Conveyor

Abstract

The objective of this invention is to reduce the workload of operators. The invention is a conveying device (30) for picking up and transporting sewn materials, comprising: a plurality of holding heads (90) for holding the sewn material (P); and a variable mechanism (81) that allows the configuration of the plurality of holding heads (90) to be variable based on information including the shape of the sewn material (P). The variable mechanism (81) can hold parts (P) of various shapes, for example, by using a motor to move the plurality of holding heads (90) in a configuration corresponding to the shape of the part (P) in a two-dimensional plane. Therefore, there is no need to change the structure of the holding parts (P).

Description

TECHNICAL FIELD

[0001] The present application relates to a conveyance device that picks up and conveys a part that is a sewing material. BACKGROUND

[0002] A conventional sewing system uses a conveyance device of an arm type including a holding device to hold a part arranged at a specific supply site and supply it to a sewing machine that performs sewing (see, for example, Patent Literature 1).

[0003] [Patent Literature]

[0004] [Patent Literature]

[0005] [Patent Literature 1] Japanese Patent Laid-Open No. 2021-024033 SUMMARY

[0006] [Problems to be Solved by the Invention]

[0007] However, the conveyance device of Patent Literature 1 is structured such that the holding device performs suction of the part using a plurality of suction portions fixed to a plane in a prescribed arrangement. Therefore, when the part is changed, it is necessary to replace the holding device with another one in which the suction portions are arranged in an arrangement suitable for the new part, and the work burden increases.

[0008] An object of the present application is to reduce the work burden of a worker.

[0009] [Means of Solving the Problems]

[0010] The application of claim 1 is a conveyance device that picks up and conveys a sewn object, characterized by comprising:

[0011] a plurality of holding heads that hold the sewn object; and

[0012] a variable mechanism that makes the arrangement of the plurality of holding heads variable based on information including the shape of the sewn object.

[0013] The application of claim 2 is the conveyance device according to claim 1, characterized in that:

[0014] the plurality of holding heads are arranged on the same two-dimensional plane,

[0015] the variable mechanism makes the plurality of holding heads move in a two-axis direction formed by an X-axis and a Y-axis along the two-dimensional plane.

[0016] The application of claim 3 is the conveyance device according to claim 2, characterized in that:

[0017] the variable mechanism

[0018] a pair of said holding heads capable of moving relatively along the X axis,

[0019] said holding heads are held in a manner capable of moving relatively along the Y axis.

[0020] The invention according to claim 4 is a conveyance device according to claim 3, characterized in that:

[0021] two drive sources are included, which move a pair of said holding heads and another said holding head respectively along the X axis for one group of said holding heads within the two groups.

[0022] The invention according to claim 5 is a conveyance device according to any one of claims 2 to 4, characterized in that:

[0023] said conveyance device includes an angle adjustment mechanism that adjusts the angle of a plurality of said holding heads by rotating them around an axis perpendicular to said two-dimensional plane.

[0024] The invention according to claim 6 is a conveyance device according to any one of claims 1 to 5, characterized in that:

[0025] said holding head includes:

[0026] a traction nozzle that tractions the sewn object upward; and

[0027] a gripping mechanism that grips the sewn object.

[0028] The invention according to claim 7 is a conveyance device according to claim 6, characterized in that it includes:

[0029] a holding control section that controls said holding head to be gripped by said gripping mechanism after being tracted by said traction nozzle.

[0030] The invention according to claim 8 is a conveyance device according to claim 6 or 7, characterized in that:

[0031] the traction force of said sewn object can be adjusted by air flow adjustment of said traction nozzle.

[0032] The invention according to claim 9 is a conveyance device according to any one of claims 6 to 8, characterized in that:

[0033] said holding head includes a detection section that detects the thickness of said sewn object gripped by said gripping mechanism,

[0034] said conveyance device includes a determination processing section that determines whether said sewn object is successfully gripped based on the thickness of said sewn object detected by said detection section.

[0035] [Effects of the Invention]

[0036] The conveyance device of the present application includes a variable mechanism that makes the arrangement of the plurality of holding heads variable based on information including the shape of the sewn article, and thus does not require a large-scale component replacement operation due to a change in parts, thereby enabling a reduction in the work burden of the operator. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a perspective view showing the overall structure of a sewing system as an embodiment of the invention.

[0038] Figure 2 is a plan view of the sewing system.

