CN216926615U - Automatic system for picking defects of wool spinning cloth - Google Patents
Automatic system for picking defects of wool spinning cloth Download PDFInfo
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- CN216926615U CN216926615U CN202220015629.3U CN202220015629U CN216926615U CN 216926615 U CN216926615 U CN 216926615U CN 202220015629 U CN202220015629 U CN 202220015629U CN 216926615 U CN216926615 U CN 216926615U
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Abstract
The utility model discloses an automatic system for picking defects of wool spinning cloth, which comprises: the cloth inspecting machine is used for driving the cloth to move; the rough positioning identification device is positioned above the cloth inspecting machine and is used for detecting flaws on the cloth; and the fine positioning and grabbing device is positioned above the cloth inspecting machine and is positioned at the downstream where the coarse positioning and identifying device moves along the cloth, and the fine positioning and grabbing device is used for detecting the defects on the cloth and clamping the defects on the cloth. According to the automatic system for picking the defects of the wool spinning cloth, the defects on the cloth can be accurately detected and clamped through the rough positioning identification device and the fine positioning gripping device, so that the defects can be picked in an automatic mode instead of manual work, and the efficiency is high.
Description
Technical Field
The utility model relates to an automatic system for picking defects of wool spinning cloth.
Background
In the wool spinning industry, when wool is spun into cloth, impurities of the wool or impurities in the external environment in the spinning process are doped into the wool or the impurities in the external environment in the spinning process and are spun into wool cloth, and the spun cloth has defects. Common types of blemishes are cavity hair, hair particles, grass clippings, snake skin silk, long and thin silk, and the like.
Common types of defects are as follows:
1. coarse cavity hair: is a defective wool of wool itself. Coarse-cavity wool is a term of textile industry, and the wool fibers are pale in pigment, coarse, crisp, poor in elasticity, less in curl, low in strength, difficult to spin and dye, and can affect the quality of finished yarns after the content of the wool fibers is high, so that a lot of variegated wool can be generated.
2. Hair particles: the spinning or weaving process of wool is interrupted, and then the wool is combined to form a wool ball which is similar to a particle.
3. Grass clippings/snake skin filament/black filament: generally, the wool is not the wool per se, but impurities mixed in the periphery during spinning, such as seven or eight mixed flaws or hair mixed in a packaging bag and the like.
The number of flaws directly affects the rating and value of the cloth, so that the first-class wools need to sort out the flaws. At present, semi-finished cloth inspection and finishing in the wool spinning industry are basically carried out by manually and visually identifying and picking out defects. The labor and time are wasted and the accuracy rate cannot be guaranteed by depending on the manual work.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects in the prior art, and provides an automatic system for picking defects of wool-woven cloth.
The utility model is realized by the following technical scheme:
an automated system for picking defects in a wool fabric piece, comprising:
the cloth inspecting machine is used for driving the cloth to move;
the rough positioning identification device is positioned above the cloth inspecting machine and is used for detecting flaws on the cloth;
and the fine positioning and grabbing device is positioned above the cloth inspecting machine and positioned at the downstream of the coarse positioning and identifying device moving along the cloth, and the fine positioning and grabbing device is used for detecting the flaws on the cloth and clamping the flaws on the cloth.
Further, cloth inspection machine includes actuating mechanism and workstation, the workstation is located the below of coarse positioning recognition device and the precision positioning grabbing device and is used for cloth to move through, actuating mechanism sets up in the tip of workstation, and actuating mechanism is used for driving the removal of cloth.
Further, the driving mechanism comprises a first rotating piece and a second rotating piece, and the first rotating piece and the second rotating piece are respectively arranged at two ends of the workbench and used for driving the cloth wound around the first rotating piece to move.
Further, the cloth inspecting machine further comprises a movement detection mechanism, the movement detection mechanism is arranged on the workbench and used for detecting the movement length of the cloth, and the movement detection mechanism is electrically connected to the driving mechanism and used for controlling a switch of the driving mechanism.
Further, the rough 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 allowing 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.
