CN110552118A - cloth suction manipulator based on industrial robot vision and fabric grabbing method - Google Patents
cloth suction manipulator based on industrial robot vision and fabric grabbing method Download PDFInfo
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- CN110552118A CN110552118A CN201910937895.4A CN201910937895A CN110552118A CN 110552118 A CN110552118 A CN 110552118A CN 201910937895 A CN201910937895 A CN 201910937895A CN 110552118 A CN110552118 A CN 110552118A
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- fabric
- gripper
- manipulator
- presser foot
- cloth suction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B19/00—Programme-controlled sewing machines
- D05B19/02—Sewing machines having electronic memory or microprocessor control unit
- D05B19/12—Sewing machines having electronic memory or microprocessor control unit characterised by control of operation of machine
- D05B19/16—Control of workpiece movement, e.g. modulation of travel of feed dog
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B27/00—Work-feeding means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
The invention relates to the technical field of sewing machines, and provides a cloth suction manipulator and a fabric grabbing method based on the vision of an industrial robot. After the first fabric and the second fabric are sequentially grabbed by the first fabric sucking manipulator and the second fabric sucking manipulator, the first fabric overlapping part and the second fabric overlapping part of the first fabric and the second fabric are subjected to edge overlapping according to a preset overlapping width, and the first vision and the second vision are relied on, so that the overlapping layer of the first fabric overlapping part and the second fabric overlapping part after the two fabrics are overlapped is high in precision, high-quality sewing is realized, and the sewing machine has high popularization value.
Description
Technical Field
The invention relates to the technical field of sewing machines, and particularly provides a cloth suction manipulator and a fabric grabbing method based on the vision of an industrial robot.
Background
In the sewing process of the sewing machine, a sewing person needs to overlay two pieces of fabric together for sewing, the two pieces of fabric are pressed by a presser foot of the sewing machine, and then the sewing machine is started for sewing. In the process, the edges of the fabrics with different sizes and specifications and styles need to be overlapped manually by operators, the edges need to be rolled for connection processing, the overlapped edges with irregular widths at the top and narrow at the bottom often appear under the condition of irregular technology of sewing personnel, the overlapped edges are more irregular after the sewing and routing are finished, and the manual overlapped edges influence the sewing quality. The existing fabric processing method realizes the sewing work of the superposed layers by means of manual operation and has the defects of low automation degree, low edge superposition precision, low superposition speed, low efficiency and the like.
Disclosure of Invention
The invention provides a cloth suction manipulator based on the visual sense of an industrial robot, aiming at the defects existing in the edge superposition of fabrics in sewing, and particularly solving the technical problems, and the cloth suction manipulator is characterized by comprising a first cloth suction manipulator and a second cloth suction manipulator, wherein the first cloth suction manipulator for controlling the first fabrics comprises a first visual sense, a first gripper, a second gripper and a third gripper; and a second fabric suction manipulator for controlling the second fabric, which comprises a second vision part, a fourth gripper, a fifth gripper, a sixth gripper, a seventh gripper and an eighth gripper, wherein the first fabric is provided with a first fabric overlapping part, the second fabric is provided with a second fabric overlapping part, the overlapping parts of the first fabric overlapping part and the second fabric overlapping part are overlapping layers, and the overlapping layers are sewn by the fabric gripping method based on the vision of the industrial robot. According to the scheme, after the fabric I and the fabric II are sequentially grabbed by the fabric I and the fabric II, the fabric I overlapping part and the fabric II overlapping part of the fabric I and the fabric II are subjected to edge overlapping according to the preset overlapping width, the overlapping part is an overlapping layer, and the overlapping layer formed by overlapping the fabric I overlapping part and the fabric II overlapping part is high in precision by means of the vision I and the vision II, so that high-quality sewing is realized.
According to the grabbing method, the first vision and the second vision are arranged on the first cloth sucking manipulator and the second cloth sucking manipulator based on the vision of the industrial robot, the first vision and the second vision are used for judging the state of the fabric, the intelligent overlapping of the edges of the two fabrics is realized, and the accurate automation of the grabbing and sewing of the fabrics is realized.
