A woolen sweater fabric flatness detection device based on tactile sensing

Abstract

The present application relates to the technical field of sweater fabric inspection, and specifically discloses a sweater fabric flatness detection device based on tactile sensing, which comprises a detection rack, which is the main bearing matrix of the device; a limiting frame is embeddedly and clasp-connectedly connected to the upper end of one side of the detection rack; a guide frame is installed at the upper end of the other side of the detection rack; and the guide frame is used for guiding the sweater into the detection rack. The sweater fabric flatness detection device based on tactile sensing adopts an inclined triangular plate structure for the guide frame, the height of the top end of the inclined triangular plate structure is consistent with the upper surface of the conveying transmission belt, the sweater can be stably guided into the detection area, the tension mutation caused by the height difference when feeding is avoided, the surface array air holes of the conveying transmission belt are vertically and axially corresponding to the suction port of the pneumatic suction cup, the negative pressure adsorption force formed by the cooperation of the air pump can firmly fix the fabric on the surface of the conveying transmission belt, and the displacement caused by the inertia generated by the driving of the driving roller and the transmission belt during the detection process is prevented.

Description

Technical Field

[0001] This invention relates to the field of wool sweater fabric inspection technology, specifically to a wool sweater fabric flatness detection device based on tactile sensing. Background Technology

[0002] Existing fabric smoothness testing devices based on tactile sensing utilize the core principle of simulating the interactive process of human hand touching fabric to achieve objective testing. A typical structure includes a testing platform, a tactile sensing module, a transmission mechanism, and a data processing unit. The sensing module often employs a three-point beam testing unit or a visual-tactile sensor. The testing head is designed as a cylindrical structure simulating a human finger, combined with support points to form a contact detection component, capable of collecting physical signals such as fabric compression, bending, and friction. The device drives the testing head to contact the wool sweater fabric via the transmission mechanism. The tactile sensor converts the mechanical signals into electrical signals or visual images. The data is processed by a computer to extract smoothness-related indicators, enabling quantitative judgment of defects such as unevenness and bending on the fabric surface, thus performing smoothness testing.

[0003] The existing devices have poor compatibility between the tactile sensing module and the fabric. The existing devices use a rigid and fixed sensor head structure, and the contact pressure cannot be adaptively adjusted according to the weight and knitting density of the wool sweater fabric. This can easily cause stretching and deformation of thin fabrics, while insufficient contact occurs with thick fabrics. Furthermore, due to uneven tension during fabric transport, displacement and wrinkle accumulation are likely to occur, resulting in blind spots in detection.

[0004] To address the aforementioned issues, there is an urgent need for innovative designs based on existing wool sweater fabric smoothness testing equipment. Summary of the Invention

[0005] The purpose of this invention is to provide a tactile sensing-based device for detecting the flatness of wool sweater fabric, in order to solve the problems mentioned in the background art, where existing devices use a rigid and fixed sensor head structure, the contact pressure cannot be adaptively adjusted according to the weight and knitting density of the wool sweater fabric, it is easy to cause stretching deformation for thin fabrics, and insufficient contact for thick fabrics. Furthermore, due to uneven tension during fabric transport, displacement and wrinkle accumulation are prone to occur, resulting in blind spots in the detection.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a wool sweater fabric flatness detection device based on tactile sensing, comprising a detection frame, which is the main supporting base of the device, a limit frame is embedded and engaged at the upper end of one side of the detection frame, and a guide frame is installed at the upper end of the other side of the detection frame, the guide frame being used to guide the wool sweater into the detection frame;

[0007] The detection frame is equipped with a conveyor belt that rotates via a drive roller, and a pneumatic suction cup is installed in the annular section formed by the conveyor belt. A lifting slide rail is provided on the inner wall at the connection between the detection frame and the conveyor belt, and the lifting slide rail is connected to the monitoring frame via a slide table.

[0008] An array of tactile sensing units is installed in the rectangular holes of the monitoring frame, and an anti-slip silicone sheet is laid at the bottom of the array of tactile sensing units. The anti-slip silicone sheet is installed at the bottom of the monitoring frame and is arranged parallel to the conveyor belt. The lifting slide rail is fixedly connected to the output end of the hydraulic rod, and the hydraulic rod passes through and is fixedly installed in the limiting frame. An infrared height detector with the monitoring end facing down is set at the top of the inner wall of the limiting frame.

