CN109629218B - Cloth inspecting machine based on vision robot - Google Patents
Cloth inspecting machine based on vision robot Download PDFInfo
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- CN109629218B CN109629218B CN201811543768.8A CN201811543768A CN109629218B CN 109629218 B CN109629218 B CN 109629218B CN 201811543768 A CN201811543768 A CN 201811543768A CN 109629218 B CN109629218 B CN 109629218B
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06H—MARKING, INSPECTING, SEAMING OR SEVERING TEXTILE MATERIALS
- D06H3/00—Inspecting textile materials
- D06H3/08—Inspecting textile materials by photo-electric or television means
Abstract
Cloth inspection machine based on vision robot, including two fixed mounting at subaerial first band pulleys, connect through first belt between two first band pulleys, the place ahead and the rear of first belt are equipped with first support respectively, the equal fixed mounting of first support is subaerial, be equipped with two first pivots that are parallel to each other between the first support, first belt passes between the first pivot, the first support that corresponds is connected through the bearing respectively at both ends around the first pivot, the periphery of first pivot is fixed mounting gear respectively, the gear respectively with the central line collineation of the first pivot that corresponds, two gear intermeshing, the periphery fixed mounting driving roller of the first pivot of below. When the vision robot image acquisition device works, the vision robot image acquisition device acquires an image every time the cloth moves forwards for a certain distance, so that the leakage-free image acquisition of the cloth is completed, and the structure is simpler.
Description
Technical Field
The invention belongs to the technical field of textile equipment, and particularly relates to a cloth inspecting machine based on a vision robot.
Background
Cloth inspection is a very important process of textile industry, and grant notice number CN105372254B discloses "a cloth inspection machine based on vision robot, including tension control device, vision robot image acquisition device, meter rice device and cloth rewinder … … investment cost increase is not much, has very big marketing prospect", but its adoption reciprocating cycle's image acquisition, use cost is higher, and its camera of gathering the image moves about, must not carry out complete image acquisition to the cloth, and can increase the complexity of structure.
Disclosure of Invention
The invention provides a cloth inspecting machine based on a vision robot, which is used for overcoming the defects in the prior art.
The invention is realized by the following technical scheme:
a cloth inspecting machine based on a vision robot comprises two first belt wheels fixedly installed on the ground, the two first belt wheels are connected through a first belt, first supports are respectively arranged in front of and behind the first belt, the first supports are fixedly installed on the ground, two first rotating shafts which are parallel to each other are arranged between the first supports, the first belt penetrates through the first rotating shafts, the front ends and the rear ends of the first rotating shafts are respectively connected with the corresponding first supports through bearings, gears are respectively and fixedly installed on the peripheries of the first rotating shafts, the gears are respectively collinear with the central lines of the corresponding first rotating shafts, the two gears are mutually meshed, driving rollers are fixedly installed on the peripheries of the lower first rotating shafts, the driving rollers are respectively and fixedly connected with the central lines of the corresponding first rotating shafts, the peripheries of the driving rollers are in contact and collinear fit with the top surfaces of inner rings of the first belts, and pressing rollers are fixedly installed on the peripheries of the upper first rotating, the compression roller is positioned above the first belt, the periphery of the first rotating shaft above the compression roller is fixedly provided with a second belt wheel, the center lines of the first rotating shaft above the compression roller and the second belt wheel are collinear, the ground is fixedly connected with the lower end of a second bracket, the upper end of the second bracket is fixedly connected with one end of the second rotating shaft, the periphery of the second rotating shaft is connected with the inner ring of a third belt wheel through a bearing, the periphery of the third belt wheel is detachably provided with a fourth belt wheel, the fourth belt wheel is connected with the second belt wheel through a second belt, a belt adjusting device is arranged in the second belt, a third bracket is respectively arranged in front of and behind the first belt, the third brackets are fixedly arranged on the ground, the upper ends of the third brackets are respectively and fixedly connected with the lower end of a first cylinder, a vision robot image acquisition device is fixedly arranged between the upper ends of the first cylinder, the second bracket is positioned between the first bracket and the third bracket, and one side of the third, the periphery of fourth band pulley and third band pulley is fixed mounting target respectively, still includes the singlechip, and singlechip and visual robot image acquisition device circuit connection, sensor and singlechip circuit connection.
