CN117719947A - Prevent fold cloth paving machine based on machine vision - Google Patents
Prevent fold cloth paving machine based on machine vision Download PDFInfo
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- CN117719947A CN117719947A CN202311678526.0A CN202311678526A CN117719947A CN 117719947 A CN117719947 A CN 117719947A CN 202311678526 A CN202311678526 A CN 202311678526A CN 117719947 A CN117719947 A CN 117719947A
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- 239000004744 fabric Substances 0.000 title claims abstract description 407
- 230000007246 mechanism Effects 0.000 claims abstract description 178
- 230000007480 spreading Effects 0.000 claims abstract description 114
- 238000003892 spreading Methods 0.000 claims abstract description 114
- 238000003825 pressing Methods 0.000 claims abstract description 99
- 238000000034 method Methods 0.000 claims abstract description 43
- 230000008569 process Effects 0.000 claims abstract description 42
- 230000037303 wrinkles Effects 0.000 claims abstract description 42
- 238000005520 cutting process Methods 0.000 claims description 19
- 230000001153 anti-wrinkle effect Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The invention provides an anti-wrinkling cloth paving machine based on machine vision, which comprises a workbench, a hopper, a cloth conveying roller mechanism, a cloth spreading mechanism and a cloth pressing mechanism of the existing cloth paving machine, and is additionally provided with an image acquisition module, a first wrinkle removing mechanism and a controller capable of realizing image processing. The image acquisition module is used for acquiring an image of the cloth which is spread in the last spreading process in the non-first cloth feeding process of the spreading mechanism; the controller is used for judging whether corresponding cloth has folds according to the cloth image acquired by the image acquisition module, if so, the cloth spreading mechanism is controlled to stop feeding cloth, and the first wrinkle removing mechanism is controlled to remove wrinkles on the cloth with folds in a stretching mode. According to the invention, the problem that the existing cloth paving machine is poor in cloth paving quality due to the fact that the cloth paved last time is easily wrinkled due to the influence of the cloth feeding link is solved.
Description
Technical Field
The invention belongs to the field of cloth paving machines, and particularly relates to an anti-wrinkling cloth paving machine based on machine vision.
Background
The existing cloth paving machine mainly comprises a cloth spreading mechanism arranged at the near end of a workbench, a cloth pressing mechanism arranged at the far end of the workbench and a cloth cutting mechanism arranged on the cloth spreading mechanism in a sliding manner, and cloth paving work of the cloth paving machine is also mainly realized jointly based on the cloth spreading mechanism, the cloth pressing mechanism and the cloth cutting mechanism. Specifically, a complete cloth paving operation generally comprises three links, namely a cloth feeding link, a cloth spreading link and a cloth cutting link in sequence. Wherein, the work feed link specifically is: the cloth spreading mechanism which is in a clamping state to the front end of the cloth slides from the initial position to the cloth pressing mechanism, and when the cloth is slid to the cloth delivery position, the front end of the cloth is released by the cloth spreading mechanism and is fixed in a downward pressing mode by the cloth pressing mechanism. The spreading link specifically comprises the following steps: after the front end of the cloth is rotated and fixed by the cloth pressing mechanism, the cloth spreading mechanism keeps the cloth in the cloth spreading mechanism in a released state and slides back to the initial position. The cloth cutting link specifically comprises the following steps: after finishing the spreading link of the current procedure, the spreading mechanism clamps the cloth in the spreading mechanism, and then the cloth cutting mechanism slides on the spreading mechanism to realize linear cutting of the spread cloth. In the actual cloth paving operation, the cloth paving machine is used for paving cloth layer by layer in a stacking manner through repeated cloth paving operation, so that preparation is made for next cloth cutting operation according to the plate.
However, in the process of performing cloth paving operation by the existing cloth paving machine, the situation that the cloth paved last time is wrinkled due to the influence of the cloth feeding link often occurs, and the situation that the cloth paved by the existing cloth paving machine is wrinkled can lead to uneven, uneven and loose cloth, so that the overall cloth paving quality of cloth paving operation and the cloth cutting quality of cloth plate cutting operation are affected.
Disclosure of Invention
The invention aims to solve the problem that the existing cloth paving machine is poor in cloth paving quality due to the fact that the cloth paved last time is easily wrinkled due to the influence of the cloth feeding link.