[0009] The electrical signals of the array-type tactile sensing unit group are transmitted to the integrated controller, and the electrical signals of the integrated controller control the hydraulic rod. Lifting rods are respectively provided on both sides of the monitoring frame, and the output end of the lifting rod is connected to the positioning frame. The positioning frame is equipped with a guide slide rail, which is connected to the frame of the pressure roller rod frame through a slide table. The pressure roller rod frame moves back and forth in the rectangular hole where the array-type tactile sensing unit group is installed.

[0010] Using the above technical solution, the testing frame provides a stable load-bearing foundation, and the limit frame and guide frame ensure the regularity of the feeding and testing areas.

[0011] Preferably, the testing frame is penetrated by a pipe connected to an air pump, and a limit washer is installed between the testing frame and the transport belt.

[0012] By adopting the above technical solution, the air pump pipeline runs through the testing frame to ensure smooth negative pressure transmission and improve the reliability of pneumatic suction cup adsorption.

[0013] Preferably, the surface of the transport belt is provided with air holes in an array, and the air holes of the transport belt are arranged in the same vertical axis as the suction port of the pneumatic suction cup.

[0014] By adopting the above technical solution, the array of air holes on the surface of the conveyor belt corresponds axially with the suction port of the pneumatic suction cup, so that the negative pressure is applied evenly to the fabric surface, effectively improving the firmness and uniformity of fabric adsorption.

[0015] Preferably, the guide frame is an inclined triangular plate, and the height of the top of the guide frame is consistent with the height of the upper surface of the transport belt.

[0016] Using the above technical solution, the guide frame with the inclined triangular plate structure, combined with the top height that is flush with the conveyor belt, enables the fabric to be smoothly introduced, avoids edge jamming or sudden tension changes during feeding, and ensures feeding positioning accuracy.

[0017] Preferably, the pneumatic suction cup is connected to an air pump via a pipe, and the pneumatic suction cup is arranged parallel to the array of tactile sensing units within the installation area of ​​the limiting frame.

[0018] Using the above technical solution, the pneumatic suction cup is directly connected to the air pump to ensure efficient negative pressure supply. Its parallel arrangement with the array of tactile sensing units ensures that the surface of the adsorbed fabric corresponds precisely to the detection unit, thereby improving detection accuracy.

[0019] Preferably, an integrated controller is installed within the monitoring frame, and visual sensors are symmetrically embedded at the bottom of the monitoring frame.

[0020] Using the above technical solution, the monitoring frame has a built-in integrated controller to achieve rapid transmission of control signals, improve equipment response efficiency, and the symmetrically installed vision sensors can assist in monitoring the fabric condition, supplement the detection dimensions, and reduce detection blind spots.

[0021] Preferably, the top of the array-type tactile sensing unit group is covered with a protective silicone sheet, and the protective silicone sheet abuts against the rubber sleeve of the pressure roller frame.

[0022] Using the above technical solution, the protective silicone sheet at the top of the array-type tactile sensing unit group can buffer the pressure of the pressure roller frame and prevent damage to the sensing unit.

[0023] Preferably, the visual sensor monitors towards the pneumatic suction cup side, and the anti-slip silicone sheet area corresponding to the visual sensor detection path is made of transparent material.

[0024] Using the above technical solution, the visual sensor faces the pneumatic suction cup side to realize real-time monitoring of the fabric's fixation status. The transparent anti-slip silicone sheet in the corresponding area does not obstruct the monitoring line of sight, ensuring clear and accurate visual detection and helping to improve the overall detection reliability.

[0025] Preferably, the positioning frame is arranged symmetrically with respect to the monitoring frame axis, and the positioning frame is installed adjacent to the lifting slide rail.

[0026] By adopting the above technical solution, the positioning frame is symmetrically set with the monitoring frame axis to ensure balanced pressure force, and the installation near the lifting slide rail makes the structural layout more compact and improves the stability of the pressure roller frame during adjustment.

[0027] Preferably, the pressure roller frame includes a shaft frame, a bearing sleeve, and a rubber sleeve. The bearing sleeve is fitted onto the surface of the shaft frame, and the rubber sleeve is fitted onto the outer wall of the bearing sleeve. The shaft frame slides in conjunction with the guide rail, and the rubber sleeve abuts against the protective silicone sheet.

