CN110524548B - Robot and sewing machine speed cooperation method based on closed-loop control - Google Patents

Robot and sewing machine speed cooperation method based on closed-loop control Download PDF

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Publication number
CN110524548B
CN110524548B CN201910713566.1A CN201910713566A CN110524548B CN 110524548 B CN110524548 B CN 110524548B CN 201910713566 A CN201910713566 A CN 201910713566A CN 110524548 B CN110524548 B CN 110524548B
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speed
sewing machine
robot
cloth feeding
sewing
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CN110524548A (en
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耿旭达
曹华
张媛
韩建欢
张彪
袁顺宁
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Luoshi Wuhan Robot Co ltd
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Rokae Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B27/00—Work-feeding means
    • D05B27/10—Work-feeding means with rotary circular feed members
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B69/00—Driving-gear; Control devices
    • D05B69/10—Electrical or electromagnetic drives
    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G05B19/4163—Adaptive control of feed or cutting velocity
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36521—Select by combination of detected force, acceleration, speed, work rate

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Textile Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Sewing Machines And Sewing (AREA)

Abstract

The invention provides a robot and sewing machine speed cooperation method based on closed-loop control, which comprises the following steps: the robot system clamps the inner side of the cloth and controls the movement of the cloth, and the movement speed of the robot is calculated according to the set needle pitch; the sewing machine control system receives the movement speed of the robot and takes the movement speed as the cloth feeding speed of the sewing machine step feeding mechanism; calculating the rotating speed of a motor on the sewing machine according to the transmission ratio of the cloth feeding wheel to the sewing machine, sending an analog signal quantity corresponding to the rotating speed of the motor to a motor control module of the sewing machine, and outputting the rotating speed to drive the cloth feeding wheel of the sewing machine to move by the motor control module; the speed of the cloth feeding wheel is collected, the rotating speed error of the cloth feeding wheel is processed by a sewing machine control system, the cloth feeding speed after closed-loop control is obtained, and the cloth feeding speed of the sewing machine is cooperated with the speed of the robot in real time. The invention changes the cloth feeding speed of the sewing machine to realize real-time cooperation with the movement speed of the robot tool; the cloth feeding precision reaches the receiving speed, the speed coordination is realized, and the control precision is high.

