Testing method and testing equipment for glue-injected woven gloves

Abstract

The invention discloses a testing method and testing equipment for a glue-injected woven glove, the glove is worn on a manipulator, the method comprises the following steps: firstly, irradiating the manipulator through a fixed light source, and acquiring optical response parameters through photosensitive elements on each knuckle and a palm of the manipulator; controlling the manipulator to move according to a preset control instruction; in the movement of the manipulator, the rotation equivalent stress of each knuckle in the bending process is obtained, the root mean square value of the rotation equivalent stress of all the knuckles is solved, and the root mean square value serves as a dexterity parameter of the glove; after the dexterity test is completed, repeating the cyclic action of the manipulator for multiple times to complete a preset cycle number; finally, optical response parameters are obtained, the difference value between the optical response parameters and the initial optical response parameters is obtained, the difference value is analyzed to serve as the wear resistance condition of the glove in the manipulator action loading process, and therefore quantitative testing of the dexterity and the wear resistance of the glove is achieved.

Description

Technical Field

[0001] This invention relates to the field of glove technology, and in particular to a testing method and testing equipment for injection-knitted gloves. Background Technology

[0002] Injection-bonded knitted gloves, combining the comfort of knitted fabric with the protection and abrasion resistance of a silicone layer, are widely used in scenarios requiring frequent flexion, extension, and gripping. For this type of glove, dexterity (i.e., the degree of restriction on finger flexion and extension movements) and abrasion resistance (i.e., the degree of wear under repeated movements and contact friction) jointly determine its user experience and lifespan. Therefore, objective testing and quantitative comparison of these properties are necessary during the research and development, selection, and quality evaluation processes.

[0003] However, existing glove testing methods generally suffer from the problem of "fragmented indicators": one type of method focuses only on dexterity, such as subjective fitting by the wearer, simple flexion and extension scoring, or only measuring the bending resistance of a few joints. The test dimension is singular and the repeatability is poor, making it difficult to truly reflect the overall force change of the glove during continuous finger flexion movements. Another type of method attempts to introduce robotic arms and sensors to quantify dexterity, but some solutions introduce complex finger joint coupling control, data fitting, and multi-parameter judgment in order to pursue realistic movements. The test system and process are too complex, which is not conducive to promotion and application in product development and batch testing.

[0004] On the other hand, existing abrasion resistance tests typically use universal friction devices to conduct overall friction or localized abrasion tests on gloves to obtain uniform abrasion amounts or appearance damage results. While this method is convenient to implement, it often ignores the differences in force and friction experienced by gloves in actual use: different fingers and palms experience different force paths, friction contact positions, and wear rates during grasping, flexion, and support movements. Therefore, a simple overall abrasion resistance test is difficult to correspond to real-world working conditions and cannot reflect the wear patterns of injection-knitted gloves at key locations such as knuckles and palms as movement cycles occur. Summary of the Invention

[0005] The purpose of this invention is to overcome the defects of the existing technology and provide a testing method and testing equipment for injection-bonded knitted gloves to solve the problems mentioned in the background art.

[0006] The technical solution to achieve the purpose of this invention is: a testing method for a glue-injected knitted glove, wherein the glove comprises, from the inside out, an inner silicone layer, a knitted fabric layer, and an outer silicone layer. The knitted fabric layer continuously covers the palm and fingers to form a complete covering structure. The outer silicone layer includes a palm silicone area covering the palm and multiple sets of finger silicone areas covering each finger. The inner silicone layer corresponds to the outer silicone layer inside the knitted fabric layer. The glove is worn on a robotic arm. The method includes:

[0007] S1: The robotic arm is illuminated by a fixed light source, and the photosensitive elements on each finger joint and the palm of the robotic arm collect optical response parameters.

[0008] S2: Control the movement of the robotic arm according to the preset control instructions, thereby driving the movement of the glove;

[0009] S3: During the movement of the robotic arm, obtain the rotational equivalent force of each finger joint during the bending process, and calculate the root mean square value of the rotational equivalent force of all finger joints. Use this root mean square value as the dexterity parameter of the glove.