[0039] Figure 3 is a plan view of a sheet-shaped material after cutting.

[0040] Figure 4 is a plan view of a template.

[0041] Figure 5 is a side view of the template.

[0042] Figure 6 is a plan view of a front end tool.

[0043] Figure 7 is a plan view of the front end tool, in which a part of the illustration is omitted.

[0044] Figure 8 is a schematic block diagram showing the control structure of the pickup device.

[0045] Figure 9 is an explanatory view of the case where the controller 31 positions the holding heads at the four corners of an isosceles trapezoidal part, respectively.

[0046] Figure 10 is an explanatory view of the case where the holding heads are positioned at a parallelogram part, respectively.

[0047] Figure 11 is a schematic plan view showing the state of an error caused by a tilt between devices in the sewing system.

[0048] Figure 12 is a side view showing the action of picking up a part by the holding heads.

[0049] Figure 13 Continued from Figure 12 is a side view showing the action of picking up a part by the holding heads.

[0050] Figure 14 is a structure view showing the circuit structure capable of adjusting the suction force of the suction pad.

[0051] Figure 15 is a flowchart of the switching of the attraction of the two stages of strength and weakness by the controller.

[0052] Figure 16 is a flowchart showing the action control of the carrying action of the pickup device by the controller.

[0053] Figure 17 is a timing chart of the pickup action.

[0054] Figure 18 is a plan view of the reversing device.

[0055] Figure 19 is a plan view of the transfer mechanism.

[0056] Figure 20 is a structure diagram showing the flow of various data, various commands of each structure of the sewing system.

[0057] [Explanation of symbols]

[0058] 30: carrying device

[0059] 31: controller

[0060] 32: input unit

[0061] 40: pickup device

[0062] 41: base

[0063] 42: first arm

[0064] 43: second arm

[0065] 441: first horizontal movement motor (drive source)

[0066] 442: second horizontal movement motor (drive source)

[0067] 443: vertical movement motor (drive source)

[0068] 444: rotation motor (angle adjustment mechanism)

[0069] 60: sewing machine

[0070] 70: template

[0071] 80: front end tool

[0072] 81: variable mechanism

[0073] 825: first motor (drive source)

[0074] 835: second motor (drive source)

[0075] 845: third motor (driving source)

[0076] 90: holding head

[0077] 91: base

[0078] 92: horizontal pressure cylinder (holding mechanism)

[0079] 93: up-and-down pressure cylinder (holding mechanism)

[0080] 932: cloth thickness sensor

[0081] 94: claw member (holding mechanism)

[0082] 941: detected object (permanent magnet)

[0083] 95: traction suction cup (traction nozzle)

[0084] 951: air supply source

[0085] 952: working electromagnetic valve

[0086] 953: adjusting electromagnetic valve

[0087] 954: low-pressure regulator

[0088] 955: high-pressure regulator

[0089] 956: check valve

[0090] 100: sewing system

[0091] 110: relay terminal

[0092] C: center

[0093] Cp: center

[0094] P, P1-P12: parts (sewn objects)

[0095] S: sheet material

[0096] Θ: correction angle DETAILED DESCRIPTION

[0097] [Overall structure of sewing system]

[0098] Hereinafter, a sewing system 100 as an embodiment of the present application will be described based on the drawings. Figure 1 is a perspective view showing the overall structure of the sewing system 100, Figure 2 is a plan view.

[0099] The sewing system 100 includes a conveyance device 30 that picks up a part P, which is a workpiece for sewing, from a sheet-shaped material S that has been subjected to a cutting process by a cutting device 20 and conveys it to a template 70 for sewing, a sewing machine 60 that holds the template 70 and sews the part P, and a relay terminal 110 (see Figure 20 ) that implements the cooperation of the respective structures.

[0100] The cutting device 20, the conveyance device 30, and the sewing machine 60 are arranged in a row in the horizontal direction, the arrangement direction is set as the Y-axis direction, the direction horizontal to and orthogonal to the Y-axis direction is set as the X-axis direction, and the vertical up-and-down direction is set as the Z-axis direction.

[0101] Further, in cases where it is necessary to distinguish and describe each part P by size or shape, different symbols are assigned to the parts P as P1, P2, P3, and so on (see Figure 3 ), but in cases where no particular distinction is necessary, a common symbol P is used.