In order to achieve the above purpose, the invention provides an anti-wrinkling cloth paving machine based on machine vision, which comprises a workbench, a hopper, a cloth conveying roller mechanism, a cloth spreading mechanism, a cloth pressing mechanism, an image acquisition module, a first wrinkling removing mechanism and a controller;
the cloth spreading mechanism and the cloth pressing mechanism are arranged on the workbench, and the cloth spreading mechanism is configured to be capable of sliding between an initial position of the cloth spreading mechanism and the cloth pressing mechanism;
the hopper and the cloth conveying roller mechanism are arranged on the cloth spreading mechanism, and the cloth conveying roller mechanism is used for introducing the front end of the coiled cloth accommodated in the hopper into the cloth spreading mechanism;
the cloth spreading mechanism is used for driving the front end of the cloth which is introduced into the cloth spreading mechanism to slide towards the cloth pressing mechanism so as to realize cloth feeding, and returning to the initial position after the front end of the cloth is pressed by the cloth pressing mechanism so as to realize cloth spreading;
the image acquisition module is used for acquiring an image of the cloth which is spread in the last spreading process in the non-first cloth feeding process of the spreading mechanism;
the controller is used for judging whether the corresponding cloth has wrinkles according to the cloth image acquired by the image acquisition module, if yes, controlling the cloth spreading mechanism to stop feeding cloth, and controlling the first wrinkle removing mechanism to remove wrinkles on the cloth in a stretching mode.
Alternatively, the cloth spreading mechanism includes a cloth pressing assembly for clamping a front end of the cloth which is inserted therein from a rear side during a cloth feeding process, releasing the cloth therein during a cloth spreading process, and clamping the cloth therein after one cloth spreading is completed and before the spread cloth is cut.
Optionally, the spreading mechanism further comprises a spreading mechanism main body, wherein the spreading mechanism main body is divided into a first sliding base and a second sliding base which are oppositely arranged, and a top plate commonly supported by the first sliding base and the second sliding base;
a first sliding rail is arranged on the first side edge of the workbench, and the first sliding base can slide on the first side edge of the workbench based on the first sliding rail;
a second sliding rail is arranged on the second side edge of the workbench, and the second sliding base can slide on the second side edge of the workbench based on the second sliding rail;
the cloth pressing assembly comprises a cloth pressing assembly main body, a first connecting block and a second connecting block;
the first sliding base and the second sliding base are respectively provided with a front end face facing the cloth pressing mechanism, the first connecting block and the second connecting block are respectively arranged on the front end face of the first sliding base and the front end face of the second sliding base, and two ends of the cloth pressing assembly main body are respectively connected with the first connecting block and the second connecting block so as to enable the cloth pressing assembly main body to be arranged along a horizontal direction perpendicular to the sliding direction of the cloth spreading mechanism.
Optionally, the wrinkle-preventing cloth paving machine further comprises a cloth cutting mechanism, wherein the cloth cutting mechanism is arranged on the cloth pressing assembly main body and is configured to slide along the cloth pressing assembly main body so as to cut the unfolded cloth.
Alternatively, the first wrinkle removing mechanism comprises a first cloth stretching structure and a second cloth stretching structure which are identical in structure;
the first cloth stretching structure comprises a first base shaft, a first electric control lifting rod, a first electric control telescopic rod, a first connecting rod, a second connecting rod and a negative pressure sucker;
the first base shaft is vertically and fixedly arranged on the front edge of the lower surface of the top plate and is close to the first sliding base, and the first electric control lifting rod is coaxially arranged on the free end of the first base shaft;
the first end of the first connecting rod is hinged with the first end of the second connecting rod, and the telescopic end and the fixed end of the first electric control telescopic rod are respectively hinged with the middle part of the first connecting rod and the middle part of the second connecting rod so as to form an A-shaped structure together with the first connecting rod and the second connecting rod;
the first connecting rod is connected with the lifting end of the first electric control lifting rod through the second end of the first connecting rod so that the A-shaped structure is in a horizontal posture and is far away from the front edge of the lower surface of the top plate relative to the first base shaft;
the second cloth stretching structure is arranged on the lower surface of the top plate and is in mirror image arrangement with the first cloth stretching structure in the horizontal direction perpendicular to the sliding direction of the cloth spreading mechanism.
Optionally, the image acquisition module is disposed on a rear edge of the lower surface of the top plate and is located at a middle position of the rear edge.
Optionally, the wrinkle-preventing cloth paving machine further comprises:
the second wrinkle removing mechanism is used for sliding on the workbench along with the cloth spreading mechanism in the process of spreading the cloth, and applying pressure to the spread cloth in the sliding process.
