CN111807102A - Automatic piece of clothing grasping system - Google Patents
Automatic piece of clothing grasping system Download PDFInfo
- Publication number
- CN111807102A CN111807102A CN202010676678.7A CN202010676678A CN111807102A CN 111807102 A CN111807102 A CN 111807102A CN 202010676678 A CN202010676678 A CN 202010676678A CN 111807102 A CN111807102 A CN 111807102A
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- China
- Prior art keywords
- layer cloth
- adsorption
- garment piece
- garment
- automatic
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H3/00—Separating articles from piles
- B65H3/22—Separating articles from piles by needles or the like engaging the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
- B65H5/14—Details of grippers; Actuating-mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2406/00—Means using fluid
- B65H2406/30—Suction means
- B65H2406/36—Means for producing, distributing or controlling suction
- B65H2406/366—Means for producing, distributing or controlling suction producing vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/17—Nature of material
- B65H2701/174—Textile, fibre
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Treatment Of Fiber Materials (AREA)
Abstract
The invention discloses an automatic garment piece grabbing system which is characterized by comprising an automatic garment piece cutting machine tool, a single-layer cloth dragging and dropping device, a single-layer cloth laying workbench, an automatic garment piece grabbing device and isolation paper. By arranging the isolation paper between the garment pieces, the garment pieces can generate enough adsorption force when being grabbed, and the garment pieces are not influenced by fabric density, so that the garment pieces made of different materials and with different fabric densities can be grabbed; dragging and laying a single-layer cloth unit formed by the garment piece and the isolation paper on a single-layer cloth laying workbench through a single-layer cloth dragging and dropping device, so that the garment piece is flat and easy to grab; the adsorption negative pressure is adjustable, so that the garment pieces of different materials, shapes and sizes can be reliably grabbed, and the problem that the grabbing force is difficult to control and is difficult to reliably grab in the grabbing process of the garment pieces is effectively solved; adopt automatic grabbing device to replace the manual work to pick up the garment piece, it is stable quick to snatch the garment piece, uses manpower sparingly, time, and is efficient.
Description
Technical Field
The invention relates to an automatic clothes grabbing system.
Background
How to realize automatic grabbing after the clothes cloth is cut out and then conveying the clothes cloth to an automatic clothes sewing process is the bottleneck of automatic clothes making at present. At present, some automatic gripping devices such as electrostatic adsorption and negative pressure adsorption exist, but the following problems still exist when the automatic gripping devices grip garment pieces with different materials, different sizes and complex shapes, for example:
(1) the grabbing force is not easy to control for grabbing the garment pieces with different materials and fabric densities;
(2) during the grabbing process of the garment pieces with complex shapes, the garment pieces are difficult to keep flat, and parts of the garment pieces are easy to wrinkle, bend and fold, so that the positioning of the garment pieces in a garment piece clamp or a mold is influenced;
(3) for oversized or ultra-small garment pieces, reliable grabbing is difficult to achieve.
The present invention has been made to solve the above problems.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the problem that the grabbing force of the conventional garment piece grabbing device is difficult to control and the different garment pieces are difficult to grab is solved.
In order to solve the above problems, the technical solution of the present invention is to provide an automatic clothes grabbing system, which is characterized by comprising:
the release paper and the multilayer cloth to be grabbed are alternately placed, the single-layer cloth and the release paper form a single-layer cloth unit, and the single-layer cloth units are orderly stacked together to be used as a garment piece cutting object of the automatic garment piece cutting machine tool;
the automatic garment piece cutting machine tool is used for automatically cutting a plurality of single-layer cloth units;
the single-layer cloth dragging and dropping device is arranged on the single-layer cloth laying workbench and moves back and forth along the single-layer cloth laying workbench, and drags single-layer cloth units cut by the automatic garment piece cutting machine to the single-layer cloth laying workbench layer by layer;
the single-layer cloth laying workbench is used for laying single-layer cloth units to be grabbed;
the automatic garment piece grabbing device comprises a garment piece recognition device and a garment piece controllable adsorption device, wherein the garment piece recognition device is used for detecting the outline, the shape and the size of a garment piece, and the garment piece controllable adsorption device controls the adsorption negative pressure according to the detection result of the garment piece recognition device to grab and convey different garment pieces.
Preferably, guide rails are arranged on two sides of the single-layer cloth laying workbench, and the single-layer cloth dragging and dropping device can move back and forth above the single-layer cloth laying workbench through the guide rails.
