabric detector disposed on a side of the warp stripping mechanism close to the first conveying mechanism. The method further includes: if first position information indicating that the leading end of the fabric sent by the fabric detector reaches a preset position is obtained, a speed adjustment signal is generated according to the first position information and the density value of the warp, and the speed adjustment signal is sent to the first conveying mechanism, the second conveying mechanism, and the warp stripping mechanism to control the conveying speeds of the first conveying mechanism and the second conveying mechanism to be within a first preset speed range and the stripping speed of the warp stripping mechanism for the warp to be within a second preset speed range.

[0027] According to some embodiments of the present disclosure, the fabric recycling device further includes a third recycling mechanism. The third recycling mechanism includes a robotic arm and a third recycling box. The method further includes: if second position information indicating that the trailing end of the fabric sent by the fabric detector reaches the preset position is obtained, a stop stripping signal is generated according to the second position information, and the stop stripping signal is sent to the warp stripping mechanism to control the warp stripping mechanism to stop stripping the warp of the remaining fabric; a third recycling signal is generated and sent to the third recycling mechanism to control the robotic arm to place the remaining fabric into the third recycling box.

[0028] It can be seen from the above technical solutions that the present disclosure has at least one of the following advantages and positive effects:

[0029] In the embodiments of the present disclosure, the first image acquisition mechanism can acquire a first image of the fabric on the first conveying mechanism, and the warp stripping mechanism can strip the warp in the fabric according to the first image, so that the warp in the fabric can be recycled separately. After the warp is stripped, the weft separation mechanism can separate the remaining weft in the fabric, so that the weft can be recycled separately. Therefore, the warp and the weft in the recycled materials are separated, thereby increasing the recycling value. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] By referring to the accompanying drawings and describing its exemplary embodiments in detail, the above and other features and advantages of the present disclosure will become more apparent.

[0031] Figure 1 FIG. is a schematic perspective view of a fabric recycling device shown in some exemplary embodiments of the present disclosure;

[0032] Figure 2 FIG. is a schematic perspective view of the fabric recycling device shown in some exemplary embodiments of the present disclosure from another perspective;

[0033] Figure 3Schematic diagram of the first conveying mechanism and the second conveying mechanism shown in some exemplary embodiments of the present disclosure;

[0034] Figure 4 Schematic diagram of the three-dimensional structure of the fabric recycling device from another perspective shown in some exemplary embodiments of the present disclosure;

[0035] Figure 5 Schematic diagram of the partial structure of the fabric recycling device shown in some exemplary embodiments of the present disclosure;

[0036] Figure 6 Schematic diagram of the structure of the stripping knife shown in some exemplary embodiments of the present disclosure;

[0037] Figure 7 Schematic diagram of the structure of the stripping knife shown in some other exemplary embodiments of the present disclosure;

[0038] Figure 8 Schematic diagram of the warp yarn of the fabric being stripped shown in some exemplary embodiments of the present disclosure;

[0039] Figure 9 Schematic diagram of the warp yarn being stripped when the first angle value is not zero shown in some exemplary embodiments of the present disclosure;

[0040] Figure 10 Schematic diagram of the partial structure of the fabric recycling device shown in some exemplary embodiments of the present disclosure;

[0041] Figure 11 Schematic diagram of the warp yarn being stripped and recycled shown in some exemplary embodiments of the present disclosure;

[0042] Figure 12 Schematic diagram of the three-dimensional structure of the fabric recycling device from another perspective shown in some exemplary embodiments of the present disclosure;

[0043] Figure 13 Schematic diagram of the structure of the robotic arm and the pneumatic pipeline shown in some exemplary embodiments of the present disclosure;

[0044] Figure 14 Schematic diagram of the structure of the gripper mounted on the robotic arm shown in some exemplary embodiments of the present disclosure;

[0045] Figure 15 Schematic diagram of the structure block diagram of the fabric recycling device shown in some exemplary embodiments of the present disclosure;

[0046] Figure 16 Schematic diagram of the three-dimensional structure of the complete fabric recycling device shown in some exemplary embodiments of the present disclosure;

[0047] Figure 17 Flowchart of the fabric recycling control method shown in some exemplary embodiments of the present disclosure;

[0048] Figure 18 Flow chart of a fabric recycling method shown for some exemplary embodiments of the present disclosure.

[0049] Explanation of reference numerals:

[0050] 1. First conveying mechanism; 101. First conveyor belt; 2. First image acquisition mechanism; 3. Warp stripping mechanism; 301. Stripping platform; 302. Rotating roller; 303. Stripping knife; 3031. Main body part; 3032. Tip; 304. First conveying roller; 305. Second conveying roller; 306. Yarn gripper; 3061. First pinch roller; 3062. Second pinch roller; 4. Second conveying mechanism; 401. Pressing roller; 402. Second conveyor belt; 403. First cutting knife; 404. Power roller; 5. First recycling mechanism; 501. First blower; 502. First recycling box; 6. Weft separation mechanism; 601. Second cutting knife; 602. Chain track structure; 603. Servo guide rail; 604. Suction head; 605. Air pipe; 7. Second recycling mechanism; 701. Second blower; 702. Second recycling box; 8. Fabric detector; 9. Third recycling mechanism; 901. Robot arm; 902. Third recycling box; 903. Pneumatic pipeline; 904. Claw; 905. Suction cup; 906. First cylinder; 907. Second cylinder; 10. Frame; 11. Second image acquisition mechanism; 12. Controller; 13. Housing; 14. Display; 100. Fabric; 110. Warp; 120. Weft; X. Conveying direction; Y. First horizontal direction; Z. Vertical direction. Specific embodiments

[0051] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. Like reference numerals in the figures denote like or similar structures and thus their detailed description will be omitted.

[0052] In the following description of different exemplary embodiments of the present disclosure, reference is made to the accompanying drawings which form a part of the present disclosure and in which are shown, by way of example, different exemplary structures, systems and steps that can implement various aspects of the present disclosure. It should be understood that other specific solutions of components, structures, exemplary devices, systems and steps can be used and structural and functional modifications can be made without departing from the scope of the present disclosure. In addition, the technical terms "first", "second", etc. in the embodiments of the present disclosure are only used as labels and are not numerical limitations on their objects.

[0053] The flowcharts shown in the accompanying drawings are merely illustrative and not necessarily include all the content and operations / steps, nor are they necessarily executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined. Therefore, the actual execution order may change according to the actual situation.

[0054] As Figures 1 to 16 shown, an embodiment of the present disclosure provides a fabric recycling device. Among them, Figure 16 a schematic diagram of the complete fabric recycling device is shown. To clearly show the structure of each component, Figure 1 、 Figure 2 、 Figures 4 to 5 、 Figure 10 and Figure 12 the housing and some structures are omitted in

[0055] order to avoid obscuring the relevant components due to the cluttered structure. Those skilled in the art can implement the technical solution of the present disclosure according to the accompanying drawings and the content of the specification. Figure 1 、 Figure 5 and Figure 15 shown, the fabric recycling device according to an embodiment of the present disclosure includes a first conveying mechanism 1, a first image acquisition mechanism 2, a warp stripping mechanism 3, and a weft separating mechanism 6. Among them, the first conveying mechanism 1 is used to convey the fabric 100 in the conveying direction X. The first image acquisition mechanism 2 is used to acquire a first image of the fabric 100 on the first conveying mechanism 1. The warp stripping mechanism 3 is located downstream of the first conveying mechanism 1 in the conveying direction X and is used to receive the fabric 100 and strip the warp 110 in the fabric 100 according to the first image. The weft separating mechanism 6 is also located downstream of the first conveying mechanism 1 in the conveying direction X and is used to separate the weft 120 in the fabric 100 after the warp stripping mechanism 3 strips the warp 110.

[0056] As Figure 1 shown, the fabric recycling device may include a frame 10. The frame 10 serves as the framework of the fabric recycling device and can provide support and fixation for each component. To clearly show each mechanism, Figure 1 only a part of the frame 10 is shown in Figure 1 shown. As

[0057] Figure 1 shown, the first conveying mechanism 1, the first image acquisition mechanism 2, the warp stripping mechanism 3, and the weft separating mechanism 6 can all be arranged on the frame 10. The first conveying mechanism 1 may include a first conveyor belt 101, and the fabric 100 is conveyed along the conveying direction X through the first conveyor belt 101.