Alternatively, the second wrinkle removing mechanism includes a first pressure applying structure and a second pressure applying structure which are identical in structure;
the first pressure applying structure comprises a first electric control sliding block, a second base shaft, a second electric control lifting rod, a deflector rod and a deflector sheet;
the first electric control sliding block is configured to slide on the first sliding rail, the second base shaft is vertically and fixedly arranged on the top surface of the first electric control sliding block, the second electric control lifting rod is coaxially arranged on the free end of the second base shaft, and the deflector rod is connected with the lifting end of the second electric control lifting rod through the first end of the deflector rod so as to enable the deflector rod to be arranged along the horizontal direction perpendicular to the sliding direction of the spreading mechanism;
the poking piece is arranged on the poking rod and is used for applying pressure to corresponding cloth;
the second pressure applying structure is arranged on the second sliding rail and is arranged in a mirror image mode with the first pressure applying structure in the horizontal direction perpendicular to the sliding direction of the spreading mechanism.
Alternatively, the cloth pressing mechanism comprises a cloth pressing mechanism main body, a first support and a second support;
the first support and the second support are oppositely arranged on the workbench and are respectively close to the first side edge and the second side edge of the workbench;
the two ends of the cloth pressing mechanism main body are respectively matched with the first support and the second support in a sliding manner, so that the position of the cloth pressing mechanism main body in the vertical direction is adjusted.
Optionally, the cloth pressing mechanism main body comprises a cloth pressing frame, a second electric control sliding block and a third electric control sliding block which are respectively arranged at two ends of the cloth pressing frame;
the first support is provided with a first slideway matched with the second electric control sliding block, and the second support is provided with a second slideway matched with the third electric control sliding block.
The invention has the beneficial effects that:
the invention discloses a machine vision-based wrinkle-preventing cloth paving machine, which is additionally provided with an image acquisition module, a first wrinkle-removing mechanism and a controller capable of realizing image processing on the basis of the existing cloth paving machine. The image acquisition module is used for acquiring an image of the cloth which is spread in the last spreading process in the non-first cloth feeding process of the spreading mechanism; the controller is used for judging whether corresponding cloth has folds according to the cloth image acquired by the image acquisition module, if so, the cloth spreading mechanism is controlled to stop feeding cloth, and the first wrinkle removing mechanism is controlled to remove wrinkles on the cloth with folds in a stretching mode.
According to the above, the wrinkle-preventing cloth paving machine based on machine vision can remove wrinkles of cloth which is unfolded and has wrinkles in the last cloth spreading process in the current cloth feeding process, so that the uniformity, the flatness and the compactness of cloth paving are correspondingly improved, and the problem that the existing cloth paving machine is poor in cloth paving quality due to the fact that the cloth which is paved last time is easily affected by the current cloth feeding process is effectively solved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The invention may be better understood by referring to the following description in conjunction with the accompanying drawings in which the same or similar reference numerals are used throughout the several drawings to designate the same or similar components.
FIG. 1 shows a schematic structural view of a machine vision-based anti-wrinkle paver in accordance with an embodiment of the present invention;
FIG. 2 shows an enlarged view of region A of FIG. 1;
FIG. 3 shows an enlarged view of region B of FIG. 1;
FIG. 4 shows an enlarged view of region C of FIG. 1;
FIG. 5 is a schematic diagram showing the relative positional relationship of a first wrinkle removal mechanism and a spreading mechanism body according to an embodiment of the present invention;
fig. 6 shows a schematic structural view of a negative pressure suction cup according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will more fully understand the technical solutions of the present invention, exemplary embodiments of the present invention will be described more fully and in detail below with reference to the accompanying drawings. It should be apparent that the following description of one or more embodiments of the invention is merely one or more of the specific ways in which the technical solutions of the invention may be implemented and is not intended to be exhaustive. It should be understood that the technical solution of the present invention may be implemented in other ways belonging to one general inventive concept, and should not be limited by the exemplary described embodiments. All other embodiments, which may be made by one or more embodiments of the invention without inventive faculty, are intended to be within the scope of the invention.
Examples: fig. 1 shows a schematic structural diagram of a machine vision-based wrinkle-preventing cloth paving machine according to an embodiment of the present invention, fig. 2 shows an enlarged view of a region a in fig. 1, fig. 3 shows an enlarged view of a region B in fig. 1, fig. 4 shows an enlarged view of a region C in fig. 1, fig. 5 shows a schematic structural diagram of a relative positional relationship between a first wrinkle removing mechanism and a main body of a cloth spreading mechanism according to an embodiment of the present invention, and fig. 6 shows a schematic structural diagram of a negative pressure suction cup according to an embodiment of the present invention.