[0010] S4: After completing the dexterity test, repeat the robotic arm's cyclical movements multiple times to complete the preset number of cycles;

[0011] S5: Obtain the optical response parameters after the action by irradiating with a fixed light source, and calculate the difference between the optical response parameters and the initial optical response parameters. Analyze the difference as the wear resistance of the glove during the robot arm's action loading process.

[0012] Furthermore, the optical response parameter is the analog voltage value output by the photosensitive element under fixed light source illumination conditions. The analog voltage value is generated by the photosensitive element under the photoelectric effect, and the analog voltage value increases with the increase of the incident light intensity reaching the photosensitive element.

[0013] Furthermore, the robotic arm movement described in step S2 is a standardized finger flexion motion that simulates a human hand making a fist.

[0014] Furthermore, in step S4, after completing the dexterity test, a layer of friction material is applied to the surface of the robotic arm, and then gloves are put on. The preset cyclic test action is continued. After the cycle is completed, the friction material layer is removed.

[0015] Furthermore, in step S4, the robotic arm's cyclical movements consist of clenching and extending its fist, with a preset cycle count of 100 to 200 times.

[0016] Furthermore, in step S5, the differences of all finger joints are summed using a weighted average method to obtain a comprehensive evaluation of the glove's abrasion resistance.

[0017] Furthermore, in the weighted average processing, the difference corresponding to different positions is assigned different weights, and the weights are set in descending order according to the palm, thumb, index finger, middle finger, ring finger, and little finger.

[0018] A testing device for injection-knitted gloves includes: a robotic arm, a memory, a processor, and a computer program stored in the memory. The processor drives the robotic arm to execute the computer program to implement the above-mentioned method.

[0019] Furthermore, each finger joint of the robotic arm is equipped with an independent drive mechanism, and each finger joint is equipped with a force acquisition unit arranged corresponding to the rotation axis of the finger joint. Photosensitive elements are installed on the outer side of each finger joint and inside the palm.

[0020] After adopting the above technical solution, the present invention has the following positive effects:

[0021] (1) The present invention completes the dexterity and abrasion resistance tests in the same test process that simulates real finger flexion and extension movements, avoiding the problem of dexterity test and abrasion resistance test being separated in the prior art, so that the test results are more in line with the actual use conditions of glued knitted gloves.

[0022] (2) In the process of dexterity testing, the present invention uniformly processes the force on multiple finger joints, which can reflect the comprehensive force characteristics of the glove in the overall finger flexion movement, and avoids the situation of one-sided evaluation caused by measuring only a single joint or local resistance.

[0023] (3) In the wear resistance test, the present invention introduces the repetitive flexion and extension cycle of the robotic arm, so that the glove is subjected to a force path and friction mode similar to actual use during the test. Compared with the wear resistance test of the traditional overall friction device, it is closer to the real use scenario.

[0024] (4) The test method of the present invention ensures the objectivity of the test results while avoiding the introduction of overly complex knuckle coupling control and multi-parameter judgment model, making the test process simpler and easier to promote and apply in glove research and development, quality inspection and comparative evaluation. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the testing method of the present invention;

[0026] Figure 2 This is a bar chart comparing the dexterity of different gloves according to the present invention;

[0027] Figure 3 This is a bar chart comparing the abrasion resistance of different gloves according to the present invention;

[0028] Figure 4 This is a schematic diagram of the robotic arm used in the testing equipment of this invention. Detailed Implementation

[0029] The technical solution of the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings. However, the present invention is not limited to the following embodiments.

[0030] This invention provides a testing method for a glue-injected knitted glove. The glove is a composite structure that balances comfort and protective durability. From the inside out, it includes an inner silicone layer, a knitted fabric layer, and an outer silicone layer. The knitted fabric layer continuously covers the palm and fingers to form a complete covering structure. The outer silicone layer includes a palm silicone area covering the palm and multiple sets of finger silicone areas covering each finger. The inner silicone layer corresponds to the outer silicone layer within the knitted fabric layer. Since this type of glove often involves repetitive movements such as gripping, flexing, and supporting during actual use, the friction patterns and stress states experienced by different parts (knuckle bending areas, palm stress areas, and silicone-covered and non-silicone-covered areas) differ significantly. Therefore, subjective fitting or a single friction test alone is insufficient for a repeatable, quantifiable, and realistic evaluation of its dexterity and abrasion resistance. Based on this, this embodiment proposes a testing method that achieves quantitative evaluation of dexterity and further characterizes abrasion resistance changes under the same testing platform and the same action load conditions.