[0057] The first image acquisition mechanism 2 may include, for example, an industrial camera. The first image acquisition mechanism 2 may be located above the first conveying mechanism 1 to take a picture of the fabric 100 located on the first conveying mechanism 1 to obtain a first image. The pattern of the fabric 100 and the density value of the warp yarn 110 in the fabric 100 may be obtained based on the first image. If the pattern of the fabric 100 conforms to the target pattern and the density value of the warp yarn 110 in the fabric 100 is less than a preset density threshold, the warp yarn 110 in the fabric 100 may be stripped.

[0058] In the embodiment of the present disclosure, the first image acquisition mechanism 2 can send the first image to a processing system, which can include at least one of a controller 12, a cloud processor, and a server. The processing system processes the first image to obtain structural information of the fabric 100 and a density value of the warp yarn 110 in the fabric 100, and determines that the pattern of the fabric 100 conforms to the target pattern according to the structural information, and the density value is less than a preset density threshold, controls the first conveying mechanism 1 to convey the fabric 100 to the warp yarn stripping mechanism 3, and controls the warp yarn stripping mechanism 3 to strip the warp yarn 110 of the fabric 100.

[0059] The structural information may include a pattern of the fabric 100, which is used to display the texture of the warp yarn 110 and the weft yarn 120 (e.g. Figure 8 The density of the warp yarns 110 can be understood as the number of warp yarns 110 contained in each centimeter of the fabric 100 in a direction perpendicular to the extension direction of the warp yarns 110.

[0060] The fabric 100 device of the embodiment of the present disclosure can strip the warp yarn 110 in the fabric 100 whose pattern conforms to the target pattern and whose density of the warp yarn 110 is less than a preset density threshold. The target pattern can include any one of left twill, right twill, plain weave, broken twill, zigzag and herringbone.

[0061] In some embodiments, the fabric recycling device may include the controller 12 described above for local control. The fabric device may not include the controller 12, but the fabric recycling device of the present disclosure may be remotely controlled by a cloud processor or a server. Of course, the structure of the fabric 100 and the density of the warp yarn 110 may also be obtained manually based on the first image, which is not specifically limited here.

[0062] Therefore, in the fabric recycling device of the embodiment of the present disclosure, after the first image acquisition mechanism 2 captures the first image, the warp yarn stripping mechanism 3 can strip off the warp yarn 110 in the fabric 100 according to the first image, so that the warp yarn 110 in the fabric 100 can be recovered separately, and the weft yarn separation mechanism 6 can separate the warp yarn in the fabric 100 after the warp yarn 110 is stripped, so as to recover the weft yarn 120 separately, so that the warp yarn 110 and the weft yarn 120 in the recycled material are separated, thereby improving the recycling value.

[0063] It should be noted that the technical terms "above" and "below" in the embodiments of the present disclosure can represent the relative positional relationship of each component. For example, Figure 1 as shown, when the fabric recycling device is placed on the ground, the direction perpendicular to the ground is defined as the vertical direction Z, and the direction from the ground to away from the ground is from bottom to top. Therefore, in the embodiments of the present disclosure, as Figure 1 shown, the first conveying mechanism 1 is located below the first image acquisition mechanism 2. This technical term is only for facilitating the description of the relative positional relationship between each component and does not have a limiting meaning.

[0064] In some embodiments, as Figure 3 and Figure 4 shown, the fabric recycling device may further include a second conveying mechanism 4, which is located between the first conveying mechanism 1 and the warp stripping mechanism 3 in the conveying direction X. The second conveying mechanism 4 includes a plurality of second sub-conveying mechanisms arranged at intervals along the first horizontal direction Y, and is used to receive the fabric 100 and convey the fabric 100 to the warp stripping mechanism 3. Among them, the first horizontal direction Y is perpendicular to the conveying direction X.

[0065] By providing a plurality of second sub-conveying mechanisms arranged at intervals in the first horizontal direction Y, the conveying speed of each second sub-conveying mechanism can be adjusted separately. When the first angle value of the warp 110 in the fabric 100 is greater than the preset angle threshold, the conveying speeds of the plurality of second sub-conveying mechanisms can be adjusted, and then the fabric 100 can be adjusted so that the first angle value of the warp 110 can be less than or equal to the preset angle threshold.

[0066] The value of the included angle between the extending direction of the warp 110 and the first horizontal direction Y can be defined as the first angle value of the warp 110, and the first angle value can also be obtained through the first image of the fabric 100. When the first angle value is less than or equal to a preset angle threshold, the warp stripping mechanism 3 can strip the warp 110 more smoothly.

[0067] In some embodiments, the preset angle threshold can be 16°, 12°, 8° or 7°. Those skilled in the art can set it according to the actual situation and no special limitation is made here.

[0068] For example, Figure 3 and Figure 4 shown, each second sub-conveying mechanism includes a pressure roller 401 and a second conveyor belt 402. The pressure roller 401 is located above one end of the second conveyor belt 402 close to the first conveying mechanism 1. When the fabric 100 is conveyed to the second conveying mechanism 4, the fabric 100 is clamped between a plurality of pressure rollers 401 and a plurality of second conveyor belts 402.

[0069] The second conveying mechanism 4 further includes a plurality of first cutting knives 403. At least a part of the first cutting knives 403 is disposed between the pressing rollers 401 of adjacent second sub-conveying mechanisms, and is used to cut the fabric 100 when the fabric 100 is clamped between the pressing rollers 401 and the second conveyor belt 402 and conveyed.

[0070] As Figure 3 shown, the first cutting knife 403 has a certain distance from one end of the second conveyor belt 402 close to the first conveyor belt 101 in the conveying direction X. When the fabric 100 is conveyed to the second conveying mechanism 4, the fabric 100 is first clamped between the pressing rollers 401 and the second conveyor belt 402 and continues to be conveyed, and the clamping of the pressing rollers 401 and the second conveyor belt 402 makes the fabric 100 in a tensioned state, so that it can be cut by the first cutting knife 403. By cutting the fabric 100 into multiple pieces, the length of a single warp yarn 110 can be reduced, which is beneficial to the smooth peeling of the warp yarn 110.

[0071] In some embodiments, as Figure 3 shown, the second conveying mechanism 4 may further include a power roller 404 extending along the first horizontal direction Y. The first cutting knife 403 may be a circular blade and is disposed on the power roller 404 and rotates with the power roller 404 to cut the fabric 100. In some other embodiments, the power roller 404 may not be provided, but the first cutting knife 403 is fixedly disposed on the frame 10, and the cutting edge of the first cutting knife 403 faces the fabric 100 to cut the fabric 100.

[0072] In addition, when the fabric 100 is conveyed on the first conveying mechanism 1, if the first angle value of its warp yarn 110 is greater than a preset angle threshold, then when the fabric 100 is conveyed to the second conveying mechanism 4 and clamped between the pressing rollers 401 and the second conveyor belt 402, the conveying speed of each second sub-conveying mechanism can be controlled to adjust the fabric 100 before the fabric 100 reaches the first cutting knife 403, so that the first angle value of the warp yarn 110 is less than or equal to the preset angle threshold, and then the conveying speeds of each second sub-conveying mechanism are adjusted to be the same to convey the fabric 100 to the first cutting knife 403 for cutting. The plurality of second sub-conveying mechanisms convey the cut fabric 100 to the warp yarn stripping mechanism 3 to strip the warp yarn 110.

[0073] In the embodiments of the present disclosure, the first angle value is adjusted in real time at a certain time interval. For example, the default adjustment time interval can be 500-1000 ms. In addition to the above two end values, it can also be 600 ms, 700 ms, 800 ms or 900 ms. Taking the adjustment time interval of 500 ms as an example, after adjusting the first angle value, if it is detected that the first angle value is still greater than the preset angle threshold, then the adjustment will continue again after 500 ms. The first angle value is analyzed within this time interval to determine whether it is less than or equal to the preset angle threshold.

[0074] In some embodiments, the number of the second sub-conveying mechanisms can be 2, 3, 4, 5, 6, 7, 8 or more, and those skilled in the art can set it according to the actual situation.

[0075] As Figure 5 shown, the warp stripping mechanism 3 may include a stripping platform 301, a rotating roller 302, a plurality of stripping knives 303 and a yarn gripper 306. Among them, the stripping platform 301 extends along the first horizontal direction Y and is used to support the fabric 100, that is, when the fabric 100 is conveyed to the warp stripping mechanism 3, the fabric 100 is laid flat on the stripping platform 301. The rotating roller 302 is arranged on the downstream side of the stripping platform 301 in the conveying direction X and extends along the first horizontal direction Y. The rotating roller 302 can rotate at a certain speed. A plurality of stripping knives 303 are arranged on the rotating roller 302 and can rotate with the rotating roller 302.