Referring to fig. 1 to 6, the machine vision-based wrinkle-preventing cloth paving machine according to the embodiment of the present invention includes a table 100, a hopper 200, a cloth feed roller mechanism 300, a cloth spreading mechanism 400, a cloth pressing mechanism 500, an image acquisition module 600, a first wrinkle removing mechanism 700, and a controller;
the cloth spreading mechanism 400 and the cloth pressing mechanism 500 are both provided on the table 100, and the cloth spreading mechanism 400 is configured to be slidable between its initial position and the cloth pressing mechanism 500;
both the hopper 200 and the cloth feed roller mechanism 300 are arranged on the cloth spreading mechanism 400, and the cloth feed roller mechanism 300 is used for introducing the front end of the rolled cloth accommodated in the hopper 200 into the cloth spreading mechanism 400;
the spreading mechanism 400 is used for driving the front end of the cloth introduced into the spreading mechanism to slide towards the cloth pressing mechanism 500 so as to realize cloth feeding, and returning to the initial position after the front end of the cloth is pressed by the cloth pressing mechanism 500 so as to realize cloth spreading;
the image acquisition module 600 is used for acquiring an image of the cloth which is spread in the previous cloth spreading process in the non-first cloth feeding process of the cloth spreading mechanism 400;
the controller is configured to determine whether a corresponding fabric has wrinkles according to the fabric image acquired by the image acquisition module 600, if yes, control the fabric spreading mechanism 400 to stop feeding fabric, and control the first wrinkle removing mechanism 700 to remove wrinkles from the corresponding fabric in a stretching manner.
Specifically, in the embodiment of the present invention, the image acquisition module 600 and the controller form a machine vision system, so that real-time detection of wrinkles on the fabric can be realized.
Further, in the embodiment of the present invention, the spreading mechanism 400 includes a cloth pressing assembly 410, and the cloth pressing assembly 410 is used for clamping the front end of the cloth extending into the cloth from the rear side during the cloth feeding process, releasing the cloth during the cloth spreading process, and clamping the cloth after one-time spreading and before the spread cloth is cut.
Still further, in the embodiment of the present invention, the spreading mechanism 400 further includes a spreading mechanism body divided into a first sliding base 420 and a second sliding base 430 which are disposed opposite to each other, and a top plate 440 commonly supported by the two;
a first slide rail is provided on a first side of the table 100, and the first slide base 420 is slidable on the first side of the table 100 based on the first slide rail;
a second slide rail 110 is provided on a second side of the table 100, and the second slide base 430 is slidable on the second side of the table 100 based on the second slide rail 110;
the cloth pressing assembly 410 includes a cloth pressing assembly body 411, a first connection block 412, and a second connection block 413;
the first and second slide bases 420 and 430 each have a front end surface facing the cloth pressing mechanism 500, and the first and second connection blocks 412 and 413 are provided on the front end surfaces of the first and second slide bases 420 and 430, respectively, and both ends of the cloth pressing assembly main body 411 are connected to the first and second connection blocks 412 and 413, respectively, so as to be arranged in a horizontal direction perpendicular to the sliding direction of the cloth spreading mechanism 400.
Still further, the machine vision-based wrinkle-preventing cloth paving machine according to the embodiment of the present invention further includes a cloth cutting mechanism 800, wherein the cloth cutting mechanism 800 is disposed on the cloth pressing assembly main body 411 and is configured to be capable of sliding along the cloth pressing assembly main body 411 to cut the spread cloth.
Still further, in an embodiment of the present invention, the first wrinkle removing mechanism 700 includes a first cloth stretching structure and a second cloth stretching structure having the same structure;
the first cloth stretching structure comprises a first base shaft 710, a first electric control lifting rod 720, a first electric control telescopic rod 730, a first connecting rod 740, a second connecting rod 750 and a negative pressure sucker 760;
the first base shaft 710 is vertically fixed on the front edge of the lower surface of the top plate 440 and is close to the first sliding base 420, and the first electric control lifting rod 720 is coaxially arranged on the free end of the first base shaft 710;
the first end of the first connecting rod 740 is hinged with the first end of the second connecting rod 750, and the telescopic end and the fixed end of the first electrically controlled telescopic rod 730 are respectively hinged with the middle part of the first connecting rod 740 and the middle part of the second connecting rod 750 so as to form an A-shaped structure together with the first connecting rod 740 and the second connecting rod 750;
the first connection rod 740 is connected to the lifting end of the first electrically controlled lifting rod 720 through a second end thereof such that the a-shaped structure takes a horizontal posture and is far away from the front edge of the lower surface of the top plate 440 with respect to the first base shaft 710;
the second cloth stretching structure is disposed on the lower surface of the top plate 440 and is mirror-image arranged with the first cloth stretching structure in a horizontal direction perpendicular to the sliding direction of the cloth spreading mechanism 400.
Still further, in the embodiment of the present invention, the image acquisition module 600 is disposed on the rear edge of the lower surface of the top plate 440 at a middle position of the rear edge thereof.