[0102] In addition, in the sewing system 100 of the present embodiment, a case is exemplified in which a pair of parts P, which are materials for a pocket flap that is to be sewn to an opening portion of a pocket of an outerwear, are sewn to each other, but this is not limiting, and all kinds of sewing operations in which sewing of a workpiece is performed after cutting can be performed.

[0103] [CUTTING DEVICE]

[0104] As shown in Figure 1 and Figure 2 , the cutting device 20 includes a cutting table 21 on which a sheet-shaped material S that is to be cut is placed, a work table 22 that performs an operation of picking up a part P from the sheet-shaped material S that has been subjected to a cutting process, a cutting head 23 to which a cutting knife that performs cutting is attached, a moving mechanism 24 that moves the cutting head 23 arbitrarily in the X-Y plane, and a control section 25 that controls the respective sections of the cutting device 20 (see Figure 20 ).

[0105] The upper surface of the cutting table 21 and the upper surface of the work table 22 are both flat and are set to the same height as each other.

[0106] Further, the upper surface of the cutting table 21 and the upper surface of the work table 22 include a conveyance belt of a conveyance belt mechanism, and both can convey the sheet-shaped material S placed on the upper surface in the Y-axis direction. Thus, by driving the belt of the upper surface of the cutting table 21 and the belt of the upper surface of the work table 22 at the same speed, the sheet-shaped material S placed on the upper surface of the cutting table 21 can be conveyed to be transferred from the cutting table 21 to the work table 22.

[0107] The cutting head 23 supports a cutting knife, which is not shown, in a downward direction, and can cut the sheet-shaped material S in the direction of movement thereof.

[0108] The moving mechanism 24 includes a rail 241 that supports the cutting head 23 so as to be movable in the X-axis direction, an X-axis motor (not shown) that is a drive source of the movement of the cutting head 23 in the X-axis direction on the rail 241, and a Y-axis motor (not shown) that is a drive source of the movement of the cutting head 23 in the Y-axis direction.

[0109] The X-axis motor imparts a movement in the X-axis direction to the head 23 via a linear motion mechanism such as a ball screw mechanism or a belt mechanism, which is built in the rail 241.

[0110] The Y-axis motor imparts a movement in the Y-axis direction to the rail 241 via a linear motion mechanism such as a ball screw mechanism or a belt mechanism, which is built in the cutting table 21.

[0111] The control section 25 of the cutting apparatus 20 obtains cutting data including information on the arrangement, size, shape, orientation, and the like of the plurality of parts P to be formed in the sheet material S from an external computer-aided design (CAD) system 200, and converts it into cutting control information for controlling the moving mechanism 24, and performs control of the movement of the moving mechanism 24 (see Figure 20 ).

[0112] In addition, the control section 25 of the cutting apparatus 20 is connected to the relay terminal 110 via a communication cable, and transmits part information (information specifying the parts) including the arrangement, size, shape, orientation, and the like of the plurality of parts P to be formed in the sheet material S, which is included in the obtained cutting data, to the relay terminal 110.

[0113] In addition, the motors that are drive sources of the conveyer belt mechanisms of the cutting table 21 and the work table 22, respectively, detect the amounts of movement thereof using encoders, and input them to the control section 25.

[0114] [SEWING MACHINE]

[0115] The sewing machine 60 is a so-called electronic circular sewing machine, and includes a body section 61 that sews by the up-and-down movement of a sewing needle, a moving mechanism 62 that holds the template 70 described above and positions it arbitrarily in the X-Y plane, a work table 63, and a controller 64 that controls the sewing machine 60 (see Figure 1 and Figure 2 ). Figure 20

[0116] The body section 61 has the same structure as that of a known sewing machine including an up-and-down movement mechanism of a sewing needle and a shuttle mechanism.

[0117] The upper surface of the work table 63 is horizontal in the X-Y plane, and the sewing operation of the parts P is performed on the upper surface. ​

[0118] The moving mechanism 62 includes a holding portion that holds the template 70 in a detachable manner, an X-axis motor that is a moving drive source in the X-axis direction of the holding portion, and a Y-axis motor that is a moving drive source in the Y-axis direction of the holding portion.

[0119] The X-axis motor imparts a moving action in the X-axis direction to the holding portion and the template 70, for example, via a linear motion mechanism such as a ball screw mechanism or a belt mechanism.

[0120] The Y-axis motor imparts a moving action in the Y-axis direction to the holding portion and the template 70, for example, via a linear motion mechanism such as a ball screw mechanism or a belt mechanism.