[0076] As Figure 6 and Figure 7 shown, the stripping knife 303 has a main body portion 3031 and a plurality of tips 3032. The main body portion 3031 can be a circular or semi-circular sheet-like structure, and the plurality of tips 3032 protrude radially along the circumference of the main body portion 3031. When stripping the warp 110, the rotating roller 302 rotates, thereby driving the stripping knife 303 to rotate. After the fabric 100 is conveyed to the stripping platform 301, it continues to move along the conveying direction X. When it contacts the tips 3032 of the stripping knife 303, the tips 3032 rotate and hook the warp 110, and strip one side of the warp 110 from the weft 120 of the fabric 100 (as Figure 8 shown).

[0077] In some embodiments, the number of stripping knives 303 on the rotating roller 302 can be 2, 3, 4, 5, 6, 7, 8 or more, and those skilled in the art can set it according to the actual situation. The number of tips 3032 of each stripping knife 303 can be multiple, for example, it can be 2, 3, 4, 5, 6, 7, 8 or more. The rotation speed of the rotating roller 302 can be set according to the conveying speed of the fabric 100, the density of the warp yarns 110 and the number of tips 3032 of the stripping knives 303, and no special limitation is made here. When stripping the warp yarns 110, according to the conveying speed of the fabric 100, the diameter, rotation speed, number of tips 3032 of the rotating roller 302, as well as the density of the warp yarns 110 and the strength of the fabric 100, etc., each tip 3032 can strip one or more warp yarns 110 at a time.

[0078] In the embodiments of the present disclosure, the first angle value of the warp yarns 110 in the fabric 100 needs to be less than or equal to the above-mentioned preset angle threshold, so that the tips 3032 of the stripping knives 303 can smoothly strip the warp yarns 110 when rotating towards the fabric 100, and the second cutter 601 in the weft yarn separating mechanism 6 will not cut the fabric when cutting the weft yarns 120 of the fabric 100, without affecting the warp yarn stripping. Preferably, as Figure 8 shown, the extending direction of the warp yarns 110 is parallel to the first horizontal direction Y (the extending direction of the rotating roller 302), that is, the first angle value is 0°, so that the tips 3032 can vertically strip the warp yarns 110 to achieve the best stripping effect.

[0079] In some embodiments, one stripping knife 303 can be provided corresponding to each second sub-conveying mechanism.

[0080] In some embodiments, at least two stripping knives 303 can be provided corresponding to each second sub-conveying mechanism, and the at least two stripping knives 303 can be located at the positions corresponding to both sides of the second sub-conveying mechanism in the first horizontal direction Y, as Figure 9 shown, when the warp yarns 110 of the fabric 100 are not parallel to the rotating roller 302, that is, when the first angle value of the warp yarns 110 is not zero under the condition of being less than or equal to the preset angle threshold, setting the above at least two stripping knives 303 can completely strip the warp yarns 110.

[0081] In some embodiments, the rotating roller 302 can be arranged on the frame 10 along the first horizontal direction Y, and a plurality of stripping knives 303 are arranged on the rotating roller 302 and move therewith. In this embodiment, after the fabric 100 is cut, the plurality of second sub-conveying mechanisms need to be adjusted to have the same speed to convey the cut fabric 100 to the stripping platform 301. Therefore, it is necessary to adjust the first angle value before cutting.

[0082] In some embodiments, when recycling the fabric, the front side of the fabric can be kept facing up to facilitate the peeling of the warp yarns by the warp yarn peeling mechanism.

[0083] As Figure 10 and Figure 11 shown, the yarn gripper 306 is located below the plurality of peeling knives 303 and is used to grip the warp yarns 110 peeled by the peeling knives 303. As Figure 11 shown, the yarn gripper 306 may include a first pinch roller 3061 and a second pinch roller 3062 that rotate relative to each other. When the tip 3032 of the peeling knife 303 peels the warp yarn 110, the peeled warp yarn 110 moves downward with the rotation of the tip 3032 and gradually detaches from the tip 3032. Then, under the action of gravity, it lands on the yarn gripper 501 and is drawn out of the fabric as the two pinch rollers rotate and is conveyed downward to further draw out the warp yarns 110 in the fabric 100.

[0084] The fabric recycling device according to the embodiments of the present disclosure can recycle woven fabrics with relatively high tearing and tensile strength. For example, the yarns of heavyweight woven denim are relatively thick and have a tight structure. In the mechanical recycling devices in the related art, it is difficult to tear the denim into yarns, and a large tearing force will damage the yarns and reduce the quality of the recycled yarns. However, the fabric recycling device according to the embodiments of the present invention can peel the warp yarns separately following the weaving principle of the fabric, without using a large tearing force to tear the warp and weft yarns. Thus, not only can the warp and weft yarns be recycled separately, but also the damage to the yarns can be avoided.

[0085] In addition, the warp yarns in the denim have been dyed. After recycling, the dyed warp yarns can be reused as raw materials for denim, realizing a closed-loop recycling process and reducing the dyeing process.

[0086] As Figure 9 and Figure 10 shown, the warp yarn peeling mechanism 3 may further include a first conveying roller 304 and a second conveying roller 305 that can rotate relative to each other. Both the first conveying roller 304 and the second conveying roller 305 extend along the first horizontal direction Y. The first conveying roller 304 is located between the peeling platform 301 and the second conveyor belt 402 of the second sub-conveying mechanism, and the second conveying roller 305 is located above the first conveying roller 304. The first conveying roller 304 and the second conveying roller 305 are used to convey the fabric 100 conveyed by the second conveying mechanism 4 to the peeling platform 301. Through the first conveying roller 304 and the second conveying roller 305, the fabric 100 can be smoothly conveyed to the peeling platform 301, and the fabric 100 is made flatter after being conveyed to the peeling platform 301, which is beneficial to the peeling of the warp yarns 110.

[0087] As Figure 1 , Figure 10 and Figure 11As shown, the fabric recycling device of the present disclosure embodiment further includes a first recycling mechanism 5, located below the warp stripping mechanism 3. The first recycling mechanism 5 includes a first blower 501 and a first recycling box 502.

[0088] The first blower 501 has a pipeline, which is communicated with the first recycling box 502, and is used to suck the warp yarns 110 clamped by the yarn gripper 501 into the first recycling box 502 to realize the separate recycling of the warp yarns 110.

[0089] As Figure 12 shown, the weft yarn separation mechanism 6 of the present disclosure embodiment includes a second cutter 601 and a suction head 604. The second cutter 601 is movably arranged above the warp stripping mechanism 3. Specifically, it can be arranged above the stripping platform 301. After the warp yarns 110 are stripped, the second cutter 601 can move along the first horizontal direction Y to cut the remaining weft yarns 120 in the fabric 100 with a preset length value. There can be one suction head 604, located on one side of the second cutter 601 in the first horizontal direction Y. There can also be two suction heads 604. As Figure 12 shown, the two suction heads 604 are located on both sides of the second cutter 601 in the first horizontal direction Y. The suction head 604 moves together with the second cutter 601, and the suction head 604 sucks away the cut weft yarns 120 for recycling. The second cutter 601 can reciprocate in the first horizontal direction Y to be able to cut the weft yarns 120 multiple times, so that they are completely cut, and the recycling of the weft yarns 120 can be more thorough.

[0090] As Figure 12 shown, the weft yarn separation mechanism 6 further includes a drag chain structure 602 and a servo guide rail 603. The servo guide rail 603 is arranged along the first horizontal direction Y on the frame 10. The second cutter 601 and the suction head 604 are slidably connected to the servo guide rail 603. In some embodiments, a slider is arranged on the servo guide rail 603, and the slider can move along the servo guide rail 603 in the first horizontal direction Y. The second cutter 601 and the suction head 604 are fixedly connected to the slider, so that the second cutter 601 and the suction head 604 can move along the first horizontal direction Y through the servo guide rail 603.