Furthermore, the fine positioning and grabbing device comprises a second photographing identification mechanism and a grabbing mechanism, the second photographing identification mechanism is located at the downstream of the coarse positioning identification device moving along the cloth, and the second photographing identification mechanism is electrically connected to the grabbing mechanism and used for controlling the moving 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 clamping jaw subassembly, clamping jaw subassembly is located the top of cloth inspection machine.
Further, the clamping jaw assembly includes mount pad, clamping jaw part and compress head, the top of compress head connect in the mount pad, the bottom of compress head has the through-hole that is used for exposing cloth, clamping jaw part connect in the mount pad, just clamping jaw part passes the through-hole is used for pressing from both sides and gets the flaw on the cloth.
Further, the manipulator is used for controlling the horizontal movement, the lifting movement and the rotation of the clamping jaw assembly.
Further, the second photographing and identifying mechanism is electrically connected to the cloth inspecting machine and used for controlling a switch of the cloth inspecting machine.
The utility model has the beneficial effects that:
according to the automatic system for picking the defects of the wool spinning cloth, the defects on the cloth can be accurately detected and clamped through the rough positioning recognition device and the fine positioning grabbing device, so that the defects can be picked manually in an automatic mode, and the efficiency is high.
Drawings
Fig. 1 is a schematic structural diagram of an automated system for picking defects on a wool fabric in an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a cloth inspecting machine of an automatic system for picking defects of wool-woven cloth according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a rough positioning recognition device of an automated system for picking defects on a wool fabric according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a fine positioning and grabbing device of an automatic system for picking up defects of wool fabric pieces according to an embodiment of the present invention.
Fig. 5 is a partial structural view of a fine positioning and gripping device of an automated system for picking defects on a wool fabric according to an embodiment of the present invention.
Description of reference numerals:
Working table 11
First rotating member 121
Second rotating member 122
Coarse positioning identification device 2
Through-hole 211
First photographing identification mechanism 22
Fine positioning gripping device 3
Second photographing recognition mechanism 31
Manipulator fixing table 321
Clamping jaw assembly 323
Jaw member 3232
Detailed Description
The following description of the embodiments refers to the accompanying drawings, which are included to illustrate specific embodiments in which the utility model may be practiced.
As shown in fig. 1, 2, 3, 4 and 5, the present embodiment discloses an automatic system for picking defects of a wool woven fabric, which includes a cloth inspecting machine 1, a coarse positioning recognition device 2 and a fine positioning grabbing device 3, wherein the cloth inspecting machine 1 is used for driving the fabric to move; the rough positioning recognition device 2 is positioned above the cloth inspecting machine 1 and is used for detecting flaws on the cloth; the fine positioning and grabbing device 3 is located above the cloth inspecting machine 1, the fine positioning and grabbing device 3 is located at the downstream of the coarse positioning and recognizing device 2 moving along the cloth, and the fine positioning and grabbing device 3 is used for detecting the flaws on the cloth and clamping the flaws on the cloth.
When the automatic system for picking the defects of the wool spinning cloth is used, the cloth inspecting machine 1 is used for driving the cloth to move, and a coarse positioning recognition device 2 and a fine positioning grabbing device 3 are sequentially arranged in the moving direction of the cloth; the rough positioning recognition device 2 starts photographing recognition, when 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 gripping device 3 is calculated; the fine positioning gripping device 3 will further detect and grip the flaws on the cloth. Can accurate detection cloth go up the flaw and press from both sides the flaw on the cloth through coarse positioning recognition device 2 and smart location grabbing device 3 to realize that automatic mode replaces the manual work and picks the flaw, and efficient. The automatic system for picking the defects of the wool textile cloth can effectively realize that one set of mechanism can take out various types of defects at the same time through the working mode and the mechanical motion, thereby achieving the intellectualization of mature repair.
The driving mechanism 12 includes a first rotating member 121 and a second rotating member 122, and the first rotating member 121 and the second rotating member 122 are respectively disposed at two ends of the worktable 11 and are used for driving the cloth wound around them to move. The cloth on the working table 11 is driven to start moving along the cloth moving direction through the rotation of the first rotating member 121 and the second rotating member 122, so that the accurate control of the moving distance of the cloth is ensured, and the stability is higher. The first rotating member 121 and the second rotating member 122 are motors.
