CN116413274A - Automated system for picking defects in woolen cloth - Google Patents

Automated system for picking defects in woolen cloth Download PDF

Info

Publication number
CN116413274A
CN116413274A CN202210006132.XA CN202210006132A CN116413274A CN 116413274 A CN116413274 A CN 116413274A CN 202210006132 A CN202210006132 A CN 202210006132A CN 116413274 A CN116413274 A CN 116413274A
Authority
CN
China
Prior art keywords
cloth
picking
automated system
movement
defects
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210006132.XA
Other languages
Chinese (zh)
Inventor
叶颖
何坚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Lynuc Numerical Control Technology Co ltd
Original Assignee
Shanghai Lynuc Numerical Control Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Lynuc Numerical Control Technology Co ltd filed Critical Shanghai Lynuc Numerical Control Technology Co ltd
Priority to CN202210006132.XA priority Critical patent/CN116413274A/en
Publication of CN116413274A publication Critical patent/CN116413274A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/06—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness specially adapted for measuring length or width of objects while moving
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G01N21/8914—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the material examined
    • G01N21/8915—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the material examined non-woven textile material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N2021/0162—Arrangements or apparatus for facilitating the optical investigation using microprocessors for control of a sequence of operations, e.g. test, powering, switching, processing
    • G01N2021/0175—Arrangements or apparatus for facilitating the optical investigation using microprocessors for control of a sequence of operations, e.g. test, powering, switching, processing for selecting operating means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G01N2021/8854—Grading and classifying of flaws
    • G01N2021/8861—Determining coordinates of flaws
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G01N2021/8854—Grading and classifying of flaws
    • G01N2021/888—Marking defects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
    • G01N2021/8925—Inclusions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/30—Computing systems specially adapted for manufacturing

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Biochemistry (AREA)
  • Textile Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Immunology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)

Abstract

The invention discloses an automatic system for picking wool fabric flaws, which comprises the following components: the cloth inspecting machine is used for driving the cloth to move; the coarse positioning recognition device is positioned above the cloth inspecting machine and used for detecting flaws on cloth; the fine positioning grabbing device is located above the cloth inspecting machine, and located at the downstream of the coarse positioning identifying device along the movement of the cloth, and is used for detecting flaws on the cloth and clamping the flaws on the cloth. According to the automated system for picking the defects of the woolen cloth, the defects on the cloth can be accurately detected and clamped through the coarse positioning and identifying device and the fine positioning and grabbing device, so that an automatic mode is realized to replace manual picking of the defects, and the efficiency is high.

