CN107948282A - A kind of sewing machine control method and system based on Industrial Ethernet - Google Patents
A kind of sewing machine control method and system based on Industrial Ethernet Download PDFInfo
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- CN107948282A CN107948282A CN201711192096.6A CN201711192096A CN107948282A CN 107948282 A CN107948282 A CN 107948282A CN 201711192096 A CN201711192096 A CN 201711192096A CN 107948282 A CN107948282 A CN 107948282A
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- 238000009958 sewing Methods 0.000 title claims abstract description 70
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 39
- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 230000003993 interaction Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004886 process control Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/4186—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by protocol, e.g. MAP, TOP
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/403—Bus networks with centralised control, e.g. polling
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
The invention discloses a kind of sewing machine control method based on Industrial Ethernet and system, this method to include：Control information is transferred to corresponding driver by controller by EtherCAT communication protocols；Wherein, control information includes sewing information；Driver generates corresponding motion control information, and motion control information is sent to connected mechanical equipment according to the control information of reception；Mechanical equipment performs corresponding sewing task according to the motion control information of reception；Controller is connected by the present invention using EtherCAT buses with the driver of mechanical equipment, more mechanical equipments are uniformly controlled by controller, realize the Collaborative Control of different mechanical equipments, flexible and changeable sewing tech requirement is met, improves the utilization rate of resource and the degree of expansion of automation.
Description
Technical field
The present invention relates to technical field of automation, more particularly to a kind of sewing machine control method based on Industrial Ethernet and
System.
Background technology
With going deep into for automatic technology, cooperated using robot technology with polyautomata of the industry internet technology as representative
Smart machine it is more and more.This also promotes automatic sewing field to automation, the direction high speed development of few peopleization.
In the prior art, traditional sewing-machine control systems are to be directly driven by a motor, by controller, driver and motor
Uniformly it is fixed in a sewing machine, and then realizes that sewing machine automatic sewing, automatic shearing etc. sew task, but this control system
System is only applicable to single machine, it is impossible to suitable for more machine cooperatings, can not quickly carry out sewing information with the external world
Interaction.Therefore, how more mechanical equipments are uniformly controlled, realize the Collaborative Control of different mechanical equipments, met
Flexible and changeable sewing tech requirement, is urgent problem now.
The content of the invention
The object of the present invention is to provide a kind of sewing machine control method and system based on Industrial Ethernet, by establishing base
More mechanical equipments are uniformly controlled in the networking of Ethernet, realize the Collaborative Control of different mechanical equipments, are met flexible
Changeable sewing tech requirement.
In order to solve the above technical problems, the present invention provides a kind of sewing machine control method based on Industrial Ethernet, including：
Control information is transferred to corresponding driver by controller by EtherCAT communication protocols；Wherein, the control
Information includes sewing information；
The driver generates corresponding motion control information according to the control information of reception, and by the motion control
Information is sent to connected mechanical equipment；
The mechanical equipment performs corresponding sewing task according to the motion control information of reception.
Optionally, when the driver is motor driver, the motion control information includes being based on code device signal
Position feed-forward control and the control parameter of speed feedback control, the adjusting parameter of wave filter.
Optionally, the controller by EtherCAT communication protocols by control information be transferred to corresponding driver it
Before, including：
The controller generates corresponding control information according to the control instruction of user setting.
Optionally, the controller by EtherCAT communication protocols by control information be transferred to corresponding driver it
Before, further include：
The detection signal that the controller is sent according to peripheral sensor, generates corresponding control information；Wherein, it is described outer
Sensor is enclosed with the controller by EtherCAT buses to be connected.
In addition, present invention also offers a kind of sewing-machine control systems based on Industrial Ethernet, including：
Controller, for control information to be transferred to corresponding driver by EtherCAT communication protocols；Wherein, it is described
Control information includes sewing information；
The driver, for the control information according to reception, generates corresponding motion control information, and by the movement
Control information is sent to connected mechanical equipment；
The mechanical equipment, for performing corresponding sewing task according to the motion control information of reception.
Optionally, which further includes：
Human-computer interaction device, sends to the control for generating the control instruction of user setting, and by the control instruction
Device processed.
Optionally, which further includes：
Peripheral sensor, sends to the controller for generating corresponding detection signal, and by the detection signal.