[0121] The holding portion enables attachment and detachment of the template 70 by inserting and pulling out a link pin that is capable of advancing and retreating by an actuator such as a cylinder or a solenoid, with respect to a link hole provided in the template 70.

[0122] The controller 64 stores a plurality of sewing pattern data corresponding to a plurality of templates 70, and performs control of the moving mechanism 62 in accordance with the sewing pattern data.

[0123] In addition, a tag reader / writer 65 that is a recording portion that performs reading and writing of data with respect to an Integrated Circuit (IC) tag 73 of the template 70 described below is provided at a corner portion of the worktable 63 (see Figure 19 ).

[0124] [Sheet material and template]

[0125] As described above, the sheet material S is cut in accordance with cutting control information based on CAD data. Figure 3 is a plan view of the sheet material S after cutting.

[0126] Here, a case in which a plurality of parts P1 to P12 are cut out from one sheet material S is exemplified.

[0127] The part P1 and the part P2 are paired, and sewing in which these parts are attached to each other is performed. In addition, the same applies to the part P3 and the part P4, and the part P5 and the part P6.

[0128] In addition, the parts P7 to P12 have the same relationship as the parts P1 to P6, and the parts P1 to P6 are set to L size (large size), and the parts P7 to P12 are set to S size (small size).

[0129] The arrangement of each of the parts P1 to P12 with respect to the sheet material S is determined in accordance with CAD data.

[0130] Figure 4 is a plan view of the template 70, Figure 5is a side view.

[0131] The template 70 includes a lower plate 71 on which the parts P as the sewing objects are placed, and a presser plate 72 supported so as to be able to pivot up and down with respect to the lower plate 71, and if the presser plate 72 is lowered to be parallel to the lower plate 71, a structure in which the parts P are clamped and held is formed. In addition, in a state in which the parts P are held, the lower plate 71 and the presser plate 72 are formed with opening portions 711 to 713 (721 to 723) corresponding to the sewing patterns in a superimposed arrangement, and the parts P can be pressed down while avoiding the position of the drop needle at the time of sewing.

[0132] A plurality of templates 70 are prepared corresponding to a plurality of kinds of sewing pattern data, respectively.

[0133] Here, a case in which two templates 70 corresponding to sewing pattern data in which the parts PI and P2, the parts P3 and P4, and the parts P5 and P6 of L size are arranged at prescribed positions and sewn to each other, and the parts P7 and P8, the parts P9 and P10, and the parts PI 1 and P12 of S size are arranged at prescribed positions and sewn to each other, respectively, are exemplified.

[0134] In addition, the template 70 corresponding to the parts PI to P6 and the template 70 corresponding to the parts P7 to P12 are different in size but are substantially the same in shape, and therefore in the present embodiment, the drawings are commonized. Figure 4

[0135] In addition, as described above, the template 70 is designed corresponding to the sewing pattern data, respectively, and therefore as shown in FIG. 6, an IC tag 73 as a storage portion such as a radio frequency identifier (RFID) in which data indicating an identification ID or a pattern data number indicating the sewing pattern data to which the template 70 corresponds or the like (information for specifying the sewing pattern) is stored is attached. Figure 4

[0136] The conveyance device 30 is positioned with respect to the template 70 arranged at a work position Dl described below, and places the parts PI and P2 (or P7 and P8) of L size on the opening portion 711 of the lower plate 71, places the parts P3 and P4 (or P9 and P10) of L size on the opening portion 712, and places the parts P5 and P6 (or PI 1 and P12) of L size on the opening portion 713.

[0137] [Conveyance device]

[0138] ​​The conveyance device 30 includes a pickup device 40 that picks up the parts P from the cutting device 20, a reversing device 35 that reverses the front and back of the parts P, a transfer mechanism 50 that transfers each mold plate 70, and a controller 31 that controls each structure of the conveyance device 30 (see Figure 20 ).

[0139] [Conveyance device: pickup device]

[0140] As shown in Figure 2 , the pickup device 40 is disposed between the cutting device 20 and the transfer mechanism 50 in the Y-axis direction.

[0141] As shown in Figure 1 , the pickup device 40 includes a structure of a SCARA robot that includes a base 41 that is a base, a first arm 42 that is supported by the base 41 so as to be able to rotate around the Z-axis, a second arm 43 that is supported by the first arm 42 so as to be able to rotate around the Z-axis, and a front end tool 80 that is supported by the second arm 43 so as to be able to ascend and descend in the Z-axis direction and be able to swivel around the Z-axis.