Description

Automated system for picking defects in woolen cloth
Technical Field
The invention relates to an automatic system for picking defects of wool fabric.
Background
In the wool spinning industry, when wool spins cloth, impurities of the wool or impurities in the external environment in the spinning process are doped into the wool to spin the wool cloth, so that the spun cloth has flaws. Common defect types are cavity hair, hair particles, grass clippings, snake skin filaments, fine filaments, and the like.
Common flaw types are as follows:
1. coarse cavity hair: is a defective wool of the wool itself. Coarse cavity wool is a term of textile industry, and the wool fiber is pale in pigment, coarse, brittle, poor in elasticity, less in curl, low in strength, difficult to spin and dye, and has high content, so that the quality of finished yarns is affected, and a lot of variegated wool is generated.
2. Wool particles: the spinning or weaving process, which is generally of wool itself, is interrupted and then combined together to form a mass, similar to particles.
3. Grass clippings/snake skin filaments/black filaments: not the wool itself, but the impurities mixed in the periphery during spinning, such as the miscellaneous seven and eight blemishes or hairs mixed in the packaging bag, etc.
The number of flaws directly affects the rating and value of the cloth, so that the upper-class coarse cloth needs to pick out flaws. The inspection and finishing of semi-finished cloth in the wool spinning industry are basically carried out by identifying and picking defects by naked eyes. Relying on manpower is time-consuming and labor-consuming, and the accuracy is not guaranteed.
Disclosure of Invention
The invention aims to overcome the defects existing in the prior art, and provides an automatic system for picking the defects of wool fabric.
The invention is realized by the following technical scheme:
an automated system for picking wool fabric defects, comprising:
the cloth inspecting machine is used for driving the cloth to move;
the coarse positioning recognition device is positioned above the cloth inspecting machine and used for detecting flaws on cloth;
the fine positioning grabbing device is located above the cloth inspecting machine, and located at the downstream of the coarse positioning identifying device along the movement of the cloth, and is used for detecting flaws on the cloth and clamping the flaws on the cloth.
Further, the cloth inspection machine comprises a driving mechanism and a workbench, wherein the workbench is positioned below the coarse positioning identification device and the fine positioning grabbing device and used for moving cloth to pass through, the driving mechanism is arranged at the end part of the workbench, and the driving mechanism is used for driving the cloth to move.
Further, the driving mechanism comprises a first rotating piece and a second rotating piece, wherein the first rotating piece and the second rotating piece are respectively arranged at two ends of the workbench and used for driving cloth wound around the workbench to move.
Further, the cloth inspection machine further comprises a movement detection mechanism, wherein the movement detection mechanism is arranged on the workbench and used for detecting the moving length of the cloth, and the movement detection mechanism is electrically connected with the driving mechanism and used for controlling the switch of the driving mechanism.
Further, the coarse positioning recognition device comprises a box body and a first photographing recognition mechanism, the box body is arranged on the cloth inspecting machine, a through hole for the cloth to pass through is formed in the box body, and the first photographing recognition mechanism is arranged in the box body and used for photographing and recognizing flaws on the cloth.
Further, the fine positioning grabbing device comprises a second photographing identification mechanism and a grabbing mechanism, wherein the second photographing identification mechanism is located at the downstream of the coarse positioning identification device along the movement of the cloth, and the second photographing identification mechanism is electrically connected with the grabbing mechanism and used for controlling the movement position and grabbing operation of the grabbing mechanism.
Further, snatch the mechanism and include manipulator fixed station, manipulator and clamping jaw subassembly, the both ends of manipulator connect respectively in the manipulator fixed station with the clamping jaw subassembly, the clamping jaw subassembly is located the top of cloth inspection machine.
Further, the clamping jaw assembly comprises a mounting seat, a clamping jaw part and a cloth pressing head, wherein the top of the cloth pressing head is connected to the mounting seat, a through hole for exposing cloth is formed in the bottom of the cloth pressing head, the clamping jaw part is connected to the mounting seat, and the clamping jaw part penetrates through the through hole and is used for clamping flaws on the cloth.
Further, the manipulator is used for controlling horizontal movement, lifting movement and rotation of the clamping jaw assembly.
Further, the second photographing identification mechanism is electrically connected to the cloth inspection machine and used for controlling a switch of the cloth inspection machine.
The invention has the beneficial effects that:
according to the automated system for picking the defects of the woolen cloth, the defects on the cloth can be accurately detected and clamped through the coarse positioning and identifying device and the fine positioning and grabbing device, so that an automatic mode is realized to replace manual picking of the defects, and the efficiency is high.
Drawings
Fig. 1 is a schematic structural view of an automated system for picking up wool fabric defects according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a cloth inspecting machine of an automated system for picking up defects in woolen cloth according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a coarse positioning and identifying device of an automated system for picking up defects in woolen cloth according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of a fine positioning and grabbing device of an automated system for picking up defects in woolen cloth according to an embodiment of the present invention.
Fig. 5 is a schematic view showing a part of a fine positioning and grabbing device of an automated system for picking up defects in a woolen cloth according to an embodiment of the present invention.
Reference numerals illustrate:
cloth inspecting machine 1
Work bench 11
Drive mechanism 12
First rotating member 121
Second rotating member 122
Movement detection mechanism 13
Coarse positioning recognition device 2
Case 21
Through hole 211
First photographing identification mechanism 22
Fine positioning grabbing device 3
Second photographing identification mechanism 31
Gripping mechanism 32
Manipulator fixing table 321
Manipulator 322
Jaw assembly 323
Mounting base 3231
Jaw member 3232
Cloth pressing head 3233
Detailed Description
The following description of embodiments refers to the accompanying drawings, which illustrate specific embodiments in which the invention may be practiced.