The cloth suction manipulator based on the industrial robot vision further comprises a program processing terminal and a sewing machine presser foot device connected with the program processing terminal, a network communication output interface of the program processing terminal is connected with network communication interfaces of the cloth suction manipulator I and the cloth suction manipulator II, and communication interfaces of the cloth suction manipulator I and the cloth suction manipulator II are connected with a serial communication interface of the sewing machine presser foot device. The program processing terminal processes the position signals of the first fabric and the second fabric which are output by the program processing terminal, the first fabric sucking mechanical arm and the second fabric sucking mechanical arm receive the position signals of the first fabric and the second fabric which are output by the program processing terminal, the operation running tracks of the first fabric sucking mechanical arm and the second fabric sucking mechanical arm are generated, and the first gripper, the second gripper and the third gripper of the first fabric sucking mechanical arm are instructed to grip the fabric at the protruding part of the first fabric; and the fourth gripper, the fifth gripper, the sixth gripper, the seventh gripper and the eighth gripper of the instruction cloth suction manipulator II grip the fabric at the protruding part of the second fabric.
the cloth suction mechanical arm I and the cloth suction mechanical arm II operate under the control of an operation track generated by the program processing terminal, the fabric I is grabbed and placed on the fabric II, the edges of the fabric I and the fabric II are in preset sizes, and the fabric I and the fabric II are overlapped to form an overlapping layer; the superposed layer is arranged below the presser foot device of the sewing machine, the cloth suction mechanical arm I and the cloth suction mechanical arm II complete superposition action and then output status signals to the presser foot device of the sewing machine, and the presser foot device receives the status signals, converts the status signals into control signals of a motor of the presser foot device and controls the presser foot device of the sewing machine to press the superposed layer so as to be sewn; and after the communication interfaces of the first cloth suction mechanical arm and the second cloth suction mechanical arm receive the no-fabric signal of the state of the presser foot device, the first cloth suction mechanical arm and the second cloth suction mechanical arm carry out the grabbing work of the next action.
The invention discloses a fabric grabbing method based on industrial robot vision, which is characterized by comprising the following steps:
The method comprises the following steps: the first vision and the second vision shoot and extract images of the first fabric and the second fabric, the images of the first fabric and the second fabric which are pre-stored by the program processing terminal are analyzed, the input images of the first fabric and the second fabric are compared and processed, the positions of the first fabric and the second fabric are calculated, and the positions of the first fabric and the second fabric are respectively output to the first cloth suction manipulator and the second cloth suction manipulator through an output interface of the program processing terminal;
Step two: the first fabric suction manipulator and the second fabric suction manipulator acquire the positions of the first fabric and the second fabric as target positions, and gripping motion tracks of a first gripper and a third gripper of the first gripper and the second gripper of the first fabric suction manipulator are generated; generating grabbing motion tracks of a fourth gripper, a fifth gripper, a sixth gripper, a seventh gripper and an eighth gripper of a second cloth sucking manipulator, automatically grabbing a first fabric and a second fabric according to a grabbing and placing control algorithm which is designed in advance and stored in a program processing terminal, and forming an overlapped layer to be placed under a presser foot device of the sewing machine;
Step three: the presser foot device of the sewing machine receives presser foot instructions sent by the cloth suction mechanical arm I and the cloth suction mechanical arm II, and the program processing terminal controls the presser foot device of the sewing machine to perform presser foot action, so that the superposed layers are pressed by the presser foot;
Step four: the presser foot device of the sewing machine receives the sewing instruction, and the superposed layer is sewn;
Step five: the presser foot device of the sewing machine judges whether a fabric exists or not, and the information acquisition links of the first cloth suction mechanical arm and the second cloth suction mechanical arm are carried out when no fabric exists.