[0031] In this embodiment, the gloves are worn on the robotic arm, such as... Figure 1 As shown, the method includes:

[0032] S1: The robotic arm is illuminated by a fixed light source, and the photosensitive elements on each finger joint and the palm of the robotic arm collect optical response parameters.

[0033] S2: Control the movement of the robotic arm according to the preset control instructions, thereby driving the movement of the glove;

[0034] S3: During the movement of the robotic arm, obtain the rotational equivalent force of each finger joint during the bending process, and calculate the root mean square value of the rotational equivalent force of all finger joints. Use this root mean square value as the dexterity parameter of the glove.

[0035] S4: After completing the dexterity test, repeat the robotic arm's cyclical movements multiple times to complete the preset number of cycles;

[0036] S5: Obtain the optical response parameters after the action is completed by irradiating with a fixed light source, and calculate the difference between the optical response parameters and the initial optical response parameters. Analyze the difference as the wear resistance of the glove during the loading process of the robot arm.

[0037] In steps S1 and S5, the optical response parameter is the analog voltage value output by the photosensitive element under fixed light source illumination conditions. The photosensitive element can be a photodiode, phototransistor, or photoresistor, etc., which generates a photocurrent related to the incident photon flux under the photoelectric effect, and is converted into an acquireable analog voltage output through transimpedance amplification or voltage division sampling; under fixed light source illumination conditions and fixed geometric position relationship, this analog voltage value increases with the increase of the incident light intensity reaching the photosensitive element. To make the abrasion resistance assessment more closely resemble the actual stress and wear distribution of injection-knitted gloves, this embodiment arranges photosensitive elements at each finger joint and palm of the robotic arm. The photosensitive elements at the finger joints are preferably positioned in areas where the glove is more prone to relative slippage and localized wear during flexion and extension movements, especially in areas separated from the silicone coating. This allows for sensitive characterization of surface changes in the exposed woven fabric areas after cyclic movements. Furthermore, placing detection points only in non-silicone-covered areas fails to reflect the overall characteristics of the injection-knitted glove, and the collaborative working characteristics of the silicone-covered and non-silicone-covered areas are insufficient to reflect the combined effects of light shading, surface roughness changes, and localized deformation caused by the silicone-covered area. Therefore, this embodiment arranges photosensitive elements in the palm area or at least one typical stress area covered by silicone as control detection points. These elements are used to simultaneously collect changes in the optical response of the silicone-covered area under the same illumination conditions. This allows the abrasion resistance assessment to simultaneously reflect the differentiated changes in the non-silicone-covered and silicone-covered areas under dynamic loads, thereby improving the completeness and rigor of the test.

[0038] In step S2, the robotic arm's movement is a standardized finger flexion motion simulating a human hand clenching into a fist. This motion uses the proximal, middle, and distal phalanges of each finger as the controlled objects, and preset control commands limit their flexion angle curves, flexion speeds, accelerations, and holding times, thereby forming a repeatable and comparable test load. In this embodiment, the bending angles of the four fingers (excluding the thumb) at the end of the fist clenching state are set to a target angle range close to 90° (for example, the target angles for the proximal phalanges can be set to 85~95°, the middle phalanges to 85~95°, and the distal phalanges to 70~95° to approximate the natural fist clenching posture). The thumb is set to a natural antipalmar flexion angle relative to the palm direction to form a wrapping fist posture. Through standardized finger flexion motion (i.e., clenching the fist), a stable force response can be obtained under a unified angle-time path, making the dexterity parameters repeatable and statistically significant, and providing a consistent action benchmark for subsequent wear-resistant cycle actions.