[0028] By adopting the above technical solution, the bearing sleeve enables the pressure roller frame to roll smoothly, the rubber sleeve reduces the wear on the protective silicone sheet, and the sliding cooperation between the shaft frame and the guide rail achieves smooth reciprocating pressing, ensuring comprehensiveness and consistency of the test.

[0029] Compared with the prior art, the beneficial effects of the present invention are: the tactile sensing-based wool sweater fabric smoothness detection device:

[0030] 1. By coordinating the lifting rods and positioning frames on both sides of the monitoring frame, and combining the precise control of the integrated controller, adaptive adjustment of contact pressure is achieved. When detecting thin fabrics, the lifting rods drive the positioning frames to rise, and the guide rails drive the pressure roller frame to rise synchronously, reducing the pressure of its rubber sleeve on the protective silicone sheet. This pressure is effectively reduced after being transmitted to the array-type tactile sensing unit group through the protective silicone sheet, effectively preventing thin fabrics from being stretched and deformed due to excessive pressure. When detecting heavy fabrics, the lifting rods drive the positioning frames to fall in the opposite direction, increasing the pressure of the pressure roller frame, ensuring that the array-type tactile sensing unit group is in full contact with the fabric through the anti-slip silicone sheet. At the same time, the bearing sleeve and rubber sleeve structure of the pressure roller frame transforms the pressing process into rolling friction, further reducing the risk of damage to the surface of the sweater.

[0031] 2. The guide frame adopts a sloping triangular plate structure, with its top height consistent with the upper surface of the conveyor belt. This guides the sweater smoothly into the detection area, avoiding sudden tension changes due to height differences during feeding. The array of air holes on the surface of the conveyor belt corresponds vertically to the suction port of the pneumatic suction cup. Combined with the negative pressure suction force generated by the air pump, the fabric is firmly fixed to the surface of the conveyor belt, preventing displacement caused by the inertia generated by the drive roller driving the conveyor belt during the detection process. In addition, the enclosure design of the limiting frame for the detection area is precisely matched with the suction range of the pneumatic suction cup, which can avoid the overlapping of fabric edge wrinkles. At the same time, the visual sensors symmetrically installed at the bottom of the monitoring frame monitor the fixed status of the fabric in real time through transparent anti-slip silicone sheets, further eliminating the detection blind spots caused by displacement and wrinkles.

[0032] 3. When the integrated controller controls the hydraulic rod to push the monitoring frame down, the infrared height detector at the top of the inner wall of the limit frame collects the height data of the monitoring frame in real time and feeds it back to the controller, achieving millimeter-level precise control of the descent stroke. At the same time, the monitoring frame ensures that it remains horizontal during descent through the sliding cooperation of the slide table and the lifting slide rail, avoiding uneven local pressure caused by frame tilting, thus achieving stable descent control. This allows the anti-slip silicone sheet to remain parallel and adhered to the fabric on the conveyor belt, providing a uniform contact base for the array of tactile sensing units. The dense distribution of the array of tactile sensing units, combined with the reciprocating rolling and pressing of the pressure roller frame along the guide slide rail, can achieve comprehensive coverage detection of the fabric surface. Combined with the quantitative analysis of the pressure signal by the integrated controller, the accuracy and repeatability of the flatness detection results are significantly improved. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall external three-dimensional structure of the present invention;

[0034] Figure 2 This is a schematic diagram of the overall disassembled three-dimensional structure of the present invention;

[0035] Figure 3 This is a schematic diagram of the overall internal side cross-section of the present invention.

[0036] Figure 4 This is a schematic diagram of the overall internal cross-sectional three-dimensional structure of the present invention;

[0037] Figure 5 This is a schematic diagram showing the installation positions of the detection frame, conveyor belt, and pneumatic suction cup of the present invention;

[0038] Figure 6 This is a schematic diagram of the installation position structure of the limiting frame and monitoring frame of the present invention;

[0039] Figure 7 This is a cross-sectional view of the internal structure of the limiting frame of the present invention;

[0040] Figure 8 This is a schematic diagram of the installation structure of the lifting slide rail, monitoring frame, and pressure roller frame of the present invention;

[0041] Figure 9 This is a three-dimensional structural diagram of the positioning frame position under the driving state of the lifting rod according to the present invention;

[0042] Figure 10 This is a three-dimensional structural diagram of the monitoring frame, array-type tactile sensing unit group, and visual sensor installation positions of the present invention.

