Hosiery machine sock moving anti-sticking detection device and detection method thereof

Abstract

The invention discloses a hosiery machine sock moving anti-jamming detection device and a detection method thereof, and relates to the technical field of hosiery machines, the hosiery machine sock moving anti-jamming detection device specifically comprises a hosiery machine body, a control panel and an alarm device, the hosiery machine body is fixedly connected with a needle cylinder, and the outer surface of the hosiery machine body is rotatably connected with a sewing device; a support is fixedly connected to the upper surface of the hosiery knitter body, a camera shooting assembly is installed on the upper surface of the support, a mechanical arm is installed between the camera shooting assembly and a needle cylinder, a background calibration plate is arranged below the camera shooting assembly, and the background calibration plate is located within the shooting range of the camera shooting assembly; according to the device, images in the sock transferring process are collected through the camera shooting assembly, a region of interest is formed through multiple steps such as gray level conversion, whether the socks are stuck or not is judged by comparing current images with background images through a frame difference method in combination with the design of the rectangular background calibration plate, and the problem that the infrared technology is not sensitive to detection of dark or semitransparent socks is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hosiery knitting machines, in particular to a hosiery knitting machine sock transfer anti-blocking detection device and a detection method thereof. BACKGROUND

[0002] In the automatic production process of the hosiery knitting machine, the socks need to be accurately transferred from the needle cylinder to the toe linking device for subsequent toe linking processing after being knitted. This transfer process is a key link in sock production, but it is also a stage with a high incidence of faults.

[0003] In actual production, socks may be stuck in the narrow gap between the needle cylinder and the toe linking device due to mechanical arm action deviation, stretching deformation, position deviation, or equipment vibration, etc. This sticking can cause production interruption and affect production efficiency. The infrared detection technology commonly used in the industry is mainly divided into two categories: infrared reflection grating and infrared opposite grating. However, these traditional detection methods have many limitations in actual application: the infrared reflection grating is not sensitive to dark cotton socks, is easy to miss detection or false detection, and is easily affected by factors such as oil stains and dust, requiring frequent cleaning and calibration, while the infrared opposite grating is not sensitive to semi-transparent socks, and is prone to false detection or missed detection for some special scenarios, such as socks being pulled relatively thin, and both have weak anti-noise ability to environmental light interference, etc., and need to adjust the appropriate power for the corresponding scene.

[0004] At the same time, the back end of the sock may slide off the upper surface of the background calibration plate during the transfer process. Since the surface of the newly knitted sock may have fiber debris, it is not ruled out that some of the debris will fall on the surface of the background calibration plate when passing through it. These fiber debris will gradually change the surface characteristics of the background calibration plate, affecting its color and texture uniformity, causing the camera assembly to have difficulty identifying the image during detection, resulting in false detection or missed detection, and affecting accurate judgment of the sock state.

[0005] In summary, a hosiery knitting machine sock transfer anti-blocking detection device needs to be developed to solve the above problems. SUMMARY

[0006] To solve the above technical problems, the present application provides a hosiery knitting machine sock transfer anti-blocking detection device and a detection method thereof, which specifically includes: A hosiery machine body, a control panel, and an alarm device are provided. A needle cylinder is fixedly connected to the outer surface of the hosiery machine body, a seam head device is rotatably connected to the outer surface of the hosiery machine body, a bracket is fixedly connected to the upper surface of the hosiery machine body, a camera assembly is mounted on the upper surface of the bracket, a robotic arm is mounted between the camera assembly and the needle cylinder, a background calibration plate is provided below the camera assembly, and the background calibration plate is located within the shooting range of the camera assembly. The control panel and the alarm device are both provided on the outer surface of the hosiery machine body. The camera assembly is used to capture images of the sock transfer area. The bracket adopts a tower-like structure, which is small at the top and large at the bottom, with a wide bottom and a gradually narrowing top, which helps to reduce the transmission of vibration. This design optimizes the shock absorption effect of the bracket. The function of the robotic arm is to assist in transferring the socks from the needle cylinder position to the seam head device. The background calibration plate includes a substrate and a pattern layer, wherein the substrate is a metal plate, and the pattern layer is composed of alternating black and white rectangular blocks, the longitudinal length of the rectangular blocks is greater than the lateral width, and the two corners of adjacent rectangular blocks are connected.

[0007] The socks moving and anti-jamming detection device for a hosiery knitting machine further comprises: The debris removal mechanism is installed on the upper surface of the seam head device and is used to clean the fiber debris that falls on the upper surface of the background calibration plate during the movement of the socks.

[0008] Furthermore, the sewing device includes a rotating tube, the inner wall of which is slidably connected to a suction tube, the outer surface of which is rotatably connected to the outer surface of the hosiery knitting machine body, the rotating tube being disposed below a robotic arm disposed below a bracket, and the lower portion of the background calibration plate being mounted on the upper surface of the needle cylinder via a detachable connector. The socks are sucked into the sewing device via the suction tube, facilitating subsequent sewing processing.