[0039] In step S4, after completing the dexterity test, a friction material layer is applied to the surface of the robotic arm, followed by the glove. The preset cyclic test is then performed. After the cycle is complete, the friction material layer is removed. The friction material layer can be a high-friction leather-like material. The purpose of this layer is to increase the static friction coefficient and micro-wear effect at the contact interface without altering the robotic arm's control commands and movement trajectory. This amplifies the wear effect within a limited number of cycles, making it easier to detect differences in wear resistance in key stress and slippage areas of the glove, thus avoiding insignificant optical response differences due to weak wear signals. Furthermore, the robotic arm's cyclic movements are clenching and extending a fist, with a preset cycle count of 100-200 times.

[0040] In step S5, the differences across all finger joints are summed using a weighted average method to obtain a comprehensive assessment of the glove's abrasion resistance. In the weighted averaging process, different weights are assigned to the differences corresponding to different positions, with the weights decreasing sequentially in the order of palm, thumb, index finger, middle finger, ring finger, and little finger. This weighting order is based on the systematic differences in contact pressure, friction path, and frequency of action experienced by different parts during typical use actions of injection-knitted gloves (gripping, lifting, rotating, supporting). In this embodiment, normalized weighting coefficients can be used for calculation.

[0041] Based on the above specific embodiments, to further verify the ability of the test method of the present invention to distinguish between gloves with different structures and the rationality of its evaluation, this embodiment selects four gloves with obvious structural differences as comparative samples: glue-injected knitted gloves, pure knitted gloves, thin silicone gloves, and thick silicone gloves, and completes the test under the same test conditions according to the aforementioned steps S1 to S5. The cyclical motion of the robotic arm is a standardized reciprocating cycle of finger flexion and extension movements, with the number of cycles set to 150. In step S5, the weighting coefficients are: palm weight 0.25, thumb weight 0.20, index finger weight 0.18, middle finger weight 0.16, ring finger weight 0.12, and little finger weight 0.09.

[0042] like Figure 2As shown, different gloves exhibit significant differences in dexterity: pure knitted gloves, lacking the constraint of a silicone layer on finger flexion, experience the least rotational equivalent force during finger flexion, resulting in the lowest dexterity parameter D value and demonstrating optimal flexibility; injection-bonded knitted gloves, while maintaining the softness of the knitted layer, introduce partial silicone coverage, and their dexterity parameter falls between that of pure knitted gloves and silicone gloves, indicating that the silicone feature enhances functionality without significantly sacrificing dexterity; thin silicone gloves, with overall silicone coverage but a smaller thickness, experience a further decrease in dexterity compared to injection-bonded knitted gloves; while thick silicone gloves, due to their overall thick silicone layer, significantly hinder finger flexion, resulting in the highest dexterity parameter D value and the worst dexterity.

[0043] like Figure 3 As shown, the abrasion resistance parameters of the glued knitted gloves are significantly better than those of the pure knitted gloves and the thin silicone gloves, indicating that by introducing silicone coverage in key stress areas, the wear propagation of the knitted layer is effectively suppressed. The pure knitted gloves, lacking silicone protection, show more obvious changes on the surface of the knitted fibers under repeated flexion and friction, and their abrasion resistance is at a medium level. Although the thin silicone gloves are made entirely of silicone, the thin silicone layer makes them more prone to damage and subsequent wear under localized repeated stress and friction, and their abrasion resistance parameters are actually lower than those of the pure knitted gloves.

[0044] Furthermore, the present invention proposes a testing device for injection-knitted gloves, comprising: a robotic arm, a memory, a processor, and a computer program stored in the memory. The processor drives the robotic arm to execute the computer program, thereby realizing the dexterity and abrasion resistance testing method for injection-knitted gloves described in the above embodiments.

[0045] like Figure 4 The diagram shows a schematic of the palm of the robotic arm. Each finger joint has an independent drive mechanism, and each finger joint has a force acquisition unit arranged corresponding to the finger joint's rotation axis to collect the equivalent rotational force during finger joint movement. Furthermore, to achieve optical characterization of the glove's abrasion resistance, photosensitive elements are installed on the outer side of each finger joint and the inner side of the palm. The placement of these photosensitive elements corresponds to areas of the glove that are prone to friction, slippage, or deformation during actual use. Specifically, the photosensitive elements at the finger joints correspond to areas of frequent flexion and extension movements, intermittent silicone coating, or stress concentration, while the photosensitive elements at the palm correspond to typical stress areas of the silicone coating on the palm of the glove. By arranging multiple photosensitive elements in different structural locations, optical response information from multiple detection points can be collected simultaneously during the same test, thus avoiding the biased evaluation caused by testing only a single area.