[0043] In the diagram: 1. Detection frame; 2. Conveyor belt; 3. Drive roller; 4. Guide frame; 5. Pneumatic suction cup; 6. Air pump; 7. Limiting frame; 8. Lifting slide rail; 9. Monitoring frame; 10. Array-type tactile sensor unit group; 11. Anti-slip silicone sheet; 12. Protective silicone sheet; 13. Integrated controller; 14. Vision sensor; 15. Hydraulic rod; 16. Infrared height detector; 17. Lifting rod; 18. Positioning frame; 19. Guide slide rail; 20. Pressure roller frame. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Please see Figures 1-10 The present invention provides a technical solution: a tactile sensing-based wool sweater fabric flatness detection device, comprising a detection frame 1, a transport belt 2, a drive roller 3, a guide frame 4, a pneumatic suction cup 5, an air pump 6, a limit frame 7, a lifting slide rail 8, a monitoring frame 9, an array of tactile sensing unit groups 10, an anti-slip silicone sheet 11, a protective silicone sheet 12, an integrated controller 13, a vision sensor 14, a hydraulic rod 15, an infrared height detector 16, a lifting rod 17, a positioning frame 18, a guide slide rail 19, and a pressure roller frame 20;

[0046] Among them, the testing frame 1 is the main load-bearing base of the device. The upper end of one side of the testing frame 1 is embedded and connected to the limit frame 7, and the upper end of the other side of the testing frame 1 is the installed guide frame 4. The guide frame 4 is used to guide the sweater into the testing frame 1. The guide frame 4 is an inclined triangular plate, and the height of the top of the guide frame 4 is consistent with the height of the upper surface of the conveyor belt 2.

[0047] The testing frame 1 is equipped with a conveyor belt 2 that rotates via a drive roller 3. A pneumatic suction cup 5 is installed in the annular section formed by the conveyor belt 2. A lifting slide rail 8 is provided on the inner wall at the connection between the testing frame 1 and the conveyor belt 2. The lifting slide rail 8 is connected to the monitoring frame 9 via a slide table. The frame of the testing frame 1 is penetrated by a pipe connected to the air pump 6. A limit washer is installed between the testing frame 1 and the conveyor belt 2. The surface of the conveyor belt 2 is provided with air holes in an array. The air holes of the conveyor belt 2 are aligned with the suction port of the pneumatic suction cup 5 in the same vertical axis. The pneumatic suction cup 5 is connected to the air pump 6 via a pipe. The pneumatic suction cup 5 is arranged parallel to the array-type tactile sensing unit group 10 in the installation area of ​​the limit frame 7. The top of the array-type tactile sensing unit group 10 is covered with a protective silicone sheet 12. The protective silicone sheet 12 abuts against the rubber sleeve of the pressure roller frame 20.

[0048] Referring to the attached diagrams in the instruction manual Figures 1-10 As shown, the testing frame 1 is fixed on a horizontal mounting surface as the supporting base of the device. Inside the testing frame 1, a drive roller 3 is mounted via bearings at a pre-set mounting position. A conveyor belt 2 is fitted over the drive roller 3 to form a ring-shaped conveying structure. Figures 1-4 As shown, the guide frame 4 is fixedly installed on the upper end of the other side of the testing frame 1 by bolts, so that the bottom end of the inclined surface of the guide frame 4 is connected to the upper surface of the transport belt 2.

[0049] Within the annular section formed by the conveyor belt 2, the pneumatic suction cup 5 is fixed to the inner wall of the testing frame 1 by a bracket, such as... Figures 3-4 As shown, the suction cup opening is made to face upward and correspond to the air holes on the surface of the conveyor belt 2. The air pump 6 is fixed to the side of the detection frame 1 with bolts. A special pipe is used to pass through the frame of the detection frame 1 and connect to the pneumatic suction cup 5. The limiting frame 7 is fixed to the upper side of the detection frame 1 through the embedded snap-fit ​​structure so that it covers the detection area where the pneumatic suction cup 5 is located.