As above cloth inspection machine based on vision robot, the preceding several through-holes of seting up of third band pulley, the preceding one end of fixedly connected several J type pole of fourth band pulley, J type pole and through-hole one-to-one, and the other end of J type pole passes in the through-hole that corresponds respectively, the articulated one end of connecting several L type pole in the back of fourth band pulley, penetrating bar groove is seted up respectively in the other end of L type pole is preceding, the other end of J type pole is the one end of fixed connection screw rod respectively, the screw rod passes from the bar inslot that corresponds respectively, the rear end of screw rod is threaded mounting nut respectively.
According to the cloth inspecting machine based on the vision robot, the rear ends of the screw rods are respectively provided with the same nuts in a threaded mode, and the two nuts on each screw rod are in contact fit.
According to the cloth inspecting machine based on the vision robot, the belt adjusting device is a fourth support, the fourth support is fixedly installed on the ground, the upper end of the fourth support is fixedly connected with the lower end of the second air cylinder, the upper end of the second air cylinder is fixedly provided with the adjusting belt wheel, and the inner ring of the second belt is in contact with the periphery of the adjusting belt wheel.
According to the cloth inspecting machine based on the visual robot, the cloth guide plate is arranged above the cloth feeding end of the first belt, the cloth guide plate is fixedly installed on the ground through the fixing device, the cloth guide plate is of an arc-shaped structure, and the arc surface of the cloth guide plate faces the compression roller obliquely.
According to the cloth inspecting machine based on the vision robot, the cloth outlet end of the first belt is provided with the cloth rolling device, and the cloth rolling device is fixedly installed on the ground.
In the cloth inspecting machine based on the visual robot, the image acquisition device of the visual robot is a plurality of cameras, and every two adjacent cameras are fixedly connected with each other.
According to the cloth inspecting machine based on the vision robot, the second belt wheel, the third belt wheel and the fourth belt wheel are all V-shaped belt wheels, and the second belt is a V-shaped belt.
As for the cloth inspecting machine based on the vision robot, the first belt wheels are toothed belt wheels, the first belt is a toothed conveying belt, the driving roller is a toothed driving roller, and the first belt is meshed with the first belt wheels and the driving roller simultaneously.
The invention has the advantages that: when the vision robot image acquisition device works, the vision robot image acquisition device acquires an image every time the cloth moves forwards for a certain distance, so that the leakage-free image acquisition of the cloth is completed, and the structure is simpler. The first belt wheel is provided with a power device and drives the first belt to move, the invention is positioned at the rear station of the loom, the cloth woven by the loom is flatly laid on the first belt, and the cloth is conveyed to the vision robot image acquisition device from the first belt, under the action of friction force between the first belt and the transmission roller, the first belt drives the transmission roller to rotate, the transmission roller drives the first rotating shaft below to rotate, the two first rotating shafts can synchronously and reversely rotate through the transmission of the two gears, the first rotating shaft above drives the pressure roller to rotate, the diameters of the two gears are different, the transmission ratio is changed to ensure that the rotating speeds of the press roller and the first belt wheel are the same, the cloth is respectively contacted and matched with the first belt and the press roller simultaneously, the cloth moves forwards under the driving of the friction force, the distance between the press roller and the first belt is the thickness of the cloth, and the cloth is flattened after passing through the press roller, so that the effect of preventing the cloth from wrinkling is achieved; the first rotating shaft drives the second belt wheel to rotate, the second belt wheel drives the fourth belt wheel to rotate through the second belt, the diameter of the fourth belt wheel is larger than that of the second belt wheel, therefore, after the second belt wheel rotates for a plurality of weeks, the fourth belt wheel rotates for a circle, every time a target on the fourth belt wheel is identified by the sensor, the sensor transmits a signal to the single chip microcomputer, the single chip microcomputer controls the visual robot image acquisition device to acquire an image, the visual robot image acquisition device is connected with a computer circuit, a shot picture is stored in the computer, namely, the visual robot image acquisition device acquires