[0046] Furthermore, the processor and memory work together. The processor calls the computer program stored in the memory to perform the following functions: controlling the robotic arm to move according to preset standardized finger flexion movements; synchronously acquiring rotational equivalent force data of each finger joint and optical response data of each photosensitive element; performing root mean square calculation, difference calculation, and weighted summation on the acquired data; and outputting test results characterizing the glove's dexterity and abrasion resistance. This structural design enables the testing equipment to perform collaborative acquisition and analysis of multi-dimensional parameters on the same platform and under the same action conditions, improving the consistency and repeatability of the test results.

[0047] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A testing method for a glue-injected knitted glove, wherein the glove comprises, from the inside out, an inner silicone layer, a knitted fabric layer, and an outer silicone layer, the knitted fabric layer continuously covering the palm and fingers to form a complete covering structure, the outer silicone layer including a palm silicone area covering the palm and multiple sets of finger silicone areas covering each finger, the inner silicone layer corresponding to the outer silicone layer within the knitted fabric layer, characterized in that: The glove is worn on the robotic arm, and the method includes: S1: The robotic arm is illuminated by a fixed light source, and the photosensitive elements on each finger joint and the palm of the robotic arm collect optical response parameters. S2: Control the movement of the robotic arm according to the preset control instructions, thereby driving the movement of the glove; S3: During the movement of the robotic arm, obtain the rotational equivalent force of each finger joint during the bending process, and calculate the root mean square value of the rotational equivalent force of all finger joints. Use this root mean square value as the dexterity parameter of the glove. S4: After completing the dexterity test, repeat the robotic arm's cyclical movements multiple times to complete the preset number of cycles; S5: Obtain the optical response parameters after the action is completed by irradiating with a fixed light source, and calculate the difference between the optical response parameters and the initial optical response parameters. Analyze the difference as the wear resistance of the glove during the loading process of the robot arm.

2. The test method for a glue-knitted glove according to claim 1, characterized in that: The optical response parameter is the analog voltage value output by the photosensitive element under fixed light source illumination conditions. The analog voltage value is generated by the photosensitive element under the photoelectric effect, and the analog voltage value increases with the increase of the incident light intensity reaching the photosensitive element.

3. The test method for a glue-knitted glove according to claim 1, characterized in that: The robotic arm movement described in step S2 is a standardized finger flexion motion that simulates the clenching of a human hand into a fist.

4. The test method for a glue-knitted glove according to claim 1, characterized in that: In step S4, after the dexterity test is completed, a layer of friction material is applied to the surface of the robotic arm, and then gloves are put on. The preset cyclic test action is continued. After the cycle is completed, the friction material layer is removed.

5. The test method for a glue-knitted glove according to claim 1, characterized in that: In step S4, the robotic arm's cyclical movements consist of clenching and extending its fist, with a preset cycle count of 100 to 200 times.

6. The test method for a glue-knitted glove according to claim 1, characterized in that: In step S5, the differences of all knuckles are summed using a weighted average method to obtain a comprehensive evaluation of the glove's abrasion resistance.

7. The test method for a glue-knitted glove according to claim 6, characterized in that: In the weighted average processing, the difference corresponding to different positions is assigned different weights, and the weights are set in descending order according to the palm, thumb, index finger, middle finger, ring finger, and little finger.

8. A testing device for injection-molded knitted gloves, comprising: A robotic arm, a memory, a processor, and a computer program stored in the memory, characterized in that the processor drives the robotic arm to execute the computer program to implement the method of any one of claims 1-7.

9. The testing equipment for injection-molded knitted gloves according to claim 8, characterized in that: Each finger joint of the robotic arm is equipped with an independent drive mechanism, and each finger joint is equipped with a force acquisition unit arranged corresponding to the rotation axis of the finger joint. Photosensitive elements are installed on the outer side of each finger joint and inside the palm.

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