[0050] An array of tactile sensing units 10 is installed in the rectangular holes of the monitoring frame 9, and an anti-slip silicone sheet 11 is laid at the bottom of the array of tactile sensing units 10. The anti-slip silicone sheet 11 is installed at the bottom of the monitoring frame 9 and is arranged parallel to the conveyor belt 2. An integrated controller 13 is installed inside the monitoring frame 9, and a vision sensor 14 is symmetrically embedded at the bottom of the monitoring frame 9. The vision sensor 14 monitors towards the pneumatic suction cup 5, and the area of ​​the anti-slip silicone sheet 11 corresponding to the detection path of the vision sensor 14 is made of transparent material. The lifting slide rail 8 is fixedly connected to the output end of the hydraulic rod 15, and the hydraulic rod 15 passes through and is fixedly installed in the limit frame 7. An infrared height detector 16 with the monitoring end facing downward is set at the top of the inner wall of the limit frame 7.

[0051] Referring to the attached diagrams in the instruction manual Figures 1-10As shown, two sets of lifting slide rails 8 are symmetrically fixedly installed on the inner wall at the connection between the detection frame 1 and the conveyor belt 2. The monitoring frame 9 is slidably connected to the lifting slide rails 8 through the sliding platforms on both sides, so that the monitoring frame 9 can move up and down along the slide rails. An array of tactile sensing unit groups 10 is fixed in the rectangular holes of the monitoring frame 9. An anti-slip silicone sheet 11 is laid on its bottom end and fixed to the bottom end of the monitoring frame 9 with waterproof glue. A protective silicone sheet 12 is covered on the top end. An infrared height detector 16 is fixed to the top of the inner wall of the limit frame 7 through the bracket, so that the monitoring end faces down and is aligned with the monitoring frame 9. A hydraulic rod 15 is inserted through the limit frame 7 and fixed through the flange. Its output end is rigidly connected to the top end of the monitoring frame 9.

[0052] Lifting rods 17 are symmetrically fixed on both sides of the monitoring frame 9. Their output ends are fixed to the positioning frame 18 via flanges. Two sets of guide rails 19 are fixed parallel to the surface of the positioning frame 18. The shaft frame of the pressure roller frame 20 is slidably engaged with the guide rails 19 via a slide table, so that the rubber sleeve of the pressure roller frame 20 abuts against the protective silicone sheet 12. The integrated controller 13 is fixed in the internal mounting cavity of the monitoring frame 9. Visual sensors 14 are symmetrically embedded at the bottom of the monitoring frame 9. Finally, the drive roller 3, the air pump 6, the hydraulic rod 15, the lifting rod 17 and the integrated controller 13 are electrically connected via wires to complete the overall assembly.

[0053] The electrical signal of the array-type tactile sensing unit group 10 is transmitted to the integrated controller 13, and the integrated controller 13 controls the hydraulic rod 15 with the electrical signal. Lifting rods 17 are respectively provided on both sides of the monitoring frame 9, and the output end of the lifting rod 17 is connected to the positioning frame 18. The positioning frame 18 is equipped with a guide slide rail 19, which is connected to the frame of the pressure roller rod 20 through a slide table. The pressure roller rod 20 moves back and forth in the rectangular hole where the array-type tactile sensing unit group 10 is installed. The positioning frame 18 is symmetrically arranged with respect to the axis of the monitoring frame 9, and is installed adjacent to the lifting slide rail 8. The pressure roller rod 20 includes a shaft rod frame, a bearing sleeve, and a rubber sleeve. The bearing sleeve is fitted on the surface of the shaft rod frame, and the rubber sleeve is fitted on the outer wall of the bearing sleeve. The shaft rod frame slides and engages with the guide slide rail 19, and the rubber sleeve abuts against the protective silicone sheet 12.

[0054] Referring to the attached diagrams in the instruction manual Figures 1-10 As shown, during use, the operator smoothly places the sweater to be tested onto the surface of the conveyor belt 2 along the inclined surface of the guide frame 4. The guide frame 4 guides the edge of the fabric to be aligned to avoid jamming. The integrated controller 13 sends a signal to start the drive roller 3. The drive roller 3 drives the conveyor belt 2 to rotate at a uniform speed, accurately conveying the sweater to the detection area directly above the pneumatic suction cup 5.