[0009] A support rod has a threaded groove on the edge surface of one end of the support rod away from the motor. A limit block is threadedly connected to the surface of the support rod. A cleaning rod is sleeved and slidably connected to the outer surface of the support rod. A concave-convex block is mounted on the outer surface of the support rod on the side closest to the motor. The outer surface of the concave-convex block has a groove. The threaded groove facilitates the limit block to be threadedly connected to the surface of the support rod. The concave-convex block and the limit block jointly limit the ends of the cleaning rod to the left and right, preventing it from sliding and rolling along the surface of the support rod. The cleaning rod is made of soft material, and its ends have a certain degree of elastic deformation ability.

[0010] Furthermore, the bottom of the slide rail is mounted on the upper surface of the seam head device, and one end of the support rod close to the motor is fixedly connected to the output end of the motor.

[0011] Furthermore, the scraping component includes a semicircular block, a first sliding rod is installed on the side of the semicircular block away from the concave and convex block, the outer surface of the first sliding rod is slidably connected to a curved tube, the inner surface of the curved tube is slidably connected to a second sliding rod, and a scraping plate is installed on one end of the second sliding rod; the side of the semicircular block close to the concave and convex block is set to a semicircular shape, and during the rotation of the concave and convex block, the arc surface of the semicircular block can be squeezed and the semicircular block can be pushed to move.

[0012] The extrusion spring has a pull cord arranged at its center, and a telescopic spring is wrapped around the end of the pull cord away from the first sliding rod. The pull cord is made of polyester fiber rope, which has high strength and good wear resistance, making it able to withstand a certain amount of tension.

[0013] Furthermore, the height of the semicircular block is slightly shorter than the length of the groove, the outer surface of the elbow is fixedly connected to the outer surface of the support seat, and the arc shape of the scraper is designed to fit the outer surface of the cleaning rod. The height of the semicircular block is slightly shorter than the length of the groove, so that when the concave-convex block rotates and the direction of the groove is facing the semicircular block, the concave-convex block and the semicircular block do not come into contact, and the semicircular block can move closer to the concave-convex block. The scraper is designed to fit the shape of the cleaning rod, so that it can subsequently fit the cleaning rod to scrape away fiber debris on its surface.

[0014] Furthermore, one end of the extrusion spring is installed on the side of the first sliding rod away from the semicircular block, and the end of the extrusion spring away from the first sliding rod is fixed to the inner wall of the bent pipe, and the elastic force of the extrusion spring is greater than the elastic force of the telescopic spring.

[0015] Furthermore, one end of the telescopic spring is installed on the side of the second sliding rod away from the scraper plate, and the other end of the telescopic spring away from the second sliding rod is installed on the inner wall of the curved pipe, and the outer surface of the pull rope is slidably connected to the inner wall of the curved pipe.

[0016] Furthermore, the trigger component includes an electric telescopic rod, a mounting box mounted at the bottom of the electric telescopic rod, a door panel movably connected to the outer surface of the mounting box, a networking module fixedly connected to the inner wall of the mounting box, a limit tube fixedly connected to the top of the mounting box, a bending rod slidably connected to the inner wall of the limit tube, a sponge wheel rotatably connected to the outer surface of the bending rod, a contact rod fixedly connected to the bottom center of the bending rod, a connecting spring mounted at the bottom of the bending rod, a pressure sensor disposed below the contact rod, and a power module disposed below the pressure sensor. The networking module is electrically connected to the electric telescopic rod via wires, and the power module supplies power to the pressure sensor and the electric telescopic rod via wires embedded in the inner wall of the mounting box.

[0017] Further, the extension end of the electric telescopic rod is installed at the bottom of the supporting seat, the bottom of the installation box is installed on the upper surface of the sliding table, the limiting pipes are symmetrically arranged on both sides of the sponge wheel, the outer surface of the pressure sensor is fixedly connected with the inner wall of the installation box, the bottom end of the connecting spring is fixedly connected with the inner wall of the limiting pipe, and the power module is fixedly connected with the inner wall of the installation box.

[0018] Further, the top of the sponge wheel is slightly higher than the bottom of the background calibration plate, and the height of the center of the sponge wheel is lower than the bottom of the background calibration plate. The height of the sponge wheel is set to ensure that when the sponge wheel touches one side of the background calibration plate during movement, the long end face of the background calibration plate can extrude the outer circular face of the sponge wheel and change the state of the sponge wheel.

[0019] A detection method of a sock moving anti-blocking detection device of a hosiery machine, comprising the following steps: First, the hosiery machine body transfers the finished socks from the needle cylinder to the sewing device through the background calibration plate by the mechanical arm; second, the camera assembly collects the sock moving area image on the surface of the background calibration plate in real time; then, the collected image is transmitted to the image processing unit for detection processing; after that, whether the socks are blocked in the needle cylinder and the sewing device during movement is judged according to the detected image, and the alarm device is used to alarm in time when the socks are blocked; finally, the cleaning rod in the chip removal mechanism is used to scrape off the fiber debris on the surface of the background calibration plate, so as to avoid the false detection and missed detection of the camera assembly.