[0091] As Figure 12As shown, the weft yarn separating mechanism 6 further includes an air pipe 605. One end of the air pipe 605 is connected to the suction head 604 for providing negative pressure to the suction head 605, and the other end is connected to the drag chain structure 602. The drag chain structure 602 extends along the first horizontal direction Y and is used to maintain the movement of the air pipe 605 along the servo guide rail 603 and play a supporting role. As the warp yarn 110 is gradually peeled off, the length of the weft yarn 120 will gradually increase. To avoid the length of the weft yarn 120 being too long and affecting the peeling of the warp yarn 110, when the length value of the exposed weft yarn 120 reaches a preset length value, the weft yarn 120 can be cut off and recycled.

[0092] In some embodiments, the preset length value can be 2 - 12 mm. For example, in addition to the above two end values, the preset length value can also be 3 mm, 5 mm, 8 mm or 10 mm. Those skilled in the art can select according to the actual situation. For example, it can be selected according to the structure, density, etc. of the fabric 100, and no special limitation is made here.

[0093] As Figure 2 and Figure 4 As shown, the fabric recycling device further includes a second recycling mechanism 7. The second recycling mechanism 7 includes a second fan 701 and a second recycling box 702. The second fan 701 has pipelines respectively communicating with the suction head 604 and the second recycling box 702. The second fan 701 is used to suck the cut-off weft yarn 120 into the second recycling box 702.

[0094] In some embodiments, the pipeline of the second fan 701 is connected to the air pipe 605 to provide negative pressure to the air pipe 605, and further provide negative pressure to the suction head 604. The second fan 701 is connected to the second recycling box 702, and a filter screen is provided between the two to recycle the weft yarn 120 into the second recycling box 702 and prevent the weft yarn 120 from entering the second fan 701.

[0095] In some embodiments, as Figure 5As shown, since the stripping knife 303 is provided on the downstream side of the stripping platform 301, each time the warp yarn 110 is stripped, the warp yarn 110 to be stripped will be conveyed to the end of the stripping platform 301, and the exposed weft yarn 120 has left the stripping platform 301. Therefore, when it is necessary to cut the weft yarn 120, the second conveying mechanism 4 needs to rotate reversely by a preset distance to retract the exposed weft yarn 120 until the first warp yarn 110 to be stripped retracts behind the cutting line of the weft yarn 120 (that is, retracts to the side of the cutting line of the weft yarn 120 close to the second conveying mechanism 4), and the distance from the cutting line is preferably as small as possible, so as to cut the weft yarn 120 to the maximum length. Among them, the cutting line can be understood as the cutting straight line when the second cutter 601 cuts the weft yarn 120 along the first horizontal direction Y. In some embodiments, the preset distance can be 14 mm. The preset distance can be set according to the device design parameters and is the distance between the weft yarn cutting line and the warp yarn stripping point. For its specific value, no special limitation is made here.

[0096] In some embodiments, the fabric recovery device further includes a fabric detector 8, which is provided on the side of the warp yarn stripping mechanism 3 close to the first conveying mechanism 1 for detecting whether the fabric 100 reaches a preset position. As Figure 5 shown, the fabric detector 8 can be provided, for example, between the second conveying mechanism 4 and the warp yarn stripping mechanism 3.

[0097] When the fabric detector 8 detects that the leading end of the fabric 100 reaches the preset position, the speeds of the first conveying mechanism 1, the second conveying mechanism 4, and the warp yarn stripping mechanism 3 can be adjusted so that the warp yarn 110 can be smoothly stripped. The speeds of the above-mentioned respective mechanisms can be adjusted according to the conveying speed, the density value of the warp yarn 110, the number of tips 3032 of the stripping knife 303, etc.

[0098] When the fabric detector 8 detects that the trailing end of the fabric 100 reaches the preset position, it means that the fabric 100 is about to be recovered, and the warp yarn 110 usually located at the trailing end of the fabric 100 is not easy to separate. Therefore, the operation of the warp yarn stripping mechanism 3 can be stopped at this time.

[0099] Among them, the preset position can be the side of the warp yarn stripping mechanism 3 close to the first conveying mechanism 1. For example, the preset position can be located between the second conveying mechanism 4 and the warp yarn stripping mechanism 3.

[0100] As Figure 2 shown, the fabric recovery device of the embodiment of the present disclosure may further include a third recovery mechanism 9. The third recovery mechanism 9 includes a robotic arm 901 and a third recovery box 902. When the fabric detector 8 detects that the trailing end of the fabric 100 reaches the preset position, the warp yarn stripping mechanism 3 stops stripping the warp yarn 110, and the robotic arm 901 is used to put the remaining fabric 100 into the third recovery box 902.

[0101] As shown Figure 2 shown, the third recycling mechanism 9 may further include a first cylinder 906 and a second cylinder 907. The first cylinder 906 and the second cylinder 907 are respectively connected to the robotic arm 901. The first cylinder 906 is used to drive the robotic arm 901 to reciprocate in the conveying direction X, and the second cylinder 907 is used to drive the robotic arm 901 to reciprocate in the vertical direction Z.

[0102] When the fabric detector 8 detects that the end of the fabric 100 reaches the preset position, the rotating roller 302 and the stripping knife 303 of the warp stripping mechanism 3 may stop rotating, and the fabric 100 continues to be conveyed to the stripping platform 301. The first cylinder 906 and the second cylinder 907 drive the robotic arm 901 to move above the stripping platform 301, and recycle the remaining fabric 100 located on the stripping platform 301 into the third recycling box 902.

[0103] As shown Figure 13 and Figure 14 shown, the third recycling mechanism 9 further includes a pneumatic pipeline 903. A suction cup 905 is provided at the end of the robotic arm 901. The pneumatic pipeline 903 is communicated with the suction cup 905 to provide negative pressure for the suction cup 905 to adsorb the remaining fabric 100. When the robotic arm 901 moves above the third recycling box 902, the pressure of the pneumatic pipeline 903 is removed to put the fabric 100 into the third recycling box 902.

[0104] In some embodiments, as shown Figure 14 shown, a clamping jaw 904 may be provided at the end of the robotic arm 901. The clamping jaw 904 is connected to the pneumatic pipeline 903. The clamping jaw 904 may be made of a flexible material, such as a silicone material. The clamping jaw 904 is closed by providing negative pressure through the pneumatic pipeline 903 to clamp the remaining fabric 100, and the clamping jaw 904 is opened by providing positive pressure through the pneumatic pipeline 903 to put the fabric 100 into the third recycling box 902.

[0105] In some embodiments, a clamping jaw 904 may be provided at the end of the robotic arm 901. The clamping jaw 904 may be made of a rigid material, and the clamping jaw 904 may be controlled by an electric signal. When it is necessary to grab the remaining fabric 100, the clamping jaw 904 may be controlled to perform a clamping action to clamp the fabric 100. When it is necessary to put the fabric 100 into the third recycling box 902, the clamping jaw 904 may be controlled to perform an opening action to make the fabric 100 fall, so as to be recycled into the third recycling box 902.

[0106] As shown Figure 2 shown, the fabric recycling device according to the embodiment of the present disclosure may further include a second image acquisition mechanism 11, which may be provided above the second conveying mechanism 4 for acquiring a second image of the fabric 100 on the second conveying mechanism 4.

[0107] There may be multiple second image acquisition mechanisms 11, which are the same in number as the second sub-conveying mechanisms, and are correspondingly arranged above each second sub-conveying mechanism to respectively perform image acquisition on the fabric 100 located above each second sub-conveying mechanism.

[0108] The second image acquisition mechanism 11 may include an industrial camera, which takes pictures of the fabric 100 located on the second conveying mechanism 4 to obtain a second image, and a second angle value of the warp yarns 110 in the fabric 100 can be obtained according to the second image. The meaning of the second angle value is the same as that of the first angle value.

[0109] When the second angle value is greater than a preset angle threshold, the recycling device can issue an alarm to prompt the staff to handle it. For example, the operation of the warp stripping mechanism 3 can be stopped, and the fabric 100 can be adjusted. After the second angle value is less than or equal to the preset angle threshold, the warp stripping mechanism 3 is started again to strip the warp yarns 110.

[0110] In some embodiments, the recycling device may further include an alarm to issue an alarm when the second angle value is greater than the preset angle threshold.

[0111] In some other embodiments, the fabric recycling device may not include the first cutter 403, so the fabric 100 may not be cut after being conveyed to the second conveying mechanism 4, that is, the fabric 100 is still conveyed integrally on the multiple second sub-conveying mechanisms. Then, when the second angle value is greater than the preset angle threshold, the conveying speeds of the multiple second sub-conveying mechanisms can be controlled to be different to adjust the fabric 100, so that after the second angle value is less than or equal to the preset angle threshold, the speeds of the multiple second sub-conveying mechanisms are controlled to be the same, and the fabric 100 is conveyed continuously. The stripping knives 303 are located on one side or both sides of the whole fabric 100, and one or two stripping knives 303 are retained.