Description

Robot and sewing machine speed cooperation method based on closed-loop control
Technical Field
The invention relates to the technical field of industrial robots, in particular to a robot and sewing machine speed cooperation method based on closed-loop control.
Background
Due to the flexibility and the irregular shape of the cloth, the robot has relatively few applications in the sewing industry, and corresponding technologies at home and abroad are not mature yet. There are two types of the robot and the sewing machine according to their positional relationship:
(1) fixing a sewing machine: in the mode, the robot controls the speed and the direction of the cloth piece according to the plurality of sensors so as to achieve the sewing effect meeting the requirements.
(2) The sewing machine is fixedly connected to a motion unit of the robot: in the mode, the cloth is static or is controlled by a simple movement mechanism, and the robot is fixedly connected with the sewing machine to move at the required speed and direction, so that the sewing effect meeting the requirements is achieved.
The robot and the sewing machine are essential for cooperation of actions as a sewing system. As shown in fig. 2, the cloth feeding motion of the sewing machine and the up-and-down reciprocating motion of the needle determine the size of the needle pitch, and the faster the cloth feeding speed is, the larger the needle pitch is, and vice versa, in the middle of the raising and lowering of the needle.
As shown in fig. 3, when sewing is performed with the sewing machine fixed, the edge of the cloth is fed by the cloth feeding wheel of the sewing machine, and is pressed flat by the presser foot, and the movement of the inner side of the cloth is controlled by the robot tool. Therefore, if the robot movement is not cooperated with the cloth feeding movement of the sewing machine, namely the movement of the edge and the inner side of the cloth piece is inconsistent, the sewing stitch is disordered and even the sewing can not be finished.
A few foreign documents have introduced the synergy between the two in the system. Histamine and Karakorum Kimura in 1994 in the united states patent "SEWING OPERATION ROBOT" describes a SEWING system with a SEWING machine attached to a ROBOT, which gives a detailed description of how to achieve a synergy between simple harmonic motion and the speed of motion of the ROBOT itself. David Gershon and Isaac Porat in the literature "Vision servo control of a spherical sewing system" introduced that when the sewing machine is fixed, the speed of the robot is adjusted according to the encoder information of the sewing machine shaft, and open loop control is carried out to keep the sewing cloth piece to have certain tension; makoto Kudoa and Yasuo Nasua et al, in Multi-arm robot control system for manipulation of flexible materials in a sewing operation, describe how to realize the cooperation of a plurality of robots according to the speed of a sewing machine when the sewing machine is fixed; in Flexible, fibrous and with real time adaptive control, l.e.wetterwald and s.dransfeld et al, a method is introduced in which a robot acquires the speed of a sewing machine through information of an optical motion sensor, and then adjusts the motion speed of the robot to perform cooperation; johannes Schrimpf has made much research on a robot sewing system, introduces a sewing machine stationary system in the document Real-time system integration in a multi-robot sewing cell, and explains how to coordinate the robot according to the sewing machine speed by information of a force sensor and an optical sensor on the premise of specifying the circular frequency of the sewing machine.
However, the above limitations of research on the speed coordination of robots and sewing machines include:
(1) the sensor system is complex. The system comprises a camera, an encoder, a force sensor and the like;
(2) the movement speed of the robot can be adjusted only according to the speed set by the sewing machine to complete the cooperation;
(3) the robot is accelerated and decelerated in the sewing process instead of being constantly uniform, and if the cloth feeding speed of the sewing machine cannot respond in real time, uncoordinated local motion is caused.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks mentioned.
Therefore, the invention aims to provide a robot and sewing machine speed coordination method based on closed-loop control.
In order to achieve the above object, an embodiment of the present invention provides a robot and sewing machine speed coordination method based on closed-loop control, including the following steps:
step S1, the robot system clamps the inner side of the cloth and controls the movement of the cloth, and the movement speed V of the robot is calculated according to the set needle pitchtoolAnd the data is transmitted to a sewing machine control system through a communication interface;
step S2, the sewing machine control system receives the movement speed V of the robottoolUsing it as the cloth feeding speed V of the step feeding mechanism of the sewing machinesewing(ii) a And according to the cloth feeding speed VsewingAnd a transmission ratio i, calculating the rotating speed R of a motor on the sewing machinemAnd will be related to the rotational speed R of the motormCorresponding analog semaphore SaThe motor control module is sent to the sewing machine and outputs a rotating speed R'mDriving a cloth feeding wheel of the sewing machine to move;
step S3, the encoder on the cloth feeding wheel collects the speed V of the cloth feeding wheel in real times′ewAnd the rotation speed error delta V of the cloth feeding wheel is processed by the sewing machine control system to obtain the cloth feeding speed V after closed-loop controliSo that the cloth feeding speed of the sewing machine and the robot speed are coordinated in real time.
Further, in the step S2, the cloth feeding speed V is set according to the cloth feeding speedsewingAnd a transmission ratio i, calculating the rotating speed R of a motor on the sewing machinemIs composed of
Rm＝i·Vsewing。
Further, in the step S2, the relationship f (R) between the motor rotation speed and the analog signal amount is usedm,Sa) Calculating the quantity S of analog signalsaHere f (R)m,Sa) The relationship of (a) is determined according to the specific sewing machine, and the rotating speed of the sewing machine motor and the analog signal quantity are in a linear relationship.
Further, in step S3, the processing of the rotational speed error Δ V of the feed roller by the sewing machine control system includes:
Δp＝kpΔV
Figure BDA0002154573320000031
ΔVi＝Δp+Δd
wherein, Δ p, Δ d are output quantities regulated by proportion and differentiation links, kp，TdThe speed V input to the controller after adjustment for the corresponding adjustment factoriComprises the following steps:
Vi＝Vsewing+ΔVi。