The fabric grabbing method based on the industrial robot vision comprises a program processing terminal and a sewing machine presser foot device connected with the program processing terminal, wherein a network communication output interface of the program processing terminal is connected with network communication interfaces of a cloth suction mechanical arm I and a cloth suction mechanical arm II, and communication interfaces of the cloth suction mechanical arm I and the cloth suction mechanical arm II are connected with a serial communication interface of the sewing machine presser foot device. The program processing terminal processes the position signals of the first fabric and the second fabric which are output by the program processing terminal, the first fabric sucking mechanical arm and the second fabric sucking mechanical arm receive the position signals of the first fabric and the second fabric which are output by the program processing terminal, the operation running tracks of the first fabric sucking mechanical arm and the second fabric sucking mechanical arm are generated, and the first gripper, the second gripper and the third gripper of the first fabric sucking mechanical arm are instructed to grip the fabric at the protruding part of the first fabric; and the fourth gripper, the fifth gripper, the sixth gripper, the seventh gripper and the eighth gripper of the instruction cloth suction manipulator II grip the fabric at the protruding part of the second fabric.
the cloth suction mechanical arm I and the cloth suction mechanical arm II operate under the control of an operation track generated by the program processing terminal, the fabric I is grabbed and placed on the fabric II, the edges of the fabric I and the fabric II are in preset sizes, and the fabric I and the fabric II are overlapped to form an overlapping layer; the superposed layer is arranged below the presser foot device of the sewing machine, the cloth suction mechanical arm I and the cloth suction mechanical arm II complete superposition action and then output status signals to the presser foot device of the sewing machine, and the presser foot device receives the status signals, converts the status signals into control signals of a motor of the presser foot device and controls the presser foot device of the sewing machine to press the superposed layer so as to be sewn; and after the communication interfaces of the first cloth suction mechanical arm and the second cloth suction mechanical arm receive the no-fabric signal of the state of the presser foot device, the first cloth suction mechanical arm and the second cloth suction mechanical arm carry out the grabbing work of the next action.
compared with the prior art, the invention has the beneficial effects that: the first fabric and the second fabric are grabbed by the first fabric sucking manipulator and the second fabric sucking manipulator to the lower part of the presser foot device of the sewing machine, so that the sewing automation is realized, the folding quality of the superposed layer is improved by depending on the first vision and the second vision, and the invention has higher popularization value.
Drawings
FIG. 1 is a schematic fabric diagram of a fabric sucking manipulator and a fabric grabbing method based on the vision of an industrial robot according to the invention;
FIG. 2 is a schematic diagram of a fabric stacking machine hand and a fabric grabbing method based on the vision of an industrial robot according to the invention;
Fig. 3 is a schematic diagram of the cloth suction manipulator and the fabric grabbing method based on the vision of the industrial robot.
In the drawings, the reference numbers: 11. fabric I; 12. a fabric first overlapping part; 21. fabric II; 22. a second fabric overlapping part; 123. an overlying layer; 31. vision one; 32. a first gripper; 33. a second gripper; 34. a third gripper; 41. vision II; 42. a fourth gripper; 43. a fifth gripper; 44. a sixth gripper; 45. a seventh gripper; 46. and eighthly, a hand grip.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.
as shown in fig. 1 and 2, the fabric suction manipulator and the fabric grabbing method based on the industrial robot vision of the invention are that after the fabric suction manipulator I and the fabric suction manipulator II grab the fabric I11 and the fabric II 21 in sequence, the fabric I overlapping part 12 and the fabric II overlapping part 22 of the fabric I11 and the fabric II 21 are overlapped at the edge according to the preset overlapping width, and the overlapping part is an overlapping layer 123, so that the overlapping layer 123 formed by overlapping two fabrics of the fabric I overlapping part 12 and the fabric II overlapping part 22 is high in precision, and high-quality sewing is realized.
in fig. 3, a first cloth suction manipulator and a second cloth suction manipulator of the first cloth suction manipulator and the fabric grabbing method based on the vision of the industrial robot are shown, and specifically, the first cloth suction manipulator for controlling the first fabric 11 is shown, and comprises a vision one 31 and a first gripper 32, a second gripper 33 and a third gripper 34; and a second cloth suction manipulator on the second control fabric 21, which comprises a second vision 41 and a fourth grip 42, a fifth grip 43, a sixth grip 44, a seventh grip 45 and an eighth grip 46. The first fabric 11 is provided with a first fabric overlapping part 12, the second fabric is provided with a second fabric overlapping part 22, the overlapping part of the first fabric overlapping part 12 and the second fabric overlapping part 22 is an overlapping layer 123, and the overlapping layer 123 is sewn by the fabric grabbing method based on the industrial robot vision.