[0020] The device collects images in the sock transfer process through the camera assembly, forms the region of interest through multiple steps such as gray scale conversion, combines the design of the rectangular background calibration plate, judges whether the sock is stuck through frame difference method comparison between the current image and the background image, solves the problem that the infrared technology is not sensitive to dark or semi-transparent sock detection through the high-contrast checkerboard background and the intelligent image recognition algorithm, realizes stable detection of socks of various colors and materials, the cleaning rod in the debris removal mechanism starts linear cleaning from the long side of the background calibration plate, on the one hand, reduces the residence time of fiber debris on the surface of the background calibration plate, speeds up the cleaning speed, on the other hand, reduces the moving path of the cleaning rod and the fiber debris on the surface of the background calibration plate, reduces the friction damage, reduces the influence on the background calibration plate, avoids the change of color and texture uniformity, and avoids the false detection and missed detection problem of the camera assembly; the cleaning rod is fixed during wiping, always cleans the surface of the background calibration plate with the same contact surface, after the cleaning rod completes cleaning, rotates by a certain angle, so that multiple new surfaces of the cleaning rod can implement the cleaning function, instead of always working on one side, avoiding the problem of aggravated friction damage after long-term single-sided work of the cleaning rod; the device can scrape the fiber debris attached to the surface of the cleaning rod through the cooperation of the concave-convex block and the semicircular block in the scraping part, avoid the problem that the debris is brought to the surface of the background calibration plate again in the subsequent cleaning process, and causes secondary pollution. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a front view of the present application; Figure 2 It is a structure schematic view of the sewing head device of the present application; Figure 3 It is an enlarged view of A in the present application; Figure 2 Figure 4 It is a structure schematic view of the debris removal mechanism of the present application; Figure 5 It is a structure schematic view of the support rod of the present application; Figure 6 It is an enlarged view of B in the present application; Figure 5 Figure 7 It is a structure schematic view of the scraping part of the present application; Figure 8 It is a sectional view of the elbow pipe of the present application; Figure 9 It is an enlarged view of C in the present application; Figure 8 Figure 10 It is an enlarged view of D in the present application; Figure 8 Figure 11 It is a structure schematic view of the triggering part of the present application; ​​​​Figure 12 Sectional view of the installation box of the present application; Figure 13 Structure diagram of the background calibration plate in the first embodiment of the present application; Figure 14 Structure diagram of the background calibration plate in the second embodiment of the present application; Figure 15 Flow chart of the sock transfer and image detection alarm system of the hosiery machine of the present application.

[0022] In the figure: 1, hosiery machine body; 2, control panel; 3, alarm device; 4, needle cylinder; 5, seam head device; 51, rotating tube; 52, suction tube; 6, support; 7, camera assembly; 8, mechanical arm; 9, debris removal mechanism; 91, sliding rail; 92, sliding table; 93, triggering part; 931, electric telescopic rod; 932, installation box; 933, door plate; 934, networking module; 935, limiting tube; 936, bent rod; 937, sponge wheel; 938, contact rod; 939, connecting spring; 9391, pressure sensor; 9392, power module; 94, support seat; 95, scraping part; 951, semicircular block; 952, first sliding rod; 953, bent tube; 954, second sliding rod; 955, scraping plate; 956, extrusion spring; 957, pull rope; 958, telescopic spring; 96, motor; 97, support rod; 98, threaded groove; 99, limiting block; 901, cleaning rod; 902, concave-convex block; 903, groove; 10, background calibration plate. DETAILED DESCRIPTION

[0023] The present application will be further described below in conjunction with the drawings and specific embodiments. The embodiments of the present application are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present application to the forms disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. Embodiments were chosen and described in order to best explain the principles of the present application and its practical application, and to enable others skilled in the art to understand the present application for various embodiments with various modifications as are suited to the particular use contemplated.

[0024] First embodiment, please refer to Figures 1-15 The present application is a hosiery machine sock transfer anti-stuck detection device, specifically comprising: The hosiery machine body 1, control panel 2, and alarm device 3 are mounted on the outer surface of the hosiery machine body 1. A needle cylinder 4 is fixedly connected to the outer surface of the hosiery machine body 1. A sewing device 5 is rotatably connected to the outer surface of the hosiery machine body 1. A bracket 6 is fixedly connected to the upper surface of the hosiery machine body 1. A camera assembly 7 is mounted on the upper surface of the bracket 6. A robotic arm 8 is installed between the camera assembly 7 and the needle cylinder 4. A background calibration plate 10 is located below the camera assembly 7 and is within the camera assembly 7's range. The hosiery machine body 1 manages the overall process, dispatches the robotic arm 8, and detects signals. The control panel 2 and alarm device 3 are both mounted on the outer surface of the hosiery machine body 1. The needle cylinder 4, sewing device 5, and robotic arm 8 work together to achieve the sequential knitting, transfer, and sewing of the socks. The camera assembly 7 is specifically aimed at the background calibration plate 10 to capture images of the sock transfer process; the bracket 6 adopts a tower-like structure, which is small at the top and large at the bottom, with a wide bottom and a gradually narrowing top, which helps to reduce the transmission of vibration and optimizes the shock absorption effect of the bracket 6; the function of the robot arm 8 is to assist in transferring the sock from the needle cylinder 4 to the seam head device 5; the background calibration plate 10 includes a substrate and a pattern layer, wherein the substrate is a metal plate and the pattern layer is composed of alternating black and white rectangular blocks, such as Figure 13 As shown, the alternating black and white rectangular blocks are designed to facilitate image recognition. The vertical length of the rectangular blocks is greater than their horizontal width, and the corners of two adjacent rectangular blocks are connected. Alarm device 3 includes an audible and visual alarm and a relay output module. Alarm device 3 has its own alarm input interface. When a sock is detected to be stuck, the audible and visual alarm can promptly sound an alarm.