As shown in fig. 1, 2, 3, 4 and 5, the present embodiment discloses an automated system for picking up a wool fabric defect, the automated system for picking up a wool fabric defect includes a cloth inspection machine 1, a coarse positioning and identifying device 2 and a fine positioning and grabbing device 3, and the cloth inspection machine 1 is used for driving the fabric to move; the coarse positioning identification device 2 is positioned above the cloth inspection machine 1 and is used for detecting flaws on cloth; the fine positioning grabbing device 3 is located above the cloth inspecting machine 1, the fine positioning grabbing device 3 is located at the downstream of the coarse positioning identifying device 2 moving along the cloth, and the fine positioning grabbing device 3 is used for detecting flaws on the cloth and clamping the flaws on the cloth.
When the automatic system for picking up the defects of the woolen cloth is used, the cloth inspection machine 1 is used for driving the cloth to move, and the coarse positioning recognition device 2 and the fine positioning grabbing device 3 are sequentially arranged in the moving direction of the cloth; the rough positioning recognition device 2 starts photographing recognition, after the rough positioning recognition device 2 detects a flaw, the coordinates of the flaw are recorded, and the distance required by the flaw to move to the working area of the fine positioning grabbing device 3 is calculated; the fine positioning grabbing device 3 will further detect flaws on the cloth and clamp flaws on the cloth. The defects on the cloth can be accurately detected and clamped through the coarse positioning and identifying device 2 and the fine positioning and grabbing device 3, so that the defects are picked manually in an automatic mode, and the efficiency is high. The automated system for picking the defects of the woolen cloth can effectively realize that one set of mechanism can take out various types of defects simultaneously through the working mode and the mechanical movement, so as to achieve the intellectualization of finishing.
The cloth inspection machine 1 comprises a driving mechanism 12 and a workbench 11, wherein the workbench 11 is positioned below the coarse positioning recognition device 2 and the fine positioning grabbing device 3 and is used for moving cloth, the driving mechanism 12 is arranged at the end part of the workbench 11, and the driving mechanism 12 is used for driving the cloth to move. The driving mechanism 12 drives the cloth to move on the workbench 11, and the cloth inspection machine 1 has a simple structure.
The driving mechanism 12 includes a first rotary member 121 and a second rotary member 122, and the first rotary member 121 and the second rotary member 122 are provided at both ends of the table 11, respectively, and are used to drive movement of the cloth wound therearound. The cloth on the workbench 11 is driven to start moving along the cloth moving direction by the rotation of the first rotating member 121 and the second rotating member 122, so that the accurate control of the cloth moving distance is ensured, and the stability is higher. Wherein the first rotary member 121 and the second rotary member 122 are motors.
The cloth inspection machine 1 further comprises a movement detection mechanism 13, wherein the movement detection mechanism 13 is arranged on the workbench 11 and is used for detecting the moving length of cloth, and the movement detection mechanism 13 is electrically connected to the driving mechanism 12 and is used for controlling the switch of the driving mechanism 12. The movement detection mechanism 13 is used for feeding back how much distance the cloth on the cloth inspection machine 1 moves forward, and after the flaw moves to the working area of the fine positioning grabbing device 3, the movement detection mechanism 13 is used for controlling the cloth inspection machine 1 to stop moving, and the cloth is stopped to be in a static state. Wherein the movement detection mechanism 13 is an encoder.
The coarse positioning recognition device 2 comprises a box body 21 and a first photographing recognition mechanism 22, wherein the box body 21 is arranged on the cloth inspection machine 1, a through hole 211 for the cloth to pass through is formed in the box body 21, and the first photographing recognition mechanism 22 is arranged in the box body 21 and is used for photographing and recognizing flaws on the cloth. The cloth enters the box 21, the flaws on the cloth are identified by photographing the cloth through the first photographing identification mechanism 22, and then the cloth is moved out of the box 21 through the through hole 211 and then moved to the working area of the fine positioning grabbing device 3. The rough positioning recognition device 2 has simple integral structure and very convenient use. Wherein, the first photographing identification mechanism 22 is electrically connected to the fine positioning grabbing device 3. The first photographing identification mechanism 22 converts the coordinates of the flaw at this time into coordinates in the coordinate system of the fine positioning grabbing device 3, and then controls the fine positioning grabbing device 3 to move to the area above the flaw.
The fine positioning grabbing device 3 comprises a second photographing identification mechanism 31 and a grabbing mechanism 32, the second photographing identification mechanism 31 is located at the downstream of the coarse positioning identification device 2 moving along the cloth, and the second photographing identification mechanism 31 is electrically connected to the grabbing mechanism 32 and used for controlling the moving position and grabbing operation of the grabbing mechanism 32.
Because the cloth has tension in the movement process and the cloth may have displacement, the coordinate calculated by the coarse positioning recognition device 2 is deviated from the actual coordinate, and the second photographing recognition mechanism 31 is required to perform photographing check; the second photographing identification mechanism 31 performs image segmentation after fine positioning photographing, and if a flaw is found, the coordinates of the flaw are x and y, and the offset coordinates of the grabbing mechanism 32 moving above the flaw are calculated according to known conditions. The flaws on the cloth are further identified through the second photographing identification mechanism 31, so that the grabbing mechanism 32 is controlled to accurately clean the flaws, an automatic mode is realized to replace manual picking of the flaws, and the efficiency is high.
The grabbing mechanism 32 comprises a manipulator fixing table 321, a manipulator 322 and a clamping jaw assembly 323, wherein two ends of the manipulator 322 are respectively connected with the manipulator fixing table 321 and the clamping jaw assembly 323, and the clamping jaw assembly 323 is located above the cloth inspection machine 1. When the grabbing mechanism 32 is used, the second photographing and identifying mechanism 31 is used for photographing and identifying the cloth, after the defect is formed in photographing and identifying, the coordinates of the defect on the cloth are converted into the coordinates under the coordinate system of the manipulator 322, then the manipulator 322 is controlled to move to the defect, and then the grabbing operation of the clamping jaw assembly 323 is controlled, so that the defect is clamped. The flaws on the cloth are identified through the second photographing identification mechanism 31, so that the mechanical arm 322 and the clamping jaw assembly 323 are controlled to accurately clean the flaws, an automatic mode is realized to replace manual picking of the flaws, and the efficiency is high.