an image every time the cloth moves forwards for a certain distance, the working interval is uniform, the height of the visual robot image acquisition device can be adjusted through the first air cylinder, the height of the visual robot image acquisition device from the first belt determines the definition of the image, when the cloth is produced in batches, the first cylinder extends, the visual robot image acquisition device is higher, unobvious defects in the image can be skipped over by a computer, only the obvious defects are recorded by the computer, when the cloth is produced by fine work, the first cylinder contracts, the visual robot image acquisition device is lower, the unobvious defects in the image can be recorded by the computer, the fourth belt pulley is disassembled, the second belt pulley is connected with the second belt pulley and the third belt pulley, the second belt pulley is tightened through the belt adjusting device, the shooting frequency of the visual robot image acquisition device can be improved, and therefore the complete cloth image acquisition is guaranteed. The belt wheel with a larger diameter can be detachably mounted on the fourth belt wheel, so that the length of an interval acquired by the visual robot image acquisition device can be changed, the interval sampling detection of cloth can be realized, the complete image detection of the cloth can also be realized, and a proper detection mode is selected for different grades of cloth, so that the working times of the visual robot image acquisition device are reduced on the premise of ensuring the detection accuracy, and the service life of the visual robot image acquisition device is prolonged; the first belt supplies the pressure roller and the fourth belt wheel to work, so that the installation of a power device is reduced, the structure is simplified, the manufacturing cost is reduced, the driving roller is positioned right below the pressure roller and is in contact with the inner ring of the first belt, the top surface of the first belt can be kept horizontal, and the cloth is conveyed more stably.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention; FIG. 2 is an enlarged view of the view from the direction A of FIG. 1; FIG. 3 is an enlarged view of the view of FIG. 1 taken along line B; FIG. 4 is an enlarged view of section I of FIG. 3; fig. 5 is an enlarged view of the view along direction C of fig. 4.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A cloth inspecting machine based on a visual robot is shown in the figure and comprises two first belt wheels 1 fixedly installed on the ground, the two first belt wheels 1 are connected through a first belt 2, first supports 3 are respectively arranged in front of and behind the first belts 2, the first supports 3 are both fixedly installed on the ground, two first rotating shafts 4 parallel to each other are arranged between the first supports 3, the first belts 2 penetrate through the first rotating shafts 4, the front ends and the rear ends of the first rotating shafts 4 are respectively connected with the corresponding first supports 3 through bearings, gears 5 are respectively and fixedly installed on the peripheries of the first rotating shafts 4, the gears 5 are respectively and collinearly matched with the central lines of the corresponding first rotating shafts 4, the two gears 5 are mutually meshed, driving rollers 6 are fixedly installed on the peripheries of the first rotating shafts 4 below, the driving rollers 6 are collinear with the central lines of the corresponding first rotating shafts 4, and the peripheries of the driving rollers 6 are in contact fit with the top surfaces of inner rings of the first belts 2, the first belt 2 can drive the transmission roller 6 to rotate, the periphery of the upper first rotating shaft 4 is fixedly provided with the compression roller 7, the compression roller 7 is positioned above the first belt 2, the periphery of the upper first rotating shaft 4 is fixedly provided with the second belt wheel 8, the central lines of the upper first rotating shaft 4, the compression roller 7 and the second belt wheel 8 are collinear, the lower end of a second support 9 is fixedly connected on the ground, the upper end of the second support 9 is fixedly connected with one end of a second rotating shaft 10, the periphery of the second rotating shaft 10 is connected with the inner ring of a third belt wheel 11 through a bearing, the periphery of the third belt wheel 11 is detachably provided with a fourth belt wheel 12, the fourth belt wheel 12 is connected with the second belt wheel 8 through a second belt 13, a belt adjusting device is arranged in the second belt 13, the structure can adjust the tightness degree of the second belt 13, the front and the rear of the first belt 2 are respectively provided with a third support 14, and the third supports 14 are both fixedly arranged on the, the upper end of third support 14 is the lower extreme of first cylinder 15 of fixed connection respectively, fixed mounting vision robot image acquisition device between the upper end of first cylinder 15, first cylinder 15 can drive vision robot image acquisition device lift, second support 9 is located between first support 3 and third support 14, one side fixed mounting sensor of third support 14, the periphery of fourth band pulley 12 and third band pulley 11 is the fixed mounting target respectively, the target can be discerned by the sensor, still include the singlechip, singlechip and vision robot image acquisition device circuit connection, sensor and singlechip circuit connection. When the vision robot image acquisition device works, the vision robot image acquisition device acquires an image every time the cloth moves forwards for a certain distance, so that the leakage-free image acquisition of the cloth is completed, and the structure is simpler. The first belt wheel 1 is provided with a power device, the first belt wheel 1 drives a first belt 2 to move, the invention is positioned at a rear station of a loom, cloth woven by the loom is flatly laid on the first belt 2, the cloth is driven to a vision robot image acquisition device by the first belt 2, under the action of friction force between the first belt 2 and a driving roller 6, the first belt 2 drives the driving roller 6 to rotate, the driving roller 6 drives a first rotating shaft 4 below to rotate, the two first rotating shafts 4 can synchronously and reversely rotate through the transmission of two gears 5, the first rotating shaft 4 above drives a press roller 7 to rotate, the diameters of the two gears 5 are different, so that the transmission ratio is changed, the rotating speed of the press roller 7 is the same as that of the first belt wheel 1, the cloth is respectively in contact fit with the first belt 2 and the press roller 7 simultaneously, the cloth moves forward under the drive of the friction force, the distance between the press roller 7 and the first belt 2 is the thickness of the cloth, the cloth is flattened after passing through the compression roller 7, so that the effect of preventing the cloth from wrinkling is achieved; the first rotating shaft 4 drives the second belt wheel 8 to rotate, the second belt wheel 8 drives the fourth belt wheel 12 to rotate through the second belt 13, the diameter of the fourth belt wheel 12 is larger than that of the second belt wheel 8, therefore, after the second belt wheel 8 rotates for a plurality of weeks, the fourth belt wheel 12 rotates for a circle, when a target on the fourth belt wheel 12 is identified by a sensor, the sensor transmits a signal to the singlechip, the singlechip controls the visual robot image acquisition device to acquire an image, the visual robot image acquisition device is connected with a computer circuit, a shot picture is stored in the computer, namely, the visual robot image acquisition device acquires an image once when a cloth moves forwards for a certain distance, the working interval is uniform, the height of the visual robot image acquisition device can be adjusted through the first air cylinder 15, the height of the visual robot image acquisition device from the first belt 2 determines the definition of the image, when the cloth is produced in batch, the first air cylinder 15 extends, the vision robot image acquisition device is high, unobvious defects in the image can be skipped by a computer, only the obvious defects are recorded by the computer, when the cloth is produced in a fine work mode, the first air cylinder 15 contracts, the vision robot image acquisition device is low, the unobvious defects in the image can be recorded by the computer, the fourth belt pulley 12 is detached, the second belt 13 is connected with the second belt pulley 8 and the third belt pulley 11, the second belt 13 is tightened through the belt adjusting device, the shooting frequency of the vision robot image acquisition device can be improved, and therefore the complete collection of cloth images is guaranteed. According to the invention, the belt wheel with a larger diameter can be detachably mounted on the fourth belt wheel 12, so that the length of an interval acquired by the vision robot image acquisition device can be changed, the interval sampling detection of cloth can be realized, the complete image detection of the cloth can also be realized, and a proper detection mode is selected for different grades of cloth, so that the working times of the vision robot image acquisition device are reduced on the premise of ensuring the detection accuracy, and the service life of the vision robot image acquisition device is prolonged; according to the invention, the first belt 2 supplies the compression roller 7 and the fourth belt wheel 12 to work, so that the installation of a power device is reduced, the structure is simplified, and the manufacturing cost is reduced, and the driving roller 6 is positioned under the compression roller 7 and is in contact with the inner ring of the first belt 2, so that the top surface of the first belt 2 can be kept horizontal, and the cloth can be conveyed more stably.
Specifically, as shown in fig. 3 or 4, a plurality of through holes 16 are formed in the front surface of the third pulley 11, one ends of a plurality of J-shaped rods 17 are fixedly connected to the front surface of the fourth pulley 12, the J-shaped rods 17 correspond to the through holes 16 one by one, the other ends of the J-shaped rods 17 respectively penetrate through the corresponding through holes 16, the back surface of the fourth pulley 12 is hinged to one ends of a plurality of L-shaped rods 18, a through strip-shaped groove 19 is formed in the front surface of the other end of each L-shaped rod 18, the other ends of the J-shaped rods 17 are respectively fixedly connected to one end of a screw 20, the diameter of the screw 20 is smaller than that of the J-shaped rod 17, the screws 20 respectively penetrate through the corresponding strip-shaped grooves 19, and nuts 21 are respectively threadedly. The front of the nut 21 is respectively in close contact with the back of the corresponding L-shaped rod 18, the front of the L-shaped rod 18 is respectively in close contact with the other end of the corresponding J-shaped rod 17, the third belt wheel 11 and the fourth belt wheel 12 can be tightly connected, when the disassembly is needed, the nut 21 is firstly unscrewed by a worker, then the L-shaped rod 18 is lifted, the fourth belt wheel 12 can be disassembled from the third belt wheel 11, the structure can ensure that enough connection stability exists between the third belt wheel 11 and the fourth belt wheel 12, and the disassembly and assembly of people can be ensured to be facilitated.
Specifically, as shown in fig. 4, the rear ends of the screws 20 according to the present embodiment are respectively threadedly mounted with the same nuts 21, and two nuts 21 on each screw 20 are in contact fit with each other. Two nuts 21 mutually support, and the stability between nut 21 and the screw rod 20 is stronger, can prevent that nut 21 from receiving to shake not hard up.
Further, as shown in fig. 1, the belt adjusting device according to this embodiment is a fourth bracket 22, the fourth bracket 22 is fixedly installed on the ground, an upper end of the fourth bracket 22 is fixedly connected to a lower end of a second cylinder 23, an upper end of the second cylinder 23 is fixedly installed with an adjusting pulley 24, and an inner ring of the second belt 13 contacts with an outer circumference of the adjusting pulley 24. The user can make the regulation band pulley 24 go up and down through adjusting the second cylinder 23 and go up and down, and the regulation band pulley 24 goes up and down and can change the shape of second belt 13 to adjust the elasticity of second belt 13.
Furthermore, as shown in fig. 1, a cloth guide plate 25 is disposed above the cloth feeding end of the first belt 2, the cloth guide plate 25 is fixedly mounted on the ground through a fixing device, the cloth guide plate 25 is of an arc-shaped structure, and the arc surface of the cloth guide plate 25 faces the press roller 7 obliquely. The cloth woven by the loom can move to the press roller 7 along the cloth guide plate 25, and the cloth can move forwards under the action of the press roller 7 and the first belt 2 so as to prevent the cloth from directly falling on the first belt 2 to pile up wrinkles.
