Pickup device

Abstract

A variety of sewn articles are appropriately picked up. A picking-up device (10) that picks up a layered sheet-like sewn article (C) from above has a nozzle mechanism (20) having a pick-up nozzle (21) that pulls a first sheet sewn article upward by blowing of air, a holding mechanism (50) that holds the first sheet sewn article, a separation mechanism (40) having a claw member (41) for insertion into the lower side of the first sheet sewn article and a back-and-forth drive section (42) that moves the front end of the claw member back and forth, a suction mechanism (30) having a non-suction type suction disk (31) that draws the first sheet sewn article close, a control device (90) that controls the nozzle mechanism, the separation mechanism, the suction mechanism, and the holding mechanism, and a selection section (96) that selects any one or a combination of the nozzle mechanism, the separation mechanism, and the suction mechanism, and the control device performs action control to pick up the layered sewn article from above in accordance with the selection of the selection section.

Description

Technical Field

[0001] This invention relates to a picking device for picking up stacked sheet-like sewn fabrics. Background Technology

[0002] In sewing devices such as sewing machines, a pick-up device is used to perform sewing efficiently. This pick-up device picks up one piece of the sewing material from the top and supplies it to the sewing machine, which is a supply unit that stores multiple pieces of sewing material stacked together.

[0003] The picking device described above picks up the sewn fabric piece by piece by attracting the suction nozzle and then feeds it to the sewing machine (for example, see Patent Document 1).

[0004] Patent Document 1: Japanese Patent Application Publication No. 2017-6591

[0005] However, the existing picking device is configured to pick up the first piece of sewn material from above by bringing the front end of the suction nozzle into contact with it. Therefore, depending on the type of material of the sewn material, sometimes more than two pieces of sewn material may be picked up at once, making it difficult to pick up the material reliably. Summary of the Invention

[0006] The purpose of this invention is to pick up sewn materials appropriately in accordance with various types of sewn materials.

[0007] The invention described in technical solution 1 is,

[0008] A picking-up device that picks up stacked, sheet-like sewn fabric from top to bottom.

[0009] The pickup device is characterized by having:

[0010] The nozzle mechanism has a pick-up nozzle that pulls the first piece of the sewn fabric upward from the top by blowing air from the stacked sewn fabric.

[0011] A holding mechanism that holds the first piece of the sewn material from top to bottom;

[0012] A separation mechanism having a claw member for inserting relative to the stacked sewn material into the underside of the first piece of sewn material from top to bottom, and a forward and backward drive unit for moving the front end of the claw member forward and backward.

[0013] A suction mechanism having a non-absorbent suction disc that attracts the first piece of the sewn material from the top of the stacked sewn materials closer to it.

[0014] A control device that controls the nozzle mechanism, the separating mechanism, the suction mechanism, and the holding mechanism; and

[0015] The selection unit allows selection of any one or more combinations of the nozzle mechanism, the separation mechanism, and the suction mechanism.

[0016] The control device performs the action control of picking up the stacked sewn material from the top according to the selection of the selection unit.

[0017] The invention described in technical solution 2 is characterized in that, in the picking device described in technical solution 1,

[0018] The control device follows the selection from the selection unit.

[0019] The action control can be performed on any of the following: a first picking-up action performed by the separation mechanism alone; a second picking-up action performed by a combination of the nozzle mechanism and the separation mechanism; and a third picking-up action performed by a combination of the suction mechanism and the separation mechanism.

[0020] The invention described in technical solution 3 is characterized in that, in the picking device described in technical solution 2,

[0021] The holding mechanism includes: a clamping member that descends relative to the claw member above the claw member to clamp the workpiece; and a clamping drive that provides movement to the clamping member in a descending direction relative to the claw member.

[0022] During the first pick-up action, the control device...

[0023] The front end of the claw component of the separating mechanism is moved into the lower side of the first piece of the sewn material from the top, and the clamping component of the holding mechanism is lowered relative to the first piece of the sewn material from the top to clamp it.

[0024] The invention described in technical solution 4 is characterized in that, in the picking device described in technical solution 2 or 3,

[0025] The holding mechanism includes: a clamping member that descends relative to the claw member above the claw member to clamp the workpiece; and a clamping drive that provides movement to the clamping member in a descending direction relative to the claw member.

[0026] During the second pick-up action, the control device...

[0027] Air is blown out from the pick-up nozzle via the nozzle mechanism to pull the first piece of the sewn material upwards from the top. Then, the front end of the claw member of the separation mechanism moves into the lower side of the first piece of the sewn material from the top, causing the clamping member of the holding mechanism to descend relative to the lower side and clamp the first piece of the sewn material from the top.

[0028] The invention described in technical solution 5 is characterized in that, in the picking device described in any one of technical solutions 2 to 4,

[0029] The holding mechanism includes: a clamping member that descends relative to the claw member above the claw member to clamp the workpiece; and a clamping drive that provides movement to the clamping member in a descending direction relative to the claw member.

[0030] During the third pick-up action, the control device...

[0031] The non-absorbent suction disc of the suction mechanism pulls the first piece of the sewn material from the top relative to the stacked sewn materials. Then, the front end of the claw member of the separation mechanism moves inward and inserts into the underside of the first piece of the sewn material from the top, causing the clamping member of the holding mechanism to descend relative to the first piece of the sewn material from the top to clamp it.

[0032] The invention described in technical solution 6 is characterized in that, in the picking device described in any one of technical solutions 1 to 5,

[0033] have:

[0034] A displacement detection unit detects the displacement of the upper surface of the stacked sewn material in the stacking direction; and

[0035] The estimation unit estimates the state of the first piece of the sewn material from the top based on the detection results of the displacement detection unit.

[0036] The invention described in technical solution 7 is characterized in that, in the picking device described in technical solution 6,

[0037] The estimation unit estimates the state of the first piece of the sewn material from the top based on the displacement in the stacking direction of the upper surface of the stacked sewn material detected by the displacement detection unit and the tilt based on the displacement.

[0038] The invention described in technical solution 8 is characterized in that, in the picking device described in technical solution 6 or 7,

[0039] The control device performs a normalization action to normalize the state of the first piece of sewn material, in accordance with the state of the first piece of sewn material estimated by the estimation unit from the top.

[0040] The invention described in technical solution 9 is characterized in that, in the picking device described in technical solution 8,

[0041] The control device controls one or more of the nozzle mechanism, the separation mechanism, the suction mechanism, and the holding mechanism to perform the normalization action.

[0042] The effects of the invention

[0043] As described above, according to the present invention, a selection unit is provided for selecting any one or more combinations of a nozzle mechanism, a separation mechanism, and a suction mechanism. The control device performs an action control to pick up stacked sewn materials from top according to the selection of the selection unit. Therefore, it is possible to perform a picking-up action of sewn materials suitable for each mechanism, and to pick up a variety of sewn materials effectively. Attached Figure Description

[0044] Figure 1 This is a perspective view of the picking device in this embodiment.

[0045] Figure 2 From and Figure 1 View the pick-up device from different angles (oblique view).

[0046] Figure 3 From and Figure 1 and Figure 2 View the pick-up device from different angles (oblique view).

[0047] Figure 4 From and Figures 1-3 View the pick-up device from different angles (oblique view).

[0048] Figure 5 It is a side view taken from the left by cutting open a part of the holding mechanism.

[0049] Figure 6 This is an explanatory diagram showing the detection positions of the two photoelectric sensors on the claw component from a top-down perspective.

[0050] Figure 7 It is a perspective view of the structure surrounding the lifting block.

[0051] Figure 8 This is a perspective view of the structure surrounding the clamping component when there is no sewn material on the claw component.

[0052] Figure 9This is a perspective view of the structure surrounding the clamping component when the sewn material is present on top of the claw component.

[0053] Figure 10 It is a cross-sectional view of the nozzle along the vertical direction.

[0054] Figure 11 This is a block diagram representing the control system of the pickup device.

[0055] Figure 12 This is a flowchart representing the control of the first pick-up action.

[0056] Figure 13 This is a diagram illustrating the action of picking up the first item.

[0057] Figure 14 yes Figure 13 The diagram illustrating the first pickup action.

[0058] Figure 15 This is a flowchart illustrating the process of detecting the thickness of the sewn material.

[0059] Figure 16 This is an illustration of the actions involved in the thickness detection process of the sewn material.

[0060] Figure 17 yes Figure 16 The diagram illustrates the actions involved in the subsequent thickness detection process of the sewn material.

[0061] Figure 18 yes Figure 17 The diagram illustrates the actions involved in the subsequent thickness detection process of the sewn material.

[0062] Figure 19 yes Figure 18 The diagram illustrates the actions involved in the subsequent thickness detection process of the sewn material.

[0063] Figure 20 This is a flowchart representing the control of the second pick-up action.

[0064] Figure 21 This is a diagram illustrating the second action of picking up the item.

[0065] Figure 22 yes Figure 21 The following is a diagram illustrating the second picking-up action.

[0066] Figure 23 yes Figure 22 The following is a diagram illustrating the second picking-up action.

[0067] Figure 24 yes Figure 23 The following is a diagram illustrating the second picking-up action.

[0068] Figure 25 yes Figure 24 The following is a diagram illustrating the second picking-up action.

[0069] Figure 26 This is a flowchart representing the control of the third pick-up action.

[0070] Figure 27 This is a diagram illustrating the third action of picking up the item.

[0071] Figure 28 yes Figure 27 The following is a diagram illustrating the third action of picking up the item.

[0072] Figure 29 yes Figure 28 The following is a diagram illustrating the third action of picking up the item.

[0073] Figure 30 yes Figure 29 The following is a diagram illustrating the third action of picking up the item.

[0074] Figure 31 (A) is a line graph representing the displacement of the upper surface of the first piece of fabric being sewn under "normal conditions". Figure 31 (B) is a line graph representing the displacement of the upper surface of the first piece of fabric being sewn.

[0075] Figure 32 (A) is a line graph showing the displacement of the upper surface of the first piece of fabric being sewn in the "upside-down" state. Figure 32 (B) is a line graph representing the displacement of the upper surface of the first piece of fabric being sewn.

[0076] Figure 33 (A) is a line graph showing the displacement of the upper surface of the first piece of fabric being sewn in the "folded-down state". Figure 33 (B) is a line graph representing the displacement of the upper surface of the first piece of fabric being sewn.

[0077] Figure 34 (A) is a line graph showing the displacement of the upper surface of the first piece of fabric being sewn under the condition of "insufficient upper fabric". Figure 34 (B) is a line graph representing the displacement of the upper surface of the first piece of fabric being sewn.

[0078] Figure 35 (A) is a line graph showing the displacement of the upper surface of the first piece of fabric being sewn under the condition of "excess fabric". Figure 35 (B) is a line graph representing the displacement of the upper surface of the first piece of fabric being sewn.

[0079] Figure 36 (A) is a line graph showing the displacement of the upper surface of the first piece of fabric being sewn in the "curled state". Figure 36(B) is a line graph representing the displacement of the upper surface of the first piece of fabric being sewn.

[0080] Figure 37 This is a flowchart for presuming the type of surface condition produced by the first piece of sewn material.

[0081] Figure 38 This is an illustration of the action when the surface of the object being sewn is in a "normal state".

[0082] Figure 39 (A) and Figure 39 (B) is a diagram illustrating the normalization action when the surface of the sewn object is in an "upside-down" state.

[0083] Figure 40 (A) and Figure 40 (B) is a diagram illustrating the normalization action when the surface of the sewn object is in a "turned-down" state.

[0084] Figure 41 This is a diagram illustrating the normalization process when the surface condition of the object being sewn is "insufficient fabric".

[0085] Figure 42 This is a diagram illustrating the normalization of the sewn object's surface condition when it is in a state of "excess fabric".

[0086] Figure 43 This is a diagram illustrating the normalization process when the surface of the object being sewn is in a "curled state". Detailed Implementation

[0087] [Implementation Methods of the Invention]

[0088] The embodiments of the present invention will be described with reference to the accompanying drawings.

[0089] Figures 1-4 These are oblique views of the picking device 10 as described in this embodiment, viewed from different directions.

[0090] The picking device 10 is supported by a conveying device such as a robot arm. The conveying device is capable of holding the picking device 10 and conveying it in any direction, such as front, back, left, right, up, and down. It can also make the picking device 10 rotate around three mutually orthogonal axes to change its posture.

[0091] Furthermore, the picking device 10 picks up the sewn fabric C piece by piece from the supply device that holds multiple pieces of sewn fabric C in a stacked state and transports them to the sewing machine to supply the sewn fabric C.

[0092] In the following description, the direction of forward and backward movement of the claw component 41, which is parallel to the flat bottom surface of the claw component 41 described later, is defined as the X-axis direction; the direction that is parallel to the flat bottom surface of the claw component 41 and orthogonal to the X-axis direction is defined as the Y-axis direction; and the direction that is orthogonal to both the X-axis and Y-axis directions is defined as the Z-axis direction.

[0093] Furthermore, in the supply device (not shown), when picking up the first piece of sewn fabric C from the top of the stacked multiple pieces of sewn fabric C, the Z-axis direction of the picking device 10 is parallel to the vertical direction.

[0094] In addition, such as Figures 1-4 As shown, the direction parallel to the X-axis and in which the claw component 41 moves is set as "forward", and the opposite direction is set as "backward". The left side of the picking device 10, which is parallel to the Y-axis and viewed from the front, is set as "left", and the right side is set as "right". The direction parallel to the Z-axis and which becomes the upper side when picking up the aforementioned sewn material C is set as "up", and the direction that becomes the lower side is set as "down".

[0095] Furthermore, the X, Y, Z axes, and the front-back, left-right, up-down directions mentioned above indicate the directions of the viewpoint on the picking device 10, and the orientation of the picking device 10 itself can be arbitrarily changed by a conveying device such as a robotic arm. The X, Y, Z axes, and the front-back, left-right, up-down directions in the following description generally represent the directions of the viewpoint on the picking device 10, and unless otherwise stated, they are not viewpoints observed from the conveying device side.

[0096] [Simplified structure of the pickup device]

[0097] The picking device 10 includes: a nozzle mechanism 20 for pulling the first piece of sewn fabric C from the stacked sewn fabric C upwards by blowing air; a holding mechanism 50 for holding the first piece of sewn fabric C from the top; a separating mechanism 40 for separating the first piece of sewn fabric C from the stacked sewn fabric C; a suction mechanism 30 for attracting the first piece of sewn fabric C from the top relative to the stacked sewn fabric C; a base 11 for supporting the nozzle mechanism 20, the suction mechanism 30, the separating mechanism 40, and the holding mechanism 50; and a control device 90 for controlling the nozzle mechanism 20, the suction mechanism 30, the separating mechanism 40, and the holding mechanism 50 (see reference). Figure 11 ).

[0098] [Matrix]

[0099] The base 11 has: a top plate 111 located on the upper side of the picking device 10; and a front side plate 112 located on the front side, which are integrally connected.

[0100] A two-dimensional displacement sensor 12 is provided on the front surface of the front side plate 112. The two-dimensional displacement sensor 12 is used to detect objects such as sewn objects C when the robot arm (not shown) supporting the picking device 10 positions the picking device 10.

[0101] The two-dimensional displacement sensor 12 has the function of detecting the cross-sectional shape along the X-Z plane relative to its lower surface, causing the pickup device 10 to scan and move along the Y-axis direction, thereby enabling the detection of the three-dimensional shape below. Thus, the two-dimensional displacement sensor 12 functions as a displacement detection unit that detects the displacement of the upper surface of the stacked sewn material C in the stacking direction (Z-axis direction).

[0102] [Separation Mechanism]

[0103] Separation mechanism 40 Figures 1-4 As shown, it has: a plate-shaped claw member 41 for inserting the front end into the space between a first sewn piece C from top to bottom and a second sewn piece C below it of a plurality of sewn pieces C stacked in a supply device (not shown); and a forward / backward drive unit 42 for moving the claw member 41 forward and backward in the X-axis direction.

[0104] The claw component 41 is plate-shaped as a whole, and its bottom surface is supported on the forward and backward drive unit 42 in a state parallel to the X-Y plane.

[0105] When viewed from above, the front end portion 411 of the claw member 41 has a sharp shape that narrows in width along the Y-axis direction as it faces forward. Furthermore, the upper surface of the front end portion 411 of the claw member 41 is an inclined surface, and its thickness decreases along the Z-axis direction as it faces forward. This allows for easy insertion of the front end portion 411 of the claw member 41 between stacked workpieces C.

[0106] Furthermore, a groove-shaped airflow path 413 is formed on the bottom surface of the claw component 41, extending from the center of the bottom surface to the front end 411. This airflow path 413 opens forward from the front end 411, becoming a nozzle 412 that blows air forward. The root portion of the airflow path 413 is connected to a positive pressure air supply source, such as a fan, pump, or positive pressure tank (not shown).

[0107] In addition, flow path 413 in Figures 2-4 In the middle, it looks like it is open downwards, but in fact, a transparent film is pasted on the bottom surface of the claw part 41, which can blow air out only from the nozzle 412 towards the front.

[0108] The forward and backward drive unit 42 is composed of an electric slider and includes: a main body 421, which houses a motor and a ball screw mechanism, which serve as the drive source; a slide rail 422, which is arranged along the X-axis direction on the main body 421; and a slider 423, which slides along the slide rail 422.

[0109] The slider 423 is supported relative to the slide rail 422 via a linear guide (not shown). Furthermore, the slider 423 is connected to the ball nut of the main body 421 and can be positioned at any position along the X-axis.

[0110] Furthermore, the slider 423 supports the claw component 41 in a suspended state along the Z-axis direction via two support pillars (not shown). Thus, the claw component 41 maintains a certain distance relative to the slider 423 in the Z-axis direction while performing forward and backward movements along the X-axis direction.

[0111] [Maintaining the organization]

[0112] Figure 5 This is a side view taken from the left by cutting open a portion of the retaining mechanism 50.

[0113] The retaining mechanism 50 is mounted on the upper surface of the claw component 41 and moves forward and backward together with the claw component 41 along the X-axis.

[0114] Keep the organization 50 Figures 1-5 As shown, it includes: a holding block 51, which is supported vertically relative to the claw member 41 in the Z-axis direction; a holding cylinder 52 as a drive source, which imparts a lifting action to the holding block 51; a clamping member 53, which clamps the sewn workpiece C located on the upper surface of the claw member 41 from above when the holding block 51 is lowered; and photoelectric sensors 55, which are respectively disposed at the left and right ends of the holding block 51.

[0115] The retaining block 51 is supported by two pillars that support the aforementioned claw component 41, and is able to move up and down along these pillars. In addition, the two pillars are equipped with a pressing spring that keeps the retaining block 51 pressed downward.

[0116] One retaining cylinder 52 is provided on each of the left and right sides of the upper surface of the claw component 41, which can push the retaining block 51 upward against the aforementioned pressing spring.

[0117] The clamping member 53 is movably supported by the retaining block 51 along the Z-axis direction. The clamping member 53 has: a shaft portion 531 through which the retaining block 51 passes along the Z-axis direction; a generally circular plate-shaped abutment portion 532 fixedly disposed at the lower end of the shaft portion 531, with an outer diameter larger than the shaft portion 531; and a generally cylindrical head 533 fixedly disposed at the upper end of the shaft portion 531, with an outer diameter larger than the shaft portion 531.

[0118] The abutting portion 532 of the clamping member 53 is provided to protrude downward compared to the bottom surface of the retaining block 51, and a pressing spring 54 is provided between the abutting portion 532 and the retaining block 51 to press the clamping member 53 downward.

[0119] Therefore, when the holding block 51 descends, the abutting part 532 of the clamping member 53 abuts against the sewn material C on the upper surface of the claw member 41, and can be clamped by pressing the spring pressure of the spring 54.

[0120] The head 533 of the clamping member 53 is positioned above the holding block 51 and within the front-opening recess 511. The contact sensor 36, described later, can make contact from above with respect to the upper end of the head 533. That is, if the holding block 51 descends and the abutment portion 532 of the clamping member 53 clamps the workpiece C on the upper surface of the claw member 41, the clamping member 53 is relatively pushed up relative to the holding block 51. The contact sensor 36 contacts the clamping member 53 from above at this time. By detecting the height of the contact sensor 36 at the moment of contact, the control device 90 detects the thickness of the workpiece C clamped between the claw member 41 and the abutment portion 532, and determines whether proper clamping has been performed.

[0121] Two photoelectric sensors 55, each separately positioned on the left and right sides of the retaining block 51, are both arranged downwards along the Z-axis. Each photoelectric sensor 55 emits detection light vertically downwards, and by detecting the intensity of the reflected light, the presence or absence of the sewn material C on the upper surface of the claw component 41 can be determined.

[0122] Figure 6 This is an explanatory diagram showing the detection position S of the two photoelectric sensors 55 for the claw component 41 from a top-down perspective.

[0123] The two photoelectric sensors 55 are used by the claw component 41 to move forward via the forward and backward drive unit 42, and to detect the position of the left or right end of the front end of the sewn work C when it is relatively between the claw component 41 and the clamping component 53.

[0124] That is, after the claw component 41 moves forward through the forward and backward drive unit 42, it needs to clamp the sewn material C in an appropriate position. Therefore, the end of the sewn material C is detected by the photoelectric sensor 55, and the robot arm positions itself towards the clamping position.

[0125] More specifically, the robotic arm moves the picking device 10 forward, thereby moving the rear end of the workpiece C relatively backward to the detection position S of the two photoelectric sensors 55. The change in the presence or absence of the rear end of the workpiece C at this point is detected, thereby enabling the rear end of the workpiece C to be positioned at the detection position S. Since detection is performed at two locations, the rear end of the workpiece C can be positioned in an orientation that is not tilted relative to the left-right direction.

[0126] Additionally, if necessary, after positioning the rear end of the sewn material C, the robotic arm moves the picking device 10 in any left or right direction, and detects the presence or absence of the left or right end of the sewn material C by using photoelectric sensors 55 in either the left or right direction, thereby enabling the left or right end of the sewn material C to be positioned at the detection position S.

[0127] [Attraction Agency]

[0128] Figure 7 This is a perspective view of the structure surrounding the lifting block 33, which will be described later.

[0129] like Figures 1 to 7 As shown, the suction mechanism 30 includes: a non-absorbent suction plate 31, which performs suction on the first piece of sewn material C from top to bottom; a lifting block 33, which supports the non-absorbent suction plate 31 in a reciprocating manner along the Z-axis direction via multiple support shafts 32; and a lifting drive unit 34, which moves the lifting block 33 along the Z-axis direction.

[0130] The non-adsorption suction plate 31 has a circular opening on the opposite side of the sewn object C, i.e., the bottom surface, from which air is ejected downwards.

[0131] The non-adsorption suction plate 31 is connected to a fan, pump, positive pressure tank, etc., and is supplied with positive pressure air.

[0132] Therefore, if air is blown out from the circular opening toward the sewn material C, there is no air outlet channel at the center of the circular opening, so air is blown outward in the radial direction. As a result, according to Bernoulli's principle, a low-pressure area is generated at the center of the bottom surface of the non-adhesive suction plate 31.

[0133] Therefore, if the bottom surface of the non-adhesive suction tray 31 is not in contact with the sewn object C but is brought close to it to a certain extent, the sewn object C can be picked up in a non-contact adsorption state.

[0134] Furthermore, an example of air being ejected from the opening of the non-adhesive suction tray 31 in a direction perpendicular to the opposite bottom surface (towards the sewn object C) was described, but the direction of air ejection may also be tilted outwards in the radial direction of the circular opening.

[0135] The lifting drive unit 34 is composed of an electric slider and includes: a main body 341, which houses a motor and a ball screw mechanism, which serve as the drive source; a slide rail 342, which is disposed on the main body 341 along the Z-axis; and a slider 343, which slides along the slide rail 342.

[0136] The slider 343 is supported relative to the slide rail 342 via a linear guide (not shown). Furthermore, the slider 343 is connected to the ball nut of the main body 341 and can be positioned at any position along the Z-axis.

[0137] The lifting block 33 is connected to the slider 343 supported by the lifting drive unit 34, and can perform lifting and lowering actions arbitrarily along the Z-axis direction.

[0138] The lifting block 33 supports the non-adsorption suction plate 31 by means of multiple support shafts 32 that pass through the lifting block 33 along the Z-axis and can slide along the Z-axis.

[0139] Each support shaft 32 has an anti-detachment part at its upper end relative to the lifting block 33, and its lower end is fixedly connected to the upper surface of the non-adhesive suction plate 31. In addition, a pressing spring 35 is arranged between the lifting block 33 and the non-adhesive suction plate 31 on each support shaft 32, which presses the non-adhesive suction plate 31 downward relative to the lifting block 33.

[0140] Additionally, a downward-facing contact sensor 36 is provided on the bottom surface of the lifting block 33, and directly above the clamping member 53 when the aforementioned clamping member 53 clamps the sewn material C on the claw member 41.

[0141] If the clamping member 53 has a sewn object C on the upper surface of the claw member 41 when the retaining block 51 descends, the clamping member 53 will rise relative to the retaining block 51 by a corresponding amount of its thickness.

[0142] If the lifting block 33 is lowered in this state, the contact sensor 36 can detect contact with the upper end of the head 533 of the clamping member 53.

[0143] Therefore, by monitoring the contact detection of the lifting block 33 with the clamping member 53 via the contact sensor 36 when the lifting block 33 descends, and counting the number of action pulses of the drive source of the lifting drive unit 34, i.e. the actuator, during the contact detection, the position of the clamping member 53 relative to the claw member 41 in the Z-axis direction can be detected.

[0144] The position of the clamping member 53 relative to the claw member 41 in the Z-axis direction corresponds to the thickness of the sewn material C on the upper surface of the claw member 41 in the Z-axis direction, and the contact sensor 36 functions as a thickness detection unit.

[0145] Specifically, when there is no sewn material C on the upper surface of the claw member 41, the control device 90 uses the count value detected by the contact sensor 36 when it contacts the clamping member 53 as the height h1 of the clamping member 53 (refer to...). Figure 8 The height h2 of the clamping member 53 is pre-stored and, when the sewn object C is clamped, the contact sensor 36 calculates the height h2 of the clamping member 53 based on the count value detected when it contacts the clamping member 53 (refer to...). Figure 9 The difference between h2 and h1 is used to calculate the upward displacement of the clamping component 53.

[0146] Furthermore, the control device 90 functions as a determination unit that determines whether the clamping of the sewn material C is performed properly based on the amount of upward movement of the clamping member 53. For example, if the upward movement is too small, it is determined that the sewn material C is not being clamped, and if it is too large, it is determined that two or more pieces of sewn material C are being clamped, thereby enabling the determination of clamping errors.

[0147] [Nozzle Mechanism]

[0148] Figure 10 This is a cross-sectional view of the pickup nozzle 21 along the Y-Z plane, which will be described later.

[0149] Nozzle mechanism 20 Figures 1-4 , Figure 7 and Figure 10 As shown, the device includes: a pick-up nozzle 21 that pulls the first piece of sewn material C upwards from the top; and multiple support shafts 22 that allow the pick-up nozzle 21 to reciprocate along the Z-axis relative to the aforementioned lifting block 33. Furthermore, the lifting block 33, which supports the pick-up nozzle 21 vertically, and the lifting drive unit 34, which imparts lifting action to the pick-up nozzle 21, are shared with the suction mechanism 30. Therefore, the lifting block 33 and the lifting drive unit 34 can also be referred to as the lifting block and lifting drive unit of the nozzle mechanism 20.

[0150] Pick up nozzle 21 Figure 10 As shown, it includes: a ventilation slot 212 disposed on a bottom surface 211 opposite to the upper surface of the first piece of sewn material C from top to bottom, extending to the air blowing end, i.e., the right end in the Y-axis direction; a nozzle 213 that blows air to the right along the inner side of the ventilation slot 212; and a supply pipe 215 for supplying air to the air flow path 214 leading to the nozzle 213.

[0151] The supply pipe 215 is a tubular body along the Z-axis and is located above the pickup nozzle 21. The upper end of the supply pipe 215 is connected to a fan, pump, positive pressure tank, etc., and is supplied with positive pressure air.

[0152] The air flow path 214 leading to the nozzle 213 is formed along the Y-axis direction, and its left end is connected to the flow path inside the supply pipe 215.

[0153] As a result, the air supplied from outside the pick-up nozzle 21 is ejected to the right from the nozzle opening 213.

[0154] The ventilation slot 212 is an open slot facing downward on the bottom surface 211, and is formed along the Y-axis direction on the extension line of the flow path 214.

[0155] The bottom surface 211 of the nozzle 21 and the bottom surface 216 inside the ventilation channel 212, except for the right end (the side where air is blown out), are horizontal planes parallel to the X-Y plane. On the other hand, the right end of the bottom surface 211 and the bottom surface 216 inside the channel faces a direction slightly separated from the sewn material C (upwards). More specifically, the right end of the bottom surface 211 and the bottom surface 216 inside the channel is formed as a curved surface with an upward inclination that gradually increases as it faces to the right.

[0156] Additionally, the right end of the bottom surface 211 of the pick-up nozzle 21 is moved upwards relative to the sewn material C by means of the step 217.

[0157] According to the above-described structure, if air is ejected from the nozzle 213 into the ventilation slot 212 in a rightward direction, due to the Coanda effect, the air travels along the bottom surface 216 of the slot within the ventilation slot 212 as indicated by arrow W, and is ejected diagonally upward to the right from its right end. As a result, the lower side of the right end of the ventilation slot 212 becomes a negative pressure state, which can pull the sewn material C along the right end of the bottom surface 211.

[0158] The aforementioned non-absorbent suction plate 31 also forms a negative pressure to attract the sewn material C, but this non-absorbent suction plate 31 is a structure that blows air outward in all directions. In contrast, the pick-up nozzle 21 is a structure that sprays air in a certain direction (to the right). Therefore, by placing the pick-up nozzle 21 close to the upper surface of the sewn material C and placing the air-blowing end of the pick-up nozzle 21 near the end of the sewn material C, the end of the sewn material C can be pulled up locally.

[0159] According to the structure described above, the pick-up nozzle 21 can flip up the first piece of sewn material C from the top in a manner that gradually peels it off from the second piece of sewn material C, thus preventing the second piece of sewn material C from being pulled together while still in close contact with the first piece of sewn material C.

[0160] Furthermore, the bottom surface 216 of the ventilation slot 212 of the pick-up nozzle 21 can be formed by an upwardly inclined surface at the right end, or by multiple inclined surfaces whose upward inclination angle increases as they move toward the right.

[0161] Multiple support shafts 22 extend through the lifting block 33 along the Z-axis, allowing them to slide relative to the lifting block 33 along the Z-axis. Furthermore, each support shaft 22 has an anti-detachment portion at its upper end relative to the lifting block 33, and its lower end is fixedly connected to the upper surface of the pickup nozzle 21. Additionally, a pressing spring 23 is disposed between the lifting block 33 and the pickup nozzle 21 on each support shaft 22, constantly pressing the pickup nozzle 21 downward relative to the lifting block 33.

[0162] The bottom surface 211 of the pickup nozzle 21, which is in a state where the pressing spring 23 is pressed down to the maximum extent relative to the lifting block 33, and the bottom surface of the non-adsorption suction plate 31, which is in a state where the pressing spring 35 is pressed down to the maximum extent relative to the lifting block 33, are configured to be at the same position (height) in the Z-axis direction.

[0163] Additionally, a permanent magnet 24 is mounted on the upper end of one of the multiple support shafts 22, and a magnetic sensor 25 is supported on the lifting block 33 in a manner close to the permanent magnet 24. This magnetic sensor 25 is capable of detecting the position of the permanent magnet 24 in the Z-axis direction.

[0164] Thus, when the lifting block 33 is lowered to a predetermined position relative to the sewn material C present on the upper surface of the claw member 41 until it abuts against the bottom surface 211 of the pick-up nozzle 21, the magnetic sensor 25 detects the position of the permanent magnet 24 in the Z-axis direction. Thus, the magnetic sensor 25 also functions as a thickness detection unit to detect the thickness of the sewn material C on the claw member 41.

[0165] More specifically, the control device 90 lowers the lifting block 33 to a predetermined position when there is no sewn material C on the upper surface of the claw component 41, and stores the position of the permanent magnet 24 in the Z-axis direction detected by the magnetic sensor 25 as a reference position in advance.

[0166] Furthermore, when the sewn material C is picked up, the control device 90 lowers the lifting block 33 to a predetermined position, and the magnetic sensor 25 detects the position of the permanent magnet 24 in the Z-axis direction. Based on the difference from the reference position, the thickness of the sewn material C on the claw component 41 can be calculated.

[0167] In this case, the control device 90 also functions as a determination unit that determines whether the sewn material C is properly clamped based on the difference value from the reference position. For example, if the difference value is too small, it is determined that the sewn material C is not clamped, and if it is too large, it is determined that two or more pieces of sewn material C are being clamped, thereby enabling the determination of clamping errors.

[0168] [Control Device]

[0169] Figure 11 This is a block diagram representing the control system of the pickup device 10.

[0170] The control device 90 includes: a CPU 91 that performs various arithmetic operations; a ROM 92 that stores programs related to the operation control of the aforementioned structures; a RAM 93 that stores various data related to the processing of the CPU 91 in its working area; and an EEPROM 94, which serves as a storage unit and records various setting data, etc. Furthermore, the storage unit is not limited to an EEPROM, and any non-volatile memory or storage device may be used instead.

[0171] The control device 90 is connected to the drive source of the lifting drive unit 34 of the attraction mechanism 30 and the drive source of the forward and backward drive unit 42 of the separation mechanism 40 via various drive circuits 34a and 42a.

[0172] In addition, the control device 90 is connected via various drive circuits 218a, 311a, and 521a to a solenoid valve 218 that supplies air to the pickup nozzle 21, a solenoid valve 311 that supplies air to the non-adsorption suction plate 31, a solenoid valve 414 that supplies air to the nozzle port 412 of the claw component 41, and a solenoid valve 521 that operates the holding cylinder 52.

[0173] Furthermore, the control device 90 is connected to a two-dimensional displacement sensor 12, a magnetic sensor 25, a contact sensor 36, and a photoelectric sensor 55 via various interfaces 12a, 25a, 36a, and 55a.

[0174] Furthermore, when the picking device 10 picks up the first piece of sewn fabric C from the top from the supply device, it can selectively perform the first to third picking actions, as described later. Therefore, the control device 90 is connected via an interface 96a to an input device 96 for selecting which of the first to third picking actions should be performed.

[0175] Furthermore, in order to pick up the stacked sewn material C prepared in the supply device from the top first piece of sewn material C and supply it to the sewing machine through coordinated action with the robotic arm that supports the picking device 10 and serves as a conveying device for movement and positioning, the control device 90 is provided with a communication interface 95 for communicating with the control device 101 of the robotic arm.

[0176] Furthermore, the structure including the picking device 10, the robot arm as a conveying device for transporting the picking device 10, and the robot arm control device 101 is defined as a picking system.

[0177] [First action of picking up]

[0178] As described above, the CPU 91 of the control device 90 controls the pickup device 10 to perform any of the first to third pickup actions that are pre-selected and set by the input device 96.

[0179] Here, the motion control for the first pick-up action is based on Figure 12 Flowchart and Figures 13-14 The action diagram is used for explanation.

[0180] In the first pick-up action, the nozzle mechanism 20 and the suction mechanism 30 are not used; the first piece of sewn material C is picked up from top to bottom only by the separation mechanism 40. This first pick-up control is suitable for materials where the sewn material C is not curled at the end, and for materials where the sewn material C is not made of fibrous material but the sewn materials C stick to each other due to fiber entanglement.

[0181] The picking device 10 is pre-transported by a robotic arm to the near-top of the stacked sewn material C. At this time, the robotic arm is supported in such a way that the mounting surface of the stacked sewn material C and the X-Y plane of the picking device 10 are parallel.

[0182] Furthermore, the CPU 91 uses the two-dimensional displacement sensor 12 to detect the shape and position of the stacked sewn material C below, as well as the height of the first sewn material C, and outputs the results to the robot arm (step S1).

[0183] The robotic arm is based on this detection and thus Figure 13 As shown, the picking device 10 is positioned such that the bottom surface of the claw component 41 is at the height between the first piece of sewn material C and the second piece of sewn material C, and the front end 411 is opposite to the rear end of the stacked pieces of sewn material C. The CPU 91 enters a waiting state for the completion of the above positioning action (step S3).

[0184] Furthermore, if the robotic arm completes its positioning, then CPU 91 will... Figure 14 As shown, the forward and backward drive unit 42 is controlled to move the claw member 41 forward (step S5). As a result, the front end 411 of the claw member 41 is inserted between the first piece of sewn fabric C and the second piece of sewn fabric C from top to bottom, separating them.

[0185] In addition, along with the forward movement of the claw component 41, the robot arm moves the picking device 10 forward, so the CPU 91 performs the action of this forward movement (step S7).

[0186] As the picking device 10 moves forward, the CPU 91 detects the rear end of the first piece of sewn material C using two photoelectric sensors 55 (step S9). If detected, a stop command is input to the robot arm (step S11).

[0187] In addition, when the left or right end of the sewn material C is positioned at the detection position S, a movement command to move to the right or left is further input to the robot arm, and it stops at the detection position S.

[0188] By detecting the ends of these sewn items C, the sewn items C are positioned in the appropriate clamping position relative to the holding mechanism 50.

[0189] Furthermore, the CPU 91 activates the holding cylinder 52, causing the holding block 51 to descend (step S13). As a result, the sewn material C is pressed from above by the abutment portion 532 of the clamping member 53 on the upper surface of the claw member 41, thus becoming a clamped state.

[0190] Additionally, accompanying the descent of the holding block 51, the CPU 91 performs a workpiece thickness detection process (step S15), calculating the thickness of the workpiece C between the abutment portion 532 of the claw member 41 and the clamping member 53. Based on this value, it determines whether multiple pieces of workpiece C are being clamped, or whether no workpiece C is being clamped, and determines the occurrence of a clamping error (step S17). Further details of the workpiece thickness detection process will be described later.

[0191] Furthermore, if a clamping error is detected, the process returns to step S1 and retryes the first pick-up action. Alternatively, if it is determined that a piece of sewn material has been properly clamped, this information is sent to the robot arm, and the motion control of the first pick-up action is terminated.

[0192] The robotic arm delivers the picking device 10 to the sewing machine, supplying the clamped sewn material C to the predetermined supply position.

[0193] [Thickness detection and processing of sewn materials]

[0194] Regarding the aforementioned process for detecting the thickness of the sewn material, based on Figure 15 Flowchart and Figures 16-19 The action diagram is used for explanation.

[0195] In the thickness detection and processing of sewn materials, CPU 91, such as Figure 16 As shown, after positioning and waiting for the appropriate clamping position by means of the robotic arm, the holding cylinder 52 is activated to lower the holding block 51 (step S21).

[0196] Therefore, as Figure 17 As shown, the clamping member 53 clamps the sewn object C under the pressure of the spring pressure of the pressing spring 54, and the thickness of the clamping member 53 and the sewn object C respectively stops at a position away from the upper surface of the claw member 41.

[0197] Furthermore, the CPU 91 controls the lifting drive unit 34 to begin the descent of the lifting block 33.

[0198] As the lifting block 33 descends, Figure 18 As shown, the pick-up nozzle 21 and the non-adhesive suction tray 31 also descend until their bottom surfaces reach the sewn material C. Upon reaching it, the descent of the lifting block 33 continues, compressing the springs 23 and 35. The pick-up nozzle 21 and the non-adhesive suction tray 31 do not descend; only the lifting block 33 descends. Consequently, the permanent magnet 24 mounted on the support shaft 22 of the pick-up nozzle 21 moves upward relative to the magnetic sensor 25.

[0199] When the lifting block 33 descends to a predetermined height, the CPU 91 reads the detection position of the permanent magnet 24 detected by the magnetic sensor 25. The predetermined height is, for example, set to the height at which the bottom surface of the pick-up nozzle 21 and the non-adhesive suction plate 31 reaches the upper surface of the claw component 41 when the lifting block 33 descends, in the absence of the sewn material C.

[0200] When there is a sewn material C on the upper surface of the claw component 41, if the lifting block 33 reaches the specified height, the picking nozzle 21 and the non-adsorption suction plate 31 and the thickness of the sewn material C will change position upward accordingly. Therefore, the thickness of the sewn material C on the upper surface of the claw component 41 can be calculated based on the detection value of the magnetic sensor 25 at this time.

[0201] Furthermore, while monitoring the contact detection status of the head 533 relative to the clamping member 53 by the contact sensor 36, the CPU 91 continues the descent action of the lifting block 33 (step S25), as shown. Figure 19 As shown, the lifting block 33 stops when the contact sensor 36 of the lifting block 33 detects contact with the head 533 of the clamping member 53. Furthermore, the number of operation steps of the drive source of the lifting drive unit 34 when the lifting block 33 stops is recorded (step S27). Moreover, based on the difference between the recorded number of steps and the number of steps at a pre-measured reference position (the number of steps detected by the contact sensor 36 when there is no workpiece C), the thickness of the workpiece C on the upper surface of the claw member 41 can be calculated (step S29).

[0202] As described above, in the process of detecting the thickness of the sewn material, the thickness of the sewn material C can be determined by two systems: the thickness of the sewn material C detected by the magnetic sensor 25 and the thickness of the sewn material C detected by the contact sensor 36.

[0203] Therefore, when determining a clamping error in step S17, the appropriateness of the thickness of the sewn material C in both systems can be judged. Furthermore, if both values ​​are appropriate, it can be determined that the clamping was performed appropriately; if either is inappropriate, it can be determined that the clamping was inappropriate.

[0204] [Second action of picking up]

[0205] Next, regarding the motion control of the second pick-up action, based on Figure 20 Flowchart and Figures 21-25 The action diagram is used for explanation.

[0206] In the second pick-up action, the suction mechanism 30 is not used; instead, the first piece of sewn material C, counting from top to bottom, is picked up via a combination of the nozzle mechanism 20 and the separation mechanism 40. This second pick-up control can pick up materials where the sewn material C is curled at the ends, where fibers are entangled due to the material being fibrous, or where the sewn material C is stuck together due to other factors.

[0207] The picking device 10 is pre-transported by a robotic arm to the near-top of the stacked sewn material C. In this case, the robotic arm is also supported in such a way that the mounting surface of the stacked sewn material C and the X-Y plane of the picking device 10 are parallel.

[0208] Furthermore, the CPU 91 uses the two-dimensional displacement sensor 12 to detect the shape and position of the stacked sewn material C below, as well as the height of the first sewn material C, and outputs the results to the robot arm (step T1).

[0209] Furthermore, the CPU 91 controls the lifting drive unit 34 to lower the picking nozzle 21 until the bottom surface 211 of the picking nozzle 21 is at the same height as the bottom surface of the claw member 41 (step T3).

[0210] On the other hand, the robotic arm relies on the detection of the two-dimensional displacement sensor 12 to... Figure 21 As shown, the picking device 10 is positioned such that the bottom surface of the claw component 41 is slightly higher than the upper surface of the first piece of sewn material C, and the front end 411 is opposite to the rear end of the stacked sewn material C.

[0211] CPU 91 waits for the completion of the positioning performed by the robotic arm (step T5).

[0212] Furthermore, the pick-up nozzle 21 is positioned near the front of the claw component 41 in the retracted state, so that if positioning is completed by the robotic arm, the pick-up nozzle 21 is positioned above the rear end of the first piece of sewn material C.

[0213] In this state, the CPU 91 controls the solenoid valve 218 of the pickup nozzle 21, setting it to air ejection mode (step T7). Thus, the rear end of the first piece of sewn material C... Figure 22 As shown, it becomes the blowing end side of the pick-up nozzle 21, that is, the upward flipped state.

[0214] In this state, CPU 91, as Figure 23 As shown, the forward and backward drive unit 42 is controlled to start the forward movement of the claw member 41 (step T9).

[0215] Furthermore, CPU 91, such as Figure 24 As shown, the air ejection is stopped, and the lifting drive unit 34 is controlled to raise the picking nozzle 21 to avoid interference with the claw component 41 that is moving forward (step T11).

[0216] Claw component 41, as Figure 25 As shown, it moves further forward and inserts between the first piece of sewn material C and the second piece of sewn material C from the top, separating them.

[0217] The subsequent processing is the same as steps S7 to S19 of the first picking action.

[0218] That is, the CPU 91 waits for the forward movement performed by the robot arm (step T13), detects the end position of the first piece of sewn material C through two photoelectric sensors 55 (step T15), and stops the robot arm in the clamping position (step T17).

[0219] Furthermore, the sewn material C is clamped (step T19), the thickness of the sewn material is detected (step T21), and the appropriateness of the clamping is determined (step T23). If the clamping state is inappropriate, the picking action is retried from step T1 (step T25). If it is appropriate, the action ends.

[0220] [Third action of picking up]

[0221] Next, regarding the motion control of the third pick-up action, based on Figure 26 Flowchart and Figures 27-30 The action diagram is used for explanation.

[0222] In the third pick-up action, the nozzle mechanism 20 is not used; instead, the first piece of sewn material C, counting from top to bottom, is picked up via a combination of the suction mechanism 30 and the separation mechanism 40. This third pick-up control is used when the sewn material C is not a material that curls at the ends or is not a material where the sewn materials C are stuck together, making it difficult to pick up the first piece of sewn material C using only the separation mechanism 40.

[0223] The picking device 10 is pre-transported by a robotic arm to the near-top of the stacked sewn material C. In this case, the robotic arm is also supported in such a way that the mounting surface of the stacked sewn material C and the X-Y plane of the picking device 10 are parallel.

[0224] Furthermore, the CPU 91 uses the two-dimensional displacement sensor 12 to detect the shape and position of the stacked sewn material C below, as well as the height of the first sewn material C, and outputs the results to the robot arm (step U1).

[0225] Moreover, the robot arm's detection based on the two-dimensional displacement sensor 12 is as follows: Figure 27 As shown, the bottom surface of the claw component 41 is at the height between the first piece of sewn material C and the second piece of sewn material, and the bottom surface of the non-adhesive suction tray 31 is positioned slightly above the upper surface of the first piece of sewn material C for positioning the picking device 10.

[0226] CPU 91 waits for the completion of the positioning performed by the robotic arm (step U3).

[0227] Furthermore, the non-adhesive suction plate 31 is positioned in front of the claw component 41 in the retracted state, so if positioning is completed by the robot arm, the non-adhesive suction plate 31 is positioned above the rear end of the first piece of sewn material C.

[0228] In this state, the CPU 91 controls the solenoid valve 311 of the non-adhesive suction plate 31, setting it to the air ejection state (step U5). Thus, the first piece of sewn material C... Figure 28 As shown, it becomes a state where it is pulled by the bottom surface of the non-adhesive suction plate 31.

[0229] In this state, CPU 91, as Figure 29 As shown, the forward and backward drive unit 42 is controlled to start the forward movement of the claw member 41 (step U7).

[0230] Furthermore, CPU 91, such as Figure 30 As shown, stop the air ejection (step U9).

[0231] The claw component 41 advances further and inserts between the first piece of sewn material C and the second piece of sewn material C from top to bottom, separating them.

[0232] The subsequent processing is the same as steps S7 to S19 of the first picking action.

[0233] That is, the CPU 91 waits for the forward movement to be performed by the robot arm (step U11), detects the end position of the first piece of sewn material C by two photoelectric sensors 55 (step U13), and stops the robot arm in the clamping position (step U15).

[0234] Furthermore, the sewn material C is clamped (step U17), the thickness of the sewn material is detected (step U19), and the appropriateness of the clamping is determined (step U21). If the clamping state is inappropriate, the picking action is retried from step U1 (step U23). If it is appropriate, the action ends.

[0235] [Preliminary treatment of the surface condition of the sewn item]

[0236] Next, regarding the surface condition estimation process of the sewn object performed by the CPU 91 of the control device 90, based on... Figures 31-36 Please provide an explanation. Figure 31 (A) Figure 32 (A) Figure 33 (A) Figure 34 (A) Figure 35 (A) Figure 36 (A) is a side view showing the various surface states of the sewn fabric C before it is picked up from the top piece C. Additionally, Figure 31 (B) Figure 32 (B) Figure 33 (B) Figure 34 (B) Figure 35 (B) Figure 36 (B) is a line graph showing the displacement of the upper surface of the first piece of sewn material C. The horizontal axis represents the position in the X-axis direction, and the vertical axis represents the detected displacement in the Z-axis direction.

[0237] The surface state of the sewn material C before it is picked up from the top layer is shown as "normal state". Figure 31 (A) , "Upward state" ( Figure 32 (A) , "downward state" ( Figure 33 (A) "Insufficient fabric" Figure 34 (A) "Excess fabric" Figure 35 (A) , "curled state" ( Figure 36 (A)).

[0238] On the mounting surface where the sewn materials C are stacked, a reference point F is pre-set in the X-axis direction for aligning the rear ends of each sewn material C. Furthermore, relative to the sewn materials C on the mounting surface, a two-dimensional displacement sensor 12 detects the displacement of the upper surface of the first sewn material C in the stacking direction (Z-axis direction), and a first detection interval A and a second detection interval B are set in the X-axis direction for estimating the surface condition category based on the detection results.

[0239] The first detection range A is a detection range extending from the rear end of the sewn material C towards the front, used to identify states occurring within a certain range. It extends from the starting point M, located in front of the aforementioned reference point F, to the reference point F. For example, the first detection range A is defined for a range from tens to hundreds of millimeters in the X-axis direction.

[0240] The second detection zone B is a detection range used to identify the state produced at the rear end of the sewn material C, and is set within a range of a few millimeters to a dozen millimeters in front and behind, centered on the aforementioned reference point F.

[0241] The two-dimensional displacement sensor 12 encompasses the entire first detection range A and the second detection range B, and performs displacement detection within a sufficiently large margin (set as the full detection range) on both the front and rear sides.

[0242] "Normal state" Figure 31 As shown in (A), this represents a state in which the rear ends of each sewn item C are roughly aligned with the reference point F, and the two items are stacked flat.

[0243] Compared to the sewn material C in its "normal state," the result obtained by displacement detection across the entire detection range using the two-dimensional displacement sensor 12 will be... Figure 31 (B) shows that displacement detection is to obtain the displacement in the Z-axis direction by scanning the entire detection range in the X-axis direction at sampling intervals of minute units (e.g., 0.1 to 1.0 [mm]).

[0244] Under "normal conditions", the displacement varies very little with respect to the height of the upper surface corresponding to the number of laminates. In addition, at its rear end, it shows a tendency to drop sharply from the height of the upper surface to the height of the mounting surface.

[0245] The CPU 91 of the control device 90 determines whether it is the above-mentioned "normal state" by scanning the full detection range from the front to the rear by the two-dimensional displacement sensor 12 and by the following conditions (1) to (3).

[0246] (1) Within the first detection interval A, relative to the reference height (the height of the starting point M), the increase in displacement in the Z-axis direction is less than the first variation threshold.

[0247] (2) Within the first detection interval A, the decrease in displacement in the Z-axis direction relative to the reference height is less than the second variation threshold.

[0248] (3) The portion of the second detection interval B with a downward slope greater than or equal to the reduction threshold exists.

[0249] In the "normal state", the upper surface of the stacked sewn material C is flat, so as shown in conditions (1) and (2), the vertical displacement is set as the recognition condition. The first and second variation thresholds can be set, for example, as the thickness of one (or multiple) corresponding pieces of sewn material C.

[0250] Furthermore, in the "normal state," due to the overall thickness difference at the rear end of the stacked sewn material C, as shown in condition (3), the presence of a portion in the second detection interval B with a downward tilt greater than or equal to the reduction threshold in units of sampling intervals is set as a condition for identification. The reduction threshold is, for example, the degree of tilt that causes a reduction in the overall thickness of the stacked sewn material C relative to the sampling interval.

[0251] The first and second change thresholds and reduction thresholds mentioned above can be set individually and arbitrarily via the input device 96.

[0252] In addition, when the first and second variation thresholds are set to the thickness of one piece (or multiple pieces) of the sewn material C, the thickness value of the sewn material C can be input in advance from the input device 96, thereby the CPU 91 calculates the first and second variation thresholds.

[0253] In addition, when the reduction threshold is set to the degree of inclination of the reduction in the overall thickness of the stacked sewn material C relative to the sampling interval, the CPU 91 can calculate the reduction threshold by inputting the predetermined number of stacked pieces of sewn material C stacked on the mounting surface and the thickness of sewn material C.

[0254] "Upward state" as Figure 32 As shown in (A), the rear end of the first piece of sewn material C is turned upwards from top to front.

[0255] Relative to the sewn material C in its "upward-facing" state, the result obtained by displacement detection across the entire detection range using the two-dimensional displacement sensor 12 is... Figure 32 (B) is shown.

[0256] In the "upturned state", due to the upturned sewn material C, an uphill bulge is generated. At the front end of this bulge, a sharply reduced upright portion is generated due to the rear end of the upturned sewn material C.

[0257] The CPU 91 of the control device 90 determines whether the above is an "upward state" by scanning the full detection range from the front to the rear by the two-dimensional displacement sensor 12 and by the following conditions (4), (5), (6).

[0258] (4) Within the first detection interval A, the portion where the increase in displacement in the Z-axis direction relative to the reference height is greater than or equal to the first variation threshold exists.

[0259] (5) Within the first detection interval A, the portion with an upward tilt greater than or equal to the tilt threshold exists, measured in units of sampling intervals.

[0260] (6) Within the first detection interval A, the increase in displacement in the Z-axis direction relative to the reference height is less than the third variation threshold.

[0261] In the "upward state", a raised portion is generated on the upper surface of the stacked sewn material C, so as shown in condition (4), a portion of the displacement increase must exceed the aforementioned first change threshold.

[0262] Furthermore, in the "upward-facing state," a small, upright portion is abruptly generated at the front end of the raised portion. Therefore, as shown in condition (5), if the upward tilt is calculated in units of the sampling interval, a portion greater than or equal to the tilt threshold exists. The tilt threshold can be, for example, set relative to the sampling interval as the degree of tilt resulting from an increase in thickness of about one piece of the sewn material C.

[0263] In addition, as a state similar to the "upward state", the "curled state" described later is given, but conditions are set for their identification (6).

[0264] The "curled state" is characterized by the rear end of the sewn material C springing upwards, unlike the "turned-up state" where the rear end of the sewn material C warps back and slopes downwards. Therefore, the "curled state" produces a higher displacement than the "turned-up state." Thus, the intermediate value of the displacement that might occur in the "curled state" and the "turned-up state" is set as the third variation threshold. This third variation threshold can be calculated empirically, for example, by accumulating the measured values ​​of the "curled state" and the "turned-up state."

[0265] Furthermore, within the first detection interval A, no displacement increase exceeding the third change threshold is generated, thus identifying it as "upward flipping state" rather than "curled state".

[0266] The first variable threshold is as described above.

[0267] The tilt threshold and the third variation threshold can be arbitrarily set by the input device 96.

[0268] In addition, when the tilt threshold is set to the tilt caused by an increase in thickness of about one piece of the sewn material C relative to the sampling interval, the thickness value of the sewn material C can be input in advance from the input device 96, thereby calculating the tilt threshold.

[0269] "Scroll down" state, as shown Figure 33 As shown in (A), the rear end of the first piece of sewn material C is turned in from below to the front.

[0270] Relative to the sewn material C in its "folded-down state," the result obtained by displacement detection across the entire detection range using the two-dimensional displacement sensor 12 is... Figure 33 (B) is shown.

[0271] In the "downward state", the folded-in sewn material C creates an upward-sloping bulge. The bulge in the "downward state" is different from the bulge in the "upward state" in that the abruptly reduced vertical portion at its front end disappears, resulting in a shape with a smooth, gradually increasing displacement.

[0272] The CPU 91 of the control device 90 determines whether it is the above-mentioned "downward state" by scanning the full detection range from the front to the rear by the two-dimensional displacement sensor 12 according to the following conditions (4) and (7).

[0273] (4) Within the first detection interval A, the portion where the increase in displacement in the Z-axis direction relative to the reference height is greater than or equal to the first variation threshold exists.

[0274] (7) In the first detection interval A as a whole, the upward tilt angle in units of sampling intervals is less than the tilt angle threshold.

[0275] In the "downward state", a raised portion is generated on the upper surface of the stacked sewn material C, so as shown in condition (4), a portion of the displacement increase must exceed the aforementioned first change threshold.

[0276] Furthermore, in the “downward state”, the front end of the raised portion gradually increases smoothly in displacement, so as shown in condition (7), if the upward tilt is calculated in units of sampling interval, no portion greater than or equal to the tilt threshold is generated.

[0277] Furthermore, the first variation threshold and the tilt threshold are as described above.

[0278] "Insufficient fabric" as... Figure 34 As shown in (A), the rear end of the first piece of sewn material C is significantly shifted forward.

[0279] Relative to the sewn material C in its "folded-down state," the result obtained by displacement detection across the entire detection range using the two-dimensional displacement sensor 12 is... Figure 33 (B) is shown.

[0280] In the case of "insufficient upper fabric", a stepped section is created due to the rear end of the first piece of sewn material C being shifted forward significantly.

[0281] The CPU 91 of the control device 90 determines whether the above-mentioned "insufficient upper fabric state" is through a full detection range scan from the front to the rear by the two-dimensional displacement sensor 12 and the following conditions (1) and (8).

[0282] (1) Within the first detection interval A, the increase in displacement in the Z-axis direction relative to the reference height is less than the first variation threshold.

[0283] (8) Within the first detection interval A, the portion where the decrease in displacement in the Z-axis direction relative to the reference height is greater than or equal to the second variation threshold exists.

[0284] In the “insufficient upper fabric state”, the upper surface of the layered sewn material C becomes flat except for the descending step portion, so as shown in condition (1), the displacement of the upper side is set as the recognition condition.

[0285] Furthermore, in the “insufficient upper fabric state”, a descending step portion is generated on the upper surface of the layered sewn material C. Therefore, as shown in condition (8), the existence of a portion where the displacement on the lower side is greater than or equal to the aforementioned second variation threshold is set as the recognition condition.

[0286] Furthermore, the first and second variation thresholds are as described above.

[0287] "Excess fabric" as... Figure 35 As shown in (A), the rear ends of each sewn item C are significantly offset backward.

[0288] Compared to the sewn fabric C, which is in a state of "excess fabric," the result obtained by displacement detection across the entire detection range using the two-dimensional displacement sensor 12 is... Figure 35 (B) is shown.

[0289] In the case of "excess fabric", within the first detection zone A, the change in displacement relative to the height of the upper surface of the sewn material C becomes very small, but behind the rear end of the first detection zone A, there is a tendency for the slope to become downward from the height of the upper surface to the height of the mounting surface.

[0290] The CPU 91 of the control device 90 determines whether the above-mentioned "oversized fabric state" is through a full detection range scan from the front to the rear by the two-dimensional displacement sensor 12 and the following conditions (1), (2), (9).

[0291] (1) Within the first detection interval A, the increase in displacement in the Z-axis direction relative to the reference height is less than the first variation threshold.

[0292] (2) Within the first detection interval A, the decrease in displacement in the Z-axis direction relative to the reference height is less than the second variation threshold.

[0293] (9) The downward slope in the second detection interval B, measured in units of sampling intervals, is less than the reduction threshold.

[0294] In the “overstocked state”, the upper surface of the layered sewn material C is flat within the first detection interval A. Therefore, as shown in conditions (1) and (2), the vertical displacement is set as the condition for recognition.

[0295] Furthermore, in the “overstocked state”, a gentle slope is drawn behind the first detection interval A to depict the overall thickness difference of the rear end of the stacked sewn material C. Therefore, as shown in condition (9), the condition for recognition is that the downward slope in the second detection interval B, measured in units of sampling intervals, is less than the reduction threshold.

[0296] Furthermore, the first change threshold, the second change threshold, and the reduction threshold are as described above.

[0297] "Curled state" as Figure 36 As shown in (A), the rear end of the first piece of sewn material C is turned upwards.

[0298] Relative to the "curled" sewn material C, the result obtained by displacement detection across the entire detection range using the two-dimensional displacement sensor 12 is... Figure 36 (B) is shown.

[0299] In the "curled state", due to the upturned sewn material C, a raised portion is generated that stands up sharply, and the upper end of the raised portion is higher than the upper end of the raised portion in the aforementioned "upturned state".

[0300] The CPU 91 of the control device 90 determines whether the above-mentioned "curling state" is achieved by scanning the full detection range from the front to the rear by the two-dimensional displacement sensor 12 and by the following conditions (4), (5), (6).

[0301] (4) Within the first detection interval A, the portion where the increase in displacement in the Z-axis direction relative to the reference height is greater than or equal to the first variation threshold exists.

[0302] (5) Within the first detection interval A, the portion with an upward tilt greater than or equal to the tilt threshold exists, measured in units of sampling intervals.

[0303] (10) Within the first detection interval A, the portion where the increase in displacement in the Z-axis direction relative to the reference height is greater than or equal to the third variation threshold exists.

[0304] In the “curled state”, a raised portion is generated on the upper surface of the stacked sewn material C, so as shown in condition (4), a portion with an increase in displacement exceeding the aforementioned first change threshold must be generated.

[0305] Furthermore, in the “curled state”, the upright portion rises sharply and significantly, so as shown in condition (5), if the upward tilt is calculated in units of sampling intervals, there exists a portion that is greater than or equal to the tilt threshold.

[0306] In addition, the "curled state" is characterized by a displacement of the raised portion that is higher than that of the "upturned state". Therefore, the condition for recognition is to set a third variation threshold that is greater than or equal to an appropriately set threshold, thereby enabling the "curled state" to be recognized as the "upturned state".

[0307] Furthermore, the first variation threshold, the tilt threshold, and the third variation threshold are as described above.

[0308] As described above, regarding the surface states of the first piece of sewn material C, such as "normal state", "upward state", "downward state", "insufficient fabric state", "excessive fabric state", and "curled state", the results of displacement detection of the entire detection range by the two-dimensional displacement sensor 12 are used to determine whether the various recognition conditions set for each surface state are met, thereby enabling separate recognition.

[0309] Figure 37 This is a flowchart of a process executed by CPU 91 to estimate the category of the surface state produced by the first piece of sewn material C.

[0310] The process will be explained in detail below.

[0311] First, the CPU 91 controls the robot arm via the robot arm control device, causing the picking device 10 to move in the X-axis direction. Thus, relative to the sewn material C placed on the mounting surface, the entire detection range is scanned in the X-axis direction by the two-dimensional displacement sensor 12, and the displacement in the Z-axis direction of the entire detection range is obtained at sampling intervals (step V1).

[0312] In addition, the number and thickness of the layers of the sewn material C, the first to third variation thresholds, the reduction threshold, and the tilt threshold are set in advance from the input device 96 or calculated based on the set values.

[0313] Next, the CPU 91 determines whether the increase in displacement in the Z-axis direction relative to the reference height in the first detection interval A is less than the first change threshold (step V3).

[0314] If the increase in the first detection interval A is less than the first change threshold, the aforementioned determination condition (1) is met, and the CPU 91 determines whether there is a portion where the decrease in displacement in the Z-axis direction of the first detection interval A relative to the reference height is greater than or equal to the second change threshold (step V5).