[0142] In addition, as shown in Figure 8 described below, the pickup device 40 includes a first horizontal movement motor 441 that rotates the first arm 42, a second horizontal movement motor 442 that rotates the second arm 43, a vertical movement motor 443 that ascends and descends the front end tool 80 in the Z-axis direction, and a swivel motor 444 that is an angle adjustment mechanism that swivels the front end tool 80 around the Z-axis. These motors 441 to 444 are action-controlled by the controller 31.

[0143] Furthermore, the pickup device 40 is not limited to the SCARA type, and can be a robot of another form such as a multi-joint type or an XYZ linear motion type.

[0144] As shown in Figure 2 , the pickup device 40 can position the front end tool 80 at an arbitrary position and an arbitrary height within the movable region R in plan view, and make it face an arbitrary angle around the Z-axis, by the structure.

[0145] [Conveyance device: front end tool]

[0146] Figure 6 is a plan view of the front end tool 80, Figure 7 is a plan view of the front end tool 80 in which a part of the illustration is omitted, Figure 8 is a schematic block diagram that shows the control structure of the pickup device 40. Furthermore, in Figure 8 , the illustration of the plurality of holding heads 90 included is omitted to be only one.

[0147] As described above, the pickup device 40 supports the front tool 80 in a manner that allows it to rotate in any direction around the Z-axis. That is, the orientation of the front tool 80 changes according to the action. Therefore, the X-axis and Y-axis directions of the front tool 80 described below may not be consistent with the X-axis and Y-axis directions of the entire sewing system 100 during operation. However, in the following description of the various parts of the front tool 80, the X-axis and Y-axis directions will be used as... Figure 6 and Figure 7 The explanation is based on the orientation of the object.

[0148] like Figure 6 and Figure 7 As shown, the front-end tool 80 includes four holding heads 90 that hold part P, and a variable mechanism 81 that supports the four holding heads 90 in a manner that arranges them on the same two-dimensional plane (XY plane).

[0149] The variable mechanism 81 holds two sets of retaining heads 90 supported in a manner that allows them to move relative to each other along the X-axis direction, such that one set of retaining heads 90 ( Figure 6 The two retaining heads 90 on the left side of the middle section) and another set of retaining heads 90 ( Figure 6 The two retaining heads (90) on the right side of the middle section can be supported by moving in a way that allows them to separate from each other along the Y-axis.

[0150] In addition, a straight line along the X-axis passing through the center of the two holding heads 90 in one set is set as the "x1 axis of the front tool 80", and a straight line along the X-axis passing through the center of the two holding heads 90 in another set is set as the "x2 axis of the front tool 80".

[0151] Additionally, the straight line along the Y-axis passing through the center C of the front-end tool 80, as described below, is defined as the "y-axis of the front-end tool 80".

[0152] The variable mechanism 81, through the support structure, supports the four retaining heads 90 in a manner that allows them to be arbitrarily positioned in the same XY plane, provided that the two retaining heads 90 in the group are always arranged on the x1 axis or x2 axis.

[0153] Specifically, the variable mechanism 81 includes a pair of first support members 821 that are elongated along the X-axis, and a first guide 822 that supports these first support members 821 in a manner that allows them to move along the X-axis.

[0154] One of the first support members 821 extends in opposite directions along the X-axis, and a retaining head 90 is installed at the extended end of each of the first support members 821.

[0155] And, these first support members 821 are formed with rack teeth 823 on the mutually facing sides of the end portions on the opposite side of the support end portions of the holding heads 90. Further, these rack teeth 823 engage with both sides of a pinion 824 provided in the first guide frame 822 so as to be rotatable about the Z axis.

[0156] The pinion 824 is connected to the output shaft of a first motor 825 provided in the first guide frame 822 as a drive source. And, the first motor 825 is controlled in the rotational operation by the processor included in the controller 31 of the pickup device 40 (hereinafter referred to as the controller 31).

[0157] Thus, the two holding heads 90 supported by the pair of first support members 821 can be maintained at equal distances from the first guide frame 822 and arbitrarily contacted and separated in the X axis direction.

[0158] Further, a speed reduction device can be provided between the pinion 824 and the first motor 825.

