Clothing piece adsorption point position determination method

Abstract

The invention discloses a garment piece adsorption point position determining method which comprises the steps that a mechanical arm is used, two movable adsorption point positions d1 and d2 are arranged on the mechanical arm, the direction between the adsorption point positions is the same as the vertical extending direction of a garment piece, and the garment piece is adsorbed and transferred through the two adsorption point positions; the distance between the adsorption point d1 and the adsorption point d2 is X, and the distance X is calculated according to the stretching length L1 of the garment piece, the wrinkle length L2 of the garment piece and the thickness H of the garment piece; the adsorption point d1 is close to the front end of the garment piece, the distance between the adsorption point d1 and the front end of the garment piece is Y, and the distance Y is calculated according to the stretching length L1 of the garment piece, the wrinkle length L2 of the garment piece and the distance X. Compared with the prior art, the method has the following advantages and effects that the distance between the adsorption point position d1 and the front end of the garment piece and the distance between the adsorption point position d1 and the adsorption point position d2 can be rapidly determined through the method for determining the garment piece adsorption point position, and then the stability and reliability of garment piece adsorption and transfer are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of clothing manufacturing, and particularly to a method for determining the adsorption positions of clothing pieces. Background Art

[0002] In the prior art, the transportation of clothing pieces is usually carried out by an automatically running trolley. After the sewing process in a clothing production factory, workers need to place the sewn clothing pieces into a designated basket, and need to align and stack the clothing pieces. After stacking to a certain extent, they are transported to the next process by the trolley for convenient taking and using.

[0003] In this existing situation, the process of workers stacking clothing pieces requires alignment and then placement, and stacking too high easily causes the clothing pieces to tilt or fall. In the intelligent era, more and more robots are applied in the factory, and using robots is gradually becoming an option in the process of transporting clothing or clothing pieces. How to optimize the overall transportation process, increase efficiency, and save time has become a problem that modern clothing factories need to consider.

[0004] In the invention patent submitted by the applicant on the same day, a clothing transportation robot with a dot matrix plate and its using method are disclosed, and it is disclosed that two adsorption positions on the robotic arm adsorb and transfer the clothing pieces behind the sewing station. However, how to determine the adsorption positions has become a relatively key problem. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for determining the adsorption positions of clothing pieces, so that the adsorption can be more reliable.

[0006] The above technical purpose of the present invention is achieved through the following technical solutions: A method for determining the adsorption positions of clothing pieces, including using a robotic arm, on which two movable adsorption positions d1 and d2 are provided. The direction between the adsorption positions is the same as the vertical extension direction of the clothing piece, and the clothing piece is adsorbed and transferred by the two adsorption positions; The distance between the adsorption position d1 and the adsorption position d2 is X, and this distance X is calculated based on the unfolded length L1 of the clothing piece, the wrinkled length L2 of the clothing piece, and the thickness H of the clothing piece; The adsorption position d1 is close to the front end of the clothing piece, and the distance Y between the adsorption position d1 and the front end of the clothing piece is calculated based on the unfolded length L1 of the clothing piece, the wrinkled length L2 of the clothing piece, and the distance X.

[0007] It is further set as: X = (L1 - L2) / 2 * (1 + a * H / L1), where a is a coefficient and is calculated according to the degree of wrinkling.

[0008] It is further set as: when L1 - L2 is less than 15 cm, a = 0.5; when L1 - L2 is between 15 - 25 cm, a = 0.1; when L1 - L2 is greater than 25 cm, a = 0.05.

[0009] Further set as: Y = (L1 - L2) * (L1 / 2 - X) * b.

[0010] Further set as: when L1 - L2 is less than 15 cm, a = 0.05; when L1 - L2 is between 15 - 25 cm, a = 0.15; when L1 - L2 is greater than 25 cm, a = 0.01.

[0011] Further set as: the adsorption sites may include multiple ones, and the adsorption sites d1 and d2 are determined when needed.

[0012] Further set as: the adsorption sites d1 and d2 can be formed by combining several adjacent adsorption sites.

[0013] In summary, the present invention has the following beneficial effects: Through the method for determining the adsorption sites of the clothing piece, the distance between the adsorption site d1 and the front end of the clothing piece, and the distance between the adsorption site d1 and the adsorption site d2 can be quickly determined, thereby ensuring the stability and reliability during the adsorption and transportation of the clothing piece. Specific embodiments

[0014] The following further elaborates on the present invention.

[0015] A method for determining the adsorption sites of a clothing piece, including using a robotic arm, on which multiple adsorption sites are provided. The adsorption sites to be determined are two, namely d1 and d2. The connection direction of the adsorption sites d1 and d2 is the same as the vertical extension direction or the length of the clothing piece.

[0016] After the robotic arm completes adsorption at the adsorption sites, it can rotate, thereby rotating the orientation of the clothing piece. In order to ensure the maximum possible adsorption stability of the clothing piece, the positions of the adsorption sites are determined.