[0315] If the reduction in the first detection interval A is greater than or equal to the second change threshold, the aforementioned determination condition (8) is met, and the CPU 91 presumes the surface state generated by the first piece of sewn material C as "insufficient upper fabric state" (step V7).

[0316] Furthermore, in step V5, if the reduction in displacement in the Z-axis direction relative to the reference height in the first detection interval A is determined to be no greater than or equal to the second variation threshold (less than the second variation threshold), the aforementioned determination condition (2) is satisfied, and CPU 91 calculates the tilt in the second detection interval B. Moreover, it determines whether the tilt of the second detection interval B is greater than or equal to the decreasing slope of the reduction threshold (step V9).

[0317] As a result, if the slope of the second detection interval B is greater than or equal to the descent slope of the reduction threshold, the aforementioned determination condition (3) is met, and the CPU 91 will presume the surface state generated by the first piece of sewn material C to be "normal state" (step V11).

[0318] On the other hand, if the slope of the second detection interval B is not greater than or equal to the descent slope of the reduction threshold (less than the reduction threshold), the aforementioned determination condition (9) is met, and the CPU 91 will presume the surface state generated by the first piece of sewn material C to be "oversized fabric state" (step V13).

[0319] In addition, in step V3, if the displacement in the Z-axis direction of the first detection interval A is determined to be not less than the first variation threshold (there is a part that is greater than or equal to the first variation threshold), the aforementioned determination condition (4) is satisfied, and CPU91 calculates the tilt in the first detection interval A in units of sampling interval (step V15).

[0320] Furthermore, in the first detection interval A, within the slope measured in units of sampling intervals, it is determined whether there is an upward slope greater than or equal to the slope threshold (step V17).

[0321] As a result, if there is a tilt greater than or equal to the tilt threshold in the first detection interval A, the aforementioned judgment condition (5) is met, and the CPU 91 determines in the first detection interval A whether there is a portion of the displacement in the Z-axis direction relative to the reference height that is greater than or equal to the third change threshold (step V19).

[0322] As a result, if there is a portion in the first detection interval A that is greater than or equal to the third variation threshold, the aforementioned determination condition (10) is met, and the CPU 91 presumes the surface state generated by the first piece of sewn material C as a "curled state" (step V21).

[0323] On the other hand, if the displacement of the first detection interval A is not greater than or equal to the third variation threshold (less than the third variation threshold), the aforementioned determination condition (6) is met, and the CPU91 presumes the surface state generated by the first piece of sewn material C as "upturned state" (step V23).

[0324] On the other hand, in step V17, if there is no tilt greater than or equal to the tilt threshold (less than the tilt threshold) in the tilt of the first detection interval A in the unit of sampling interval, the aforementioned determination condition (7) is satisfied, and the CPU 91 will presume the surface state generated by the first piece of sewn material C to be "downward state" (step V25).

[0325] As described above, the CPU 91 can estimate the surface state of the first piece of sewn fabric C as any one of "normal state", "upward state", "downward state", "insufficient fabric", "excessive fabric", or "curled state". Thus, the CPU 91 of the control device 90 functions as an estimation unit.

[0326] [The normalization of the surface condition relative to the object being sewn]

[0327] The CPU 91 of the control device 90 estimates the surface state of the first piece of sewn material C. If the surface state is other than "normal state", it controls the picking device 10 and the robot arm to perform a normalization action to set the surface state to "normal state". In addition, the CPU 91 controls the robot arm through the control device 101.

[0328] The normalization process for each surface state will now be explained separately.

[0329] Figure 38 This is an illustration of the action when the surface condition of the sewn object C is in a "normal state".

[0330] In the "normal state", CPU 91 does not perform normalization actions, but instead executes any of the first to third pick-up actions mentioned above.

[0331] Figure 39 (A) and Figure 39 (B) is a diagram illustrating the normalization action when the surface of the sewn material C is in an "upside-down" state.

[0332] In addition, for ease of explanation, regarding Figure 39 (A) The directions of "forward" and "backward" are recorded by the orientation of the picking device 10 when the picking action is performed (see reference). Figure 13 , Figure 14 , Figures 21-25 , Figures 27-30 The orientation is recorded, but not in the direction shown by the picking device 10 in the figure. Additionally, with... Figure 39 (A) The relevant article descriptions are also provided in accordance with the “front” and “back” directions shown in the diagram.

[0333] In the case of an "upward flip state", such as Figure 39 As shown in (A), the CPU 91 reverses the forward and backward direction of the picking device 10 by 180° around the Z-axis via the robot arm. This allows the front end 411 of the claw member 41 to face rearward. Furthermore, by moving the front end 411 of the claw member 41 towards the foreground of the rear end of the upturned sewn workpiece C, air is ejected from the nozzle 412, thereby pushing the rear end of the upturned sewn workpiece C back rearward, thus enabling a "normal state".

[0334] Or, such as Figure 39 As shown in (B), the CPU 91 moves the rear end of the claw component 41 of the picking device 10 towards the front of the rear end of the sewn material C that has been flipped up, through the robot arm. The bottom part of the claw component 41 slides into contact with the upper surface of the first piece of sewn material C, or maintains a maximum non-slip contact height, so that the picking device 10 moves backward.

[0335] Thus, the bottom surface of the claw member 41 can be flattened to make the sewn material C flat, and the rear end of the reversed sewn material C can be pushed back by the rear end of the claw member 41, which can be set to the "normal state".

[0336] also, Figure 39 (A) and Figure 39 (B) The normalization action can be performed on only one of them, or both (regardless of the order) can be performed sequentially.

[0337] Figure 40 (A) and Figure 40(B) is a diagram illustrating the normalization action when the surface of the sewn material C is in a "turned-down" state.

[0338] Furthermore, for ease of explanation, in Figure 40 In case (A), the "forward" and "backward" directions are also recorded based on the orientation of the pickup device 10 during the pickup action, or based on an orientation that differs from the orientation of the pickup device 10 shown in the figure. Figure 40 (A) The related articles also explain the same thing.

[0339] In the case of a "downward scrolling state", such as Figure 40 As shown in (A), the CPU 91 reverses the forward and backward orientation of the picking device 10 by 180° around the Z-axis via the robot arm. This allows the front end 411 of the claw member 41 to face rearward. Furthermore, by moving the front end 411 of the claw member 41 towards the foreground of the rear end of the folded-down sewn material C, air is controlled to be ejected from the nozzle 412. Thus, the air passing through the sewn material C can push the folded-down rear end of the sewn material C back rearward, allowing it to be set to a normal state.

[0340] Or, such as Figure 40 As shown in (B), the CPU 91 uses a robotic arm to move the non-adhesive suction plate 31 of the picking device 10 towards the near-directly above the rear end of the sewn material C, which has tilted downwards, to perform a suction action. At this time, the robotic arm can move the picking device 10 slightly upwards to lift the pulled sewn material C further upwards.

[0341] Therefore, the folded-in rear end of the sewn material C can return to the rear through its own elasticity, and can be set to the "normal state".

[0342] also, Figure 40 (A) and Figure 40 (B) The normalization action can be performed on only one of them, or both (regardless of the order) can be performed sequentially.

[0343] Figure 41 This is a diagram illustrating the normalization process when the surface condition of the sewn material C is "insufficient fabric".

[0344] In cases where there is insufficient fabric, such as Figure 41 As shown, the CPU 91 moves the non-adhesive suction plate 31 of the picking device 10 to near directly above the rear end of the sewn material C, which is offset forward, via the robotic arm, and performs a suction action. Furthermore, the robotic arm moves the picking device 10 rearward, causing the rear end of the pulled sewn material C to move rearward as well.

[0345] Therefore, the rear end of the sewn material C, which has shifted forward, can be pulled back to the rear and set to the "normal state".

[0346] Figure 42 This is a diagram illustrating the normalization process when the surface condition of the sewn material C is "excess fabric".

[0347] In cases where there is an excess of fabric, such as Figure 42 As shown, the CPU 91 moves the non-adhesive suction plate 31 of the picking device 10 to near directly above the rear end of the sewn material C, which is offset backward, via the robotic arm, and performs a suction action. Furthermore, the robotic arm moves the picking device 10 forward, causing the rear end of the pulled sewn material C to move forward.

[0348] Therefore, the rear end of the sewn material C, which has shifted backward, can be pulled back forward and set to the "normal state".

[0349] Figure 43 This is a diagram illustrating the normalization process when the surface of the sewn material C is in a "curled state".

[0350] like Figure 43 As shown, the CPU 91 moves the rear end of the claw component 41 of the picking device 10 towards the front of the rear end of the curled sewn material C via the robot arm. The bottom part of the claw component 41 slides into contact with the upper surface of the first piece of sewn material C, or maintains a maximum non-slip contact height, so that the picking device 10 moves backward.

[0351] Therefore, the bottom surface of the claw member 41 can flatten the sewn material C, and the rear end of the sewn material C, which has curled, can be pushed back by the rear end of the claw member 41, thus setting it to a "normal state".

[0352] Furthermore, the aforementioned surface condition estimation and normalization operations can be performed each time before the picking-up of the sewn material C, or periodically, or under certain conditions. When performed periodically, for example, it can be performed in units of picking up a predetermined number of pieces of sewn material C. When performed under certain conditions, for example, it can be performed when the main power supply of the device is turned ON, or when a bundle of sewn material C is placed on the mounting table. Alternatively, it can be performed when an instruction to perform the surface condition estimation or normalization operation is input from the input device 96.

[0353] In addition, surface condition estimation and normalization can be performed in groups or either one at a time.

[0354] [Technical Effects of Embodiments of the Invention]

[0355] As described above, the picking device 10 is shaped such that the air-blowing end of the bottom surface 216 of the ventilation groove 212 provided on the bottom surface 211 of the picking nozzle 21 faces away from the sewn material C. Therefore, in a local area of ​​the relative position of the air-blowing end of the picking nozzle 21, the sewn material C can be pulled away from the sewn material below.

[0356] Therefore, even sewn items C with curled ends that are not easy to pull, or sewn items C made of materials that are close together, can promote localized peeling and pick up the pieces well one by one.

[0357] Furthermore, the air blown out from the bottom surface 211 of the pick-up nozzle 21 moves away from the sewn material C upwards compared to the rest of the bottom surface 211 via the step 217. This step 217 easily ensures sufficient lifting space for the sewn material C as it is pulled upwards, enabling effective peeling of the sewn material C.

[0358] In addition, the picking nozzle 21 is formed by the air blowing end of the bottom surface 216 of the ventilation groove 212, which is parallel to the bottom surface 211 of the picking nozzle 21 and the angle of the undulation gradually increases. Therefore, it can gradually promote the peeling of the sewn material C and pick up the sewn material C piece by piece more effectively and stably.