[0159] In addition, the variable mechanism 81 includes a pair of second support members 831 elongated in the X axis direction, and a second guide frame 832 supporting the second support members 831 so as to be movable in the X axis direction.

[0160] One of the second support members 831 and the other extend in opposite directions to each other in the X axis direction, and a holding head 90 is attached to the extended end portion of each second support member 831.

[0161] And, these second support members 831 are formed with rack teeth 833 on the mutually facing sides of the end portions on the opposite side of the support end portions of the holding heads 90. Further, these rack teeth 833 engage with two pinions 834 provided in the second guide frame 832 so as to be rotatable about the Z axis.

[0162] In addition, each pinion 834 is connected to the output shaft of two second motors 835 provided in the second guide frame 832 as a drive source. And, the two second motors 835 are also controlled in the rotational operation by the controller 31 of the pickup device 40, respectively.

[0163] Thus, the two holding heads 90 supported by the pair of second support members 831 can be moved in the X axis direction at an arbitrary distance from the second guide frame 832, respectively.

[0164] Further, a speed reduction device can also be provided between the pinions 834 and the second motors 835.

[0165] Further, the variable mechanism 81 includes a pair of third support members 841 elongated along the Y-axis direction, and a third guide frame 842 that supports the third support members 841 in a manner movable along the Y-axis direction.

[0166] One of the third support members 841 and the other of the third support members 841 respectively extend in mutually opposite directions in the Y-axis direction, and the first guide frame 822 and the second guide frame 832 described above are attached to the extending end portions of the respective third support members 841.

[0167] Further, the third support members 841 are formed with rack teeth 843 on mutually facing sides of the end portions opposite the support end portions of the first guide frame 822 or the second guide frame 832. Further, the rack teeth 843 engage both sides of a pinion 844 provided in the third guide frame 842 in a manner rotatable about the Z-axis.

[0168] In addition, the pinion 844 is connected to an output shaft of a third motor 845 provided to the third guide frame 842 as a drive source. Further, the third motor 845 is controlled in rotational operation by the controller 31 of the pickup device 40.

[0169] Thus, the first guide frame 822 and the second guide frame 832 supported by the pair of third support members 841 can each be maintained at an equal distance from the third guide frame 842, and arbitrarily contacted and separated moved along the Y-axis direction.

[0170] That is, the pair of holding heads 90 on the x1-axis side and the pair of holding heads 90 on the x2-axis side can be arbitrarily contacted and separated moved along the Y-axis direction with respect to each other.

[0171] Further, a speed reduction device can also be provided between the pinion 844 and the third motor 845.

[0172] As shown in FIG. 8, Figure 6 the center of the output shaft of the third motor 845 (the center of the pinion 844) is set as the center C of the front end tool 80.

[0173] Further, the second arm 43 of the pickup device 40 supports the front end tool 80 at the center C, and supports in a manner rotatable about the Z-axis passing through the center C. In addition, the center C is located on the y-axis of the front end tool 80 described above.

[0174] [Conveying device: position alignment of holding heads of front end tool]

[0175] Figure 9 is a view when the holding heads 90 are positioned at the four corners of the isosceles trapezoidal part P1 based on operation control by the controller 31, Figure 10is an explanatory view of the case where the holding heads 90 are positioned with respect to the parallelogram-shaped part P3, respectively.

[0176] The controller 31 of the conveyance device 30 can obtain the part information from the relay terminal 110, and thereby calculate the position coordinates indicating the positions of the outer edge portions or the vertexes of the four corners of the part P, according to the target positions at the time of picking up each part P and the shape, orientation, size of the part P. Then, the following action control is performed in such a manner that the positions of each holding head 90 held by the front end tool 80 become appropriate positions according to the shape of the part P.

[0177] For example, in the case of picking up the isosceles trapezoidal part PI shown in FIG. 10, first, the center Cp of the part PI is found. The center Cp of the part PI can be found by a barycentric operation, or a circumscribed rectangle re of the part PI can be found, and the center thereof can be found. Figure 9

[0178] Then, the front end tool 80 is positioned in such a manner that the x1 axis and the x2 axis are parallel to the long side direction of the part PI, and the center C of the front end tool 80 coincides with the center Cp of the part PI.

[0179] Thereby, the orientation, the center C, and the position of the y axis of the front end tool 80 become appropriate.