A kind of sewing machine control method based on Industrial Ethernet provided by the present invention, including：Controller passes through
Control information is transferred to corresponding driver by EtherCAT communication protocols；Wherein, control information includes sewing information；Driver
According to the control information of reception, corresponding motion control information is generated, and motion control information is sent to connected machinery and is set
It is standby；Mechanical equipment performs corresponding sewing task according to the motion control information of reception；
As it can be seen that controller is connected by the present invention using EtherCAT buses with the driver of mechanical equipment, pass through controller
More mechanical equipments are uniformly controlled, realize the Collaborative Control of different mechanical equipments, meet flexible and changeable sewing
Technological requirement, improves the utilization rate of resource and the degree of expansion of automation.In addition, present invention also offers one kind to be based on work
The sewing-machine control systems of industrial Ethernet, equally with above-mentioned beneficial effect.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
A kind of flow chart for sewing machine control method based on Industrial Ethernet that Fig. 1 is provided by the embodiment of the present invention；
A kind of control system for sewing machine control method based on Industrial Ethernet that Fig. 2 is provided by the embodiment of the present invention
It is layered schematic diagram；
A kind of control system for sewing machine control method based on Industrial Ethernet that Fig. 3 is provided by the embodiment of the present invention
Structure diagram；
A kind of structure chart for sewing-machine control systems based on Industrial Ethernet that Fig. 4 is provided by the embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without making creative work, belong to the scope of protection of the invention.
Please refer to Fig.1, a kind of sewing machine control method based on Industrial Ethernet that Fig. 1 is provided by the embodiment of the present invention
Flow chart.This method can include：
Step 101：Control information is transferred to corresponding driver by controller by EtherCAT communication protocols；Wherein,
Control information includes sewing information.
It is understood that the purpose of this step can in order to control device by EtherCAT communication protocols to the controller
The driver being connected by EtherCAT buses sends control information, realizes controller to the corresponding mechanical equipment of each driver
Be uniformly controlled.The particular content for the control information transmitted for controller by EtherCAT communication protocols, can be by designing
Personnel are voluntarily set according to practical scene and user demand, can such as include the basic sewing such as sewing machine rotating speed, eedle angle
Information.As long as driver can control corresponding mechanical equipment according to the control information, the present embodiment does not do this any restrictions.
It should be noted that the specific generating mode of the control information for controller transmission, can be by designer's root
Factually voluntarily set with scene and user demand, can according to user setting control instruction, generate corresponding control information,
As controller can include guest operation pattern and stand-alone debugging pattern, human-computer interaction device according to user to it is above-mentioned any one
The setting of pattern, generates control instruction, and sends it to controller, controller is generated corresponding control information, from
And control machinery equipment completes the operation of user setting；The detection signal that can also be sent according to peripheral sensor, generation correspond to
Control information, wherein, peripheral sensor can be connected with controller by EtherCAT buses, as controller can be to such as regarding
Feel and the detection signal of the sensor such as infrared ray sensor is analyzed, generate corresponding control instruction, make mechanical equipment can be with
Tuning is carried out, optimal sewing speed is finally obtained, improves the sewing efficiency of sewing machine.As long as controller can be by corresponding
Driver transmits control information, achievees the purpose that to control the corresponding mechanical equipment of driver, the specific generation for control information
Mode, the present embodiment do not do any restrictions.
Specifically, above-mentioned guest operation pattern can include：The importing of CAD documents, operating mode, newly-built task, complete machine work
The function such as report an error, alert during work, so that client is capable of easy carry out relevant operation.Above-mentioned single-step debug pattern bag
Include：System zero point playbacks, the single-step debug task button of each action of mechanical equipment, the single control of motor shaft, and
Fine setting of the coordinate of each driver etc..So that designer is after equipment just assembles, all parts are finely adjusted, are adjusted
The parameter tried can just dispatch from the factory after keeping.
It is understood that the corresponding control system of method that this implementation is provided can be with as shown in Fig. 2, be divided into control
Three layers of layer, driving layer and mechanical equipment.This step can layer in order to control controller implementation procedure, believed by controller according to outside
Breath is controlled mechanical equipment, as controller can transmit corresponding control information according to the detection signal of peripheral sensor
To controller, the motion control carried out to sewing machine under high-speed condition is realized.
It should be noted that the value volume and range of product for the driver being connected with controller by EtherCAT buses can be by setting
Meter personnel or user are voluntarily set, and are controlled as long as control information is transferred to needs by controller by EtherCAT communication protocols
The corresponding driver of mechanical equipment of system, embodiment do not do this any restrictions.
Step 102：Driver generates corresponding motion control information according to the control information of reception, and by motion control
Information is sent to connected mechanical equipment.
It is understood that the driver in this step can generate corresponding movement control according to the control information of reception
Information processed, so as to accurately be controlled the mechanical equipment being attached thereto.Generated for driver according to the control information of reception
The particular content of corresponding motion control information, can voluntarily be set, such as by designer according to practical scene and user demand
When controller needs to control the mechanical equipment such as motor, the motor driver being connected with the motor can be believed according to the control of reception
Breath generation includes the position feed-forward control based on code device signal and the control parameter of speed feedback control, the adjustment ginseng of wave filter
Motion control information under the conditions of the motor high-speed motions such as number.The present embodiment does not do this any.
