CN110524548A - A kind of robot based on closed-loop control and sewing machine speed Synergistic method - Google Patents

A kind of robot based on closed-loop control and sewing machine speed Synergistic method Download PDF

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Publication number
CN110524548A
CN110524548A CN201910713566.1A CN201910713566A CN110524548A CN 110524548 A CN110524548 A CN 110524548A CN 201910713566 A CN201910713566 A CN 201910713566A CN 110524548 A CN110524548 A CN 110524548A
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China
Prior art keywords
speed
sewing machine
sewing
work feed
robot
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CN201910713566.1A
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Chinese (zh)
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CN110524548B (en
Inventor
耿旭达
曹华
张媛
韩建欢
张彪
袁顺宁
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Luoshi Wuhan Robot Co ltd
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Rongshi (beijing) Technology Co Ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B27/00—Work-feeding means
    • D05B27/10—Work-feeding means with rotary circular feed members
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B69/00—Driving-gear; Control devices
    • D05B69/10—Electrical or electromagnetic drives
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G05B19/4163—Adaptive control of feed or cutting velocity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36521—Select by combination of detected force, acceleration, speed, work rate

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

Abstract

The invention proposes a kind of robots based on closed-loop control and sewing machine speed Synergistic method, comprising: by robot system clamping cloth sheets inside and controls pieces of cloth movement, and the movement velocity of the needle gage calculating robot according to setting；Sewing-machine control systems receive the movement velocity of robot, the work feed speed as sewing machine Song Bu mechanism；According to the revolving speed of motor on the gear ratio calculation sewing machine of work feed wheel and sewing machine, and analog signal amount corresponding with the revolving speed of motor is sent to the motor control module of sewing machine, is moved by the work feed wheel of motor control module output revolving speed driving sewing machine；The speed for acquiring work feed wheel, is handled, the work feed speed after obtaining closed-loop control by speed error of the sewing-machine control systems to work feed wheel, the work feed speed and robot speed's real-time collaborative of sewing machine.The real-time collaborative of the present invention change sewing machine cloth feeding velocity interpolation and robot tool movement velocity；So that work feed is accurately reached received speed, realize speed collaboration, control precision is high.