[0025] The specific principles are as follows: First, let's elaborate on the processing process of the sock transfer and image detection alarm system of the hosiery knitting machine. After the hosiery knitting machine finishes knitting the socks, it needs to transfer the socks from the needle cylinder 4 to the seam head device 5. During this process, the socks are easily stuck between the needle cylinder 4 and the seam head device 5 due to some factors. At this time, the machine needs to alarm and stop immediately. Therefore, a mechanical arm 8, a needle cylinder 4, a seam head device 5 and a camera component 7 are designed. The mechanical arm 8 assists in transferring the knitted socks from the needle cylinder 4 to the seam head device 5, and the camera component 7 is combined with the mechanical arm 8 to transfer the knitted socks from the needle cylinder 4 to the seam head device 5. Figure 1 and Figure 2 It can be seen that the movement state of the robot arm 8 moves from the needle cylinder 4 to the seaming device 5, and the seaming device 5 tilts and rotates at a certain angle toward the direction close to the sock body, and the socks are brought into the interior of the seaming device 5 by the extension of the straw 52. This process requires signal coordination, that is, after the host completes weaving, it issues a transfer command to the robot arm 8, and at the same time sends a detection start signal to the camera component 7 in advance or synchronously. The camera component 7 receives the command and immediately collects the picture, returns data or analysis results as needed, and if an abnormality is detected, that is, the socks are stuck or an obstacle is identified, the camera component 7 will feed back an alarm signal to the host, and the host will stop immediately.

[0026] Since the socks will pass over the background calibration plate 10 during the transfer process, and the pattern layer in the background calibration plate 10 contains alternating black and white rectangular blocks, the detection process can be performed by irradiating the background calibration plate 10 by the camera assembly 7 to determine whether the socks are stuck in the needle cylinder 4 and the sewing head device 5, which involves some system algorithms.

[0027] The system algorithm processing process is as follows: the camera assembly 7 collects the background image in the state of no sock, and converts the collected image into a gray image, and then performs filtering, i.e. median filtering or Gaussian filtering, to eliminate noise, and uses an edge extraction algorithm to extract the edge information in the image, and then the system analyzes the edge information in the image. After edge detection, the quadrilateral detection algorithm identifies the alternating black and white blocks, i.e. identifies the quadrilateral structure, and determines whether they are adjacent, and finally merges these adjacent quadrilaterals to form a region of interest for subsequent frame difference method background modeling. The region of interest of the background image uses a rectangular design instead of the traditional standard square chessboard calibration method. This design has several advantages: first, the layout of shorter horizontal and longer vertical makes the region of interest smaller, so that the system can respond faster when the socks move horizontally; second, the longer vertical design ensures that the socks can cover a wider vertical range no matter where they move horizontally, so that the socks can be accurately identified every time they move. This process can be used Figure 13 The scheme diagram of the design, in addition, considering some special scenarios, when the socks move diagonally over the background, interlaced in the white squares of the background calibration plate 10, resulting in a small frame difference, so as not to alarm, the scheme diagram of the design can be used Figure 14 The scheme diagram of the design.

[0028] The frame difference method background modeling in the process is used to assist frame difference detection and abnormality recognition. In the sock moving detection, the current frame image is collected, and the region of interest of the background image is pixel by pixel. The number of changed pixels is counted, and the threshold is set to determine whether the socks pass through and whether there is a stuck. For special cases such as diagonal socks, combined with pattern layout and morphological analysis, the abnormality detection can be optimized by using directional dilation / erosion processing to judge the overall change of the pixel area of diagonal socks. Finally, when an abnormality is detected, the system outputs an alarm signal when the pixel change is different from the threshold or the shape is abnormal.

[0029] Finally, the system will gradually update the "background image" according to the current frame when the sock moving detection is not needed, which can be achieved by using the moving average method or periodically refreshing the whole image to reduce the long-term error accumulation. When the sock machine body 1 needs to do the sock moving detection, it will send a signal to the system. At this time, the system uses the current image and the saved "background image" for comparison. By counting the number of changed pixels in the image, it can be determined whether there is a large change in the image. When there is a large change, it means that a sock has been moved from the area of interest. The system sends an alarm signal to the sock machine body 1. The overall sock moving and image detection alarm system process is shown in Figure 15 .

[0030] Therefore, the overall device works through the cooperation of software and hardware. The software part is responsible for issuing instructions, image acquisition and processing, result determination, and alarm signal feedback. The hardware cooperation is as follows: the main control board responds to the mechanical arm, the sewing head module, and the camera assembly respectively, and there is a signal feedback mechanism between the modules. When an alarm exception occurs, the main control board takes over the process with high priority, and emergency shutdown is performed at the same time. Remote maintenance or fault recording submodules are also called.

[0031] The sock moving and anti-blocking detection device for the sock machine further comprises: The debris removal mechanism 9 is installed on the upper surface of the sewing head device 5 and is used to clean the fiber debris that falls on the upper surface of the background calibration plate 10 during the movement of the socks.