According to the fabric suction manipulator and the fabric grabbing method based on the industrial robot vision, the vision I31 and the vision II 41 are arranged on the fabric suction manipulator I and the fabric suction manipulator II, the grabbing method utilizes the vision I31 and the vision II 41 to judge the fabric state, the intelligent overlapping of the edges of two fabrics is realized, and the accurate automation of fabric grabbing and sewing is realized.
The fabric suction manipulator and the fabric grabbing method based on the industrial robot vision further comprise a program processing terminal and a sewing machine presser foot device connected with the program processing terminal, wherein a network communication output interface of the program processing terminal is connected with network communication interfaces of the fabric suction manipulator I and the fabric suction manipulator II, and communication interfaces of the fabric suction manipulator I and the fabric suction manipulator II are connected with a serial communication interface of the sewing machine presser foot device. The program processing terminal processes the position signals of the first fabric 11 and the second fabric 21, the first cloth suction manipulator and the second cloth suction manipulator receive the position signals of the first fabric 11 and the second fabric 21, the position signals are output by the program processing terminal, operation running tracks of the first cloth suction manipulator and the second cloth suction manipulator are generated, and a first gripper 32, a second gripper 33 and a third gripper 34 of the first cloth suction manipulator are instructed to grip the fabric at the protruding part of the first fabric 11; and instructing a fourth gripper 42, a fifth gripper 43, a sixth gripper 44, a seventh gripper 45 and an eighth gripper 46 of the cloth suction manipulator II to grip the fabric at the protruding part of the second fabric 21.
The cloth suction mechanical arm I and the cloth suction mechanical arm II operate under the control of an operation track generated by the program processing terminal, the fabric I11 is grabbed and placed on the fabric II 21, the edges of the fabric I11 and the fabric II 21 are in preset sizes, and the fabric I11 and the fabric II 21 are overlapped to form an overlapping layer 123; the superposed layer 123 is arranged below the presser foot device of the sewing machine, the cloth suction mechanical arm I and the cloth suction mechanical arm II complete superposition action and then output status signals to the presser foot device of the sewing machine, the presser foot device receives the status signals and converts the status signals into control signals of a motor of the presser foot device, and the presser foot device of the sewing machine is controlled to press the superposed layer 123 so as to be sewn; and after the communication interfaces of the first cloth suction mechanical arm and the second cloth suction mechanical arm receive the no-fabric signal of the state of the presser foot device, the first cloth suction mechanical arm and the second cloth suction mechanical arm carry out the grabbing work of the next action.
the invention discloses a fabric grabbing method based on industrial robot vision, which is characterized by comprising the following steps:
The method comprises the following steps: the first vision 31 and the second vision 41 shoot and extract images of the first fabric 11 and the second fabric 21, the images of the first fabric 11 and the second fabric 21 stored in the program processing terminal in advance are analyzed, the input images of the first fabric 11 and the second fabric 21 are compared and processed, the positions of the first fabric 11 and the second fabric 21 are calculated, and the program processing terminal outputs the positions of the first fabric 11 and the second fabric 21 to the first cloth suction manipulator and the second cloth suction manipulator through the output interface respectively;
step two: the first fabric suction manipulator and the second fabric suction manipulator acquire the positions of the first fabric 11 and the second fabric 21 as target positions, and gripping motion tracks of a first gripper 32 and a third gripper 34 of a second gripper 33 of the first fabric suction manipulator are generated; generating grabbing motion tracks of a fourth gripper 42, a fifth gripper 43, a sixth gripper 44, a seventh gripper 45 and an eighth gripper 46 of the second fabric sucking manipulator, automatically grabbing the first fabric 11 and the second fabric 21 by the first fabric sucking manipulator and the second fabric sucking manipulator according to the pre-designed and stored grabbing and placing control algorithm of the program processing terminal and the pre-designed and stored grabbing and placing control algorithm of the program processing terminal, and forming an overlapping layer 123 to be placed under a presser foot device of the sewing machine;
Step three: the presser foot device of the sewing machine receives presser foot instructions sent by the cloth suction mechanical arm I and the cloth suction mechanical arm II, the program processing terminal controls the presser foot device of the sewing machine to perform presser foot action, and the superposed layer 123 is pressed by the presser foot;
Step four: the presser foot device of the sewing machine receives the sewing instruction, and the superposed layer 123 is sewn;
Step five: the presser foot device of the sewing machine judges whether a fabric exists or not, and the information acquisition links of the first cloth suction mechanical arm and the second cloth suction mechanical arm are carried out when no fabric exists.