Preferably, the single-layer cloth unit is provided with a drag and drop hole for dragging the single-layer cloth drag and drop device, and the single-layer cloth drag and drop device drags and drops the single-layer cloth unit onto the single-layer cloth laying workbench through matching of a drag hook and the drag and drop hole.
Preferably, the garment piece controllable adsorption device comprises an adsorption flat plate with a plurality of adsorption holes, each adsorption hole is connected with an air duct with a controllable switch, and the opening position of the adsorption holes on the adsorption flat plate is controlled by controlling the switches of the air ducts, so that the control of negative adsorption pressure is realized.
Preferably, the sizes and the distribution of the adsorption holes on the adsorption flat plate have different forms so as to adapt to garment pieces of different materials, different fabric densities, different shapes and different sizes.
Preferably, the garment piece recognition device detects the contour, shape and size of a garment piece by adopting a machine vision principle, and realizes alignment and coordination of the orientation of the adsorption flat plate and the orientation of the garment piece by setting the X axis, the Y axis and the gravity center of the garment piece and corresponding the X axis, the Y axis and the gravity center of the adsorption flat plate; and comparing the contour of the garment piece with the adsorption flat plate to determine the position and the number of the adsorption holes which are opened and correspond to the maximum adsorption negative pressure required for grabbing the garment piece.
Preferably, the garment piece recognition device is additionally provided with an adsorption negative pressure optimization system for calculating adsorption negative pressure, and when the conventional adsorption flat plate cannot realize reliable grabbing of garment pieces, the adsorption flat plate with more dense adsorption holes is replaced.
Preferably, the denser adsorption holes are in one form or a combination of two forms, wherein the adsorption holes are smaller or gaps between the adsorption holes are smaller.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the isolation paper is arranged between the garment pieces, so that the garment pieces can generate enough adsorption force when being grabbed, and the garment pieces are not influenced by fabric density, and the grabbing of the garment pieces of different materials and fabric densities is realized; dragging and laying a single-layer cloth unit formed by the garment piece and the isolation paper on a single-layer cloth laying workbench through a single-layer cloth dragging and dropping device, so that the garment piece is flat and easy to grab; the adsorption negative pressure is adjustable, so that the garment pieces of different materials, shapes and sizes can be reliably grabbed, and the problem that the grabbing force is difficult to control and is difficult to reliably grab in the grabbing process of the garment pieces is effectively solved; adopt automatic grabbing device to replace the manual work to pick up the garment piece, it is stable quick to snatch the garment piece, uses manpower sparingly, time, and is efficient.
Drawings
FIG. 1 is a schematic structural view of an automatic clothes grabbing system according to the present invention;
FIG. 2 is a schematic view of a single cloth placement table;
FIG. 3 is a schematic view of a single layer cloth drag and drop apparatus;
fig. 4 is a schematic view of an automatic garment piece gripping device.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings.
The invention relates to an automatic garment piece grabbing system which comprises an automatic garment piece cutting machine tool 1, a single-layer cloth dragging and dropping device 2, a single-layer cloth laying workbench 3, an automatic garment piece grabbing device 4 and isolation paper 5.
The release paper 5 and the multiple layers of cloth to be grabbed are alternately arranged, so that the garment piece can generate enough adsorption force when being grabbed, and the garment piece is not influenced by the density of the fabric. The single-layer cloth and the isolation paper 5 form a single-layer cloth unit 6, and a plurality of single-layer cloth units 6 are stacked in order and used as a garment piece cutting object of the automatic garment piece cutting machine 1. The automatic garment cutting machine 1 automatically cuts a plurality of single-layer cloth units 6.
The single-layer cloth dragging and dropping device 2 is installed on the single-layer cloth laying workbench 3 and moves back and forth along the single-layer cloth laying workbench 3, and single-layer cloth units 6 after the automatic garment piece cutting machine 1 finishes cutting are dragged to the single-layer cloth laying workbench 3 layer by layer; guide rails 31 are installed on two sides of the single-layer cloth laying workbench 3, and the single-layer cloth drag-and-drop device 2 is installed on the single-layer cloth laying workbench 3 through the guide rails 31, so that the single-layer cloth laying workbench 3 can move back and forth.
Drag and drop holes 61 are machined in the periphery of the single-layer cloth unit 6, the single-layer cloth drag and drop device 2 is provided with a drag hook 21, and the drag hook 21 is matched with the drag and drop holes 61 to drag and drop the single-layer cloth unit 6 onto the single-layer cloth laying workbench 3.
The automatic garment piece grabbing device 4 comprises a garment piece recognition device 41 and a garment piece controllable adsorption device 42, the garment piece controllable adsorption device 42 comprises an adsorption flat plate 7 with a plurality of adsorption holes 8, each adsorption hole 8 is connected with a ventilation pipeline with controllable switches, and the positions of the adsorption holes 8 opened on the adsorption flat plate 7 are controlled by controlling the switches of the ventilation pipelines, so that negative adsorption pressure is controlled. The sizes and the distribution of the adsorption holes 8 on the adsorption flat plate 7 have different forms, such as circular, rectangular or any curve shape with different intervals, so as to adapt to garment pieces with different materials, different fabric densities, different shapes and different sizes.
The garment piece recognition device 41 detects the contour, shape and size of a garment piece by adopting a machine vision principle, and realizes alignment and coordination of the orientation of the adsorption flat plate 7 and the orientation of the garment piece by setting the X axis, the Y axis and the gravity center of the garment piece and corresponding the X axis, the Y axis and the gravity center of the adsorption flat plate 7; and comparing the contours of the garment pieces with the adsorption flat plate 7 to determine the positions and the number of the adsorption holes 8 which are opened and correspond to the maximum adsorption negative pressure required for grabbing the garment pieces, so as to realize grabbing and conveying of different garment pieces.
The garment piece recognition device 41 is additionally provided with an adsorption negative pressure optimization system for calculating adsorption negative pressure, and when the conventional adsorption flat plate 7 cannot realize reliable grabbing of garment pieces, the adsorption flat plate 7 with more dense adsorption holes 8 can be replaced. Wherein, the adsorption holes 8 which are more dense can adopt a mode of reducing the adsorption holes 8 or reducing the gaps among the adsorption holes 8, or simultaneously reducing the gaps among the adsorption holes 8 and the adsorption holes 8.
The single-layer cloth laying workbench 3 is usually installed in front of or behind the position of the same axis as the automatic garment cutting machine 1, and after the automatic garment cutting machine 1 finishes cutting a plurality of single-layer cloth units 6 with the isolation paper 5, the single-layer cloth dragging and dropping device 2 drags and lays the single-layer cloth units 6 on the single-layer cloth laying workbench 3 from the single-layer cloth unit 6 on the uppermost layer. After all the garment pieces on the single-layer cloth unit 6 are grabbed, the next single-layer cloth unit 6 is transferred and laid on the surface of the single-layer cloth laying workbench 3 until all the single-layer cloth units 6 are dragged and dropped.
Claims (8)
1. An automatic clothes grabbing system is characterized by comprising:
the cutting device comprises isolation paper (5) and a plurality of layers of cloth to be grabbed, wherein the isolation paper and the plurality of layers of cloth to be grabbed are alternately placed, a single-layer cloth unit (6) is formed by the single-layer cloth and the isolation paper (5), and the single-layer cloth units (6) are orderly stacked together and are used as cut pieces of the automatic cut piece cutting machine tool (1);
the automatic garment piece cutting machine tool (1) is used for automatically cutting a plurality of single-layer cloth units (6);
the single-layer cloth dragging and dropping device (2) is arranged on the single-layer cloth laying workbench (3) and moves back and forth along the single-layer cloth laying workbench (3), and drags single-layer cloth units (6) cut by the automatic garment piece cutting machine tool (1) to the single-layer cloth laying workbench (3) layer by layer;
the single-layer cloth laying workbench (3) is used for laying single-layer cloth units (6) to be grabbed;
the automatic garment piece grabbing device (4) comprises a garment piece recognition device (41) and a garment piece controllable adsorption device (42), wherein the garment piece recognition device (41) is used for detecting the outline, the shape and the size of a garment piece, and the garment piece controllable adsorption device (42) controls the adsorption negative pressure according to the detection result of the garment piece recognition device (41) to grab and convey different garment pieces.
2. The automatic clothes grabbing system of claim 1, wherein: guide rails (31) are arranged on two sides of the single-layer cloth laying workbench (3), and the single-layer cloth dragging and dropping device (2) can move back and forth above the single-layer cloth laying workbench (3) through the guide rails (31).
3. The automatic clothes grabbing system of claim 1, wherein: the single-layer cloth unit (6) is provided with a drag and drop hole (61) for dragging the single-layer cloth drag and drop device (2), and the single-layer cloth drag and drop device (2) is matched with the drag and drop hole (61) through a drag hook (21) to drag and drop the single-layer cloth unit (6) onto the single-layer cloth laying workbench (3).
4. The automatic clothes grabbing system of claim 1, wherein: the controllable garment piece adsorption device (42) comprises an adsorption flat plate (7) with a plurality of adsorption holes (8), each adsorption hole (8) is connected with a ventilation pipeline with controllable switches, and the positions of the adsorption holes (8) opened on the adsorption flat plate (7) are controlled by controlling the switches of the ventilation pipelines, so that the control of negative adsorption pressure is realized.
5. The automatic garment grabbing system of claim 4, wherein: the sizes and the distribution of the adsorption holes (8) on the adsorption flat plate (7) have different forms so as to adapt to garment pieces with different materials, different fabric densities, different shapes and different sizes.
6. The automatic clothes grabbing system of claim 1, wherein: the garment piece recognition device (41) detects the contour, the shape and the size of a garment piece by adopting a machine vision principle, and realizes the alignment and coordination of the orientation of the adsorption flat plate (7) and the orientation of the garment piece by setting the X axis, the Y axis and the gravity center of the garment piece and corresponding the X axis, the Y axis and the gravity center of the adsorption flat plate (7); the contour of the garment piece is compared with the adsorption flat plate (7) to determine the position and the number of the adsorption holes (8) which are opened and correspond to the maximum adsorption negative pressure required for grabbing the garment piece.
7. The automatic clothes grabbing system of claim 1, wherein: garment piece recognition device (41) have absorption negative pressure optimizing system incidentally and are used for adsorbing the calculation of negative pressure, when current absorption flat board (7) can't realize the reliable snatching of garment piece, change absorption flat board (7) that have more intensive absorption hole (8).
8. The automatic garment grabbing system of claim 7, wherein: the more dense adsorption holes (8) are in one form or a combination of two forms, wherein the adsorption holes (8) are smaller or gaps between the adsorption holes (8) are smaller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010676678.7A CN111807102B (en) | 2020-07-14 | 2020-07-14 | Automatic piece of clothing grasping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010676678.7A CN111807102B (en) | 2020-07-14 | 2020-07-14 | Automatic piece of clothing grasping system |
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| Publication Number | Publication Date |
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| CN111807102A true CN111807102A (en) | 2020-10-23 |
| CN111807102B CN111807102B (en) | 2021-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010676678.7A Active CN111807102B (en) | 2020-07-14 | 2020-07-14 | Automatic piece of clothing grasping system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3355165A (en) * | 1965-04-20 | 1967-11-28 | L & L Mfg Inc | Fabric stretching and/or alternatelyreversing mechanism for separating fabric pieces from a stack thereof |
| CN1116980A (en) * | 1994-08-13 | 1996-02-21 | 查尔斯斯塔克德雷珀实验室有限公司 | Method and apparatus for automated handling of cutmaterial |
| CN105110043A (en) * | 2015-10-14 | 2015-12-02 | 广东溢达纺织有限公司 | Sewing object separating mechanism |
| CN205152553U (en) * | 2015-10-16 | 2016-04-13 | 梁启欢 | Clothing piece autoloader |
| CN108016128A (en) * | 2016-11-02 | 2018-05-11 | 海德堡印刷机械股份公司 | Page delivery element with the integrated form slide closure system for suction opening |
-
2020
- 2020-07-14 CN CN202010676678.7A patent/CN111807102B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3355165A (en) * | 1965-04-20 | 1967-11-28 | L & L Mfg Inc | Fabric stretching and/or alternatelyreversing mechanism for separating fabric pieces from a stack thereof |
| CN1116980A (en) * | 1994-08-13 | 1996-02-21 | 查尔斯斯塔克德雷珀实验室有限公司 | Method and apparatus for automated handling of cutmaterial |
| CN105110043A (en) * | 2015-10-14 | 2015-12-02 | 广东溢达纺织有限公司 | Sewing object separating mechanism |
| CN205152553U (en) * | 2015-10-16 | 2016-04-13 | 梁启欢 | Clothing piece autoloader |
| CN108016128A (en) * | 2016-11-02 | 2018-05-11 | 海德堡印刷机械股份公司 | Page delivery element with the integrated form slide closure system for suction opening |
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| Publication number | Publication date |
|---|---|
| CN111807102B (en) | 2021-11-16 |
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