[0112] The fabric recycling device of the embodiments of the present disclosure may include the aforementioned controller 12. As Figure 15 shown, the controller 12 can be electrically connected to the first conveying mechanism 1, the second conveying mechanism 4, the first image acquisition mechanism 2, the second image acquisition mechanism 11, the warp stripping mechanism 3, and the weft yarn separation mechanism 6 respectively to realize the transmission of electrical signals, image processing, and the control of each mechanism among them. Of course, the fabric recycling device may not include the controller 12, but is communicatively connected to the aforementioned cloud processor and server, and the information image processing and the control of the above mechanisms are realized through the cloud processor or the server. The specific control method will be described in detail in the following method embodiments and will not be elaborated in the device embodiments.

[0113] It should be noted that the controller 12 can be a PLC (programmable logic controller), or it can be understood in a broad sense. For example, the controller 12 can include an industrial control computer and a PLC, or a PLC and a computer, that is, as long as it can implement the above-mentioned image analysis, calculation, and control of each mechanism, no special limitation is made here.

[0114] As Figure 16 shown, the fabric recycling device further includes a housing 13 that covers the second conveying mechanism 4, the first image acquisition mechanism 2, the second image acquisition mechanism 11, and the warp stripping mechanism 3 to protect them. The fabric recycling device may further include a display 14 disposed outside the housing for displaying the image and structure of the fabric to facilitate human-machine interaction.

[0115] In summary, the fabric recycling device according to the embodiments of the present disclosure can strip the warp yarns 110 in the fabric 100 and separately recycle the warp yarns 110 and the weft yarns 120, thereby improving the recycling value. In addition, the fabric recycling device according to the embodiments of the present disclosure can separately strip the warp yarns and the weft yarns in accordance with the weaving principle of the fabric without using a large tearing force to tear the warp yarns and the weft yarns, so that not only can the warp yarns and the weft yarns be separately recycled, but also the warp yarn fibers can be avoided from being damaged.

[0116] As Figure 17 shown, the embodiments of the present disclosure further provide a fabric recycling control method, which is applied to a fabric recycling device, and can be the fabric recycling device described in any of the above embodiments. The fabric recycling device includes a first image acquisition mechanism 2 and a first conveying mechanism 1, a warp stripping mechanism 3, and a weft separation mechanism 6 sequentially arranged in the conveying direction X. The control method includes the following steps S110 to S140.

[0117] S110: Obtain a first image of the fabric 100 on the first conveying mechanism 1 collected by the first image acquisition mechanism 2.

[0118] The first image acquisition mechanism 2 can include, for example, an industrial camera. The first image acquisition mechanism 2 can be located above the first conveying mechanism 1 to take a picture of the fabric 100 on the first conveying mechanism 1 to obtain the first image.

[0119] S120: Process the first image to obtain the structural information of the fabric 100 and the density value of the warp yarns 110 in the fabric 100.

[0120] Processing the first image may include adjusting the exposure of the first image to obtain a clear first image, and then analyzing the first image to obtain the structural information of the fabric 100 and the density value of the warp yarns 110.

[0121] Among them, the structural information may include the pattern of the fabric 100, which is used to represent the weaving method of the warp yarns 110 and the weft yarns 120. The density value of the warp yarns 110 can be understood as the number of warp yarns 110 contained in each centimeter of the fabric 100.

[0122] S130: Determine that the pattern of the fabric 100 conforms to the target pattern according to the structural information, and the density value of the warp yarns 110 is less than the preset density threshold, generate a first control signal and a second control signal, and send the first control signal to the first conveying mechanism 1 to control the first conveying mechanism 1 to convey the fabric 100 to the warp stripping mechanism 3, and send the second control signal to the warp stripping mechanism 3 to control the warp stripping mechanism 3 to strip the warp yarns 110 of the fabric 100.

[0123] Among them, the target pattern may include left twill, right twill, plain weave, broken twill, zigzag and herringbone, etc. The target pattern can be obtained based on a classification model of a convolutional neural network (CNN). The fabric 100 with this target pattern is usually a woven fabric, and its warp yarns 110 can be stripped.

[0124] The preset density threshold can be 35 yarns / cm, that is, when the structural pattern of the fabric 100 conforms to the target pattern and the density of the warp yarns 110 is less than 35 yarns / cm, for example, the density of the warp yarns 110 can be 30 yarns / cm, 28 yarns / cm, 25 yarns / cm, 20 yarns / cm or 15 yarns / cm, the warp yarns 110 in the fabric 100 can be smoothly stripped.

[0125] S140: Generate a third control signal and send the third control signal to the weft separating mechanism 6 to control the weft separating mechanism 6 to separate the weft yarns 120 in the fabric 100 after the warp yarns are stripped.

[0126] In the embodiments of the present disclosure, by obtaining the first image of the fabric 100 on the first conveying mechanism 1, and determining that the structural information of the fabric 100 conforms to the target pattern and the density value of the warp yarns 110 is less than the preset density threshold according to the first image, it is possible to control the first conveying mechanism 1 to convey the fabric 100 to the warp stripping mechanism 3, so that the warp stripping mechanism 3 can strip the warp yarns 110, and after the warp yarns 110 are stripped, it is possible to control the weft separating mechanism 6 to separate the weft yarns 120, realizing the separate recycling of the warp yarns 110 and the weft yarns 120 and improving the recycling value.

[0127] Such as Figure 5As shown, in some embodiments, the warp stripping mechanism 3 may include a stripping knife 303 and a yarn gripper 306. The stripping knife 303 has a plurality of radially protruding tips 3032. Then, S130 may include: sending a second control signal to the stripping knife 303 and the yarn gripper 306 to control the tips 3032 of the stripping knife 303 to strip the warp yarns 110 and controlling the yarn gripper 306 to grip the stripped warp yarns 110. In some implementations, the yarn gripper 306 includes a first pinch roller 3061 and a second pinch roller 3062 that can rotate relative to each other. When the stripped warp yarns 110 fall onto the yarn gripper 306, the warp yarns 110 are drawn out of the fabric 100 and conveyed downward as the first pinch roller 3061 and the second pinch roller 3062 rotate.

[0128] In some embodiments, the control method may further include: processing the first image to obtain a first angle value of the warp yarns 110 in the fabric 100. If the first angle value is less than or equal to a preset angle threshold, the above-mentioned second control signal is generated.

[0129] Among them, the meaning of the first angle value is the same as that in the fabric recovery device embodiment and will not be elaborated here. As can be seen from the device embodiment, the direction in which the warp yarns 110 are stripped is the conveying direction X. In the optimal embodiment, the extending direction of the warp yarns 110 is perpendicular to the conveying direction X, and the best stripping effect can be achieved. Therefore, in the optimal embodiment, the extending direction of the warp yarns 110 is parallel to the first horizontal direction Y, that is, the first angle value of the warp yarns 110 is zero. Of course, in other embodiments, the extending direction of the warp yarns 110 may also form a certain angle with the first horizontal direction Y to reduce the severity of the stripping conditions. Therefore, when the first angle value is less than or equal to a preset angle threshold, the warp stripping mechanism 3 can still achieve the stripping of the warp yarns 110.

[0130] In the above embodiment, taking the first angle value of the warp yarns 110 being less than the preset density threshold as one of the preconditions for generating the second control signal ensures that the stripping can proceed more smoothly.

[0131] In some embodiments, as Figure 3 and Figure 4 shown, the fabric recovery device further includes a second conveying mechanism 4, which is arranged between the first conveying mechanism 1 and the warp stripping mechanism 3 in the conveying direction X. The second conveying mechanism 4 includes a plurality of second sub-conveying mechanisms that are spaced apart in the first horizontal direction Y. The control method may further include: if the first angle value is greater than the preset angle threshold, generating a fourth control signal and sending the fourth control signal to the plurality of second sub-conveying mechanisms to control the plurality of second sub-conveying mechanisms to have different conveying speeds when the fabric 100 reaches the plurality of second sub-conveying mechanisms, so as to adjust the fabric 100 to make the first angle value of the warp yarns 110 less than or equal to the preset angle threshold.