The cloth inspecting machine 1 further comprises a movement detection mechanism 13, wherein the movement detection mechanism 13 is arranged on the workbench 11 and used for detecting the movement length of the cloth, and the movement detection mechanism 13 is electrically connected to the driving mechanism 12 and used for controlling the switch of the driving mechanism 12. The distance that cloth has walked forward on cloth inspection machine 1 can be known through the feedback of removal detection mechanism 13, after the flaw moved to fine positioning grabbing device 3 work area, let cloth inspection machine 1 stop motion through the control of removal detection mechanism 13, cloth is stopped and is in quiescent condition. The movement detection mechanism 13 is an encoder.
The rough 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 inspecting machine 1, a through hole 211 for allowing 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 used for photographing and recognizing flaws on the cloth. Cloth enters the box body 21, the first photographing and identifying mechanism 22 photographs the cloth to identify flaws on the cloth, and then the cloth moves out of the box body 21 through the through hole 211 and then moves to a working area of the fine positioning and grabbing device 3. The rough positioning identification device 2 has simple integral structure and very convenient use. Wherein, the first photographing identification mechanism 22 is electrically connected to the fine positioning and grabbing device 3. The first photographing recognition mechanism 22 converts the coordinates of the flaw into coordinates in the coordinate system of the fine positioning and gripping device 3, and then controls the fine positioning and gripping device 3 to move to the area above the flaw.
The fine positioning and gripping device 3 comprises a second photographing identification mechanism 31 and a gripping mechanism 32, the second photographing identification mechanism 31 is located at the downstream of the coarse positioning and identifying device 2 moving along the cloth, and the second photographing identification mechanism 31 is electrically connected to the gripping mechanism 32 and is used for controlling the moving position of the gripping mechanism 32 and the gripping operation.
Because the cloth has tension in the moving process and the cloth may have displacement, the coordinates calculated by the coarse positioning identification device 2 deviate from the actual coordinates, and the second photographing identification mechanism 31 is required to perform photographing check; the second photographing recognition mechanism 31 performs image segmentation after the fine positioning photographing, if a defect is found, coordinates of the defect are x and y, and offset coordinates of the grasping mechanism 32 moving above the defect are calculated according to known conditions. The flaw on the cloth is further identified through the second photographing identification mechanism 31, so that the grabbing mechanism 32 is controlled to accurately clear the flaw, an automatic mode is realized to replace manual work to pick the flaw, and the efficiency is high.
The grabbing mechanism 32 comprises a manipulator fixing table 321, a manipulator 322 and a clamping jaw assembly 323, two ends of the manipulator 322 are respectively connected to the manipulator fixing table 321 and the clamping jaw assembly 323, and the clamping jaw assembly 323 is located above the cloth inspecting 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 a defect is recognized, coordinates of the defect on the cloth are converted into coordinates under a coordinate system of the manipulator 322, then the manipulator 322 is controlled to move to the defect, and grabbing operation of the clamping jaw assembly 323 is controlled, so that clamping of the defect is achieved. The defects on the cloth are identified through the second photographing identification mechanism 31, so that the manipulator 322 and the clamping jaw assembly 323 are controlled to accurately clear the defects, an automatic mode is realized to replace manual work to pick the defects, 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 then the grabbing operation of the clamping jaw assembly 323 is controlled, so that the flaw is grabbed; the rotation of the robot 322 will rotate the gripper assembly 323 together, so that the flaw can be rotatably pulled out.
The flaw wool has various shapes, long and thin shapes, granular shapes and the like, and the existing position states are different, some flaw wool floats on the surface of the cloth, and some flaw wool is half buried in the cloth. Various types of flaws are recognized by the second photographing recognition mechanism 31, and the flaws 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 defective hairs are longer, and a part of defective hairs are hidden in the cloth and are directly and vertically lifted upwards, the resistance is higher, and the defective hairs can be broken; in order to solve the problem, after the defective wool is picked up by the clamping jaw assembly 323, the working mode of in-situ rotation of the clamping jaw assembly 323 is adopted, the defective wool can be pulled out along the direction of the defective wool, and the manipulator 322 moves upwards to effectively take away the defective wool.