The fabric grabbing method based on the industrial robot vision comprises a program processing terminal and a sewing machine presser foot device connected with the program processing terminal, wherein a network communication output interface of the program processing terminal is connected with network communication interfaces of a cloth suction mechanical arm I and a cloth suction mechanical arm II, and communication interfaces of the cloth suction mechanical arm I and the cloth suction mechanical arm II are connected with a serial communication interface of the sewing machine presser foot device. The program processing terminal processes the position signals of the first fabric 11 and the second fabric 21, the first cloth suction manipulator and the second cloth suction manipulator receive the position signals of the first fabric 11 and the second fabric 21, the position signals are output by the program processing terminal, operation running tracks of the first cloth suction manipulator and the second cloth suction manipulator are generated, and a first gripper 32, a second gripper 33 and a third gripper 34 of the first cloth suction manipulator are instructed to grip the fabric at the protruding part of the first fabric; and instructing a fourth gripper 42, a fifth gripper 43, a sixth gripper 44, a seventh gripper 45 and an eighth gripper 46 of the cloth suction manipulator II to grip the fabric at the protruding part of the second fabric.
the cloth suction mechanical arm I and the cloth suction mechanical arm II operate under the control of an operation track generated by the program processing terminal, the fabric I11 is grabbed and placed on the fabric II 21, the edges of the fabric I11 and the fabric II 21 are in preset sizes, and the fabric I11 and the fabric II 21 are overlapped to form an overlapping layer 123; the superposed layer 123 is arranged below the presser foot device of the sewing machine, the cloth suction mechanical arm I and the cloth suction mechanical arm II complete superposition action and then output status signals to the presser foot device of the sewing machine, the presser foot device receives the status signals and converts the status signals into control signals of a motor of the presser foot device, and the presser foot device of the sewing machine is controlled to press the superposed layer, so that sewing can be carried out; and after the communication interfaces of the first cloth suction mechanical arm and the second cloth suction mechanical arm receive the no-fabric signal of the state of the presser foot device, the first cloth suction mechanical arm and the second cloth suction mechanical arm carry out the grabbing work of the next action.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. The fabric suction manipulator based on the industrial robot vision is characterized by comprising a fabric suction manipulator I, a fabric suction manipulator II, a first fabric and a second fabric, wherein the first fabric and the second fabric are arranged on the fabric suction manipulator I and the fabric suction manipulator II, the first fabric is provided with a first fabric overlapping part, the second fabric is provided with a second fabric overlapping part, the overlapping parts of the first fabric overlapping part and the second fabric overlapping part are overlapping layers, and the fabric suction manipulator further comprises a program processing terminal and a sewing machine presser foot device connected with the program processing terminal.
2. The cloth suction manipulator based on the industrial robot vision as claimed in claim 1, wherein the first cloth suction manipulator comprises a first vision, a first gripper, a second gripper and a third gripper; the cloth suction manipulator II comprises a vision II, a gripper IV, a gripper V, a gripper VI, a gripper VII and a gripper VIII.
3. The cloth suction manipulator based on the industrial robot vision as claimed in claim 1, wherein the network communication output interface of the program processing terminal is connected with the network communication interfaces of the first cloth suction manipulator and the second cloth suction manipulator, and the communication interfaces of the first cloth suction manipulator and the second cloth suction manipulator are connected with the serial communication interface of the presser foot device of the sewing machine.