[0132] The second conveying mechanism 4 is located downstream of the first conveying mechanism 1 in the conveying direction X. When the first angle value of the warp yarn 110 is greater than a preset angle threshold, the warp yarn 110 cannot be smoothly peeled off. Therefore, it is necessary to adjust the first angle value of the warp yarn 110 by adjusting the fabric 100.

[0133] As Figure 3 and Figure 4 shown, each second sub-mechanism includes a pressure roller 401 and a second conveyor belt 402. The pressure roller 401 is located above one end of the second conveyor belt 402 close to the first conveying mechanism 1. When the fabric 100 is conveyed to the second conveying mechanism 4, the fabric 100 is clamped between the pressure roller 401 and the second conveyor belt 402.

[0134] When the first angle value is greater than the preset angle threshold, the angle value to be adjusted can be analyzed based on the first angle value at this time, and a fourth control signal is sent to each second sub-conveying mechanism to individually control the speed of the second conveyor belt 402 of each second sub-conveying mechanism so that they have different rotation speeds. For example, the speed of the second conveyor belt 402 corresponding to the fabric part lagging behind in the conveying direction X can be increased so that the first angle value can be adjusted to be less than or equal to the preset angle threshold after passing through the pressure roller 401.

[0135] In order to be able to peel off the warp yarn 110 more smoothly, in some embodiments, the fabric 100 can be cut into multiple pieces. As Figure 3 shown, the second conveying mechanism 4 further includes a plurality of first cutting knives 403. The first cutting knives 403 are arranged between adjacent second sub-conveying mechanisms. Specifically, as Figure 3 shown, at least part of the first cutting knife 403 can be located between adjacent pressure rollers 401, and the first cutting knife 403 has a certain distance from one end of the second conveyor belt 402 close to the first conveying mechanism 1 in the conveying direction X, so that when the fabric 100 is conveyed to the second conveying mechanism 4, the fabric 100 is first clamped between the pressure roller 401 and the second conveyor belt 402 and continues to be conveyed, and the clamping of the pressure roller 401 and the second conveyor belt 402 makes the fabric 100 in a tensioned state, so that it can be cut by the first cutting knife 403.

[0136] The control method of the embodiment of the present disclosure further includes: if the first angle value of the warp yarn 110 is less than or equal to the preset angle threshold, a fifth control signal is generated and the fifth control signal is sent to a plurality of second sub-conveying mechanisms to control the plurality of second sub-conveying mechanisms to convey the fabric 100 at the same speed, so that the fabric 100 is cut into multiple pieces when passing through the first cutting knife 403.

[0137] After adjusting the first angle value to be less than or equal to a preset angle threshold, control the speeds of the respective second sub-conveying mechanisms to be the same so that the multiple second sub-conveying mechanisms convey the fabric 100 at the same speed. When the fabric 100 is conveyed to the first cutter 403, it is cut by the first cutter 403 to divide the fabric 100 into multiple pieces, and each piece is conveyed by the corresponding second sub-conveying mechanism respectively.

[0138] In some embodiments, as Figure 1 shown, the fabric recycling device further includes a second image acquisition mechanism 11, and the control method may further include the following contents A1 to A3.

[0139] A1: Obtain a second image of the fabric 100 located on the second conveying mechanism 4 acquired by the image acquisition mechanism.

[0140] As Figure 1 shown, there may be multiple second image acquisition mechanisms 11, and the number thereof may be the same as that of the second sub-conveying mechanisms, and they are correspondingly arranged above each second sub-conveying mechanism to respectively perform image acquisition on the fabric 100 located above each second sub-conveying mechanism. The second image acquisition mechanism 11 may include an industrial camera.

[0141] A2: Process the second image to obtain a second angle value of the warp 110 of the fabric 100.

[0142] Processing the second image may include performing exposure adjustment on the second image to obtain a clear second image, and then the second image may be analyzed to obtain a second angle value of the warp 110 of the fabric 100.

[0143] Among them, the meaning of the second angle value is the same as that of the first angle value, that is, the included angle between the extending direction of the warp 110 of the fabric 100 located on the second sub-conveying mechanism and the first horizontal direction Y.

[0144] A3: If the second angle value is greater than the preset angle threshold, generate an alarm signal for controlling the fabric recycling device to alarm.

[0145] When the second angle value is greater than the preset angle threshold, it indicates that the warp 110 of the fabric 100 cannot be smoothly peeled off. Since the fabric 100 has been cut and the second angle value thereof cannot be adjusted by relying on the second sub-conveying mechanism, an alarm signal may be generated to control the fabric recycling device to alarm, reminding the operator to adjust it or stop running.

[0146] In some other embodiments, if the fabric recycling device does not include the first cutter 403, the fabric 100 may not be cut after being conveyed to the second conveying mechanism 4, that is, the fabric 100 is still conveyed as a whole on the plurality of second sub-conveying mechanisms. Then, when the second angle value is greater than the preset angle threshold, the above-mentioned fourth control signal may be generated and sent to the plurality of second sub-conveying mechanisms to control the plurality of second sub-conveying mechanisms to have different conveying speeds so as to adjust the fabric 100. After the second angle value is less than or equal to the preset angle threshold, the above-mentioned fifth control signal is generated to control the speeds of the plurality of second sub-conveying mechanisms to be the same and continue to convey the fabric 100.

[0147] In some embodiments, the fabric recycling device further includes a first recycling mechanism 5, which is located below the warp stripping mechanism 3. The first recycling mechanism 5 includes a first blower 501 and a first recycling box 502. The first blower 501 has a pipeline that communicates with the first recycling box 502. The control method further includes: generating a first recycling signal and sending the first recycling signal to the first recycling mechanism 5 to control the first blower 501 to suck the warp 110 into the first recycling box 502.

[0148] In some embodiments, the control method further includes the following contents B1 to B3.

[0149] B1: Obtain the length value of the weft 120 of the fabric 100 after the warp 110 is stripped.

[0150] B2: If the length value is greater than or equal to the preset length value, generate a sixth control signal and send the sixth control signal to the first conveying mechanism 1, the second conveying mechanism 4, and the warp stripping mechanism 3 to control the first conveying mechanism 1, the second conveying mechanism 4, and the warp stripping mechanism 3 to stop operating.

[0151] As the warp 110 is gradually stripped, the length of the exposed weft 120 will gradually increase. In order to enable the warp 110 to be smoothly stripped, the exposed weft 120 can be cut when it reaches the preset length value.

[0152] In some embodiments, B2 may further include: sending the sixth control signal to the first conveying mechanism 1 and the second conveying mechanism 4 to control the first conveying mechanism 1 and the second conveying mechanism 4 to convey the fabric 100 in the direction opposite to the conveying direction X to a preset distance and then stop operating.

[0153] Such as Figure 5As shown, in the fabric recycling device, since the stripping knife 303 is provided on the downstream side of the stripping platform 301, each time the warp yarn 110 is stripped, the warp yarn 110 to be stripped will be conveyed to the end of the stripping platform 301, and the exposed weft yarn 120 has left the stripping platform 301. Therefore, when it is necessary to cut the weft yarn 120, the second conveying mechanism 4 needs to rotate reversely by a preset distance so that the exposed weft yarn 120 retreats, facilitating its cutting on the stripping platform 301.

[0154] B3: Generate the above third control signal and send the third control signal to the weft yarn separating mechanism 6 to control the weft yarn separating mechanism 6 to separate the weft yarn 120 with the above length value.

[0155] As Figure 12 shown, the weft yarn separating mechanism 6 includes a movable second cutter 601 and a suction head 604. The second cutter 601 can be provided above the stripping platform 301, and the suction head 604 is located on at least one side of the second cutter 601 in the first horizontal direction Y and moves with the second cutter 601. Send the third control signal to the weft yarn separating mechanism 6 to control the second cutter 601 to cut the exposed weft yarn 120 and control the suction head 604 to suck away the cut weft yarn 120.

[0156] In some embodiments, the fabric recycling device further includes a second recycling mechanism 7. The second recycling mechanism 7 includes a second blower 701 and a second recycling box 702. The second blower 701 is respectively connected to the weft yarn separating mechanism 6 and the second recycling box 702. The control method of the embodiments of the present disclosure further includes: generating a second recycling signal and sending the second recycling signal to the second recycling mechanism 7 to control the second blower 701 to suck the weft yarn 120 separated by the weft yarn separating mechanism 6 into the second recycling box 702.