The jaw assembly 323 includes a mounting base 3231, a jaw member 3232, and a cloth pressing head 3233, a top of the cloth pressing head 3233 is connected to the mounting base 3231, a bottom of the cloth pressing head 3233 has a through hole 211 for exposing the 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 gripping a flaw on the cloth. According to the offset coordinate, the manipulator 322 is controlled to drive the clamping jaw part 3232 of the clamping jaw assembly 323 to move above the flaw, then the manipulator 322 descends h, and the cloth is pressed by the cloth pressing head 3233. Since a certain drawing force is required for the flaws to be wound inside the cloth in the process of upwards drawing out the flaws, the cloth pressing head 3233 presses the cloth in order to prevent the flaws from being drawn up together with the cloth. In this embodiment, the descending height h of the clamping jaw assembly 323 is about 1mm deep downward after the clamping jaw component 3232 touches the flaw surface, then the clamping jaw assembly 323 stops descending, then the clamping jaw component 3232 is closed, then the clamping jaw component 3232 is driven to rotate, the circular or long-strip-shaped flaw can be rotationally pulled out, the clamping jaw component 3232 rotates in place, and then the whole clamping jaw assembly 323 ascends.
The second photographing identification mechanism 31 is electrically connected to the cloth inspecting machine 1 and is used for controlling the switch of the cloth inspecting machine 1. The second photographing identification mechanism 31 is mounted on the mounting seat 3231, and the movement of the manipulator 322 can drive the movement of the second photographing identification mechanism 31. After the fine positioning gripping device 3 recognizes that all the defects on the cloth are clamped once, the manipulator 322 is operated to perform overall photographing recognition on the area through the second photographing recognition mechanism 31, if no defect exists, the second photographing recognition mechanism 31 sends out an instruction signal and controls the cloth inspecting machine 1 to be opened, that is, the driving mechanism 12 restarts to drive the cloth to move. Of course, if the cloth has flaws, the clamping of the flaws on the cloth by the fine positioning and grabbing device 3 is continued.
The automated system for picking up defects on a piece of wool fabric of the present embodiment operates as follows:
step one, a driving mechanism 12 is opened, the cloth inspecting machine 1 starts to work, and the driving mechanism 12 rotates to drive cloth to start to move on a workbench 11 along the cloth moving direction;
secondly, the cloth passes through the rough positioning recognition device 2, the first photographing recognition mechanism 22 starts photographing recognition, when the first photographing recognition mechanism 22 detects a flaw, the coordinate of the flaw is recorded, and the distance required by the flaw to move to the working area of the manipulator 322 is calculated;
thirdly, feeding back by the mobile detection mechanism 13 to know the distance of the cloth on the cloth inspecting machine 1, and stopping the movement of the cloth inspecting machine 1 by controlling the mobile detection mechanism 13 after the flaw moves to the working area of the manipulator 322, so that the cloth is in a static state after being stopped;
step four, converting the coordinates of the flaws into coordinates under a manipulator 322 coordinate system, and then controlling the manipulator 322 to move to an area above the flaws;
step five, the second photographing recognition mechanism 31 performs image segmentation after photographing, if a flaw is found, coordinates of the flaw are x and y, and offset coordinates of the claw head moving above the flaw are calculated according to known conditions;
step six, controlling the clamping jaw part 3232 to move above the flaw according to the offset coordinate, then descending the manipulator 322 for h, and pressing the cloth by the cloth pressing head 3233;
step seven, the descending height h is that the electric chuck touches the surface of the flaw and then descends by about 1mm, 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, the flaw is rotationally pulled out, and then the whole clamping jaw assembly 323 is lifted upwards;
step eight, after the defects are pulled out, the manipulator 322 moves to a non-picking area, and the defects are adsorbed by a pneumatic device;
step nine, the manipulator 322 moves to the pull-out point position of the previous flaw again to take a picture through the second picture taking and identifying mechanism 31, whether the flaw is cleared completely is identified, and if the flaw is not cleared, the fifth step to the eighth step are continued;
step ten, after all the flaws identified by the fine positioning of the fine positioning and grabbing device 3 are clamped once, the manipulator 322 is operated to carry out overall photographing identification on the area through the second photographing identification mechanism 31, if no flaws exist, the driving mechanism 12 is controlled to be opened, and the cloth inspecting machine 1 starts to drive the cloth to move again. Of course, if there are any defects, repeating the above steps five to eight. Wherein if the repetition exceeds 2 times, the area is not processed any more, and the cloth inspecting machine 1 is restarted.