Specifically, in the embodiment of the present invention, the cloth conveying mechanism 300 includes a first cloth conveying roller 310, a second cloth conveying roller 320 and a third cloth conveying roller 330 for defining a cloth conveying direction, where the position of the second cloth conveying roller 320 is the lowest, the position of the third cloth conveying roller 330 is higher than the second cloth conveying roller 320, and the position of the first cloth conveying roller 310 is higher than the third cloth conveying roller 330; the front end of the cloth roll accommodated in the hopper 200, after being protruded out of the hopper 200, sequentially bypasses the first cloth feed roller 310, the second cloth feed roller 320 and the third cloth feed roller 330, and is protruded into the rear side of the cloth pressing assembly 410 through a gap between the cloth spreading mechanism body and the cloth pressing assembly 410, and is then clamped by the cloth pressing assembly 410.
Specifically, the process of performing the first cloth paving operation by the machine vision-based crease-resistant cloth paving machine according to the embodiment of the invention is as follows:
the cloth spreading mechanism main body at the initial position drives the front end of the cloth clamped by the cloth pressing assembly 410 to slide towards the cloth pressing mechanism 500, when the cloth pressing assembly 410 slides to the cloth transferring position, the front end of the cloth is released, and at the moment, the cloth pressing mechanism 500 is converted from a lifting state to a pressing state so as to fix the front end of the cloth on the workbench 100;
after the cloth pressing mechanism 500 fixes the front end of the cloth on the table 100, the cloth spreading mechanism main body slides back to the initial position, and the cloth pressing assembly 410 always maintains the released state in the process of the cloth spreading mechanism main body sliding back to the initial position, and the front end of the cloth is in the fixed state at this time, so that the cloth is gradually spread onto the table 100 in the process of the cloth spreading mechanism main body sliding back to the initial position;
after the cloth spreading mechanism main body returns to the initial position, the cloth pressing assembly 410 is converted from the release state to the clamping state to clamp the cloth therein, and at this time, the cloth cutting mechanism 800 slides along the cloth pressing assembly main body 411 to realize cutting of the spread cloth, thereby completing the first cloth spreading work;
wherein, the cloth pressing assembly main body 411 comprises an upper cloth pressing plate and a lower cloth pressing plate, the upper cloth pressing plate and the lower cloth pressing plate form a clamping structure capable of opening and closing, the clamping structure is in a release state to cloth when opened, the clamping structure is in a clamping state to cloth when closed, and the front end of the cloth extends into the clamping structure through a rear side opening of the opened clamping structure and is clamped by the clamping structure after the clamping structure is turned into closed.
Specifically, the machine vision-based wrinkle-preventing cloth paving machine provided by the embodiment of the invention has the following steps of:
after the first cloth laying operation is completed, the corresponding part of the cloth clamped by the cloth pressing assembly 410 is replaced to be the front end of the cloth;
the cloth spreading mechanism main body at the initial position drives the front end of the cloth clamped by the cloth pressing assembly 410 to slide towards the cloth pressing mechanism 500, and in the process, the cloth spread in the previous cloth spreading process may be contacted with the cloth pressing assembly 410 with position adjustment error, so that wrinkles are formed;
therefore, in the embodiment of the present invention, in the process that the main body of the spreading mechanism does not feed cloth for the first time, the image acquisition module 600 disposed on the lower surface of the top plate 440 of the main body of the spreading mechanism and positioned at a rear position relative to the cloth pressing assembly 410 is used for acquiring images of the cloth below the main body of the spreading mechanism, so that the identification of the folds on the cloth spread in the previous spreading process is realized based on the controller, if the controller identifies that the folds exist on the cloth, the main body of the spreading mechanism is controlled to stop sliding, the first wrinkle removing mechanism 700 is controlled to remove the wrinkles on the corresponding cloth in a stretching manner, and the main body of the spreading mechanism is controlled to continue sliding after the wrinkles are removed;
the wrinkle removing principle of the first wrinkle removing mechanism 700 is as follows:
when the cloth that is expanded in the last exhibition cloth process was discerned to have the fold, exhibition cloth mechanism main part stopped the slip, and first cloth stretching structure and second cloth stretching structure carry out synchronous stretching to the cloth under the control of controller, specifically: the first electric control telescopic rod 730 stretches under the control of the controller so that the negative pressure suction cup 760 moves to the rear of the cloth fold, then the first electric control telescopic rod 720 descends under the control of the controller so that the negative pressure suction cup 760 contacts with a corresponding part of the cloth, and then the negative pressure suction cup 760 is converted from an idle state to a working state so as to adsorb the cloth; after the negative pressure suction cup 760 adsorbs the cloth, the first electrically controlled telescopic rod 730 continues to extend for a predetermined length under the control of the controller, accordingly, the cloth moves for a corresponding distance or has a corresponding movement trend in a direction away from the cloth pressing mechanism 500 under the driving of the negative pressure suction cup 760, and at this time, the front end of the cloth which is unfolded in the previous cloth unfolding process is being fixed by the cloth pressing mechanism 500, so that the cloth is stretched, and the corresponding fold is stretched to be flat; in the process, the second cloth stretching structure and the first cloth stretching structure synchronously act to jointly cooperate to realize stretching and wrinkle removal of the cloth.