[0055] The integrated controller 13 controls the start of the vacuum pump 6, which creates negative pressure in the pneumatic suction cup 5 through the pipeline. The pneumatic suction cup 5 adsorbs the wool sweater fabric through the array of air holes on the surface of the transport belt 2, achieving rigid fixation of the fabric in the detection area and preventing displacement during subsequent detection. Then, the integrated controller 13 sends a telescopic signal to the hydraulic rod 15, which pushes the monitoring frame 9 down along the lifting slide rail 8 towards the fabric. During this process, the infrared height detector 16 on the limit frame 7 collects the height data of the monitoring frame 9 in real time and feeds it back to the integrated controller 13, achieving precise closed-loop control of the descent stroke. At the same time, the cooperation between the lifting slide rail 8 and the slide table ensures that the monitoring frame 9 is stable and without deviation until the anti-slip silicone sheet 11 adheres to the surface of the wool sweater.

[0056] The integrated controller 13 controls the lifting rod 17 to extend and retract to adjust the height of the positioning frame 18 according to the preset fabric thickness parameters or the pre-detection data of the vision sensor 14. When detecting thick fabric, the lifting rod 17 raises the positioning frame 18, which drives the pressure roller frame 20 to rise through the guide slide rail 19, reducing its pressure on the protective silicone sheet 12. When detecting thin fabric, the reverse action increases the pressure, thus adapting to the detection pressure requirements of fabrics of different thicknesses.

[0057] The integrated controller 13 drives the pressure roller frame 20 to move along the detection direction by controlling the slide table of the guide rail 19. The rubber sleeve of the pressure roller frame 20 rotates with the movement under the cooperation of the bearing sleeve, realizing rolling uniform pressing. During this process, the array-type tactile sensing unit group 10 collects the pressure change signal on the fabric surface in real time through the anti-slip silicone sheet 11 and transmits it to the integrated controller 13 for quantitative analysis of flatness. After the detection is completed, the air pump 6 depressurizes, the hydraulic rod 15 drives the monitoring frame 9 to reset, and the drive roller 3 drives the transport belt 2 to output the sweater that has been detected.

[0058] Working principle: When using this tactile sensing-based wool sweater fabric flatness detection device, the operator first places the wool sweater to be tested on the surface of the conveyor belt 2 through the guide frame 4. The drive roller 3 is started and drives the conveyor belt 2 to rotate, accurately conveying the wool sweater to the area directly above the pneumatic suction cup 5. By starting the air pump 6 and working with the connecting pipe to form a negative pressure, the pneumatic suction cup 5 uses the air holes on the surface of the conveyor belt 2 to adsorb the wool sweater, thereby achieving fabric positioning in the detection area and preventing displacement.

[0059] Subsequently, the integrated controller 13 sends a signal to control the hydraulic rod 15 to push the monitoring frame 9 down; the infrared height detector 16 monitors the descent height in real time and feeds it back to the integrated controller 13. The monitoring frame 9 slides smoothly in the lifting slide rail 8 via the slide table until the anti-slip silicone sheet 11 is close to the surface of the sweater. The integrated controller 13 synchronously controls the lifting rod 17 to adjust the height of the positioning frame 18. The guide slide rail 19 on the positioning frame 18 drives the pressure roller frame 20 to rise and fall. When the fabric is thick, the height is increased to reduce the pressure on the protective silicone sheet 12, and when the fabric is thin, the height is decreased to increase the pressure, thus completing the adaptation. The slide table of the guide slide rail 19 drives the shaft frame of the pressure roller frame 20 to move. Its rubber sleeve rotates under the cooperation of the bearing sleeve. During the rolling, pressure is applied to the sweater through the protective silicone sheet 12. The array-type tactile sensing unit group 10 collects the pressure change signal to realize the flatness detection.