[0017] Among them, d1 and d2 can be composed of several adsorption sites, for example, three adsorption sites form a d1 or d2.

[0018] The distance between the adsorption site d1 and the adsorption site d2 is X, and this distance X is calculated based on the unfolded length L1 of the clothing piece, the wrinkled length L2 of the clothing piece, and the thickness H of the clothing piece. Specifically, X = (L1 - L2) / 2 * (1 + a * H / L1), where a is a coefficient and is calculated according to the degree of wrinkling.

[0019] Among them, the determination of a is calculated according to actual segments. When L1 - L2 is less than or equal to 15 cm, a = 0.5; when L1 - L2 is between 15 - 25 cm, a = 0.1; when L1 - L2 is greater than 25 cm, a = 0.05. The value of L1 - L2 can actually reflect the degree of wrinkling of the clothing piece.

[0020] When calculating the unfolded length L1 of the garment piece and the wrinkled length L2 of the garment piece, centimeters are used for measurement, and meters are used for measuring the thickness H. The unfolded length of the garment piece is the length when the garment piece is fully unfolded, and this length can be input in advance. The wrinkled length L2 of the garment piece is the actual length of the garment piece, and this length can be captured and calculated by a camera set on the robotic arm. The thickness H can also be input in advance. Among them, the input data, the capture and calculation by the camera are all conventional technical solutions.

[0021] For example, if the unfolded length L1 of the garment piece is 65 cm, the wrinkled length L2 of the garment piece is 50 cm, and the thickness H is taken as 0.02 m, then X = (L1 - L2) / 2 * (1 + a * H / L1) = 15 / 2 * (1 + 0.02 * 0.05 * 65) = 7.9875. When taking the value, 8 is taken. Then the distance between d1 and d2 at this time is 8 cm.

[0022] The adsorption point d1 is close to the front end of the garment piece. The distance between the adsorption point d1 and the front end of the garment piece is Y, and this distance Y is calculated based on the unfolded length L1 of the garment piece, the wrinkled length L2 of the garment piece, and the distance X. Specifically, Y = (L1 - L2) * (L1 / 2 - X) * b. Among them, b is also a coefficient that can also reflect the degree of wrinkling. When L1 - L2 is less than 15 cm, a = 0.05; when L1 - L2 is between 15 - 25 cm, a = 0.15; when L1 - L2 is greater than 25 cm, a = 0.01.

[0023] At this time, according to the above example, take X = 8. Then Y = (L1 - L2) * (L1 / 2 - X) * b = 18.375. When taking the value of 18, the distance from the adsorption point d1 to the front end of the garment piece is 18 cm.

[0024] This specific embodiment is only an explanation of the present invention, and it is not a limitation of the present invention. Those skilled in the art can make modifications without creative contributions to this embodiment according to needs after reading this specification, but as long as it is within the scope of the claims of the present invention, it is protected by the patent law.

Claims

1. Method for determining adsorption sites of clothing pieces, characterized in that: It includes using a robotic arm, on which there are two movable adsorption points d1 and d2, and the direction between the adsorption points is the same as the vertical extension direction of the garment piece, and the garment piece is adsorbed and transported by the two adsorption points; The distance between the adsorption point d1 and the adsorption point d2 is X, and this distance X is calculated based on the unfolded length L1 of the garment piece, the wrinkled length L2 of the garment piece, and the thickness H of the garment piece; The adsorption point d1 is close to the front end of the garment piece, and the distance between the adsorption point d1 and the front end of the garment piece is Y, and this distance Y is calculated based on the unfolded length L1 of the garment piece, the wrinkled length L2 of the garment piece, and the distance X; 2. The method for determining the adsorption position of the clothing piece according to claim 1, characterized in that: X = (L1 - L2) / 2 * (1 + a * H / L1), where a is a coefficient and is calculated according to the degree of wrinkling.

3. The method for determining the adsorption points of the garment piece according to claim 2, characterized in that: When L1 - L2 is less than 15 cm, a = 0.5; when L1 - L2 is between 15 - 25 cm, a = 0.1; when L1 - L2 is greater than 25 cm, a = 0.

05.

4. The method for determining the adsorption points of the clothing piece according to claim 1, characterized in that: Y = (L1 - L2) * (L1 / 2 - X) * b.

5. The method for determining the adsorption points of the garment piece according to claim 4, wherein: When L1 - L2 is less than 15 cm, a = 0.05; when L1 - L2 is between 15 - 25 cm, a = 0.15; when L1 - L2 is greater than 25 cm, a = 0.

01.

6. The method for determining the adsorption points of the garment piece according to claim 1, wherein: The adsorption points may include multiple ones, and the adsorption points d1 and d2 are determined when needed.

7. The method for determining the adsorption points of the clothing piece according to claim 1, characterized in that: The adsorption points d1 and d2 can be formed by combining several adjacent adsorption points.