[0032] The sewing head device 5 comprises a rotating tube 51, the inner wall of the rotating tube 51 is slidably connected with a suction tube 52, the outer surface of the rotating tube 51 is rotatably connected with the outer surface of the sock machine body 1, the rotating tube 51 is arranged below the mechanical arm 8, the mechanical arm 8 is arranged below the support 6, and the lower part of the background calibration plate 10 is installed on the upper surface of the needle cylinder 4 through a detachable connecting piece. The socks are sucked into the inside of the sewing head device 5 through the suction tube 52, which facilitates subsequent sewing head processing.

[0033] The support rod 97 is provided with a threaded groove 98 on the edge surface of one end away from the motor 96, the surface of the support rod 97 is threadedly connected with a limiting block 99, the outer surface of the support rod 97 is sleeved and slidably connected with a cleaning rod 901, the outer surface of a concave-convex block 902 installed on one side of the support rod 97 close to the motor 96 is provided with a groove 903. The threaded groove 98 facilitates the thread connection of the limiting block 99 on the surface of the support rod 97, and the concave-convex block 902 and the limiting block 99 together limit the left and right ends of the cleaning rod 901, preventing it from sliding and rolling along the surface of the support rod 97. The cleaning rod 901 is made of soft material and has a smooth surface, and its two ends have a certain elastic deformation capacity, so as not to cause friction damage to the surface of the background calibration plate 10 during sliding.

[0034] The bottom of the slide rail 91 is mounted on the upper surface of the seam head device 5, and the support rod 97 is fixedly connected to the output end of the motor 96 at one end close to the motor 96.

[0035] The scraping component 95 includes a semicircular block 951, a first sliding rod 952 is mounted on the side of the semicircular block 951 away from the concave-convex block 902, the outer surface of the first sliding rod 952 is slidingly connected with a bent pipe 953, the inner surface of the bent pipe 953 is slidingly connected with a second sliding rod 954, and one end of the second sliding rod 954 is provided with a scraping plate 955; the side of the semicircular block 951 close to the concave-convex block 902 is provided in a semicircular shape, and the semicircular block 951 can be extruded on the arc surface thereof and moved by the concave-convex block 902 during rotation.

[0036] The surrounding center of the extrusion spring 956 is provided with a pull rope 957, and the outer side of one end of the pull rope 957 away from the first sliding rod 952 is surrounded by a telescopic spring 958. The material of the pull rope 957 is polyester fiber rope, which has high strength and good wear resistance, so that it can withstand a certain pulling force. The bent pipe 953 and the pull rope 957 are arranged to ensure that the scraping plate 955 can be pulled at the center thereof and the moving direction thereof is horizontal.

[0037] The height of the semicircular block 951 is slightly shorter than the length of the groove 903, the outer surface of the bent pipe 953 is fixedly connected with the outer surface of the support seat 94, and the arc surface of the scraping plate 955 is designed in a shape that fits the outer surface of the cleaning rod 901. The height of the semicircular block 951 is slightly shorter than the length of the groove 903, so that the concave-convex block 902 does not contact the semicircular block 951 when the direction of the groove 903 is opposite to the semicircular block 951 during rotation of the concave-convex block 902, and the semicircular block 951 can move to the side close to the concave-convex block 902; the scraping plate 955 is designed to fit the shape of the cleaning rod 901, so that the fiber debris on the surface of the cleaning rod 901 can be scraped in subsequent fitting.

[0038] One end of the extrusion spring 956 is mounted on the side of the first sliding rod 952 away from the semicircular block 951, the other end of the extrusion spring 956 is fixedly connected with the inner wall of the bent pipe 953, and the elastic force of the extrusion spring 956 is greater than that of the telescopic spring 958.

[0039] One end of the telescopic spring 958 is mounted on the side of the second sliding rod 954 away from the scraping plate 955, the other end of the telescopic spring 958 is mounted on the inner wall of the bent pipe 953, and the outer surface of the pull rope 957 is slidingly connected with the inner wall of the bent pipe 953.

[0040] The specific working process is as follows: In the process of moving the socks from the needle cylinder 4 to the toe linking device 5, the rear part of the socks can slide off the upper surface of the background calibration plate 10, and since the surface of the newly knitted socks will basically have a certain amount of fiber debris, these debris can be left on the surface during the movement of the surface of the background calibration plate 10, and when there is too much fiber debris, the surface characteristics of the background calibration plate 10 will gradually change, thereby affecting the color and texture uniformity, which can cause abnormal situations during the image detection by the camera assembly 7, resulting in false detection or missed detection problems, further affecting the accurate judgment of the state of the socks.