Description

A kind of robot based on closed-loop control and sewing machine speed Synergistic method
Technical field
The present invention relates to Industrial Robot Technology field, in particular to a kind of robot and sewing machine based on closed-loop control Speed Synergistic method.
Background technique
Due to the flexibility of cloth itself and the scrambling of shape, robot is in quilting industry using relatively fewer, state Inside and outside corresponding technology is also not yet mature.Positional relationship according to robot and sewing machine can be divided into two kinds:
(1) sewing machine is fixed: robot is according to the speed of multiple sensors control pieces of cloth and direction to reach in such mode To satisfactory sewing effect.
(2) sewing machine is connected on the moving cell of robot: such mode material stationary or by simple fitness machine Structure control, and robot is connected sewing machine at a desired speed with direction movement, has reached satisfactory sewing effect.
As a sewing system, the collaboration acted therebetween is essential for robot and sewing machine.Such as Fig. 2 institute Show, the work feed movement of sewing machine and pumping for syringe needle have codetermined the size of needle gage, lift and fall in syringe needle Centre, work feed speed is faster, and needle gage is bigger, otherwise similarly.
As shown in figure 3, cloth edge is sent by sewing machine cloth feeding wheel when being sewed in the case where sewing machine is fixed, It is flattened by presser feet, is controlled and moved by robot tool on the inside of cloth.Therefore, if robot motion does not assist with sewing machine cloth feeding movement Together, i.e., pieces of cloth edge and medial motion are inconsistent, will make to sew stitch entanglement or even are unable to complete sewing.
External several a small number of documents did introduction to the collaboration both in system.Histamine and Karakorum Kimura describes sewing machine in United States Patent (USP) " SEWING OPERATION ROBOT " in 1994 and is fixed in robot Sewing system, which carries out the collaboration between the movement velocity for how realizing simple harmonic motion mechanism and robot itself It is discussed in detail.David Gershon and Isaac Porat are in document " Vision servo control of a robotic Sewing system " in describe sewing machine it is fixed when, the speed of robot is adjusted according to the encoder information of sewing arbor Whole, carrying out opened loop control, there are certain tension to keep sewing pieces of cloth；Makoto Kudoa and Yasuo Nasua et al. exists 《Multi-arm robot control system for manipulation of flexible materials in Sewing operation " describe sewing machine it is fixed when, how to realize that multiple robots are moved according to the speed of sewing machines It cooperates with；L.E.Wetterwald and S.Dransfeld et al. are in " Flexible robotic sewing with real Time adaptive control " in, it describes robot and passes through optical motion sensor acquisition of information sewing machine speed, into And adjust the method that robot movement velocity is cooperateed with；Johannes Schrimpf did robot sewing system more Research, in document " Real-time system integration in a multi-robot sewing cell " intermediary Continued a kind of system that sewing machine is static, and elaborates how to pass through force snesor under the premise of specified sewing machine circular frequency With optical sensor information, cooperate with robot according to sewing machine speed.
But include: in place of the above study limitation cooperateed in relation to robot and sewing machine speed
(1) sensing system is complicated.System including compositions such as camera, encoder, force snesors；
(2) speed that can only be set according to sewing machine adjusts to complete to cooperate with the movement velocity of robot；
(3) there are acceleration and deceleration during sewing for robot, rather than always at the uniform velocity, if the work feed speed of sewing machine can not be real When respond, then cause the local motion not cooperateed with.
Summary of the invention
The purpose of the present invention aims to solve at least one of described technological deficiency.
For this purpose, it is an object of the invention to propose a kind of robot based on closed-loop control and sewing machine speed collaborative party Method.
To achieve the goals above, the embodiment of the present invention provides a kind of robot based on closed-loop control and sewing machine speed Synergistic method is spent, is included the following steps:
Step S1 by robot system clamping cloth sheets inside and controls the pieces of cloth movement, and the needle gage according to setting calculates The movement velocity V of the robottool, and by communications interface transmission to sewing-machine control systems；
Step S2, the sewing-machine control systems receive the movement velocity V of the robottool, as sewing machine Song Bu mechanism work feed speed Vsewing；And according to work feed speed VsewingWith transmission ratio i, the revolving speed of motor on sewing machine is calculated Rm, and by the revolving speed R with the motormCorresponding analog signal amount SaIt is sent to the motor control module of the sewing machine, by institute State motor control module output revolving speed R 'mDrive the work feed wheel movement of sewing machine；
Step S3 is acquired the speed V of work feed wheel by encoder on the work feed wheel in real times′ew, and feed back to the sewing Machine control system is handled by speed error Δ V of the sewing-machine control systems to work feed wheel, after obtaining closed-loop control Work feed speed Vi, so that the work feed speed of sewing machine and robot speed's real-time collaborative.
Further, in the step S2, according to work feed speed VsewingWith transmission ratio i, turn of motor on sewing machine is calculated Fast RmFor
Rm=iVsewing。
Further, in the step S2, according to the relationship f (R of motor speed and analog signal amountm,Sa) calculating simulation letter Number amount Sa, f (R hereinm,Sa) relationship according to specific sewing machine depending on, electrical motor of sewing machine revolving speed and the analog signal amount are line Sexual intercourse.
Further, in the step S3, it is carried out by speed error Δ V of the sewing-machine control systems to work feed wheel Reason, comprising:
Δ p=kpΔV
ΔVi=Δ p+ Δ d
Wherein, Δ p, Δ d are ratio and the output quantity that differentiation element is adjusted, kp, TdFor corresponding adjustment factor, through toning After section, the speed V of controller is inputed toiAre as follows:
Vi=Vsewing+ΔVi。