Furthermore, in order to further reduce the floor space of the workshop, the cloth discharging end of the first belt 2 according to the embodiment is provided with a cloth rolling device, and the cloth rolling device is fixedly installed on the ground. The cloth is rolled up by the batching device after the inspection, and the length of the cloth production line can be shortened, so that the floor area of a workshop is reduced.
Furthermore, in order to ensure that images of a wide cloth can be acquired, the image acquisition device of the vision robot in this embodiment is provided with a plurality of cameras, and every two adjacent cameras are fixedly connected with each other. The distance between every two adjacent cameras is equal, so that the cloth feeding device has enough working width and can completely acquire images of wide cloth.
Further, as shown in fig. 2 or 3, the second pulley 8, the third pulley 11, and the fourth pulley 12 of the present embodiment are all V-shaped pulleys, and the second belt 13 is a V-shaped belt. The contact area between the V-shaped belt and the V-shaped belt wheel is large, and the working stability is high.
Furthermore, as shown in fig. 1, the first belt wheel 1 of the present embodiment is a toothed belt wheel, the first belt 2 is a toothed belt, the driving roller 6 is a toothed driving roller, and the first belt 2 is engaged with the first belt wheel 1 and the driving roller 6 at the same time. This structure can prevent slipping between the driving roller 6 and the first belt 2, so that the running stability of the present invention can be further improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. Cloth inspection machine based on vision robot, its characterized in that: the belt conveyor comprises two first belt wheels (1) fixedly installed on the ground, the two first belt wheels (1) are connected through a first belt (2), first supports (3) are respectively arranged in front of and behind the first belt (2), the first supports (3) are both fixedly installed on the ground, two first rotating shafts (4) which are parallel to each other are arranged between the first supports (3), the first belt (2) penetrates through the first rotating shafts (4), the front end and the rear end of each first rotating shaft (4) are respectively connected with the corresponding first supports (3) through bearings, gears (5) are respectively and fixedly installed on the peripheries of the first rotating shafts (4), the gears (5) are respectively collinear with the central lines of the corresponding first rotating shafts (4), the two gears (5) are mutually meshed, collinear driving rollers (6) are fixedly installed on the peripheries of the first rotating shafts (4) below, and the driving rollers (6) are collinear with the central lines of the corresponding first rotating shafts (4), the periphery of the transmission roller (6) is in contact fit with the top surface of the inner ring of the first belt (2), a compression roller (7) is fixedly installed on the periphery of the first rotating shaft (4) above, the compression roller (7) is positioned above the first belt (2), a second belt wheel (8) is fixedly installed on the periphery of the first rotating shaft (4) above, the center lines of the first rotating shaft (4), the compression roller (7) and the second belt wheel (8) above are collinear, the lower end of a second support (9) is fixedly connected on the ground, the upper end of the second support (9) is fixedly connected with one end of the second rotating shaft (10), the periphery of the second rotating shaft (10) is connected with the inner ring of a third belt wheel (11) through a bearing, a fourth belt wheel (12) is detachably installed on the periphery of the third belt wheel (11), the fourth belt wheel (12) is connected with the second belt wheel (8) through a second belt (13), and a belt adjusting device is arranged in the second belt (, the place ahead and the rear of first belt (2) are equipped with third support (14) respectively, the equal fixed mounting of third support (14) is subaerial, the lower extreme of first cylinder (15) of upper end difference fixed connection of third support (14), fixed mounting vision robot image acquisition device between the upper end of first cylinder (15), second support (9) are located between first support (3) and third support (14), one side fixed mounting sensor of third support (14), the periphery of fourth band pulley (12) and third band pulley (11) is fixed mounting target respectively, still include the singlechip, singlechip and vision robot image acquisition device circuit connection, sensor and singlechip circuit connection.