[0060] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device for detecting the flatness of wool sweater fabric based on tactile sensing, comprising: The testing frame is the main supporting body of the device. A limit frame is embedded and connected to the upper end of one side of the testing frame, and a guide frame is installed on the upper end of the other side of the testing frame. The guide frame is used to guide the wool sweater fabric into the testing frame. The feature is that: a conveyor belt is installed inside the detection frame by driving rollers to rotate, and a pneumatic suction cup is installed in the annular section formed by the conveyor belt body; a lifting slide rail is provided on the inner wall of the connection between the detection frame and the conveyor belt, and the lifting slide rail is connected to the monitoring frame through a slide table. An array of tactile sensing units is installed in the rectangular holes of the monitoring frame, and an anti-slip silicone sheet is laid at the bottom of the array of tactile sensing units. The array of tactile sensing units collects the pressure change signal on the surface of the sweater fabric in real time through the anti-slip silicone sheet and transmits it to the integrated controller for quantitative analysis of flatness. The anti-slip silicone sheet is installed at the bottom of the monitoring frame and is arranged parallel to the conveyor belt. The lifting slide rail is fixedly connected to the output end of the hydraulic rod, and the hydraulic rod passes through and is fixedly installed in the limiting frame. An infrared height detector with the monitoring end facing down is set at the top of the inner wall of the limiting frame. The infrared height detector collects the height data of the monitoring frame in real time and feeds it back to the integrated controller until the anti-slip silicone sheet adheres to the surface of the sweater fabric. An integrated controller is installed within the monitoring framework; The electrical signals of the array-type tactile sensing unit group are transmitted to the integrated controller, and the integrated controller controls the hydraulic rods with electrical signals. Lifting rods are respectively installed on both sides of the monitoring frame, and the output ends of the lifting rods are connected to the positioning frame. A guide rail is installed on the surface of the positioning frame, and the guide rail is connected to the frame of the pressure roller rod frame via a slide table. The pressure roller rod frame reciprocates within the rectangular holes where the array-type tactile sensing unit group is installed. A protective silicone sheet is covered at the top of the array-type tactile sensing unit group, and the protective silicone sheet abuts against the rubber sleeve of the pressure roller rod frame. The integrated controller controls the lifting rods to extend and retract, adjusting the height of the positioning frame according to preset wool sweater fabric thickness parameters. When detecting thick wool sweater fabric, the lifting rods raise the positioning frame, driving the pressure roller rod frame to rise via the guide rails, reducing its pressure on the protective silicone sheet. When detecting thin wool sweater fabric, the lifting rods reverse the action, increasing the pressure, thus adapting to the detection pressure requirements of wool sweater fabrics of different thicknesses.

2. The tactile sensing-based wool sweater fabric smoothness detection device according to claim 1, characterized in that: The testing frame is penetrated by a pipe connected to an air pump, and a limit washer is installed between the testing frame and the transport belt.

3. The device for detecting the flatness of wool sweater fabric based on tactile sensing according to claim 1, characterized in that: The surface of the transport belt is provided with air holes in an array, and the air holes of the transport belt are arranged in the same vertical axis as the suction port of the pneumatic suction cup.

4. The tactile sensing-based wool sweater fabric smoothness detection device according to claim 1, characterized in that: The guide frame is an inclined triangular plate, and the height of the top of the guide frame is the same as the height of the upper surface of the transport belt.

5. The device for detecting the flatness of wool sweater fabric based on tactile sensing according to claim 2, characterized in that: The pneumatic suction cup is connected to the air pump through a pipe, and the pneumatic suction cup is arranged parallel to the array of tactile sensing units within the installation area of ​​the limiting frame.

6. The device for detecting the flatness of wool sweater fabric based on tactile sensing according to claim 1, characterized in that: The monitoring frame is symmetrically embedded with vision sensors at its bottom.

7. The device for detecting the flatness of wool sweater fabric based on tactile sensing according to claim 6, characterized in that: The visual sensor monitors towards the pneumatic suction cup side, and the anti-slip silicone pad area corresponding to the visual sensor's detection path is made of transparent material.

8. The device for detecting the flatness of wool sweater fabric based on tactile sensing according to claim 1, characterized in that: The positioning frame is symmetrically arranged with respect to the monitoring frame axis, and the positioning frame is installed adjacent to the lifting slide rail.

9. The device for detecting the flatness of wool sweater fabric based on tactile sensing according to claim 1, characterized in that: The pressure roller frame includes a shaft frame, a bearing sleeve, and a rubber sleeve. The bearing sleeve is fitted onto the surface of the shaft frame, and the rubber sleeve is fitted onto the outer wall of the bearing sleeve. The shaft frame slides in conjunction with the guide rail, and the rubber sleeve abuts against the protective silicone sheet.

Images