The robot 322 is used to control the horizontal movement, the lifting movement, and the rotation of the jaw assembly 323. When the grabbing mechanism 32 is used, the manipulator 322 horizontally moves to the area above the flaw, then the manipulator 322 moves downwards, and the grabbing operation of the clamping jaw assembly 323 is controlled, so that the flaw is clamped; rotation of the manipulator 322 will drive the jaw assembly 323 to rotate together, so that the defect can be rotationally pulled out.
The defective wool has various shapes, such as slender and granular, and the positions and states are different, and some of the defective wool floats on the surface of the cloth, and some of the defective wool is buried in the cloth. The defects of various types are identified by the second photographing identification mechanism 31, and the defects can be effectively gripped and pulled out by controlling the horizontal movement, the lifting movement and the rotation of the manipulator 322. Particularly, as some flaw hair is longer and part of the flaw hair is hidden in cloth, the flaw hair is directly lifted upwards, the resistance is high, and the flaw hair is pulled out and broken; in order to solve the problem, the clamping jaw assembly 323 clamps the flaw hair, and then the working mode of in-situ turning of the clamping jaw assembly 323 is adopted, so that the flaw hair can be pulled out along the direction of the flaw hair, and the manipulator 322 moves upwards again, so that the flaw can be effectively taken away.
The jaw assembly 323 includes a mounting base 3231, a jaw member 3232 and a cloth pressing head 3233, the top of the cloth pressing head 3233 is connected to the mounting base 3231, the bottom of the cloth pressing head 3233 is provided with a through hole 211 for exposing cloth, the jaw member 3232 is connected to the mounting base 3231, and the jaw member 3232 passes through the through hole 211 and is used for clamping flaws on the cloth. According to the offset coordinate, the control manipulator 322 drives the clamping jaw component 3232 of the clamping jaw assembly 323 to move above the flaw, and then the manipulator 322 descends for h, and the cloth pressing head 3233 presses the cloth. Since the flaw is wound around the cloth in the process of pulling up, a certain pulling force is required, and the cloth is pressed by the cloth pressing head 3233 in order to prevent the flaw from being pulled up together with the cloth. In this embodiment, the height h of the jaw assembly 323 is about 1mm deeper downward after the jaw member 3232 hits the flaw surface, then the jaw assembly 323 stops descending, then the jaw member 3232 is closed, then the jaw member 3232 is driven to rotate, the circular or long-strip flaw can be rotationally pulled out, the jaw member 3232 rotates in place, and then the whole jaw assembly 323 is lifted upward.
The second photographing identification mechanism 31 is electrically connected to the cloth inspection machine 1 and is used for controlling the switch of the cloth inspection machine 1. The second photographing identification mechanism 31 is installed on the installation seat 3231, and the movement of the manipulator 322 can drive the second photographing identification mechanism 31 to move. After the precise positioning grabbing device 3 fully clamps all flaws on the cloth, the manipulator 322 is operated to integrally shoot and identify the region through the second shooting identification mechanism 31, if no flaws exist, the second shooting identification mechanism 31 sends out a command signal and controls the opening of the cloth inspection machine 1, namely the driving mechanism 12 resumes driving the cloth to move. Of course, if there is a flaw in the cloth, the flaw on the cloth is continuously gripped by the fine positioning gripping device 3.
The automated system for picking up wool fabric defects of this embodiment operates as follows:
step one, a driving mechanism 12 is opened to realize that the cloth inspection machine 1 starts working, and the driving mechanism 12 rotates to drive cloth to start moving on a workbench 11 along the movement direction of the cloth;
step two, the cloth passes through the coarse positioning recognition device 2, the first photographing recognition mechanism 22 starts photographing recognition, after the first photographing recognition mechanism 22 detects the flaw, the coordinates of the flaw are recorded, and the distance required by the movement of the flaw to the working area of the manipulator 322 is calculated;
step three, the movement detection mechanism 13 is used for feeding back to know how much distance the cloth on the cloth inspection machine 1 moves forward, and after the flaw moves to the working area of the manipulator 322, the movement detection mechanism 13 is controlled to stop the movement of the cloth inspection machine 1, so that the cloth is stopped to be in a static state;
step four, converting the coordinates of the flaw at the moment into coordinates under a coordinate system of the manipulator 322, and then controlling the manipulator 322 to move to an area above the flaw;
step five, the second photographing identification mechanism 31 performs image segmentation after photographing, if the flaw is found, the coordinates of the flaw are x and y, and the offset coordinates of the jaw moving above the flaw are calculated according to known conditions;
step six, controlling the clamping jaw part 3232 to move to the position above the flaw according to the offset coordinate, then descending the manipulator 322 for h, and pressing cloth by the cloth pressing head 3233;
step seven, the descending height h is about 1mm deeper downwards after the electric chuck touches the flaw surface, the descending of the clamping jaw assembly 323 is stopped, then the chuck of the clamping jaw part 3232 is closed, the chuck of the clamping jaw part 3232 is driven to rotate, thereby the flaw is rotationally pulled out, and then the whole clamping jaw assembly 323 is lifted upwards;
step eight, the manipulator 322 moves to a non-picking area after the flaws are pulled out, and the flaws Mao Xifu are removed by a pneumatic device;
step nine, the manipulator 322 moves to the position of the pulling point of the defect before the defect again, and photographs through the second photographing identification mechanism 31, so as to identify whether the defect is cleared, and if not, the steps five to eight are continued;
and step ten, after all the flaws identified by the fine positioning and grabbing device 3 are clamped once, the manipulator 322 is operated to integrally photograph and identify the area through the second photographing and identifying mechanism 31, if no flaws exist, the driving mechanism 12 is controlled to be opened, and the cloth inspection machine 1 resumes driving the cloth to move. Of course, if there are defects, repeating the above steps five to eight. Wherein if the repetition is more than 2 times this area is not treated any more and the cloth inspection machine 1 is restarted.
The cloth inspection machine 1 is restarted and then the above actions are repeated, and the automatic flaw cleaning is realized according to the working mode.
The foregoing disclosure is illustrative of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.