Specifically, in the embodiment of the present invention, under the control of the controller, the negative pressure suction cup 760 can be moved above the vertex angle of the cloth that is spread in the previous spreading process, which is near the initial position of the spreading mechanism body, and the vertex angle is located at the same side of the table 100 as the negative pressure suction cup 760.
Specifically, in the embodiment of the present invention, the negative pressure suction cup 760 includes a negative pressure suction cup main body 761, a plurality of air inlet holes 762 parallel to the suction surface are provided on the suction surface of the negative pressure suction cup main body 761, and an air outlet hole is provided on the top surface of the negative pressure suction cup main body 761, and the air outlet hole is connected with a negative pressure device through an air pipeline.
Specifically, in the embodiment of the present invention, as an alternative, the air inlet 762 is arranged to protrude from the adsorption surface, so that the friction force between the negative pressure sucker main body 761 and the cloth can be increased to a certain extent, and further the stretching effect on the cloth can be improved, so that the wrinkle removing effect on the cloth is improved.
Still further, the machine vision-based wrinkle-preventing cloth paving machine according to the embodiment of the present invention further includes:
the second wrinkle removing mechanism 900 is used for trailing the cloth spreading mechanism 400 during the spreading process, sliding on the workbench 100, and applying pressure to the spread cloth during the sliding process.
Still further, in an embodiment of the present invention, the second wrinkle removing mechanism 900 includes a first pressure applying structure and a second pressure applying structure that are identical in structure;
the first pressure applying structure includes a first electrically controlled slider 910, a second base shaft 920, a second electrically controlled lift lever 930, a shift lever 940, and a shift plate 950;
the first electric control sliding block 910 is configured to slide on a first sliding rail, the second base shaft 920 is vertically fixed on the top surface of the first electric control sliding block 910, the second electric control lifting rod 930 is coaxially arranged on the free end of the second base shaft 920, and the deflector 940 is connected with the lifting end of the second electric control lifting rod 930 through the first end thereof so as to arrange itself along a horizontal direction perpendicular to the sliding direction of the spreading mechanism 400;
the poking piece 950 is made of a smooth rubber material or a silica gel material, and the poking piece 950 is arranged on the poking rod 940 and is used for applying pressure to corresponding cloth;
the second pressure applying structure is disposed on the second slide rail 110 and is disposed in mirror image with the first pressure applying structure in a horizontal direction perpendicular to the sliding direction of the cloth spreading mechanism 400.
Specifically, in the embodiment of the present invention, the wrinkle removing principle of the second wrinkle removing mechanism 900 is as follows:
in the process of spreading the main body of the spreading mechanism, namely in the process that the main body of the spreading mechanism slides from the cloth delivery position to return to the initial position, the first pressure applying structure and the second pressure applying structure simultaneously and synchronously slide along with the main body of the spreading mechanism under the control of the controller, in the process, the poking piece 950 of the first pressure applying structure and the corresponding poking piece of the second pressure applying structure can be contacted with the cloth which is spread this time to apply proper pressure to the cloth, so that the device is arranged, on one hand, the wrinkle removing effect can be achieved, on the other hand, the stacked multi-layer cloth can be contacted more tightly, and the cloth pile is more compact, so that the cloth of the next step is convenient for cutting operation according to the edition. In the above process, the sliding of the first pressure applying structure on the table 100 is realized based on the cooperation of the first electronic control slider 910 and the first slide rail, and the sliding of the first pressure applying structure on the table 100 is realized based on the cooperation of the electronic control slider provided thereon and the second slide rail 110.
Still further, in the embodiment of the present invention, the cloth pressing mechanism 500 includes a cloth pressing mechanism body 510, a first support 520, and a second support 530;
the first support 520 and the second support 530 are oppositely disposed on the table 100 and respectively adjacent to the first side and the second side thereof;
the cloth pressing mechanism body 510 has both ends slidably matched with the first support 520 and the second support 530, respectively, to achieve position adjustment of itself in the vertical direction.