[0041] When the hosiery machine body 1 is no longer working, the sliding table 92 inside the debris removal mechanism 9 is activated, and the sliding table 92 can drive the trigger component 93, the support seat 94, the scraping component 95, and the support rod 97, the linear movement of the cleaning rod 901 along the surface of the sliding rail 91, so that the cleaning rod 901 moves towards the side close to the background calibration plate 10 until the surface of the cleaning rod 901 is in sliding contact with the upper surface of the background calibration plate 10. The fiber debris on the surface of the background calibration plate 10 can be wiped off by the movement of the cleaning rod 901, and the fiber debris on the surface of the background calibration plate 10 can be removed by the movement of the cleaning rod 901. Figures 3 to 5 As can be seen, the wiping path of the cleaning rod 901 is from the long end of the background calibration plate 10, which is set to reduce the movement path on the surface of the background calibration plate 10, so that the time of the fiber debris staying on the surface of the background calibration plate 10 is also shortened, and the friction on the surface of the background calibration plate 10 is minimized. Otherwise, if the cleaning is started from the short side of the background calibration plate 10, the movement path of the cleaning rod 901 and the fiber debris will be greatly lengthened, and the friction damage to the background calibration plate 10 will also be relatively increased to some extent.

[0042] Since the cleaning rod 901 is sleeved on the outer surface of the support rod 97, one end of the cleaning rod 901 is in contact with the side surface of the concave-convex block 902, and the other end of the cleaning rod 901 is in contact with the limiting block 99. The limiting block 99 can rotate along the threaded groove 98 formed on the surface of the support rod 97 until one side of the limiting block 99 abuts against the end surface of the cleaning rod 901, tightly contacting the contact end of the cleaning rod 901. At this time, the cleaning rod 901 is fixed and cannot rotate along the outer surface of the support rod 97. This is beneficial because the cleaning rod 901 always wipes the fiber debris on the surface of the background calibration plate 10 through one contact surface during this process, increasing the multi-surface use function of the cleaning rod 901, and preventing the fiber debris from being attached to the surface and then being brought to the surface of the background calibration plate 10 during rotation, thereby affecting the wiping effect.

[0043] When the cleaning rod 901 wipes and separates from the surface of the background calibration plate 10, the debris concentrated by wiping is scraped off, but the curved surface of the cleaning rod 901 in contact with the background calibration plate 10 can be attached with a certain amount of fiber debris, which needs to be scraped off to avoid the situation that the debris falls on the surface of the background calibration plate 10 again during the resetting process of the cleaning rod 901.

[0044] In the initial state, the elastic force of the compression spring 956 is greater than that of the extension spring 958, so that the compression spring 956 pushes the first sliding rod 952 and the semicircular block 951 to move to the side close to the concave-convex block 902, and the first sliding rod 952 also pulls the pull rope 957. Since the other end of the pull rope 957 is connected to the second sliding rod 954, the second sliding rod 954 drives the scraping plate 955 to have a tendency to move away from the side of the cleaning rod 901. At this time, the second sliding rod 954 will press the extension spring 958, and the scraping plate 955 in this process has a certain gap with the surface of the cleaning rod 901, and the two do not touch.

[0045] After the cleaning rod 901 separates from the surface of the background calibration plate 10, the motor 96 is started to drive the support rod 97, the concave-convex block 902 and the cleaning rod 901 to rotate 90 degrees clockwise. In the initial state, the semicircular block 951 is at the groove 903 opened on the surface of the concave-convex block 902, but does not contact the groove 903, like Figure 6The outer surface of the concave-convex block 902 will contact the arc surface of the semicircular block 951 when the concave-convex block 902 rotates 90 degrees clockwise with the support rod 97 and the cleaning rod 901. During the rotation, the concave-convex block 902 can push the semicircular block 951 and the first sliding rod 952 to move away from the concave-convex block 902. The first sliding rod 952 slides along the inner wall of the curved pipe 953 and presses the compression spring 956, causing the pull rope 957 connected to one end of the first sliding rod 952 to loosen. The second sliding rod 954 connected to the other end of the pull rope 957 is driven by the elastic force of the extension spring 958 to make the scraping plate 955 adhere to the surface of the cleaning rod 901. Before the cleaning rod 901 stops rotating, the scraping plate 955 will first adhere to the surface of the cleaning rod 901 to remove the fiber debris on the surface of the cleaning rod 901. Since the cleaning rod 901 is made of soft material and can deform slightly, the cleaning rod 901 will appropriately adhere to the upper surface of the background calibration plate 10 and slide. The area of the surface of the background calibration plate 10 contacted by the cleaning rod 901 is not the lowest point of the outer surface of the cleaning rod 901, but the inclined part near the scraping plate 955. Therefore, before the cleaning rod 901 stops rotating, the contact surface of the cleaning rod 901 will first adhere to the scraping plate 955 and remove the debris attached to the contact surface through the scraping plate 955. After the concave-convex block 902 rotates 90 degrees, the groove 903 again faces the side of the semicircular block 951, and the concave-convex block 902 and the semicircular block 951 are disconnected. The semicircular block 951 and the first sliding rod 952 are reset under the elasticity of the compression spring 956 and pull the tight end of the pull rope 957 connected to the other end of the second sliding rod 954. Through the pull rope 957, the second sliding rod 954 and the scraping plate 955 are pulled away from the cleaning rod 901, leaving a gap between the scraping plate 955 and the surface of the cleaning rod 901. The purpose of the gap is to facilitate the subsequent replacement of the cleaning rod 901 on the surface of the support rod 97, avoiding the problem that the new cleaning rod 901 is difficult to install on the surface of the support rod 97 due to the close adhesion of the scraping plate 955.