And after the cloth inspecting machine 1 is restarted, the actions are repeated, and the defects are automatically cleaned according to the working mode.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the utility model is not limited by the scope of the appended claims.
Claims (10)
1. An automated system for picking defects in wool fabric pieces, comprising:
the cloth inspecting machine is used for driving the cloth to move;
the rough positioning identification device is positioned above the cloth inspecting machine and is used for detecting flaws on the cloth;
and the fine positioning and grabbing device is positioned above the cloth inspecting machine and positioned at the downstream of the coarse positioning and identifying device moving along the cloth, and the fine positioning and grabbing device is used for detecting the flaws on the cloth and clamping the flaws on the cloth.
2. The automated system for picking defects on a wool textile piece of cloth according to claim 1, wherein the cloth inspecting machine comprises a driving mechanism and a worktable, the worktable is located below the coarse positioning recognition device and the fine positioning gripping device and is used for moving the piece of cloth to pass through, the driving mechanism is arranged at the end part of the worktable, and the driving mechanism is used for driving the movement of the piece of cloth.
3. The automated system for picking up defects on a wool textile piece as recited in claim 2, wherein the driving mechanism includes a first rotating member and a second rotating member, which are respectively provided at both ends of the table and drive the piece wound therearound to move.
4. The automated system for picking defects on a wool fabric web according to claim 2, wherein the cloth inspecting machine further comprises a movement detecting mechanism disposed on the table for detecting the length of movement of the web, and the movement detecting mechanism is electrically connected to the driving mechanism and controls a switch of the driving mechanism.
5. The automated wool fabric defect picking system of claim 1, wherein the coarse positioning recognition device comprises a box and a first photo recognition mechanism, the box is disposed on the cloth inspecting machine, the box has a through hole for passing the fabric, and the first photo recognition mechanism is disposed in the box and is used for photo recognition of the defect on the fabric.
6. The automated system for picking up defects in a wool fabric piece as claimed in claim 1, wherein the fine positioning and gripping device comprises a second photo recognition mechanism and a gripping mechanism, the second photo recognition mechanism being located downstream of the coarse positioning and recognition device along the piece, the second photo recognition mechanism being electrically connected to the gripping mechanism and controlling the moving position of the gripping mechanism and the gripping operation.
7. The automated wool fabric defect picking system of claim 6, wherein the gripping mechanism comprises a robot fixing station, a robot and a clamping jaw assembly, two ends of the robot are respectively connected to the robot fixing station and the clamping jaw assembly, and the clamping jaw assembly is positioned above the cloth inspecting machine.
8. The automated wool fabric defect picking system of claim 7, wherein the jaw assembly comprises a mounting base, a jaw member and a cloth pressing head, the cloth pressing head is connected with the top of the mounting base, the cloth pressing head is provided with a through hole at the bottom for exposing the cloth, the jaw member is connected with the mounting base, and the jaw member passes through the through hole and is used for clamping the defect on the cloth.
9. The automated system for picking defects on a wool fabric piece according to claim 7, wherein the robot arm is used to control the horizontal movement, the lifting movement and the rotation of the jaw assembly.
10. The automated wool fabric piece defect picking system of claim 6, wherein the second photo identification mechanism is electrically connected to the cloth inspecting machine and is used for controlling a switch of the cloth inspecting machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220015629.3U CN216926615U (en) | 2022-01-05 | 2022-01-05 | Automatic system for picking defects of wool spinning cloth |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220015629.3U CN216926615U (en) | 2022-01-05 | 2022-01-05 | Automatic system for picking defects of wool spinning cloth |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216926615U true CN216926615U (en) | 2022-07-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220015629.3U Active CN216926615U (en) | 2022-01-05 | 2022-01-05 | Automatic system for picking defects of wool spinning cloth |
Country Status (1)
| Country | Link |
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| CN (1) | CN216926615U (en) |
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2022
- 2022-01-05 CN CN202220015629.3U patent/CN216926615U/en active Active
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