[0157] For example, when cutting the weft yarn 120 or after cutting, send the second recycling signal to the second blower 701 to turn on the second blower 701. The end of the pipeline of the second blower 701 is communicated with the suction head 604. The suction head 604 can move with the second cutter 601. After the second blower 701 is turned on, the suction head 604 generates suction and sucks the cut weft yarn 120 into the second recycling box 702. Therefore, the method of the embodiments of the present disclosure can recycle the stripped warp yarn 110 into the first recycling box 502 and recycle the weft yarn 120 into the second recycling box 702 to achieve their separate recycling. The recycled warp yarn 110 can be further recycled into raw materials for recycled yarns due to its high-quality fibers or cotton, and the recycled weft yarn 120 can be further recycled into low-quality recycled products due to its spandex or nylon, etc., thus being able to make the best use of things and improve the recycling value.

[0158] In some embodiments, as Figure 5As shown, the fabric recycling device further includes a fabric detector 8, which is arranged on the side of the warp stripping mechanism 3 close to the first conveying mechanism 1 and is used to detect whether the fabric 100 reaches a preset position during the conveying process.

[0159] The control method of the embodiment of the present disclosure further includes: if the first position information indicating that the leading end of the fabric 100 reaches the preset position sent by the fabric detector 8 is obtained, a speed adjustment signal is generated according to the first position information and the density value of the warp 110, and the speed adjustment signal is sent to the first conveying mechanism 1, the second conveying mechanism 4 and the warp stripping mechanism 3 to control the conveying speeds of the first conveying mechanism 1 and the second conveying mechanism 4 to be within the first preset speed range and the stripping speed of the warp stripping mechanism 3 for the warp 110 to be within the second preset speed range.

[0160] That is to say, when it is detected that the leading end of the fabric 100 reaches the preset position, it indicates that the warp 110 of the fabric 100 is about to be stripped. Therefore, it is necessary to adjust the stripping speeds of the first conveying mechanism 1, the second conveying mechanism 4 and the warp stripping mechanism 3 so that the warp 110 can be smoothly stripped. The speeds of the above mechanisms can be adjusted according to the density value of the warp 110, the diameter of the rotating roller 302 in the warp stripping mechanism 3, the number of tips 3032 of the stripping knife 303, etc. Thus, the preset position can be on the side of the warp stripping mechanism 3 close to the first conveying mechanism 1. For example, the preset position can be located between the second conveying mechanism 4 and the warp stripping mechanism 3, that is, the preset position is as close as possible to the warp stripping mechanism 3.

[0161] In some embodiments, as Figure 2 shown, the fabric recycling device further includes a third recycling mechanism 9. The third recycling mechanism 9 includes a robotic arm 901 and a third recycling bin 902. The control method of the embodiment of the present disclosure further includes the following contents C1 to C2.

[0162] C1: If the second position information indicating that the trailing end of the fabric 100 reaches the preset position sent by the fabric detector 8 is obtained, a stop stripping signal is generated according to the second position information, and the stop stripping signal is sent to the warp stripping mechanism 3 to control the warp stripping mechanism 3 to stop stripping the warp 110 of the remaining fabric 100.

[0163] When the fabric detector 8 detects that the trailing end of the fabric 100 reaches the preset position, it indicates that the fabric 100 is about to be recycled. Usually, the warp 110 at the trailing end of the fabric 100 is not easy to separate. Then, a stop stripping signal can be generated according to the second position information to control the warp stripping mechanism 3 to stop stripping the warp 110.

[0164] C2: Generate a third recycling signal and send the third recycling signal to the third recycling mechanism 9 to control the robotic arm 901 to put the remaining fabric 100 into the third recycling bin 902.

[0165] After stopping the peeling of the warp yarns 110, the remaining fabric 100 is conveyed onto the stripping platform 301. The third recovery signal can control the robotic arm 901 to move above the stripping platform 301 and recover the remaining fabric 100 into the third recovery bin 902.

[0166] Therefore, the control method of the embodiments of the present disclosure can achieve the separate recovery of the warp yarns 110, weft yarns 120, and the remaining fabric 100 into the first recovery bin 502, the second recovery bin 702, and the third recovery bin 902 respectively, avoiding the mixing of the three, facilitating the classification process after recovery, increasing the recovery value, and reducing the labor intensity.

[0167] In one embodiment, in order to clearly show the complete process of the fabric recovery device for recovering the fabric 100, Figure 18 a method for the fabric recovery device to recover the fabric is shown. The recovery method may include steps S1811 to S1830.

[0168] S1811: Place the fabric 100 on the first conveying mechanism 1.

[0169] S1812: The first image acquisition mechanism 2 acquires a first image of the fabric 100.

[0170] S1813: Process the first image to obtain the structural information of the fabric 100 and the density value of the warp yarns 110.

[0171] S1814: Determine whether the pattern of the fabric 100 conforms to the target pattern according to the structural information, and whether the density value of the warp yarns 110 is less than a preset density threshold. If so, proceed to step S1815; if not, proceed to step S1830.

[0172] S1815: Start the first conveying mechanism 1 and the second conveying mechanism 4.

[0173] S1816: Process the first image to obtain a first angle value of the warp yarns 110.

[0174] S1817: Determine whether the first angle value is greater than a preset angle threshold. If so, proceed to step S1818; if not, proceed to step S1819.

[0175] S1818: When the fabric 100 reaches the second conveying mechanism 4, control the plurality of second sub-conveying mechanisms to have different speeds to adjust the fabric 100 until the first angle value of the warp yarns 110 is less than or equal to the preset angle threshold.

[0176] S1819: Control multiple second sub-conveying mechanisms to convey the fabric 100 at the same speed, so that the fabric 100 is cut into multiple pieces when passing through the first cutter 403, and convey the fabric 100 to the warp stripping mechanism 3.

[0177] S1820: The fabric detector 8 detects whether the leading end of the fabric 100 reaches a preset position. If so, proceed to step S1821; if not, proceed to step S1819.

[0178] S1821: Control the conveying speeds of the first conveying mechanism 1 and the second conveying mechanism 4 to be within a first preset speed range according to the density value of the warp yarns 110, and control the stripping speed of the warp stripping mechanism 3 for the warp yarns 110 to be within a second preset speed range.

[0179] S1822: When the fabric 100 is conveyed to the warp stripping mechanism 3, strip the warp yarns 110 in the fabric 100, control the yarn gripper 501 to grip the stripped warp yarns 110, and control the first blower 501 to suck the warp yarns 110 into the first recovery box 502.

[0180] S1823: The fabric detector 8 detects whether the trailing end of the fabric 100 reaches a preset position. If so, proceed to step S1824; if not, proceed to step S1826.

[0181] S1824: Control the warp stripping mechanism 3 to stop stripping the warp yarns 110.

[0182] S1825: Convey the remaining fabric 100 to the stripping platform 301, control the robotic arm 901 to recycle the fabric 100 into the third recovery box 902, and proceed to step S1830.

[0183] S1826: Obtain the length value of the weft yarns 120 exposed after stripping the warp yarns 110.

[0184] S1827: Determine whether the length value is greater than or equal to a preset length value. If so, execute step S1828; if not, proceed to step S1822.

[0185] S1828: Control the first conveying mechanism 1 and the second conveying mechanism 4 to convey the fabric 100 in the reverse direction to a preset distance and then stop running, control the warp stripping mechanism 3 to stop running, and control the weft separation mechanism 6 to cut off the exposed weft yarns 120.

[0186] S1829: Control to start the first conveying mechanism 1 and the second conveying mechanism 4 to continue conveying the fabric 100 to the warp stripping mechanism 3, and proceed to step S1822.

[0187] S1830: End the recycling of this fabric.

[0188] In summary, the fabric 100 control method according to the embodiments of the present disclosure can control the fabric recycling device to strip the warp yarns 110 and separate the weft yarns 120, realizing the separate recycling of the warp yarns 110 and the weft yarns 120, improving the recycling value, and at the same time being able to realize the separate recycling of the remaining fabric 100, reducing the labor intensity.

[0189] The embodiments of the present disclosure may further provide a computer device, including: a processor, an input / output interface, and a memory. The processor obtains a computer program in the memory and executes each step of the method shown in any of the above embodiments.

[0190] The embodiments of the present disclosure also provide a computer-readable storage medium storing a computer program adapted to be loaded and executed by the processor to perform the fabric recycling control method provided in each step of any of the above embodiments. For the specific implementation manner, reference may be made to the implementation manners provided in each step of any of the above embodiments, which will not be elaborated here. In addition, the description of the beneficial effects of the same method will not be repeated. For the technical details not disclosed in the embodiments of the computer-readable storage medium related to the present disclosure, reference may be made to the description of the method embodiments of the present disclosure. As an example, the computer program may be deployed to be executed on a computer device, or on multiple computer devices located at one place, or on multiple computer devices distributed at multiple places and interconnected through a communication network.

[0191] The computer-readable storage medium may be the computer network security server virtualization processing system provided in any of the foregoing embodiments or the internal storage unit of the computer device, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the computer device. Further, the computer-readable storage medium may also include both the internal storage unit and the external storage device of the computer device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium may also be used to temporarily store the data that has been output or will be output.

[0192] The embodiments of the present disclosure also provide a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in various alternative manners in any of the above embodiments.

[0193] It should be understood that the present disclosure does not limit its application to the detailed structures and arrangements of the components set forth in this specification. The present disclosure is capable of having other embodiments and of being practiced and carried out in various ways. The foregoing variations and modifications fall within the scope of the present disclosure. It should be understood that the present disclosure as disclosed and defined in this specification extends to all alternative combinations of two or more separate features mentioned or evident in the text and / or drawings. All such different combinations constitute various alternative aspects of the present disclosure. The embodiments described in this specification illustrate the best mode known for practicing the present disclosure and will enable those skilled in the art to utilize the present disclosure.

Claims

1. A fabric recycling device, characterized in that, Comprising: A first conveying mechanism for conveying the fabric in the conveying direction; A first image acquisition mechanism for acquiring a first image of the fabric on the first conveying mechanism; A warp stripping mechanism located downstream of the first conveying mechanism in the conveying direction, for receiving the fabric and stripping the warp in the fabric according to the first image; A weft separating mechanism located downstream of the first conveying mechanism in the conveying direction, for separating the weft in the fabric after the warp stripping mechanism strips the warp.

2. The fabric recycling device according to claim 1, wherein Further comprising: A second conveying mechanism located between the first conveying mechanism and the stripping mechanism in the conveying direction, the second conveying mechanism comprising a plurality of second sub-conveying mechanisms spaced apart along a first horizontal direction, for receiving the fabric and conveying the fabric to the warp stripping mechanism; Wherein, the first horizontal direction is perpendicular to the conveying direction.

3. The fabric recycling device according to claim 2, wherein The second sub-conveying mechanism comprises a pressing roller and a second conveyor belt, the pressing roller being located above one end of the second conveyor belt close to the first conveying mechanism, and when the fabric is conveyed to the second conveying mechanism, the fabric is clamped between the pressing roller and the second conveyor belt; The second conveying mechanism further comprises: a plurality of first cutting knives, at least a part of the first cutting knives being arranged between the pressing rollers of adjacent second sub-conveying mechanisms, for cutting the fabric when the fabric is clamped between the pressing roller and the second conveyor belt and being conveyed.

4. The fabric recycling device according to claim 1, characterized in that, The warp stripping mechanism comprises: A stripping platform for supporting the fabric; A rotating roller arranged on the downstream side of the stripping platform in the conveying direction; A plurality of stripping knives arranged on the rotating roller and capable of rotating with the rotating roller; the stripping knife comprises a main body part and a tip, the tip being arranged on the main body part and protruding along the periphery of the main body part, for stripping the warp of the fabric located on the stripping platform; A yarn gripper located below the plurality of stripping knives, for gripping the warp stripped by the stripping knife and pulling the warp out of the fabric.

5. The fabric recycling device according to claim 1, characterized in that, The weft separating mechanism comprises: A second cutting knife movably arranged above the warp stripping mechanism, for cutting the remaining weft in the fabric with a preset length value after the warp is stripped; A suction head located on at least one side of the second cutting knife, for sucking the cut weft.

6. The fabric recycling device according to claim 5, characterized in that, Further comprising a second recycling mechanism, the second recycling mechanism comprising a second blower and a second recycling box, the second blower having pipelines respectively communicating with the suction head and the second recycling box, for sucking the cut weft into the second recycling box.

7. The fabric recycling device according to claim 2, wherein, Further comprising: A second image acquisition mechanism for acquiring a second image of the fabric on the second conveying mechanism.

8. The fabric recycling device according to any one of claims 1 to 7, characterized in that, Further comprising: A controller electrically connected to the first conveying mechanism, the first image acquisition mechanism, the warp stripping mechanism and the weft separating mechanism respectively; The controller is used to process the first image, obtain the structural information of the fabric and the density value of the warp yarns in the fabric, determine that the pattern of the fabric conforms to the target pattern according to the structural information, and the density value is less than the preset density threshold, control the first conveying mechanism to convey the fabric to the warp yarn stripping mechanism, and control the warp yarn stripping mechanism to strip the warp yarns of the fabric. After the warp yarns are stripped, control the weft yarn separating mechanism to separate the weft yarns in the fabric.

9. A fabric recycling control method, characterized in that, The method is applied to a fabric recycling device, which includes a first image acquisition mechanism and a first conveying mechanism, a warp yarn stripping mechanism, and a weft yarn separating mechanism sequentially arranged in the conveying direction; the method includes: Obtain the first image of the fabric on the first conveying mechanism collected by the first image acquisition mechanism; Process the first image to obtain the structural information of the fabric and the density value of the warp yarns in the fabric; Determine that the pattern of the fabric conforms to the target pattern according to the structural information, and the density value of the warp yarns is less than the preset density threshold, generate a first control signal and a second control signal, and send the first control signal to the first conveying mechanism to control the first conveying mechanism to convey the fabric to the warp yarn stripping mechanism, and send the second control signal to the warp yarn stripping mechanism to control the warp yarn stripping mechanism to strip the warp yarns of the fabric; Generate a third control signal and send the third control signal to the weft yarn separating mechanism to control the weft yarn separating mechanism to separate the weft yarns in the fabric after the warp yarns are stripped.

10. The method according to claim 9, characterized in that, It further includes: Process the first image to obtain the first angle value of the warp yarns in the fabric; If the first angle value is less than or equal to the preset angle threshold, generate the second control signal.

11. The method according to claim 10, wherein The fabric recycling device further includes a second conveying mechanism, which is arranged between the first conveying mechanism and the warp yarn stripping mechanism in the conveying direction; the second conveying mechanism includes a plurality of second sub-conveying mechanisms spaced apart in the first horizontal direction, and the first horizontal direction is perpendicular to the conveying direction. The method further includes: If the first angle value is greater than the preset angle threshold, generate a fourth control signal and send the fourth control signal to the plurality of second sub-conveying mechanisms to control the plurality of second sub-conveying mechanisms to have different conveying speeds when the fabric reaches the plurality of second sub-conveying mechanisms, so as to adjust the fabric to make the first angle value of the warp yarns less than or equal to the preset angle threshold.

12. The method according to claim 11, wherein The second conveying mechanism further includes a plurality of first cutting knives, and the first cutting knives are arranged between adjacent second sub-conveying mechanisms. The method further includes: If the first angle value of the warp yarns is less than or equal to the preset angle threshold, generate a fifth control signal and send the fifth control signal to the plurality of second sub-conveying mechanisms to control the plurality of second sub-conveying mechanisms to convey the fabric at the same speed, so that the fabric is cut into multiple pieces when passing through the first cutting knives.

13. The method according to claim 11, wherein The fabric recycling device further includes a second image acquisition mechanism, and the method further includes: Obtaining a second image of the fabric located on the second conveying mechanism acquired by the second image acquisition mechanism; Processing the second image to obtain a second angle value of the warp yarns of the fabric; If the second angle value is greater than the preset angle threshold, generating an alarm signal for controlling the fabric recycling device to give an alarm.

14. The method according to claim 11, wherein It further includes: Obtaining a length value of the weft yarns of the fabric after the warp yarns are stripped; If the length value is greater than or equal to a preset length value, generating a sixth control signal and sending the sixth control signal to the first conveying mechanism, the second conveying mechanism and the warp yarn stripping mechanism to control the first conveying mechanism, the second conveying mechanism and the warp yarn stripping mechanism to stop operating; Generating the third control signal and sending the third control signal to the weft yarn separation mechanism to control the weft yarn separation mechanism to separate the weft yarns having the length value.

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