Still further, in the embodiment of the present invention, the cloth pressing mechanism body 510 includes a cloth pressing frame 511, and a second electric control slider 512 and a third electric control slider respectively disposed at two ends of the cloth pressing frame 511;
a first slide 521 is provided on the first support 520 that mates with the second electronically controlled slider 512 and a second slide is provided on the second support 530 that mates with the third electronically controlled slider.
Specifically, in the embodiment of the present invention, the sliding of the spreading mechanism main body on the workbench 100 is controlled by the controller; the image acquisition module 600 is controlled by the controller and acquires cloth images based on a predetermined acquisition frequency; the opening and closing of the cloth pressing assembly main body 411 is controlled by a controller; the sliding of the first pressure applying structure and the second pressure applying structure is controlled by the controller, i.e. the first electric control slider 910 and the second pressure applying structure are provided with electric sliders controlled by the controller; in the first pressure applying structure, the adjustment of the distance between the shift sheet 950 and the workbench 100 is realized based on a controller, that is, the second electric control lifting rod 930 is controlled by the controller; the lifting or pressing down of the cloth pressing frame 511 is controlled by a controller, namely, the second electric control slide block 512 and the third electric control slide block are controlled by the controller; in the first cloth stretching structure, the states of the first electric control lifting rod 720, the first electric control telescopic rod 730 and the negative pressure sucker 760 are controlled by the controller; the cloth cutting mechanism 800 is controlled by a controller.
According to the machine vision-based anti-wrinkling cloth paving machine provided by the embodiment of the invention, not only can the cloth which is unfolded and has wrinkles in the previous cloth unfolding process be wrinkle-removed based on the machine vision technology in the non-primary cloth feeding process in a stretching mode, but also the cloth which is unfolded at this time can be wrinkle-removed and pressed on the cloth below in the cloth unfolding process in a pressure applying mode, so that the uniformity, flatness and compactness of the cloth are improved, and the cloth in the next step is convenient to cut according to the edition.
Although one or more embodiments of the present invention have been described above, it will be appreciated by those of ordinary skill in the art that the invention can be embodied in any other form without departing from the spirit or scope thereof. The above-described embodiments are therefore intended to be illustrative rather than limiting, and many modifications and substitutions will now be apparent to those of ordinary skill in the art without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (10)
1. The wrinkle-preventing cloth paving machine based on machine vision is characterized by comprising a workbench, a hopper, a cloth conveying roller mechanism, a cloth spreading mechanism, a cloth pressing mechanism, an image acquisition module, a first wrinkle removing mechanism and a controller;
the cloth spreading mechanism and the cloth pressing mechanism are arranged on the workbench, and the cloth spreading mechanism is configured to be capable of sliding between an initial position of the cloth spreading mechanism and the cloth pressing mechanism;
the hopper and the cloth conveying roller mechanism are arranged on the cloth spreading mechanism, and the cloth conveying roller mechanism is used for introducing the front end of the coiled cloth accommodated in the hopper into the cloth spreading mechanism;
the cloth spreading mechanism is used for driving the front end of the cloth which is introduced into the cloth spreading mechanism to slide towards the cloth pressing mechanism so as to realize cloth feeding, and returning to the initial position after the front end of the cloth is pressed by the cloth pressing mechanism so as to realize cloth spreading;
the image acquisition module is used for acquiring an image of the cloth which is spread in the last spreading process in the non-first cloth feeding process of the spreading mechanism;
the controller is used for judging whether the corresponding cloth has wrinkles according to the cloth image acquired by the image acquisition module, if yes, controlling the cloth spreading mechanism to stop feeding cloth, and controlling the first wrinkle removing mechanism to remove wrinkles on the cloth in a stretching mode.
2. A machine vision based anti-wrinkle cloth paving machine according to claim 1, wherein the cloth spreading mechanism includes a cloth pressing assembly for clamping a front end of cloth inserted therein from a rear side during cloth feeding, releasing the cloth therein during cloth spreading, and clamping the cloth therein before the spread cloth is cut after one cloth spreading is completed.
3. The machine vision-based wrinkle-resistant paving machine of claim 2, wherein the spreading mechanism further comprises a spreading mechanism body divided into oppositely disposed first and second slide bases, and a top plate commonly supported by the two;
a first sliding rail is arranged on the first side edge of the workbench, and the first sliding base can slide on the first side edge of the workbench based on the first sliding rail;
a second sliding rail is arranged on the second side edge of the workbench, and the second sliding base can slide on the second side edge of the workbench based on the second sliding rail;
the cloth pressing assembly comprises a cloth pressing assembly main body, a first connecting block and a second connecting block;
the first sliding base and the second sliding base are respectively provided with a front end face facing the cloth pressing mechanism, the first connecting block and the second connecting block are respectively arranged on the front end face of the first sliding base and the front end face of the second sliding base, and two ends of the cloth pressing assembly main body are respectively connected with the first connecting block and the second connecting block so as to enable the cloth pressing assembly main body to be arranged along a horizontal direction perpendicular to the sliding direction of the cloth spreading mechanism.