4. A fabric grabbing method based on industrial robot vision is characterized by comprising the following steps:
the method comprises the following steps: the first vision and the second vision shoot and extract images of the first fabric and the second fabric, the images of the first fabric and the second fabric which are pre-stored by the program processing terminal are analyzed, the input images of the first fabric and the second fabric are compared and processed, the positions of the first fabric and the second fabric are calculated, and the positions of the first fabric and the second fabric are respectively output to the first cloth suction manipulator and the second cloth suction manipulator through an output interface of the program processing terminal;
Step two: the first fabric suction manipulator and the second fabric suction manipulator acquire the positions of the first fabric and the second fabric as target positions, and gripping motion tracks of a first gripper and a third gripper of the first gripper and the second gripper of the first fabric suction manipulator are generated; generating grabbing motion tracks of a fourth gripper, a fifth gripper, a sixth gripper, a seventh gripper and an eighth gripper of a second cloth sucking manipulator, automatically grabbing a first fabric and a second fabric according to a grabbing and placing control algorithm which is designed in advance and stored in a program processing terminal, and forming an overlapped layer to be placed under a presser foot device of the sewing machine;
Step three: the presser foot device of the sewing machine receives presser foot instructions sent by the cloth suction mechanical arm I and the cloth suction mechanical arm II, and the program processing terminal controls the presser foot device of the sewing machine to perform presser foot action, so that the superposed layers are pressed by the presser foot;
step four: the presser foot device of the sewing machine receives the sewing instruction, and the superposed layer is sewn;
step five: the presser foot device of the sewing machine judges whether a fabric exists or not, and the information acquisition links of the first cloth suction mechanical arm and the second cloth suction mechanical arm are carried out when no fabric exists.
5. A fabric grabbing method based on industrial robot vision according to claim 4 is characterized in that the program processing terminal processes the output position signals of the first fabric and the second fabric, and the first fabric sucking manipulator and the second fabric sucking manipulator receive the position signals of the first fabric and the second fabric output by the program processing terminal and generate the operation tracks of the first fabric sucking manipulator and the second fabric sucking manipulator.
6. the fabric grabbing method based on the industrial robot vision as claimed in claim 4 is characterized in that the fabric sucking mechanical arm I and the fabric sucking mechanical arm II operate under the control of an operation track generated by a program processing terminal, and grab the first fabric and place the first fabric on the second fabric to enable the edges of the first fabric and the second fabric to be in a preset size and overlap to form an overlapping layer.
7. the fabric grabbing method based on the industrial robot vision as claimed in claim 6, wherein the superimposed layer is placed under a presser foot device of the sewing machine, the first cloth suction manipulator and the second cloth suction manipulator complete the superimposed action and output status signals to the presser foot device of the sewing machine, and the presser foot device receives the status signals, converts the status signals into control signals of a motor of the presser foot device, and controls the presser foot device of the sewing machine to press the superimposed layer so as to make the fabric; and after the communication interfaces of the first cloth suction mechanical arm and the second cloth suction mechanical arm receive the no-fabric signal of the state of the presser foot device, the first cloth suction mechanical arm and the second cloth suction mechanical arm carry out the grabbing work of the next action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910937895.4A CN110552118A (en) | 2019-09-30 | 2019-09-30 | cloth suction manipulator based on industrial robot vision and fabric grabbing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910937895.4A CN110552118A (en) | 2019-09-30 | 2019-09-30 | cloth suction manipulator based on industrial robot vision and fabric grabbing method |
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| CN110552118A true CN110552118A (en) | 2019-12-10 |
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| CN201910937895.4A Pending CN110552118A (en) | 2019-09-30 | 2019-09-30 | cloth suction manipulator based on industrial robot vision and fabric grabbing method |
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| CN109629122A (en) * | 2018-12-25 | 2019-04-16 | 珞石（山东）智能科技有限公司 | A kind of robot method of sewing based on machine vision |
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| WO1991005899A1 (en) * | 1989-10-23 | 1991-05-02 | Martin Nielsen & Søn A/S | Device for straightening the edge portion of fabric which is to be sewn on sewing machines |
| CN102120307A (en) * | 2010-12-23 | 2011-07-13 | 中国科学院自动化研究所 | System and method for grinding industrial robot on basis of visual information |
| CN102936797A (en) * | 2011-08-16 | 2013-02-20 | 广东莱多实业有限公司 | Automatic sewing machine and technology using same |
| CN106637715A (en) * | 2017-01-20 | 2017-05-10 | 远东服装（苏州）有限公司 | Manipulator sewing equipment |
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| CN109457400A (en) * | 2018-12-25 | 2019-03-12 | 珞石（山东）智能科技有限公司 | A kind of cloth method of sewing based on dual robot collaboration |
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Application publication date: 20191210 |
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| WD01 | Invention patent application deemed withdrawn after publication |