according to the robot and sewing machine speed cooperative method based on the closed-loop control, the novel speed cooperative method for accurately controlling the cloth feeding speed of the sewing machine in a closed-loop manner based on the speed of the robot is provided. The speed of the robot is sent to a sewing machine control system, the control system receives the speed information and then performs closed-loop control on the sewing machine, and the cloth feeding speed of the sewing machine is changed to realize real-time cooperation with the movement speed of the robot tool; even if the cloth feeding accurately reaches the receiving speed, the speed coordination is realized. The invention has high control precision, can adjust the speed in real time according to the acceleration and deceleration of the robot, does not need a complex sensor, has simple system, stable control and higher control precision of the cloth feeding speed.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for coordinating robot and sewing machine speeds based on closed loop control according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the relationship between the needle pitch and the cloth feed speed according to an embodiment of the present invention;
FIG. 3 is a schematic view of the robot and feed wheel cooperating in accordance with an embodiment of the invention;
FIG. 4 is a schematic illustration of information transfer of various parts according to an embodiment of the invention;
FIG. 5 is a block diagram of an open-loop control model according to an embodiment of the present invention;
FIG. 6 is a block diagram of a closed-loop control model according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1, the method for coordinating the speed of the robot and the sewing machine based on the closed-loop control of the embodiment of the invention comprises the following steps:
step S1, the robot system clamps the inner side of the cloth and controls the movement of the cloth, and the movement speed V of the robot is calculated according to the set needle pitchtoolAnd transmitted to the sewing machine control system through the communication interface.
Specifically, the robot system comprises a robot, a robot tool clamps the inner side of a cloth piece, the movement of the cloth piece is controlled, the movement speed of the cloth piece is calculated, and the speed is transmitted to the control system of the sewing machine through a communication interface. The robot can control the self movement speed, the accuracy of the movement speed is high, and the speed value V can be output through the controller interfacetool。
Step S2, the sewing machine control system receives the movement speed V of the robottoolSet as the cloth feeding speed V of the step feeding mechanism of the sewing machinesewing。
Referring to fig. 4 and 6, let the robot movement speed be VtoolThe control system of the sewing machine sets the cloth feeding speed of the sewing machine to be VsewingAnd, and:
Vsewing＝Vtool
in particular, according to the cloth feed speed VsewingAnd a transmission ratio i, calculating the rotating speed R of a motor on the sewing machinemIs composed of
Rm＝i·Vsewing。
Then according to the relation f (R) between the motor speed and the analog signal quantitym,Sa) Calculating the quantity S of analog signalsa。
In addition, f (R)m,Sa) The relationship of (a) is determined by the particular sewing machine, and in most cases, the rotational speed of the sewing machine motor is linearly related to the analog signal amount.
Will be related to the rotational speed R of the motormCorresponding analog semaphore SaThe motor control module is sent to the sewing machine, and the motor control module outputs the rotating speed R'mThe cloth feeding wheel of the sewing machine is driven to move. The cloth feeding wheel is driven to move by the transmission mechanism, and the actual linear speed of the cloth feeding wheel is as follows:
Figure BDA0002154573320000051
due to the inertial unit of the control system and the presence of mechanical errors, it is true:
V′sew≠Vsewing
V′sew≠Vtool
Vtool-V′sew＝ΔV
therefore, referring to fig. 5, the open-loop control model ends up having a speed error, and the speed of the feed wheel and the movement speed of the robot tool have an error of Δ V. Therefore, the invention provides a closed-loop control model for the cloth feeding speed of the sewing machine, which enables the cloth feeding to accurately reach the receiving speed and realizes speed coordination.
The sewing machine is an electric sewing machine with a motor control module, the sewing machine completes the execution of cloth feeding action and sewing, a cloth feeding wheel of the sewing machine is provided with an encoder, the numerical value of the encoder of the cloth feeding wheel of the sewing machine is acquired, and the actual cloth feeding speed of the cloth feeding wheel of the sewing machine is calculated and used as the feedback quantity of closed-loop control.
Step S3, collecting the speed V 'of the cloth feeding wheel in real time by the encoder on the cloth feeding wheel'sewAnd the error is fed back to a sewing machine control system, and the sewing machine control system processes the rotating speed error delta V of the cloth feeding wheel to obtain the cloth feeding speed V after closed-loop controliSo that the cloth feeding speed of the sewing machine and the robot speed are coordinated in real time, refer to fig. 6.
The open-loop control model has a speed error finally, in order to eliminate the error, an encoder is arranged at a cloth feeding wheel of the sewing machine, and the speed V 'of the cloth feeding wheel is acquired in real time'sewFeeding back the feedback quantity as a feedback quantity to the controller; a PD controller module is added in the controller to process the rotating speed error delta V of the cloth feeding wheel, correct the analog signal and input the analog signal into the motor control module to control the motor.
In this step, the processing of the rotational speed error Δ V of the cloth feeding wheel by the sewing machine control system includes:
Δp＝kpΔV
Figure BDA0002154573320000052
ΔVi＝Δp+Δd
wherein, Δ p, Δ d are output quantities regulated by proportion and differentiation links, kp，TdThe speed V input to the controller after adjustment for the corresponding adjustment factoriComprises the following steps:
Vi＝Vsewing+ΔVi。
therefore, if Δ ViIf the output signal is greater than 0, the output analog signal of the controller is increased, the rotating speed of a sewing machine motor is increased, the rotating speed of a cloth feeding wheel is increased, the target cloth feeding speed is achieved, and errors are eliminated; otherwise, the same principle is applied.
The speed of the sewing machine and the speed of the robot can be synchronized in real time through the control of the closed-loop control model, and the speed cooperation of the sewing machine and the robot is realized.
According to the robot and sewing machine speed cooperative method based on the closed-loop control, the novel speed cooperative method for accurately controlling the cloth feeding speed of the sewing machine in a closed-loop manner based on the speed of the robot is provided. The speed of the robot is sent to a sewing machine control system, the control system receives the speed information and then performs closed-loop control on the sewing machine, and the cloth feeding speed of the sewing machine is changed to realize real-time cooperation with the movement speed of the robot tool; even if the cloth feeding accurately reaches the receiving speed, the speed coordination is realized. The invention has high control precision, can adjust the speed in real time according to the acceleration and deceleration of the robot, does not need a complex sensor, has simple system, stable control and higher control precision of the cloth feeding speed.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (4)