Robot according to an embodiment of the present invention based on closed-loop control and sewing machine speed Synergistic method are based on robot Speed carry out the novel cruise Synergistic method that closed loop accurately controls sewing machine cloth feeding speed.The speed of robot is sent to sewing Machine control system, control system carry out closed-loop control to sewing machine after receiving velocity information, it is real to change sewing machine cloth feeding speed Now with the real-time collaborative of robot tool movement velocity；Even if work feed accurately reaches received speed, speed collaboration is realized.This hair Bright control precision is high, and can carry out speed adjustment according to the acceleration and deceleration of robot in real time, without complicated sensor, system letter Single, control is stablized and work feed velocity control accuracy is higher.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures Obviously and it is readily appreciated that, in which:
Fig. 1 is the process according to the robot and sewing machine speed Synergistic method based on closed-loop control of the embodiment of the present invention Figure；
Fig. 2 is the schematic diagram according to the relationship of the needle gage and work feed speed of the embodiment of the present invention；
Fig. 3 is the robot and work feed wheel collaborative work schematic diagram according to the embodiment of the present invention；
Fig. 4 is the schematic diagram according to the information transmitting of the various pieces of the embodiment of the present invention；
Fig. 5 is the open-loop control models block diagram according to the embodiment of the present invention；
Fig. 6 is the closed loop control framework block diagram according to the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
As shown in Figure 1, the robot and sewing machine speed Synergistic method based on closed-loop control of the embodiment of the present invention, including Following steps:
Step S1 by robot system clamping cloth sheets inside and controls pieces of cloth movement, according to the needle gage of setting, computing machine The movement velocity V of peopletool, and by communications interface transmission to sewing-machine control systems.
Specifically, robot system includes robot, robot tool clamping cloth sheets inside, control pieces of cloth movement, calculating The movement velocity of pieces of cloth and the control system that speed is transferred to sewing machine by communication interface.Robot can control itself Movement velocity, and the movement velocity accuracy is higher, can pass through control unit interface output speed value Vtool。
Step S2, sewing-machine control systems receive the movement velocity V of robottool, set it to sewing machine send step The work feed speed V of mechanismsewing。
With reference to Fig. 4 and Fig. 6, if robot movement velocity is Vtool, sewing-machine control systems setting sewing machine cloth feeding speed For Vsewing, and:
Vsewing=Vtool
Specifically, according to work feed speed VsewingWith transmission ratio i, the revolving speed R of motor on sewing machine is calculatedmFor
Rm=iVsewing。
Then according to the relationship f (R of motor speed and analog signal amountm,Sa) calculating simulation semaphore Sa。
It should be noted that f (Rm,Sa) relationship according to specific sewing machine depending on, in most cases, sewing machine Motor speed and the analog signal amount are linear relationship.
By the revolving speed R with motormCorresponding analog signal amount SaIt is sent to the motor control module of sewing machine, by motor control Molding block exports revolving speed R 'mDrive the work feed wheel movement of sewing machine.By transmission mechanism driving work feed wheel movement, work feed wheel is practical Linear velocity are as follows:
It is practical due to the inertance element of control system and the presence of machine error:
V′sew≠Vsewing
V′sew≠Vtool
Vtool-V′sew=Δ V
Therefore, with reference to Fig. 5, open-loop control models are ultimately present velocity error, the speed of work feed wheel and robot tool There are the errors of Δ V for movement velocity.For this purpose, the present invention proposes a kind of sewing machine cloth feeding velocity close-loop control model, keep work feed smart Really reach received speed, realizes speed collaboration.
It should be noted that the sewing machine in the present invention is the electric sewer there are motor control module, sewing machine is complete At execution and sewing that work feed acts, and the work feed wheel of sewing machine is equipped with encoder, acquires the number of sewing machine cloth feeding turns encoder Value calculates the practical work feed speed of sewing machine cloth feeding wheel, the feedback quantity as closed-loop control.
Step S3 is acquired the speed V ' of work feed wheel by encoder on work feed wheel in real timesew, and feed back to sewing machine control system System, is handled, the work feed speed V after obtaining closed-loop control by speed error Δ V of the sewing-machine control systems to work feed wheeli, So that the work feed speed of sewing machine and robot speed's real-time collaborative, with reference to Fig. 6.
Open-loop control models are ultimately present velocity error, and in order to eliminate error, encoder is installed at sewing machine cloth feeding wheel, The speed V ' of acquisition work feed wheel in real timesew, controller is fed back to as feedback quantity；PD control device mould is added in controller Block handles the speed error Δ V of work feed wheel, is corrected to analog signal, then be input to motor control module to electricity Machine is controlled.
In this step, it is handled by speed error Δ V of the sewing-machine control systems to work feed wheel, comprising:
Δ p=kpΔV
ΔVi=Δ p+ Δ d
Wherein, Δ p, Δ d are ratio and the output quantity that differentiation element is adjusted, kp, TdFor corresponding adjustment factor, through toning After section, the speed V of controller is inputed toiAre as follows:
Vi=Vsewing+ΔVi。
Therefore, if Δ Vi> 0, then controller output analog signal increases, and electrical motor of sewing machine revolving speed improves, work feed wheel speed It improves, reaches target work feed speed, error concealment；Otherwise similarly.
By the control of closed loop control framework, the speed of the two can be realized with the speed of real-time synchronization sewing machine and robot Degree collaboration.
Robot according to an embodiment of the present invention based on closed-loop control and sewing machine speed Synergistic method are based on robot Speed carry out the novel cruise Synergistic method that closed loop accurately controls sewing machine cloth feeding speed.The speed of robot is sent to sewing Machine control system, control system carry out closed-loop control to sewing machine after receiving velocity information, it is real to change sewing machine cloth feeding speed Now with the real-time collaborative of robot tool movement velocity；Even if work feed accurately reaches received speed, speed collaboration is realized.This hair Bright control precision is high, and can carry out speed adjustment according to the acceleration and deceleration of robot in real time, without complicated sensor, system letter Single, control is stablized and work feed velocity control accuracy is higher.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.The scope of the present invention By appended claims and its equivalent limit.