Claims (10)

1. An automated system for picking wool fabric defects, comprising:
the cloth inspecting machine is used for driving the cloth to move;
the coarse positioning recognition device is positioned above the cloth inspecting machine and used for detecting flaws on cloth;
the fine positioning grabbing device is located above the cloth inspecting machine, and located at the downstream of the coarse positioning identifying device along the movement of the cloth, and is used for detecting flaws on the cloth and clamping the flaws on the cloth.
2. An automated system for picking up wool fabric defects according to claim 1, wherein the cloth inspection machine comprises a drive mechanism and a table, the table being positioned below the coarse positioning and identifying means and the fine positioning and gripping means and being adapted for movement of the fabric therethrough, the drive mechanism being disposed at an end of the table, and the drive mechanism being adapted for driving movement of the fabric.
3. An automated system for picking up wool fabric defects according to claim 2, wherein the drive mechanism comprises a first rotary member and a second rotary member, the first rotary member and the second rotary member being disposed at respective ends of the table and adapted to drive movement of the fabric therearound.
4. An automated system for picking a wool fabric defect according to claim 2, wherein the cloth inspection machine further comprises a movement detection mechanism disposed on the table for detecting the length of the fabric movement, and wherein the movement detection mechanism is electrically connected to the drive mechanism for controlling the switch of the drive mechanism.
5. The automated system for picking up woolen cloth defects according to claim 1, wherein the coarse positioning recognition device comprises a box and a first photographing recognition mechanism, the box is arranged on the cloth inspecting machine, the box is provided with a through hole for the cloth to pass through, and the first photographing recognition mechanism is arranged in the box and is used for photographing and recognizing the defects on the cloth.
6. An automated system for picking up a wool fabric defect according to claim 1, wherein the fine positioning gripping device comprises a second photo recognition mechanism and a gripping mechanism, the second photo recognition mechanism being located downstream of the coarse positioning recognition device along the movement of the fabric, the second photo recognition mechanism being electrically connected to the gripping mechanism and being adapted to control the movement position and gripping operation of the gripping mechanism.
7. The automated system of claim 6, wherein the grasping mechanism comprises a manipulator mount, a manipulator, and a jaw assembly, wherein two ends of the manipulator are connected to the manipulator mount and the jaw assembly, respectively, and wherein the jaw assembly is positioned above the cloth inspection machine.
8. An automated system for picking up wool fabric defects according to claim 7, wherein the jaw assembly comprises a mounting base, a jaw member and a cloth pressing head, the top of the cloth pressing head is connected to the mounting base, the bottom of the cloth pressing head has a through hole for exposing the fabric, the jaw member is connected to the mounting base, and the jaw member passes through the through hole and is used for gripping defects on the fabric.
9. An automated system for picking a woolen cloth defect according to claim 7, wherein said robotic arm is adapted to control horizontal movement, lifting movement and rotation of said jaw assembly.
10. The automated system of claim 6, wherein the second photo recognition mechanism is electrically connected to the cloth inspection machine and is configured to control a switch of the cloth inspection machine.
CN202210006132.XA 2022-01-05 2022-01-05 Automated system for picking defects in woolen cloth Pending CN116413274A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210006132.XA CN116413274A (en) 2022-01-05 2022-01-05 Automated system for picking defects in woolen cloth