2. The vision robot-based cloth inspecting machine of claim 1, wherein: the front of third band pulley (11) set up several through-hole (16), the preceding one end of fixed connection several J type pole (17) of fourth band pulley (12), J type pole (17) and through-hole (16) one-to-one, and the other end of J type pole (17) passes in through-hole (16) that corresponds respectively, the articulated one end of connecting several L type pole (18) in the back of fourth band pulley (12), penetrating bar groove (19) are seted up respectively in front of the other end of L type pole (18), the one end of fixed connection screw rod (20) is distinguished to the other end of J type pole (17), screw rod (20) pass in corresponding bar groove (19) respectively, the rear end of screw rod (20) is threaded mounting nut (21) respectively.
3. The vision robot-based cloth inspecting machine of claim 2, wherein: the rear ends of the screw rods (20) are respectively provided with the same nuts (21) in a threaded mode, and the two nuts (21) on each screw rod (20) are in contact fit with each other.
4. The vision robot-based cloth inspecting machine of claim 1, wherein: the belt adjusting device is a fourth support (22), the fourth support (22) is fixedly installed on the ground, the upper end of the fourth support (22) is fixedly connected with the lower end of a second air cylinder (23), an adjusting belt wheel (24) is fixedly installed at the upper end of the second air cylinder (23), and the inner ring of a second belt (13) is in contact with the periphery of the adjusting belt wheel (24).
5. The vision robot-based cloth inspecting machine of claim 1, wherein: the cloth guide plate (25) is arranged above the cloth feeding end of the first belt (2), the cloth guide plate (25) is fixedly mounted on the ground through a fixing device, the cloth guide plate (25) is of an arc-shaped structure, and the arc surface of the cloth guide plate (25) faces the compression roller (7) obliquely.
6. The vision robot-based cloth inspecting machine of claim 1, wherein: the cloth outlet end of the first belt (2) is provided with a cloth rolling device, and the cloth rolling device is fixedly arranged on the ground.
7. The vision robot-based cloth inspecting machine of claim 1, wherein: the vision robot image acquisition device is a plurality of cameras, and every two adjacent cameras are fixedly connected.
8. The vision robot-based cloth inspecting machine of claim 1, wherein: the second belt wheel (8), the third belt wheel (11) and the fourth belt wheel (12) are all V-shaped belt wheels, and the second belt (13) is a V-shaped belt.
9. The vision robot-based cloth inspecting machine of claim 1, wherein: first band pulley (1) be the toothed belt wheel, first belt (2) are tooth conveyer belt, driving roller (6) are tooth driving roller, first belt (2) mesh with first band pulley (1), driving roller (6) simultaneously.
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| CN201811543768.8A CN109629218B (en) | 2018-12-17 | 2018-12-17 | Cloth inspecting machine based on vision robot |
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| CN201811543768.8A CN109629218B (en) | 2018-12-17 | 2018-12-17 | Cloth inspecting machine based on vision robot |
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| CN110093771A (en) * | 2019-04-28 | 2019-08-06 | 季华实验室 | A kind of intelligence fabric inspecting system |
| CN111576026B (en) * | 2020-06-04 | 2021-03-30 | 蜂奇物联科技(青岛)有限公司 | Take visual detection's intelligent cloth inspection machine |
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| CN205484109U (en) * | 2015-12-15 | 2016-08-17 | 浙江越剑机械制造有限公司 | Cloth inspection machine based on vision robot |
| JP2018127738A (en) * | 2017-02-09 | 2018-08-16 | 株式会社川島織物セルコン | Method for evaluating see-through properties of curtain and drawing showing see-through properties of curtain |
| CN107268256A (en) * | 2017-07-12 | 2017-10-20 | 赵魁 | A kind of cloth inspecting machine of convenient use |
| CN207277048U (en) * | 2017-09-21 | 2018-04-27 | 常州宏大智能装备产业发展研究院有限公司 | Weaving face fabric on-line checking cloth inspecting machine based on machine vision |
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