Claims (4)

1. a kind of robot based on closed-loop control and sewing machine speed Synergistic method, which comprises the steps of:
Step S1 by robot system clamping cloth sheets inside and controls the pieces of cloth movement, described in the needle gage calculating according to setting The movement velocity V of robottool, and by communications interface transmission to sewing-machine control systems；
Step S2, the sewing-machine control systems receive the movement velocity V of the robottool, set it to sending for sewing machine Walk the work feed speed V of mechanismsewing；And according to work feed speed VsewingWith transmission ratio i, the revolving speed R of motor on sewing machine is calculatedm, And by the revolving speed R with the motormCorresponding analog signal amount SaIt is sent to the motor control module of the sewing machine, by described Motor control module exports revolving speed R'mDrive the work feed wheel movement of sewing machine；
Step S3 is acquired the speed V ' of work feed wheel by encoder on the work feed wheel in real timesew, and feed back to the sewing machine control System processed is handled, the work feed after obtaining closed-loop control by speed error Δ V of the sewing-machine control systems to work feed wheel Speed Vi, so that the work feed speed of sewing machine and robot speed's real-time collaborative.
2. the robot based on closed-loop control and sewing machine speed Synergistic method as described in claim 1, which is characterized in that In In the step S2, according to work feed speed VsewingWith transmission ratio i, the revolving speed R of motor on sewing machine is calculatedmFor
Rm=iVsewing。
3. the robot based on closed-loop control and sewing machine speed Synergistic method as described in claim 1, which is characterized in that In In the step S2, according to the relationship f (R of motor speed and analog signal amountm,Sa) calculating simulation semaphore Sa, f (R hereinm, Sa) relationship according to specific sewing machine depending on, electrical motor of sewing machine revolving speed and the analog signal amount are linear relationship.
4. the robot based on closed-loop control and sewing machine speed Synergistic method as described in claim 1, which is characterized in that In In the step S3, handled by speed error Δ V of the sewing-machine control systems to work feed wheel, comprising:
Δ p=kpΔV
ΔVi=Δ p+ Δ d
Wherein, Δ p, Δ d are ratio and the output quantity that differentiation element is adjusted, kp, TdFor corresponding adjustment factor, through overregulating it Afterwards, the speed V of controller is inputed toiAre as follows:
Vi=Vsewing+ΔVi。
CN201910713566.1A 2019-08-02 2019-08-02 Robot and sewing machine speed cooperation method based on closed-loop control Active CN110524548B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112257655A (en) * 2020-11-09 2021-01-22 西安工程大学 Method for robot to recognize human body sewing action

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4688837A (en) * 1985-12-11 1987-08-25 Fieldcrest Cannon, Inc. Robot end effector mechanism for gripping and holding a flat textile article in a predetermined orientation
CN101403166A (en) * 2007-10-04 2009-04-08 Juki株式会社 XY-axis motor control apparatus of sewing machine
CN101492863A (en) * 2008-01-21 2009-07-29 Juki株式会社 Controld device in sewing machine
CN102733097A (en) * 2011-03-30 2012-10-17 兄弟工业株式会社 Sewing machine and control method for the same
CN109554851A (en) * 2018-11-19 2019-04-02 杰克缝纫机股份有限公司 Sewing machine Double-axis synchronous control method, device, equipment, system and storage medium

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4688837A (en) * 1985-12-11 1987-08-25 Fieldcrest Cannon, Inc. Robot end effector mechanism for gripping and holding a flat textile article in a predetermined orientation
CN101403166A (en) * 2007-10-04 2009-04-08 Juki株式会社 XY-axis motor control apparatus of sewing machine
CN101492863A (en) * 2008-01-21 2009-07-29 Juki株式会社 Controld device in sewing machine
CN102733097A (en) * 2011-03-30 2012-10-17 兄弟工业株式会社 Sewing machine and control method for the same
CN109554851A (en) * 2018-11-19 2019-04-02 杰克缝纫机股份有限公司 Sewing machine Double-axis synchronous control method, device, equipment, system and storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112257655A (en) * 2020-11-09 2021-01-22 西安工程大学 Method for robot to recognize human body sewing action

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Address before: No. b801-004, 8th floor, Tsinghua University research complex building, Tsinghua Park, Haidian District, Beijing 100083

Patentee before: ROKAE, Inc.