[0359] Furthermore, since the air-blowing end of the bottom surface 216 of the ventilation slot 212 is formed by an inclined surface that is tilted at a certain undulation angle relative to the bottom surface 211 of the pick-up nozzle 21, the sewn material C can be peeled off along the inclined surface. In addition, the shape is simplified, and the ventilation slot 212 can be easily processed.

[0360] In addition, the pick-up nozzle 21 is positioned downstream of the claw component 41 in the entry direction, so the first piece of sewn material can be flipped up by the pick-up nozzle 21, and the claw component 41 then separates the first piece of sewn material C from the second piece of sewn material C, thus enabling an effective and efficient pick-up operation.

[0361] In addition, the picking device 10 has a separation mechanism 40, which inserts the claw member 41 between the sewn material C and the sewn material C by moving the front end 411 of the claw member 41 forward and backward, thus suppressing the re-attachment of the sewn material C after they are peeled off from each other, and can separate the sewn material C more effectively.

[0362] Furthermore, the picking device 10 has a suction mechanism 30, which has a non-absorbent suction plate 31, so it can peel off the sewn material C over a larger range than the picking nozzle 21, and can pick up the material more quickly when it is not a difficult material to peel off.

[0363] In addition, the picking device 10, which is a thickness detection unit for detecting the thickness of the sewn material C on the claw member 41, has a magnetic sensor 25 and a contact sensor 36. Therefore, the control device 90, which is a determination unit, can determine picking failure, picking up of multiple sewn materials C, etc., based on the thickness of the detected sewn material C.

[0364] Therefore, by ensuring that the supply to the target material C is correct and appropriate, reliability can be improved.

[0365] In particular, when using the contact sensor 36, the thickness of the sewn material C is detected based on the height of the clamping member 53 relative to the claw member 41. Therefore, the thickness of the sewn material C can be detected during the clamping process, reducing the number of operation steps compared to detection using other dedicated components, and making detection easier.

[0366] In addition, the picking device 10 has an input device 96 that selects one or more combinations of the nozzle mechanism 20, the separation mechanism 40 and the suction mechanism 30. The control device 90 performs the action control of picking up the sewn material according to the selection of the input device 96, so that it can perform appropriate picking operations for various sewn materials C in accordance with the characteristics of the nozzle mechanism 20, the separation mechanism 40 and the suction mechanism 30.

[0367] In particular, corresponding to the selection, when performing any of the following actions—a first picking action performed by the separation mechanism 40 alone, a second picking action performed by the combination of the nozzle mechanism 20 and the separation mechanism 40, and a third picking action performed by the combination of the suction mechanism 30 and the separation mechanism 40—appropriate and efficient picking operations can be performed for various types of sewn materials C, depending on the type of sewn material C, the difference in the rhythm of the picking action, etc.

[0368] In addition, the first picking action is to move the front end 411 of the claw member 41 of the separating mechanism 40 to separate and pick up the first piece of sewn material C, thus enabling faster picking.

[0369] In addition, the second picking action is to pull the first piece of sewn material C upward by picking up the nozzle 21, and then insert the front end 411 of the claw member 41 into the lower side of the first piece of sewn material C to pick it up. Therefore, even sewn materials that are not easy to separate from each other can be separated more effectively and pick up with high reliability.

[0370] In addition, the third picking action is to pull the first piece of sewn material C by the non-adhesive suction plate 31, and then insert the front end 411 of the claw member 41 into the underside of the first piece of sewn material C to pick it up. Therefore, for sewn materials C that are difficult to separate from each other by the claw member 41, it can promote peeling and pick up the sewn material C quickly compared with the picking nozzle 21.

[0371] In addition, in the picking device 10, the CPU 91 functions as an estimation unit that estimates the state of the first piece of sewn material C from top to bottom based on the detection result of the two-dimensional displacement sensor 12. Therefore, before the picking action is performed, the surface state of the stacked sewn material C can be estimated, and it can be determined whether to perform the subsequent picking action, thereby reducing the occurrence of picking action failure and improving the reliability of the device.

[0372] In addition, the CPU 91 estimates the state of the first piece of sewn material C from the top based on the displacement in the stacking direction of the upper surface of the stacked sewn material C detected by the two-dimensional displacement sensor 12 and the tilt based on the displacement. Therefore, existing detection devices can be used without the need to set up a new displacement detection unit, which can reduce the number of parts and thus reduce costs.

[0373] In addition, the CPU 91 performs a normalization operation to normalize the surface state of the sewn material C in accordance with the state of the first piece of sewn material C estimated by the CPU 91, thereby reducing the occurrence of poor picking operation in subsequent picking operations and improving the reliability of the device.

[0374] In addition, the CPU 91 controls one or more of the nozzle mechanism 20, separation mechanism 40, suction mechanism 30, and holding mechanism 50 to perform normalization operations. Therefore, normalization operations can be performed using existing structures without the need to set up new structures for normalization operations, thereby reducing the number of parts and thus reducing costs.

[0375] [other]

[0376] The details shown in the above embodiments can be appropriately changed without departing from the spirit of the invention.

[0377] For example, the picking action of the sewn material C exemplifies the first to third picking actions described above, but is not limited to these patterns. Individual picking actions can also be performed by any of the nozzle mechanism 20, the separation mechanism 40, and the suction mechanism 30, or by other combinations of two or more.

[0378] In addition, if the two-dimensional displacement sensor 12 can detect the position of the sewn material C with sufficient high accuracy, the end detection of the sewn material C by the photoelectric sensor 55 can also be omitted.

[0379] Explanation of the label

[0380] 10. Pickup device

[0381] 12 Two-dimensional displacement sensor (displacement detection unit)

[0382] 20 Nozzle Mechanism

[0383] 21 Pick up the nozzle

[0384] 24 Permanent magnets (thickness measurement department)

[0385] 25 Magnetic sensor (thickness detection unit)

[0386] 30 Attracting Agencies

[0387] 31 Non-adsorption suction plate

[0388] 33 Lifting Block

[0389] 34 Lifting Drive Unit

[0390] 36. Contact sensor (thickness detection unit)

[0391] 40 Separation Mechanism

[0392] 41 Claw Components

[0393] 42 Forward and Reverse Drive Unit

[0394] 50 Maintenance Agency

[0395] 51 Holding Block

[0396] 52. Maintain cylinder

[0397] 53 Clamping components

[0398] 55 Photoelectric Sensor

[0399] 90 Control device

[0400] 91 CPU (estimated)

[0401] 96 Input device (selection unit)

[0402] 211 Bottom

[0403] 212 Ventilation slot

[0404] 213 Nozzle opening

[0405] 214 flow path

[0406] 215 Supply Management

[0407] 216 Bottom surface of the groove

[0408] 217 steps

[0409] 411 Front end

[0410] 531 Shaft

[0411] 532 Contact part

[0412] 533 Head

[0413] C. The sewn item

Claims

1. A picking device for picking up stacked sheet-like sewn fabric from top to bottom. The pickup device is characterized by having: The nozzle mechanism has a pick-up nozzle that pulls the first piece of the sewn fabric upward from the top by blowing air from the stacked sewn fabric. A holding mechanism that holds the first piece of the sewn material from top to bottom; A separation mechanism having a claw member for inserting relative to the stacked sewn material into the underside of the first piece of sewn material from top to bottom, and a forward and backward drive unit for moving the front end of the claw member forward and backward. A suction mechanism having a non-absorbent suction disc that attracts the first piece of the sewn material from the top of the stacked sewn materials closer to it. A control device that controls the nozzle mechanism, the separating mechanism, the suction mechanism, and the holding mechanism; as well as The selection unit allows selection of any one or more combinations of the nozzle mechanism, the separation mechanism, and the suction mechanism. The control device, according to the selection by the selection unit, performs the action control of picking up the stacked sewn material from the top. The pickup device also features: The displacement detection unit detects the displacement of the upper surface of the stacked sewn material at various positions along the front-back direction when the forward and backward movement direction of the front end of the claw component is set to the front-back direction. as well as The estimation unit estimates the state of the first piece of the sewn material from the top based on the detection results of the displacement detection unit.

2. The picking device according to claim 1, characterized in that, The control device follows the selection from the selection unit. The action control can be performed on any of the following: a first picking-up action performed by the separation mechanism alone; a second picking-up action performed by a combination of the nozzle mechanism and the separation mechanism; and a third picking-up action performed by a combination of the suction mechanism and the separation mechanism.

3. The picking device according to claim 2, characterized in that, The holding mechanism includes: a clamping member that descends relative to the claw member above the claw member to clamp the workpiece; and a clamping drive that provides movement to the clamping member in a descending direction relative to the claw member. During the first pick-up action, the control device... The front end of the claw component of the separating mechanism is moved into the lower side of the first piece of the sewn material from the top, and the clamping component of the holding mechanism is lowered relative to the first piece of the sewn material from the top to clamp it.

4. The picking device according to claim 2 or 3, characterized in that, The holding mechanism includes: a clamping member that descends relative to the claw member above the claw member to clamp the workpiece; and a clamping drive that provides movement to the clamping member in a descending direction relative to the claw member. During the second pick-up action, the control device... Air is blown out from the pick-up nozzle via the nozzle mechanism to pull the first piece of the sewn material upwards from the top. Then, the front end of the claw member of the separation mechanism moves into the lower side of the first piece of the sewn material from the top, causing the clamping member of the holding mechanism to descend relative to the lower side and clamp the first piece of the sewn material from the top.

5. The picking device according to claim 2 or 3, characterized in that, The holding mechanism includes: a clamping member that descends relative to the claw member above the claw member to clamp the workpiece; and a clamping drive that provides movement to the clamping member in a descending direction relative to the claw member. During the third pick-up action, the control device... The non-absorbent suction disc of the suction mechanism pulls the first piece of the sewn material from the top relative to the stacked sewn materials. Then, the front end of the claw member of the separation mechanism moves inward and inserts into the underside of the first piece of the sewn material from the top, causing the clamping member of the holding mechanism to descend relative to the first piece of the sewn material from the top to clamp it.

6. The picking device according to any one of claims 1 to 3, characterized in that, The estimation unit estimates the state of the first piece of the sewn material from the top based on the displacement of the upper surface of the stacked sewn material at each position along the front-back direction detected by the displacement detection unit and the tilt based on the displacement.

7. The picking device according to any one of claims 1 to 3, characterized in that, The control device performs a normalization action to normalize the state of the first piece of sewn material, in accordance with the state of the first piece of sewn material estimated by the estimation unit from the top.

8. The picking device according to claim 7, characterized in that, The control device controls one or more of the nozzle mechanism, the separation mechanism, the suction mechanism, and the holding mechanism to perform the normalization action.

Images