[0046] The trigger component 93 comprises an electric telescopic rod 931, the bottom of the electric telescopic rod 931 is provided with a mounting box 932, the outer surface of the mounting box 932 is movably connected with a door plate 933, the inner wall of the mounting box 932 is fixedly connected with a networking module 934, the top of the mounting box 932 is fixedly connected with a limiting tube 935, the inner wall of the limiting tube 935 is slidably connected with a bent stick 936, the outer surface of the bent stick 936 is rotatably connected with a sponge wheel 937, the bottom center of the bent stick 936 is fixedly connected with a contact stick 938, the bottom of the bent stick 936 is provided with a connecting spring 939, the lower portion of the contact stick 938 is provided with a pressure sensor 9391, and the lower portion of the pressure sensor 9391 is provided with a power module 9392. The networking module 934 is electrically connected with the electric telescopic rod 931 through wires, the power module 9392 supplies power to the pressure sensor 9391 and the electric telescopic rod 931 through wires, and the wires are buried in the inner wall of the mounting box 932.

[0047] The extending end of the electric telescopic rod 931 is mounted on the bottom of the support base 94, the bottom of the mounting box 932 is mounted on the upper surface of the sliding table 92, the limiting tube 935 is symmetrically arranged on both sides of the sponge wheel 937, the outer surface of the pressure sensor 9391 is fixedly connected with the inner wall of the mounting box 932, the bottom end of the connecting spring 939 is fixedly connected with the inner wall of the limiting tube 935, and the power module 9392 is fixedly connected with the inner wall of the mounting box 932.

[0048] The top of the sponge wheel 937 is slightly higher than the bottom of the background calibration plate 10, and the center of the sponge wheel 937 is lower than the bottom of the background calibration plate 10. The sponge wheel 937 is arranged to ensure that when the sponge wheel 937 touches one side of the background calibration plate 10 during movement, the long end face of the background calibration plate 10 can extrude the outer circular face of the sponge wheel 937 and change the state of the sponge wheel 937.

[0049] The specific working process is as follows: When the slide 92 drives the trigger component 93 to move, the sponge wheel 937 will come into contact with the lower side of the background calibration plate 10. The background calibration plate 10 will squeeze the sponge wheel 937 and drive the sponge wheel 937 to rotate along the outer surface of the bending rod 936. At the same time, it can push the sponge wheel 937 and the bending rod 936 to slide downward along the inner wall of the limiting tube 935 and squeeze the connecting spring 939 at the bottom. The supporting force of the connecting spring 939 on the bending rod 936 is relatively weak compared to the squeezing force of the background calibration plate 10 on the sponge wheel 937. Further, the bending rod 936 will drive the contact rod 938 to contact the pressure sensor 9391 at the bottom during the downward movement. When the pressure sensor 9391 detects pressure, it will transmit the signal remotely to the external controller, that is, the computer. The computer then sends instructions to the networking module 934 to control the extension and retraction of the electric telescopic rod 931. Therefore, through the pressure signal received by the pressure sensor 9391, it can be known that when the sponge wheel 937 contacts the background calibration plate 10 for the first time, the pressure sensor 9391 feels the signal. Until the sponge wheel 937 loses contact with the background calibration plate 10, the connecting spring 939 resets and pushes the bending rod 936 and the sponge wheel 937, so that the contact rod 938 loses contact with the pressure sensor 9391. At this time, the pressure sensor 9391 cannot feel the signal, and the electric The electric telescopic rod 931 is extended to control the upward movement of the debris removal mechanism 9 such as the support seat 94, which can move the cleaning rod 901 upward, so that the cleaning rod 901 is separated from the upper surface of the background calibration plate 10. However, in the process of the slide 92 resetting and driving the sponge wheel 937 to reset, the sponge wheel 937 contacts the surface of the background calibration plate 10 again. At this time, the pressure sensor 9391 will feel the signal again, but this time the signal is transmitted to the external controller, and the external controller will no longer control the extension and retraction of the electric telescopic rod 931. Therefore, in the process of resetting the sponge wheel 937, the cleaning rod 901 is above the background calibration plate 10, and the cleaning rod 901 will not contact the background calibration plate 10 during the reset process. 0, and friction damage caused by contact will not occur during the resetting process. When the sponge wheel 937 is out of contact with the background calibration plate 10, the electric telescopic rod 931 contracts, so that the cleaning rod 901 is in the initial position. In the subsequent process of wiping the surface of the background calibration plate 10 with the cleaning rod 901, it is a new contact surface. This reciprocating process can increase the multiple utilization surface of the cleaning rod 901, avoiding always working on one side, resulting in severe wear on one side of the cleaning rod 901 after long-term work, further affecting the subsequent cleaning effect. By using multiple sides of the cleaning rod 901 for cleaning, the multi-surface utilization rate of the cleaning rod 901 can be enhanced.

[0050] Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art and related fields without creative labor should belong to the protection scope of the present application. The structures, devices and operation methods not specifically described and explained in the present application are implemented according to the conventional means in the art, if not specifically described and limited.