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210006132.XA CN116413274A (en) 2022-01-05 2022-01-05 Automated system for picking defects in woolen cloth

Publications (1)

Publication Number Publication Date
CN116413274A true CN116413274A (en) 2023-07-11

Family

ID=87058642

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210006132.XA Pending CN116413274A (en) 2022-01-05 2022-01-05 Automated system for picking defects in woolen cloth

Country Status (1)

Country Link
CN (1) CN116413274A (en)

Similar Documents

Publication Publication Date Title
CN108842239B (en) Method for splicing by using automatic splicing robot of ring spinning frame
CN108797079A (en) Cutting pretreatment unit for flaw cloth
CN206038558U (en) Multistation visual detection equipment
CN108593680A (en) A kind of processing of flaw cloth with cut, sorting equipment
CN106000916B (en) Textile automatic sorting apparatus and method
CN108332950A (en) A kind of optical module automatization test system and method based on manipulator
CN108507518A (en) A kind of lithium battery inspection equipment
CN111691029A (en) Apparatus, system and method for repairing yarn breakage in ring spinning machine
CN115032201B (en) Textile cloth quality on-line measuring device
CN114582713B (en) Wafer processing method and wafer processing apparatus
CN102896093A (en) Automatic sorting machine of LED (Light-Emitting Diode) wafer
CN206594079U (en) A kind of median segment of cross-flow fan blade defect detecting device
CN110328508A (en) The automatic press mounting and detection device of automobile brake disc wheel hub
CN116413274A (en) Automated system for picking defects in woolen cloth
CN205739764U (en) The yarn storehouse basin apparatus for automatic change of automatic winder
CN216926615U (en) Automatic system for picking defects of wool spinning cloth
CN107829204B (en) A kind of yarn detection of knitting circular knitting machine removes defect intelligence control system and control method
CN219336392U (en) Laser welding equipment for round battery cover plate
CN209432978U (en) A kind of lithium manganese one-shot battery fluid injection safety detection mechanism
CN109110484B (en) Powder dipping automatic line
JPH0351331A (en) Method and apparatus for yarn handling in fine spinning frame
CN215997621U (en) Triangular needle defect visual inspection machine
CN210826612U (en) A buttonhole maker automatic feeding for processing of uniform clothing buttonhole
CN215399849U (en) Labeling device for marking defects for cloth inspecting machine and cloth inspecting machine
CN113933314A (en) Full-automatic spinneret detects through-hole equipment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication