基于软体手指的自动翻布装置及其应用效果

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基于软体手指的自动翻布装置及其应用效果

Automatic fabric flipping device based on soft fingers and its application effect

基于软体手指的自动翻布装置及其应用效果

Automatic fabric flipping device based on soft fingers and its application effect

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doi:10.13475/j.fzxb.20240404201

纺织学报 ›› 2025, Vol. 46 ›› Issue (01): 197-205.doi: 10.13475/j.fzxb.20240404201

王建萍¹^,²^,³^,⁴, 翁雨鑫¹^,²^,³, 沈津竹¹^,²^,³(), 张帆⁵, 刘霂珂¹

1.东华大学服装与艺术设计学院, 上海 200051
2.东华大学现代服装设计与技术教育部重点实验室, 上海 200051
3.东华大学上海市纺织智能制造与工程一带一路国际联合实验室, 上海 200051
4.同济大学上海国际设计创新研究院, 上海 200092
5.苏州柔触机器人科技有限公司, 江苏苏州 215600

收稿日期:2024-04-17 修回日期:2024-09-20 出版日期:2025-01-15 发布日期:2025-01-15
通讯作者: 沈津竹(1996—),女,博士生。主要研究方向为服装先进制造技术。E-mail:1219101@mail.dhu.edu.cn。
作者简介:王建萍(1962—),女,教授,博士。主要研究方向为服装先进制造技术。
基金资助:
张家港市科技计划项目(ZKYY2337);上海高校本科重点教改项目(SJG23-06);中国纺织工业联合会高等教育教学改革项目(2021BKJGLX123)

WANG Jianping¹^,²^,³^,⁴, WENG Yuxin¹^,²^,³, SHEN Jinzhu¹^,²^,³(), ZHANG Fan⁵, LIU Xianke¹

1. College of Fashion and Art Design, Donghua University, Shanghai 200051, China
2. Key Laboratory of Clothing Design and Technology, Ministry of Education, Donghua University, Shanghai 200051, China
3. Shanghai Belt and Road Joint Laboratory of Textile Intelligent Manufacturing, Donghua University, Shanghai 200051, China
4. Shanghai International College of Design & Innovation, Tongji University, Shanghai 200092, China
5. Suzhou Rochu Robotics Co., Ltd., Suzhou, Jiangsu 215600, China

Received:2024-04-17 Revised:2024-09-20 Published:2025-01-15 Online:2025-01-15

摘要：

为实现缝纫工序中自动化设备间的无缝衔接,提高协同工作效率,采用气动驱动装置驱动杆件直线移动来模拟人手的翻布动作,设计了一种自动翻布装置,可完全替代人手操作,在软体手指的配合下完成面料的自动抓取、分离,并将缝合后的2层布片自动展平;在此基础上归纳了影响该翻布装置效果的因素,从布片偏转角度和偏移距离2个维度评价其翻布效果,建立了二维5级评价模型。然后选取3种市面上常见的面料,完成2层布片缝合操作后,通过正交试验分别分析其在5、10和15 mm缝份下的最优翻布工艺因素配伍方案,并结合多元回归分析方法建立基于织物性能的翻布效果预测模型。验证结果表明,该预测模型的预测准确率为80%,具有较好的预测性和参考价值,可有效减少人工干预,提高生产一致性,促进服装生产全自动智能化发展。

关键词: 自动翻布装置, 缝制工序, 软体手指, 气动驱动, 智能织造, 多元回归

Abstract:

Objective In order to achieve the seamless connection between the automatic equipment in the sewing process and to improve the collaborative work efficiency, the joined fabric pieces after sewing need unfolding before ironing process. In order to optimize the manual repetitive process of fabric retrieval and flipping, the linear movement of a rod driven by a pneumatic drive device was applied to simulate the fabric flipping action by human hands, leading to the design of an automatic fabric flipping device. Combined with soft fingers, this device is expected to automatically grab and separate cloth and unfold two sewed fabrics before the transfer and ironing processes.

Method The fabric flipping device was designed to summarize factors affecting the performance of the device. Its effect was evaluated by the deflection angle and the slip distance, and a two-dimensional 5-level evaluation model was established. Thereafter, three common production fabrics on the market were selected, the two-layer fabric sewing operation was completed to analyze the optimal combination plan for fabric flipping process factors through orthogonal experiments under 5, 10 and 15 mm seam allowances. A prediction model of fabric flipping effect for common production fabrics was built combining multiple regression analysis method.

Results Through the orthogonal test of fabric flipping effect, the influencing factors of fabric flipping effect for different fabrics were discussed. The optimal compatibility combinations of the influencing factors for different fabrics were summarized. This result has extensive applicability and facilitates the application of the fabric flipping device in actual production. By employing the multiple linear regression analysis method, a prediction model for the relationship among the fabric, device structure, and fabric flipping effect was established. The prediction accuracy of the model reached 80%, demonstrating good predictability. Using this model, the actual fabric flipping effect values of different fabrics were predicted, and recommendations for the corresponding fabric parameters, device parameters, and fabric flipping process requirements were achieved.

Conclusion The automatic fabric flipping device designed has the characteristics of simple structure and convenient operation, which enables automatic fabric flipping operation under the coordinated cooperation of soft finger fingers in the sewing process, effectively reducing manual intervention and improving production efficiency. At the same time, the device provides convenience for subsequent operations such as transportation and ironing, providing reference for completing the entire sewing process automation, indicating that automatic fabric flipping technology has good application prospects and reference value in garment industry.

Key words: automatic fabric flipping device, sewing process, soft finger, pneumatic drive, intelligent manufacturing, multiple regression

中图分类号:

TS941.52

王建萍, 翁雨鑫, 沈津竹, 张帆, 刘霂珂. 基于软体手指的自动翻布装置及其应用效果[J]. 纺织学报, 2025, 46(01): 197-205.

WANG Jianping, WENG Yuxin, SHEN Jinzhu, ZHANG Fan, LIU Xianke. Automatic fabric flipping device based on soft fingers and its application effect[J]. Journal of Textile Research, 2025, 46(01): 197-205.

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链接本文: http://www.fzxb.org.cn/CN/10.13475/j.fzxb.20240404201

http://www.fzxb.org.cn/CN/Y2025/V46/I01/197

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布片编号	缝份/ mm		织物类型		面密度/ (g·m^-2)		厚度/ mm		摩擦因数
布片编号	缝份/ mm		织物类型		面密度/ (g·m^-2)		厚度/ mm		经向		纬向
1^#	5	纯棉平纹布		232.4		0.45		0.18		0.19
2^#	10
3^#	15
4^#	5	涤纶/棉罗纹针织布		234.5		1.12		0.65		1.02
5^#	10
6^#	15
7^#	5	涤纶/棉混纺牛仔布		287.4		0.62		1.10		0.83
8^#	10
9^#	15

水平	A 下压距离/mm	B 下降时长/s	C 边缘距离/mm	D 平滑时长/s
1	0	2.5	40	0.2
2	3	1.5	90	1.1
3	6	1.0	70	2.0

试验编号	A	B	C	D	翻布效果评分
1	1	1	1	1	3.33
2	1	2	2	2	4
3	1	3	3	3	4.67
4	2	1	2	3	4
5	2	2	3	1	4.33
6	2	3	1	2	4
7	3	1	3	2	4
8	3	2	1	3	3
9	3	3	2	1	5
k₁	4.00	3.78	3.44	4.22
k₂	4.11	3.78	4.33	4.00
k₃	4.00	4.56	4.33	3.89
R	0.11	0.78	0.89	0.33

来源	III类平方和	自由度	均方	F检验统计值	显著性
修正模型	8.889^①	6	1.481	14.286	<0.01
截距	440.037	1	440.037	4 243.21	<0.01
下降时长(B)	3.63	2	1.815	17.5	<0.01
边缘距离(C)	4.741	2	2.37	22.857	<0.01
平滑时长(D)	0.519	2	0.259	2.5	0.107
误差	2.074	20	0.104
总计	451	27
修正后总计	10.963	26

布片编号	最佳因素配伍组合
1^#	A₂B₃C₃D₁
2^#	A₂B₁C₃D₂
3^#	A₂B₂C₃D₂
4^#	A₁B₁C₂D₁
5^#	A₃B₁C₂D₁
6^#	A₂B₃C₂D₂
7^#	A₃B₂C₂D₃
8^#	A₃B₂C₂D₂
9^#	A₃B₁C₂D₂

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影响因素	相关性指标	翻布效果值
下压距离(A)	皮尔逊相关性	0.366^**
	显著性(双尾)	0.001
下降时长(B)	皮尔逊相关性	-0.002
	显著性(双尾)	0.989
边缘距离(C)	皮尔逊相关性	0.392^**
	显著性(双尾)	0.000
平滑时长(D)	皮尔逊相关性	0.017
	显著性(双尾)	0.879
织物缝份	皮尔逊相关性	-0.039
	显著性(双尾)	0.731
织物面密度	皮尔逊相关性	-0.131
	显著性(双尾)	0.243
织物厚度	皮尔逊相关性	-0.385^**
	显著性(双尾)	0.000
经向摩擦因数	皮尔逊相关性	-0.322^**
	显著性(双尾)	0.003
纬向摩擦因数	皮尔逊相关性	-0.450^**
	显著性(双尾)	0.000

模型因素	非标准化系数		标准化系数	t	显著性 P值	共线性诊断
模型因素	B	标准错误	Beta	t	显著性 P值	容差	VIF
常数项	2.838	0.437		6.491	<0.001
下压距离(A)	0.175	0.039	0.366	4.473	<0.001	1.000	1.000
边缘距离(C)	0.022	0.005	0.392	4.784	<0.001	1.000	1.000
织物厚度	-1.338	0.348	-0.325	-3.846	<0.001	0.938	1.067
经向摩擦因数	-0.749	0.263	-0.241	-2.851	0.006	0.938	1.067

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