It should be noted that the purpose of this step can be control information of the driver according to controller, to mechanical equipment
Accurately controlled, controller is uniformly controlled by this intermediate link of driver to more mechanical equipments.Together
When the emergency situations such as emergency stop equipment that is detected for sensor of controller and sewing material the information such as change, pass through
The transmission of EtherCAT buses is acquired, and transmits corresponding control information to driver, and finally mechanical equipment is transported
The optimization of dynamic control, the loss of mechanical equipment is preferably minimized.
Specifically, this step can be the driver implementation procedure of the driving layer in Fig. 2, controller is total by EtherCAT
Line communication mode controls the corresponding driver of each mechanical equipment, realizes the motion control to each mechanical equipment.Including
The form such as timing control, electrical motor of sewing machine movement.By the routing motion of each mechanical equipment, cut-parts are achieved that from feeding,
To the overall process for sewing last rewinding.And by the motion control method of high speed, connect set mechanical equipments, and then according to not more
Same sewing needs to realize synchronous sewing and at the same time a variety of sewing tasks such as sewing function.
It is understood that when controller needs to control multiple mechanical equipments, it is only necessary in the addition machinery of driving layer
The corresponding software extensions of equipment (driver), you can realize the control of more mechanical equipments.More sewing-machine equipments (mechanical equipment)
Controlled by a CPU (controller), whole system is the merging done on hardware.
Specifically, the particular content and type of driver can voluntarily be set by designer or user, as shown in figure 3,
By the cooperation of the charging equipment and blanking equipment of cut-parts, a variety of automation process of sewing cut-parts are realized, it is right that controller passes through
More accurate process control is realized in the quantitative information of cut-parts.Driver can include the corresponding motor driving of motor of sewing machine
Device, such as presser foot lifter electromagnet, tension disk, head lamp and the corresponding ancillary equipment driving of governor ancillary equipment of sewing machine
Device, the corresponding charging equipment driver of charging equipment and the corresponding blanking equipment driver of blanking equipment.As long as controller can be with
By the corresponding driver control mechanical equipment of mechanical equipment, particular content and type and mechanical equipment for driver with
The connection mode of respective drivers, the present embodiment do not do any restrictions.
By the cooperation of the charging equipment and blanking equipment of cut-parts, a variety of automation process of sewing cut-parts can be realized.
Controller for the quantitative information of cut-parts by can be realized as more accurate process control.
Step 103：Mechanical equipment performs corresponding sewing task according to the motion control information of reception.
It is understood that mechanical equipment in the present embodiment can in order to control device by driver control such as motor
Equipment.For the particular type and structure of mechanical equipment, can voluntarily it be set by designer or user, as long as can be according to right
The motion control information that the driver answered is sent performs corresponding sewing task, and the present embodiment does not do this any restrictions.
It should be noted that this step can be the implementation procedure of the sewing machine body of the mechanical equipment in Fig. 2, it is responsible for most
The action executing of sewing task eventually.Such as by the motion control signal of motor driver, sewing machine body is under the movement of motor
Complete sewing task.If connecting other mechanical equipments, other sewing tech can be equally completed.Because no matter sewing machine sheet
How the structure of body changes, and essence is all to realize different sewing tasks by the movement of motor.Stitched in this frame
The motor type of control equipment can include a variety of motor types such as servomotor, direct current generator and stepper motor.
Specifically, in mechanical equipment link, for the crawl of cut-parts, transport and mechanical folder is repeated in sewing needs
Tool, spacing setting, the debugging of automation equipment stroke range.These work can directly carry out matching somebody with somebody for parameter by controller
Put and debug.Although the structure of mechanical equipment is different, man-machine interactive system frame in the controller be it is identical,
Function is also similar., can be with as shown in figure 3, the motor including sewing machine, such as the concrete structure and type of mechanical equipment
The ancillary equipment such as presser foot lifter electromagnet, tension disk, head lamp and governor, charging equipment and blanking equipment, the present embodiment is to this
Do not do any restrictions.
In the present embodiment, the embodiment of the present invention utilizes EtherCAT buses by the driver phase of controller and mechanical equipment
Even, more mechanical equipments are uniformly controlled by controller, the Collaborative Control of different mechanical equipments is realized, meets spirit
Changeable sewing tech requirement living, improves the utilization rate of resource and the degree of expansion of automation.
Please refer to Fig.4, a kind of sewing-machine control systems based on Industrial Ethernet that Fig. 4 is provided by the embodiment of the present invention
Structure chart.The system can include：
Controller 100, for control information to be transferred to corresponding driver 200 by EtherCAT communication protocols；Its
In, control information includes sewing information；
Driver 200, for the control information according to reception, generates corresponding motion control information, and by motion control
Information is sent to connected mechanical equipment 300；
Mechanical equipment 300, for performing corresponding sewing task according to the motion control information of reception.
Optionally, which can also include：
Human-computer interaction device, sends to controller for generating the control instruction of user setting, and by control instruction.
Optionally, which can also include：
Peripheral sensor, sends to controller for generating corresponding detection signal, and by detection signal.
In the present embodiment, the embodiment of the present invention utilizes driving of the EtherCAT buses by controller 100 and mechanical equipment 300
Device 200 is connected, and more mechanical equipments 300 are uniformly controlled by controller 100, realize different mechanical equipments 300
Collaborative Control, meets flexible and changeable sewing tech requirement, improves the utilization rate of resource and the degree of expansion of automation.
Each embodiment is described by the way of progressive in specification, and what each embodiment stressed is and other realities
Apply the difference of example, between each embodiment identical similar portion mutually referring to.For system disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is referring to method part illustration
.
Professional further appreciates that, with reference to each exemplary unit of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes each exemplary composition and step according to function in the above description.These
Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical solution.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
Can directly it be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Detailed Jie has been carried out to the sewing machine control method provided by the present invention based on Industrial Ethernet and system above
Continue.Specific case used herein is set forth the principle of the present invention and embodiment, and the explanation of above example is only
It is the method and its core concept for being used to help understand the present invention.It should be pointed out that for those skilled in the art
For, without departing from the principle of the present invention, some improvement and modification can also be carried out to the present invention, these improve and repair
Decorations are also fallen into the protection domain of the claims in the present invention.
Claims (7)
- A kind of 1. sewing machine control method based on Industrial Ethernet, it is characterised in that including：Control information is transferred to corresponding driver by controller by EtherCAT communication protocols；Wherein, the control information Including sewing information；The driver generates corresponding motion control information according to the control information of reception, and by the motion control information It is sent to connected mechanical equipment；The mechanical equipment performs corresponding sewing task according to the motion control information of reception.
- 2. the sewing machine control method according to claim 1 based on Industrial Ethernet, it is characterised in that when the driving When device is motor driver, the motion control information includes position feed-forward control and velocity feedback control based on code device signal The control parameter of system, the adjusting parameter of wave filter.
- 3. the sewing machine control method according to claim 1 based on Industrial Ethernet, it is characterised in that the controller Before control information is transferred to corresponding driver by EtherCAT communication protocols, including：The controller generates corresponding control information according to the control instruction of user setting.
- 4. the sewing machine control method of Industrial Ethernet according to any one of claims 1 to 3, it is characterised in that described Before control information is transferred to corresponding driver by controller by EtherCAT communication protocols, further include：The detection signal that the controller is sent according to peripheral sensor, generates corresponding control information；Wherein, the periphery passes Sensor is connected with the controller by EtherCAT buses.
- A kind of 5. sewing-machine control systems based on Industrial Ethernet, it is characterised in that including：Controller, for control information to be transferred to corresponding driver by EtherCAT communication protocols；Wherein, the control Information includes sewing information；The driver, for the control information according to reception, generates corresponding motion control information, and by the motion control Information is sent to connected mechanical equipment；The mechanical equipment, for performing corresponding sewing task according to the motion control information of reception.
- 6. the sewing-machine control systems according to claim 5 based on Industrial Ethernet, it is characterised in that further include：Human-computer interaction device, sends to the controller for generating the control instruction of user setting, and by the control instruction.
- 7. the sewing-machine control systems based on Industrial Ethernet according to claim 5 or 6, it is characterised in that further include：Peripheral sensor, sends to the controller for generating corresponding detection signal, and by the detection signal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711192096.6A CN107948282A (en) | 2017-11-24 | 2017-11-24 | A kind of sewing machine control method and system based on Industrial Ethernet |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711192096.6A CN107948282A (en) | 2017-11-24 | 2017-11-24 | A kind of sewing machine control method and system based on Industrial Ethernet |
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| CN107948282A true CN107948282A (en) | 2018-04-20 |
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| CN201711192096.6A Pending CN107948282A (en) | 2017-11-24 | 2017-11-24 | A kind of sewing machine control method and system based on Industrial Ethernet |
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Cited By (1)
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| CN110258030A (en) * | 2019-07-03 | 2019-09-20 | 珞石（北京）科技有限公司 | A kind of cloth sewing speed synchronous method based on robot control system |
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