1. A robot and sewing machine speed cooperation method based on closed-loop control is characterized by comprising the following steps:
step S1, the robot system clamps the inner side of the cloth and controls the movement of the cloth, and the movement speed V of the robot is calculated according to the set needle pitchtoolAnd the data is transmitted to a sewing machine control system through a communication interface;
step S2, the sewing machine control system receives the movement speed V of the robottoolSet as the cloth feeding speed V of the step feeding mechanism of the sewing machinesewing(ii) a And according to the cloth feeding speed VsewingAnd a transmission ratio i, calculating the rotating speed R of a motor on the sewing machinemAnd will be related to the rotational speed R of the motormCorresponding analog semaphore SaThe motor control module is sent to the sewing machine and outputs a rotating speed R'mDriving a cloth feeding wheel of the sewing machine to move;
step S3, collecting the speed V 'of the cloth feeding wheel in real time by the encoder on the cloth feeding wheel'sewAnd the rotation speed error delta V of the cloth feeding wheel is processed by the sewing machine control system to obtain the cloth feeding speed V after closed-loop controliSo that the cloth feeding speed of the sewing machine and the robot speed are coordinated in real time.
2. As claimed in claimThe method for coordinating the speed of a robot and a sewing machine based on the closed-loop control of the claim 1, wherein in the step S2, the cloth feeding speed V is usedsewingAnd a transmission ratio i, calculating the rotating speed R of a motor on the sewing machinemIs composed of
Rm＝i·Vsewing
3. The method for coordinating a robot with a sewing machine based on closed-loop control according to claim 1, wherein in the step S2, the relationship f (R) between the motor rotation speed and the analog signal amount is usedm,Sa) Calculating the quantity S of analog signalsaHere f (R)m,Sa) The relationship of (a) is determined according to the specific sewing machine, and the rotating speed of the sewing machine motor and the analog signal quantity are in a linear relationship.
4. The method for coordinating robot and sewing machine based on closed-loop control according to claim 1, wherein in step S3, the processing of the rotational speed error Δ V of the feed wheel by the sewing machine control system comprises:
Δp＝kpΔV
Figure FDA0002830691310000011
ΔVi＝Δp+Δd
wherein, Δ p, Δ d are output quantities regulated by proportion and differentiation links, kp，TdThe speed V input to the controller after adjustment for the corresponding adjustment factoriComprises the following steps:
Vi＝Vsewing+ΔVi。
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Patentee before: ROKAE, Inc.