Claims

1. A sock moving and anti-stuck detection device for a hosiery knitting machine, comprising: A hosiery machine body (1), a control panel (2), and an alarm device (3), characterized in that: a needle cylinder (4) is fixedly connected to the hosiery machine body (1), a seam head device (5) is rotatably connected to the outer surface of the hosiery machine body (1), a bracket (6) is fixedly connected to the upper surface of the hosiery machine body (1), a camera assembly (7) is installed on the upper surface of the bracket (6), a mechanical arm (8) is installed between the camera assembly (7) and the needle cylinder (4), a background calibration plate (10) is provided below the camera assembly (7), and the background calibration plate (10) is located within the shooting range of the camera assembly (7); The socks moving and anti-jamming detection device for a hosiery knitting machine further comprises: A debris removal mechanism (9) is installed on the upper surface of the seam head device (5) and is used to clean fiber debris that falls on the upper surface of the background calibration plate (10) during the movement of the socks.

2. The sock moving and anti-jamming detection device for a hosiery knitting machine according to claim 1, characterized in that: The seam head device (5) comprises: A rotating tube (51) is provided, wherein the inner wall of the rotating tube (51) is slidably connected to a suction tube (52), the outer surface of the rotating tube (51) is rotatably connected to the outer surface of the hosiery machine body (1), the rotating tube (51) is arranged below a mechanical arm (8), the mechanical arm (8) is arranged below a bracket (6), and the lower part of the background calibration plate (10) is mounted on the upper surface of the needle cylinder (4) via a detachable connecting piece.

3. The sock moving and anti-jamming detection device for a hosiery knitting machine according to claim 1, characterized in that: The dandruff removal mechanism (9) comprises: A slide rail (91), the outer surface of the slide rail (91) is slidably connected to a slide table (92), a trigger component (93) is installed on the upper surface of the slide table (92), a support seat (94) is installed on the upper surface of the trigger component (93), a motor (96) is installed on the inner wall of the support seat (94), and a scraping component (95) is fixedly connected to the side of the support seat (94) close to the syringe (4); A support rod (97), wherein a thread groove (98) is provided on the edge surface of one end of the support rod (97) away from the motor (96), the surface of the support rod (97) is threadedly connected to a limit block (99), a cleaning rod (901) is sleeved on the outer surface of the support rod (97) and slidably connected thereto, a concave-convex block (902) is installed on the outer surface of the side of the support rod (97) close to the motor (96), and a groove (903) is provided on the outer surface of the concave-convex block (902).

4. The sock moving and anti-jamming detection device for a hosiery knitting machine according to claim 3, characterized in that: The bottom of the slide rail (91) is mounted on the upper surface of the syringe (4), and one end of the support rod (97) close to the motor (96) is fixedly connected to the output end of the motor (96).

5. The sock moving and anti-jamming detection device for a hosiery knitting machine according to claim 3, characterized in that: The scraping component (95) comprises: A semicircular block (951), a first sliding rod (952) being installed on a side of the semicircular block (951) away from the concave-convex block (902), a curved tube (953) being slidably connected to the outer surface of the first sliding rod (952), a second sliding rod (954) being slidably connected to the inner surface of the curved tube (953), and a scraping plate (955) being installed on one end of the second sliding rod (954); A compression spring (956) is provided with a pull rope (957) around the center of the compression spring (956), and a telescopic spring (958) is wrapped around the outside of one end of the pull rope (957) away from the first sliding rod (952).

6. The sock moving and anti-jamming detection device for a hosiery knitting machine according to claim 5, characterized in that: The height of the semicircular block (951) is slightly shorter than the length of the groove (903), the outer surface of the curved tube (953) is fixedly connected to the outer surface of the support seat (94), and the arc shape of the scraping plate (955) is designed to fit the shape of the outer surface of the cleaning rod (901).

7. The sock moving and anti-stuck detection device for a hosiery knitting machine according to claim 6, characterized in that: One end of the extrusion spring (956) is mounted on a side of the first sliding rod (952) away from the semicircular block (951), and the end of the extrusion spring (956) away from the first sliding rod (952) is fixedly connected to the inner wall of the curved tube (953). The elastic force of the extrusion spring (956) is greater than the elastic force of the telescopic spring (958).

8. The sock moving and anti-jamming detection device for a hosiery knitting machine according to claim 7, characterized in that: One end of the telescopic spring (958) is mounted on a side of the second sliding rod (954) away from the scraping plate (955), and one end of the telescopic spring (958) away from the second sliding rod (954) is mounted on the inner wall of the curved tube (953). The outer surface of the pull rope (957) is slidably connected to the inner wall of the curved tube (953).

9. A detection method for a socks moving and anti-jamming detection device of a hosiery knitting machine according to claims 1 to 8, characterized in that: The following steps are involved: S1: First, the hosiery machine body (1) transfers the knitted socks from the needle cylinder (4) to the top of the background calibration plate (10) via the mechanical arm (8) to the seam head device (5); S2: Secondly, the camera component (7) collects the image of the sock moving area on the surface of the background calibration plate (10) below the sock moving path in real time; S3: The collected image is then transmitted to the image processing unit for detection processing; S4: Then, judging whether the sock is stuck between the needle cylinder (4) and the sewing device (5) during the movement based on the detected image, and if a jam occurs, promptly giving an alarm through the alarm device (3); S5: Finally, the fiber debris on the surface of the background calibration plate (10) is scraped off by the cleaning rod (901) inside the debris removal mechanism (9), so as to avoid false detection or missed detection by the camera assembly (7).

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