4. A machine vision based anti-wrinkle cloth paving machine according to claim 3, further comprising a cloth cutting mechanism disposed on the cloth pressing assembly body and configured to slide along the cloth pressing assembly body to effect cutting of the spread cloth.
5. A machine vision based anti-wrinkle paver as in claim 3 wherein said first wrinkle removal mechanism comprises a first cloth stretching structure and a second cloth stretching structure of the same construction;
the first cloth stretching structure comprises a first base shaft, a first electric control lifting rod, a first electric control telescopic rod, a first connecting rod, a second connecting rod and a negative pressure sucker;
the first base shaft is vertically and fixedly arranged on the front edge of the lower surface of the top plate and is close to the first sliding base, and the first electric control lifting rod is coaxially arranged on the free end of the first base shaft;
the first end of the first connecting rod is hinged with the first end of the second connecting rod, and the telescopic end and the fixed end of the first electric control telescopic rod are respectively hinged with the middle part of the first connecting rod and the middle part of the second connecting rod so as to form an A-shaped structure together with the first connecting rod and the second connecting rod;
the first connecting rod is connected with the lifting end of the first electric control lifting rod through the second end of the first connecting rod so that the A-shaped structure is in a horizontal posture and is far away from the front edge of the lower surface of the top plate relative to the first base shaft;
the second cloth stretching structure is arranged on the lower surface of the top plate and is in mirror image arrangement with the first cloth stretching structure in the horizontal direction perpendicular to the sliding direction of the cloth spreading mechanism.
6. The machine vision-based anti-wrinkle drape machine of claim 5, wherein the image acquisition module is disposed on a rear edge of the lower surface of the top sheet and is located midway along the rear edge.
7. The machine vision-based anti-wrinkle paver of any of claims 1-6, further comprising:
the second wrinkle removing mechanism is used for sliding on the workbench along with the cloth spreading mechanism in the process of spreading the cloth, and applying pressure to the spread cloth in the sliding process.
8. The machine vision based anti-wrinkle paver of claim 7 wherein the second de-wrinkling mechanism comprises a first pressure applying structure and a second pressure applying structure that are structurally identical;
the first pressure applying structure comprises a first electric control sliding block, a second base shaft, a second electric control lifting rod, a deflector rod and a deflector sheet;
the first electric control sliding block is configured to slide on the first sliding rail, the second base shaft is vertically and fixedly arranged on the top surface of the first electric control sliding block, the second electric control lifting rod is coaxially arranged on the free end of the second base shaft, and the deflector rod is connected with the lifting end of the second electric control lifting rod through the first end of the deflector rod so as to enable the deflector rod to be arranged along the horizontal direction perpendicular to the sliding direction of the spreading mechanism;
the poking piece is arranged on the poking rod and is used for applying pressure to corresponding cloth;
the second pressure applying structure is arranged on the second sliding rail and is arranged in a mirror image mode with the first pressure applying structure in the horizontal direction perpendicular to the sliding direction of the spreading mechanism.
9. The machine vision based anti-wrinkle cloth paving machine of claim 8, wherein the cloth pressing mechanism includes a cloth pressing mechanism body, a first support, and a second support;
the first support and the second support are oppositely arranged on the workbench and are respectively close to the first side edge and the second side edge of the workbench;
the two ends of the cloth pressing mechanism main body are respectively matched with the first support and the second support in a sliding manner, so that the position of the cloth pressing mechanism main body in the vertical direction is adjusted.
10. The machine vision-based wrinkle-preventing cloth paving machine according to claim 9, wherein the cloth pressing mechanism body comprises a cloth pressing frame, and a second electric control slide block and a third electric control slide block respectively arranged at two ends of the cloth pressing frame;
the first support is provided with a first slideway matched with the second electric control sliding block, and the second support is provided with a second slideway matched with the third electric control sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311678526.0A CN117719947A (en) | 2023-12-07 | 2023-12-07 | Prevent fold cloth paving machine based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311678526.0A CN117719947A (en) | 2023-12-07 | 2023-12-07 | Prevent fold cloth paving machine based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117719947A true CN117719947A (en) | 2024-03-19 |
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ID=90199091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311678526.0A Pending CN117719947A (en) | 2023-12-07 | 2023-12-07 | Prevent fold cloth paving machine based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117719947A (en) |
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2023
- 2023-12-07 CN CN202311678526.0A patent/CN117719947A/en active Pending
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