Soft material cloth feeding system and method

Abstract

The invention provides a soft material cloth feeding system and method. The system comprises a plurality of electromagnetic valves, a plurality of symmetrical air clamps, an I-shaped sliding rail lifting table, an infrared distance sensor, a laser distance measuring sensor, a servo motor and a grabbing control unit. The electromagnetic valve is used for controlling the air pressure of the symmetrical air clamp; the I-shaped sliding rail lifting platform is used for placing soft material cloth to be fed; the infrared distance sensor is used for obtaining the vertical distance deviation of the two sides of the soft material cloth to be fed. The laser distance measuring sensor is used for acquiring the horizontal distance deviation between the edge of the soft material cloth to be fed and a preset position; the grabbing control unit is used for calculating the starting time of the electromagnetic valves corresponding to the symmetrical air clamps, the vertical displacement of the symmetrical air clamps, the symmetrical air clamps used for grabbing the soft material cloth to be fed and the horizontal displacement of the symmetrical air clamps. According to the cloth grabbing device, the cloth grabbing success rate can be increased, the cloth is not damaged, the grabbing position is adjusted in real time, and the cloth feeding efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of material transportation technology, and in particular to a soft material fabric feeding system and method. Background Technology

[0002] In the traditional towel loading process, unstable gripping caused by tilted or misplaced towel stacks has become one of the core pain points restricting the efficiency of automated production. Specifically, when the towel stack is tilted, the grippers often cannot accurately align with the edges of the towels, causing the gripping position to deviate from the expected target. This dimensional error further affects the accuracy and stability of subsequent processes. In addition, towels are soft and easily deformed, and their stacking state is easily affected by external factors, such as transportation vibration and uneven placement environment. These problems exacerbate the uncertainty of the loading process.

[0003] Meanwhile, existing gripper equipment has limited adaptability and intelligence, lacking the ability to flexibly adjust to complex and ever-changing towel shapes, and making it difficult to correct deviations in real time. More seriously, such problems not only reduce the overall efficiency of the production line, but may also increase the frequency of manual intervention due to frequent downtime for debugging, further increasing production costs. Summary of the Invention

[0004] This invention provides a soft fabric feeding system and method that can stably grasp soft fabrics without causing physical damage to the fabric. At the same time, it can adjust the grasping position in real time, improve the success rate of fabric grasping, greatly improve the stability of feeding, reduce manual intervention and machine downtime for debugging, and improve the efficiency of fabric feeding.

[0005] In a first aspect, embodiments of the present invention provide a soft material fabric feeding system, including: multiple solenoid valves, multiple symmetrical air clamps, an I-beam slide rail lifting platform, an infrared distance sensor, a laser rangefinder sensor, a servo motor, and a gripping control unit.

[0006] The number of solenoid valves is the same as the number of symmetrical air clamps, and they are used to control the air pressure of the symmetrical air clamps according to the first signal from the gripping control unit.

[0007] The I-beam slide rail lifting platform is used to place soft fabrics to be loaded.

[0008] An infrared distance sensor is used to obtain the vertical distance deviation between the two sides of the soft fabric to be loaded.

[0009] A laser rangefinder is used to obtain the horizontal distance deviation between the edge of the soft fabric to be loaded and a preset position; wherein, the preset position is the position of the symmetrical air clamp projected onto the plane of the I-beam slide rail lifting platform.

[0010] The servo motor is used to control the lifting and lowering of the I-beam slide rail lifting platform; it is also used to control the movement of the symmetrical pneumatic clamp according to the second signal from the gripping control unit.

[0011] The gripping control unit is used to calculate the time deviation based on the vertical distance deviation; based on the time deviation, it calculates the start time of the solenoid valves corresponding to the symmetrical air clamps on both sides of the I-beam slide rail lifting platform, and uses the start time as the first signal; it is also used to calculate the vertical displacement of the symmetrical air clamps on both sides of the I-beam slide rail lifting platform based on the time deviation; based on the horizontal distance deviation, it determines the target symmetrical air clamp and the horizontal displacement of the target symmetrical air clamp used to grip the soft material to be loaded, and uses the vertical displacement, horizontal displacement, and the target symmetrical air clamp used to grip the soft material to be loaded as the second signal.

[0012] In one possible implementation, the soft fabric feeding system also includes: multiple lead screw slides; The I-beam slide rail lifting platform is equipped with at least one lead screw slide on each side, and each lead screw slide is equipped with at least one symmetrical air clamp.

[0013] In one possible implementation, the grasping control unit is also used for: The distances between the two sides of the soft fabric to be loaded and the infrared distance sensor are obtained through the infrared distance sensor, and are recorded as the first distance and the second distance; wherein the first distance is greater than the second distance.

[0014] Calculate the mean of the first distance and the second distance, and denot it as the distance average.

[0015] The lifting height of the I-beam slide rail lifting platform is determined based on the average distance and the expected height of the soft fabric to be loaded.

[0016] A third signal is generated based on the elevation height.

[0017] The servo motor is also used to control the lifting of the I-beam slide rail lifting platform according to a third signal.

[0018] In one possible implementation, the time deviation is calculated based on the vertical distance deviation; based on the time deviation, the start-up time of the solenoid valves corresponding to the symmetrical pneumatic clamps on both sides of the I-beam slide rail lifting platform is calculated, including: Calculate the quotient of the vertical distance deviation and the vertical movement rate of the symmetrical air clamp, and use it as the first time.

[0019] Half of the first time is taken as the time deviation.

[0020] The symmetrical air clamp corresponding to the higher end of the soft fabric to be loaded is designated as the first symmetrical air clamp, and the symmetrical air clamp corresponding to the lower end of the soft fabric to be loaded is designated as the second symmetrical air clamp.

[0021] The difference between the preset time and the time deviation is taken as the start time of the first symmetrical air clamp; the sum of the preset time and the time deviation is taken as the start time of the second symmetrical air clamp; wherein, the preset time is the time it takes for the symmetrical air clamp to move to the desired height of the soft material fabric to be loaded; the start time is the time it takes for the symmetrical air clamp to start moving to the position where it contacts the soft material fabric to be loaded.

[0022] In one possible implementation, the vertical displacement of the symmetrical pneumatic clamps on both sides of the I-beam slide rail lifting platform is calculated based on the time deviation, including: The first result is obtained by calculating the product of the preset time and the vertical movement speed of the symmetrical air clamp.

[0023] The second result is obtained by calculating the product of the time deviation and the vertical motion rate of the symmetrical air clamp.

[0024] The difference between the first result and the second result is taken as the vertical displacement corresponding to the first symmetrical air clamp, and the sum of the first result and the second result is taken as the vertical displacement corresponding to the second symmetrical air clamp.

[0025] In one possible implementation, the horizontal displacement of the target symmetrical air clamp and the target symmetrical air clamp are determined based on the horizontal distance deviation, including: The area on the I-beam slide rail lifting platform where the soft fabric to be loaded is placed is divided into multiple zones.

[0026] For any region, the symmetrical air clamp corresponding to the minimum horizontal distance deviation is taken as the target symmetrical air clamp for gripping the soft material to be loaded in that region, and the minimum horizontal distance deviation is taken as the horizontal displacement of the target symmetrical air clamp in that region.

[0027] Secondly, embodiments of the present invention provide a method for feeding soft fabric, applied to a gripping control unit in a soft fabric feeding system in the first aspect or any possible implementation of the first aspect, the method comprising: The time deviation is calculated based on the vertical distance deviation between the two sides of the soft fabric to be loaded.

[0028] Based on the time deviation, the start time of the solenoid valves corresponding to the symmetrical air clamps on both sides of the I-beam slide rail lifting platform of the soft material fabric feeding system is calculated, and the start time is used as the first signal.

[0029] Based on the time deviation, calculate the vertical displacement of the symmetrical air clamps on both sides of the I-beam slide rail lifting platform.

[0030] Based on the horizontal distance deviation between the edge of the soft fabric to be loaded and the preset position, the target symmetrical air clamp and the horizontal displacement of the target symmetrical air clamp are determined, and the vertical displacement, the horizontal displacement, and the target symmetrical air clamp for gripping the soft fabric to be loaded are used as the second signal.

[0031] Thirdly, embodiments of the present invention provide a grasping control device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described in the second aspect above or any possible implementation of the second aspect.

[0032] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods described in the second aspect above or any possible implementation thereof.

[0033] Fifthly, embodiments of the present invention provide a computer program product, including a computer program that, when executed by a processor, implements the method described in the second aspect above or any possible implementation thereof.

[0034] In this embodiment of the invention, a scheme combining a solenoid valve and a symmetrical pneumatic clamp to grip the fabric replaces the traditional "barbed" gripping method. This achieves stable (precise air pressure control via the solenoid valve) and gentle gripping of the fabric, avoiding physical damage and adapting to different materials and sizes of fabrics such as cloth, silk, and synthetic fibers. The gripping control unit, using data collected by infrared distance sensors and laser rangefinders, enables the gripper surface to adaptively adjust to a state completely parallel to the fabric surface, forming an equidistant and uniform gripping force distribution. This improves the success rate of fabric gripping, effectively solves the problem of edge slippage caused by tilting, and significantly improves feeding stability and cycle efficiency. Simultaneously, dynamic calibration of the gripper gripping position and the fabric placement position ensures precise positioning of the fabric at each stage, significantly improving the operational stability and accuracy of the fabric feeding system and effectively overcoming quality problems caused by positional deviations in traditional devices. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the soft material fabric feeding system provided in an embodiment of the present invention; Figure 2 This is a flowchart illustrating the implementation of the soft material fabric feeding method provided in this embodiment of the invention. Figure 3 This is a schematic diagram of the grasping control device provided in an embodiment of the present invention. Detailed Implementation

[0036] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0037] Figure 1 This is a schematic diagram of the soft fabric feeding system provided in an embodiment of the present invention. Figure 1 As shown, the soft material fabric feeding system includes: multiple solenoid valves 101, multiple symmetrical air clamps 102, I-beam slide rail lifting platform 103, infrared distance sensor 104, laser rangefinder sensor 105, servo motor 106, and gripping control unit 107.

[0038] The number of solenoid valves 101 is the same as the number of symmetrical air clamps 102, and they are used to control the air pressure of the symmetrical air clamps 102 according to the first signal of the gripping control unit 107.

[0039] The I-beam slide rail lifting platform 103 is used to place soft fabrics to be loaded.

[0040] Infrared distance sensor 104 is used to obtain the vertical distance deviation between the two sides of the soft fabric to be loaded.

[0041] The laser rangefinder 105 is used to obtain the horizontal distance deviation between the edge of the soft fabric to be loaded and the preset position; wherein, the preset position is the position of the symmetrical air clamp 102 projected on the plane of the I-beam slide rail lifting platform 103.

[0042] The servo motor 106 is used to control the lifting and lowering of the I-beam slide rail lifting platform 103; it is also used to control the movement of the symmetrical pneumatic clamp 102 according to the second signal of the gripping control unit 107.

[0043] The gripping control unit 107 is used to calculate the time deviation based on the vertical distance deviation; according to the time deviation, it calculates the start time of the solenoid valve 101 corresponding to the symmetrical air clamps 102 on both sides of the I-beam slide rail lifting platform 103, and uses the start time as the first signal; it is also used to calculate the vertical displacement of the symmetrical air clamps 102 on both sides of the I-beam slide rail lifting platform 103 according to the time deviation; according to the horizontal distance deviation, it determines the target symmetrical air clamp and the horizontal displacement of the target symmetrical air clamp used to grip the soft material fabric to be loaded, and uses the vertical displacement, the horizontal displacement, and the target symmetrical air clamp used to grip the soft material fabric to be loaded as the second signal.

[0044] Specifically, such as Figure 1As shown, the soft fabric A to be loaded can be towel, silk, synthetic fiber, etc., and these fabrics can also be of different sizes. The servo motor 106 is connected to the I-beam slide rail lifting platform 103, the symmetrical pneumatic clamp 102, and the gripping control unit 107. The gripping control unit 107 is connected to the solenoid valve 101, the infrared distance sensor 104, and the laser rangefinder sensor 105. To facilitate the mounting of the infrared distance sensor 104 and the laser rangefinder sensor 105, an extension plane is provided directly above the I-beam slide rail lifting platform 103, on which the infrared distance sensor 104 and the laser rangefinder sensor 105 are mounted.

[0045] The aforementioned soft fabric feeding system replaces the traditional "barbed" gripping method with a combination of solenoid valves and symmetrical pneumatic clamps. This achieves stable (precise air pressure control via solenoid valves) and gentle gripping of the fabric, avoiding physical damage and adapting to different materials and sizes, including cloth, silk, and synthetic fibers. The gripping control unit, using data collected by infrared distance sensors and laser rangefinders, adaptively adjusts the gripper surface to be completely parallel to the fabric surface, creating a uniformly distributed gripping force. This improves the success rate of fabric gripping, effectively solves the problem of edge slippage caused by tilting, and significantly improves feeding stability and cycle efficiency. Simultaneously, it achieves dynamic calibration of the gripper position and the fabric placement position, ensuring precise positioning of the fabric at each stage. This significantly improves the operational stability and accuracy of the fabric feeding system, effectively overcoming quality problems caused by positional deviations in traditional devices.

[0046] In one possible implementation, such as Figure 1 As shown, the soft material fabric feeding system may also include: multiple lead screw slides 108; At least one lead screw slide 108 is provided on each side of the I-beam slide rail lifting platform 103, and at least one symmetrical air clamp 102 is provided on each lead screw slide 108.

[0047] For example, the presence of the lead screw slide 108 is to provide a moving guide for the symmetrical pneumatic clamp 102, thus serving a supporting function. The more lead screw slides 108 there are, the more positions the symmetrical pneumatic clamp 102 can reach, and the more accurately it can clamp the soft fabric to be fed.

[0048] In one possible implementation, the grasping control unit can also be used for: The distances between the two sides of the soft fabric to be loaded and the infrared distance sensor are obtained through the infrared distance sensor, and are recorded as the first distance and the second distance; wherein the first distance is greater than the second distance.

[0049] Calculate the mean of the first distance and the second distance, and denot it as the distance average.

[0050] The lifting height of the I-beam slide rail lifting platform is determined based on the average distance and the expected height of the soft fabric to be loaded.

[0051] A third signal is generated based on the elevation height.

[0052] Servo motors can also be used to control the lifting of the I-beam slide rail lifting platform according to a third signal.

[0053] For example, to ensure accurate gripping by the symmetrical pneumatic clamp 102, a scheme was designed to dynamically raise the I-beam slide rail lifting platform 103 based on a first distance and a second distance. This allows the I-beam slide rail lifting platform 103 to be dynamically adjusted after a large amount of fabric has been piled up, eliminating the need to repeatedly set the lifting height as the amount of fabric decreases. This improves the system's loading efficiency and reduces manual intervention. Using a servo motor to control the lifting height, compared to traditional methods of manual visual estimation or mechanical limits, more accurately reaches the desired height of the soft fabric to be loaded, ensuring accurate gripping by the pneumatic clamp.

[0054] In one possible implementation, the time deviation is calculated based on the vertical distance deviation; based on the time deviation, the start-up time of the solenoid valves corresponding to the symmetrical pneumatic clamps on both sides of the I-beam slide rail lifting platform is calculated, which may include: Calculate the quotient of the vertical distance deviation and the vertical movement rate of the symmetrical air clamp, and use it as the first time.

[0055] Half of the first time is taken as the time deviation.

[0056] The symmetrical air clamp corresponding to the higher end of the soft fabric to be loaded is designated as the first symmetrical air clamp, and the symmetrical air clamp corresponding to the lower end of the soft fabric to be loaded is designated as the second symmetrical air clamp.

[0057] The difference between the preset time and the time deviation is taken as the start time of the first symmetrical air clamp; the sum of the preset time and the time deviation is taken as the start time of the second symmetrical air clamp; wherein, the preset time is the time it takes for the symmetrical air clamp to move to the desired height of the soft material fabric to be loaded; the start time is the time it takes for the symmetrical air clamp to start moving to the position where it contacts the soft material fabric to be loaded.

[0058] For example, since the soft fabric to be loaded is placed in the center of the I-beam slide rail lifting platform 103 and stacked, it is inevitable that one side of the fabric stack will be higher than the other side. In order to ensure that the symmetrical air clamp 102 can accurately clamp the fabric, a time deviation is set, and the start time of the air clamp at different heights is obtained with a preset time as the benchmark. This ensures that the air clamp can accurately clamp the fabric when it comes into contact with it, avoiding premature clamping, effectively solving the edge slippage problem caused by tilting, and greatly improving the loading stability and cycle efficiency.

[0059] In one possible implementation, the vertical displacement of the symmetrical pneumatic clamps on both sides of the I-beam slide rail lifting platform is calculated based on the time deviation, including: The first result is obtained by calculating the product of the preset time and the vertical movement speed of the symmetrical air clamp.

[0060] The second result is obtained by calculating the product of the time deviation and the vertical motion rate of the symmetrical air clamp.

[0061] The difference between the first result and the second result is taken as the vertical displacement corresponding to the first symmetrical air clamp, and the sum of the first result and the second result is taken as the vertical displacement corresponding to the second symmetrical air clamp.

[0062] In one possible implementation, determining the target symmetrical air clamp and the horizontal displacement of the target symmetrical air clamp for gripping the soft fabric to be loaded, based on the horizontal distance deviation, may include: The area on the I-beam slide rail lifting platform where the soft fabric to be loaded is placed is divided into multiple zones.

[0063] For any region, the symmetrical air clamp corresponding to the minimum horizontal distance deviation is taken as the target symmetrical air clamp for gripping the soft material to be loaded in that region, and the minimum horizontal distance deviation is taken as the horizontal displacement of the target symmetrical air clamp in that region.

[0064] For example, regarding the vertical displacement of the air clamps, since all the air clamps are on the same plane, the vertical displacement is the same regardless of which symmetrical air clamp is selected as the target symmetrical air clamp. However, the horizontal displacement is different. The air clamp with the smallest horizontal distance deviation needs to be selected as the target symmetrical air clamp (for any given area). This reduces the energy consumption of the servo motor and the time from when the air clamp starts moving to when it picks up the fabric, improving system efficiency. Furthermore, this setup ensures that there is one air clamp in each area; the more areas there are, the more stably the fabric can be picked up, improving system stability. Simultaneously, this setup is not limited by the shape of the fabric and can dynamically adjust the clamping position, improving clamping stability.

[0065] See Figure 2 The flowchart illustrating the implementation of the soft fabric feeding method provided in this embodiment of the invention is described in detail below: Step 201: Calculate the time deviation based on the vertical distance deviation between the two sides of the soft fabric to be loaded.

[0066] Step 202: Based on the time deviation, calculate the start time of the solenoid valves corresponding to the symmetrical air clamps on both sides of the I-beam slide rail lifting platform of the soft material fabric feeding system, and use the start time as the first signal.

[0067] Step 203: Calculate the vertical displacement of the symmetrical air clamps on both sides of the I-beam slide rail lifting platform based on the time deviation.

[0068] Step 204: Based on the horizontal distance deviation between the edge of the soft fabric to be loaded and the preset position, determine the target symmetrical air clamp and the horizontal displacement of the target symmetrical air clamp used to grip the soft fabric to be loaded, and use the vertical displacement, horizontal displacement and the target symmetrical air clamp used to grip the soft fabric to be loaded as the second signal.

[0069] In one possible implementation, the method also includes: The distances between the two sides of the soft fabric to be loaded and the infrared distance sensor are obtained through the infrared distance sensor, and are recorded as the first distance and the second distance; wherein the first distance is greater than the second distance.

[0070] Calculate the mean of the first distance and the second distance, and denot it as the distance average.

[0071] The lifting height of the I-beam slide rail lifting platform is determined based on the average distance and the expected height of the soft fabric to be loaded.

[0072] A third signal is generated based on the elevation height.

[0073] The lifting of the I-beam slide rail lifting platform is controlled by the third signal.

[0074] In one possible implementation, the time deviation is calculated based on the vertical distance deviation; based on the time deviation, the start-up time of the solenoid valves corresponding to the symmetrical pneumatic clamps on both sides of the I-beam slide rail lifting platform is calculated, including: Calculate the quotient of the vertical distance deviation and the vertical movement rate of the symmetrical air clamp, and use it as the first time.

[0075] Half of the first time is taken as the time deviation.

[0076] The symmetrical air clamp corresponding to the higher end of the soft fabric to be loaded is designated as the first symmetrical air clamp, and the symmetrical air clamp corresponding to the lower end of the soft fabric to be loaded is designated as the second symmetrical air clamp.

[0077] The difference between the preset time and the time deviation is taken as the start time of the first symmetrical air clamp; the sum of the preset time and the time deviation is taken as the start time of the second symmetrical air clamp; wherein, the preset time is the time it takes for the symmetrical air clamp to move to the desired height of the soft material fabric to be loaded; the start time is the time it takes for the symmetrical air clamp to start moving to the position where it contacts the soft material fabric to be loaded.

[0078] In one possible implementation, the vertical displacement of the symmetrical pneumatic clamps on both sides of the I-beam slide rail lifting platform is calculated based on the time deviation, including: The first result is obtained by calculating the product of the preset time and the vertical movement speed of the symmetrical air clamp.

[0079] The second result is obtained by calculating the product of the time deviation and the vertical motion rate of the symmetrical air clamp.

[0080] The difference between the first result and the second result is taken as the vertical displacement corresponding to the first symmetrical air clamp, and the sum of the first result and the second result is taken as the vertical displacement corresponding to the second symmetrical air clamp.

[0081] In one possible implementation, the horizontal displacement of the target symmetrical air clamp and the target symmetrical air clamp are determined based on the horizontal distance deviation, including: The area on the I-beam slide rail lifting platform where the soft fabric to be loaded is placed is divided into multiple zones.

[0082] For any region, the symmetrical air clamp corresponding to the minimum horizontal distance deviation is taken as the target symmetrical air clamp for gripping the soft material to be loaded in that region, and the minimum horizontal distance deviation is taken as the horizontal displacement of the target symmetrical air clamp in that region.

[0083] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0084] Figure 3 This is a schematic diagram of the grasping control device provided in an embodiment of the present invention. Figure 3 As shown, the grasping control device 3 of this embodiment includes a processor 30 and a memory 31. The memory 31 stores a computer program 32. When the processor 30 executes the computer program 32, it implements the steps in the various method embodiments described above. Alternatively, when the processor 30 executes the computer program 32, it implements the functions of each module / unit in the various device embodiments described above.

[0085] For example, the computer program 32 may be divided into one or more modules / units, which are stored in the memory 31 and executed by the processor 30 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 32 in the grasping control device 3.

[0086] The grasping control device 3 may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will understand that... Figure 3 This is merely an example of the grasping control device 3 and does not constitute a limitation on the grasping control device 3. It may include more or fewer components than shown, or combine certain components, or different components. For example, the grasping control device 3 may also include input / output devices, network access devices, buses, etc.

[0087] The processor 30 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0088] The memory 31 can be an internal storage unit of the grasping control device 3, such as a hard disk or memory of the grasping control device 3. The memory 31 can also be an external storage device of the grasping control device 3, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the grasping control device 3. Furthermore, the memory 31 can include both internal and external storage units of the grasping control device 3. The memory 31 is used to store the computer program 32 and other programs and data required by the grasping control device 3. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0089] For the sake of simplicity and clarity, only the above-described functional modules / units are used as examples. In practical applications, the functions described above can be assigned to different functional modules / units as needed. These modules / units can be implemented in hardware, software, or a combination of both.

[0090] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the methods described in the above-described method embodiments.

[0091] This invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the methods described in the above-described method embodiments.

[0092] Computer programs include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0093] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not detailed or described in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Unless otherwise specified or in conflict with logic, the terminology and / or descriptions between different embodiments are consistent and can be referenced interchangeably. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0094] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A soft fabric feeding system, characterized in that, include: Multiple solenoid valves, multiple symmetrical pneumatic clamps, I-beam slide rail lifting platform, infrared distance sensor, laser rangefinder sensor, servo motor and gripping control unit; The number of solenoid valves is the same as the number of symmetrical air clamps, and they are used to control the air pressure of the symmetrical air clamps according to the first signal of the gripping control unit; The I-beam slide rail lifting platform is used to place soft fabric to be loaded. The infrared distance sensor is used to obtain the vertical distance deviation between the two sides of the soft fabric to be loaded. The laser rangefinder is used to obtain the horizontal distance deviation between the edge of the soft fabric to be loaded and a preset position; wherein, the preset position is the position of the symmetrical air clamp projected onto the plane of the I-beam slide rail lifting platform; The servo motor is used to control the lifting and lowering of the I-beam slide rail lifting platform; it is also used to control the movement of the symmetrical pneumatic clamp according to the second signal of the gripping control unit. The gripping control unit is configured to calculate a time deviation based on the vertical distance deviation; calculate the start time of the solenoid valves corresponding to the symmetrical air clamps on both sides of the I-beam slide rail lifting platform according to the time deviation, and use the start time as the first signal; and calculate the vertical displacement of the symmetrical air clamps on both sides of the I-beam slide rail lifting platform according to the time deviation; and determine the target symmetrical air clamp and the horizontal displacement of the target symmetrical air clamp for gripping the soft material to be loaded according to the horizontal distance deviation, and use the vertical displacement, the horizontal displacement, and the target symmetrical air clamp for gripping the soft material to be loaded as the second signal.

2. The soft fabric feeding system according to claim 1, characterized in that, The soft material feeding system also includes: multiple lead screw slides; At least one lead screw slide is provided on each side of the I-beam slide rail lifting platform, and at least one symmetrical air clamp is provided on each lead screw slide.

3. The soft fabric feeding system according to claim 1, characterized in that, The grasping control unit is also used for: The distances between the two sides of the soft fabric to be loaded and the infrared distance sensor are obtained through the infrared distance sensor, and are denoted as the first distance and the second distance; wherein, the first distance is greater than the second distance; Calculate the mean of the first distance and the second distance, and record it as the average distance; Based on the average distance and the expected height of the soft fabric to be loaded, the lifting height of the I-beam slide rail lifting platform is determined; A third signal is generated based on the aforementioned lifting height; The servo motor is also used to control the lifting of the I-beam slide rail lifting platform according to the third signal.

4. The soft fabric feeding system according to claim 1, characterized in that, The time deviation is calculated based on the vertical distance deviation; the start-up time of the solenoid valves corresponding to the symmetrical pneumatic clamps on both sides of the I-beam slide rail lifting platform is calculated according to the time deviation, including: Calculate the quotient of the vertical distance deviation and the vertical movement rate of the symmetrical air clip, and use it as the first time. Half of the first time is taken as the time deviation. The symmetrical air clip corresponding to the higher end of the soft fabric to be loaded is designated as the first symmetrical air clip, and the symmetrical air clip corresponding to the lower end of the soft fabric to be loaded is designated as the second symmetrical air clip. The difference between the preset time and the time deviation is taken as the start time of the first symmetrical air clamp; the sum of the preset time and the time deviation is taken as the start time of the second symmetrical air clamp; wherein, the preset time is the time when the symmetrical air clamp moves to the desired height of the soft material fabric to be loaded; the start time is the time from when the symmetrical air clamp starts moving to when it moves to the position of contact with the soft material fabric to be loaded.

5. The soft fabric feeding system according to claim 4, characterized in that, The step of calculating the vertical displacement of the symmetrical pneumatic clamps on both sides of the I-beam slide rail lifting platform based on the time deviation includes: Calculate the product of the preset time and the vertical movement speed of the symmetrical air clamp to obtain the first result; The second result is obtained by calculating the product of the time deviation and the vertical movement speed of the symmetrical air clip; The difference between the first result and the second result is taken as the vertical displacement corresponding to the first symmetrical air clamp, and the sum of the first result and the second result is taken as the vertical displacement corresponding to the second symmetrical air clamp.

6. The soft fabric feeding system according to claim 1, characterized in that, The step of determining the target symmetrical air clamp and the horizontal displacement of the target symmetrical air clamp for gripping the soft fabric to be loaded, based on the horizontal distance deviation, includes: The area on the I-beam slide rail lifting platform where the soft material to be loaded is placed is divided into multiple areas; For any region, the symmetrical air clamp corresponding to the minimum horizontal distance deviation is taken as the target symmetrical air clamp for gripping the soft material to be loaded in that region, and the minimum horizontal distance deviation is taken as the horizontal displacement of the target symmetrical air clamp in that region.

7. A method for feeding soft fabric, characterized in that, The gripping control unit applied in the soft fabric feeding system as described in any one of claims 1 to 6, the method comprising: The time deviation is calculated based on the vertical distance deviation on both sides of the soft fabric to be loaded. Based on the time deviation, the start time of the solenoid valves corresponding to the symmetrical air clamps on both sides of the I-beam slide rail lifting platform of the soft material fabric feeding system is calculated, and the start time is used as the first signal. Based on the time deviation, calculate the vertical displacement of the symmetrical air clamps on both sides of the I-beam slide rail lifting platform. Based on the horizontal distance deviation between the edge of the soft fabric to be loaded and the preset position, the target symmetrical air clamp and the horizontal displacement of the target symmetrical air clamp are determined, and the vertical displacement, the horizontal displacement, and the target symmetrical air clamp for gripping the soft fabric to be loaded are used as the second signal.

8. A grasping control device, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method as described in claim 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method as described in claim 7.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in claim 7.

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