[0180] Further, by driving of the third motor 845, the positions of the x1 axis and the x2 axis of the front end tool 80 are aligned in such a manner that they become slightly inside the upper base and the lower base in the trapezoid of the part PI.

[0181] Then, by driving of the first motor 825, the positions of the holding heads 90 on both sides of the x1 axis are aligned in such a manner that they become slightly inside both end portions of the upper base of the part PI.

[0182] Then, by driving of the two second motors 835, the positions of the holding heads 90 on both sides of the x2 axis are aligned in such a manner that they become slightly inside both end portions of the lower base of the part PI.

[0183] Thereby, the positions of each holding head 90 can be aligned with the holding positions near the four vertexes of the trapezoidal part PI.

[0184] In addition, in the case of picking up the parallelogram-shaped part P3 shown in FIG. 11, first, the center Cp of the part P3 is found. The center Cp of the part P3 can be found by a barycentric operation, or a circumscribed rectangle re of the part P3 can be found, and the center thereof can be found. Figure 10

[0185] ​​Then, the front end tool 80 is positioned with the x1 axis and the x2 axis in parallel to the long side direction of the part P1, and with the center C of the front end tool 80 coinciding with the center Cp of the part P1. Thus, the orientation of the front end tool 80 is made appropriate.

[0186] Further, in the case of the parallelogram-shaped part P3, the position of the y axis of the front end tool 80 is corrected along the long side direction of the part P3. That is, the y axis of the front end tool 80 is moved to the position of the bisector of the side (left side in Figure 10 ) of the parallelogram of the part P3. Figure 10

[0187] Thus, the orientation, the center C, and the position of the y axis of the front end tool 80 are made appropriate.

[0188] Further, the positions of the x1 axis and the x2 axis of the front end tool 80 are aligned in such a manner that they become slightly inside the two parallel sides in the parallelogram of the part P3, by driving the third motor 845.

[0189] Then, the positions of the holding heads 90 on both sides of the x1 axis are aligned in such a manner that they become slightly inside both ends of the side on the x1 axis in the parallelogram of the part P3, by driving the first motor 825.

[0190] Then, the positions of the holding heads 90 on both sides of the x2 axis are respectively aligned in such a manner that they become slightly inside both ends of the side on the x2 axis in the parallelogram of the part P3, by driving the two second motors 835. In this case, the amount of movement of one second motor 835 is different from that of the other second motor 825, and the position alignment operation is performed on the two holding heads 90 respectively.

[0191] Thus, the positions of the holding heads 90 can be aligned to the holding positions near the four vertices of the parallelogram-shaped part P3.

[0192] Further, the shapes of the parts P are examples, and are not limited to these shapes. In the case of a part P that is symmetrical about an axis of symmetry along the short side direction of the part P, the positions of the holding heads 90 can be appropriately adjusted by roughly the same operation as in the case of the part P1. Figure 9 In addition, in the case of a part P that has a pair of parallel sides, the positions of the holding heads 90 can be appropriately adjusted by roughly the same operation as in the case of the part P2. Figure 10 In addition, in the case of a part P that has a pair of parallel sides, the positions of the holding heads 90 can be appropriately adjusted by roughly the same operation as in the case of the part P2.

[0193] ​[Conveyance device: rotation correction of the front end tool]

[0194] As described above, the pickup device 40 positions the front end tool 80 while performing pickup of the parts P on the premise that the parts P are accurately arranged as set based on the part information obtained by the controller 31.

[0195] However, as shown in Figure 11 , the sewing system 100 can have a setting error, an assembly error, or a low degree of flatness or levelness of the floor when the devices are set, and can have an error such as inclination in the plane. In this case, there is a concern that the pickup device 40 cannot pick up the parts P or supply the parts P to the downstream side in a state where the orientation of the parts P is different.

[0196] In this case, the inclination angle θ between the devices shown in Figure 11 may be measured in advance, or the inclination angle θ can be found by attempting and performing teaching by the pickup device 40 in actual operation.

[0197] Then, the found angle θ is input as a correction angle θ from the input portion 32 including an input interface connected to the controller 31.

[0198] The controller 31 adds information of the correction angle θ to the part information and transmits it to the relay terminal 110.

[0199] In addition, the controller 31 performs correction control of the rotation motor 444 to correct the front end tool 80 by rotating the correction angle θ before pickup in the case where pickup based on the part information in which the correction angle θ is recorded is performed.

[0200] [Conveyance device: holding head]

[0201] Figure 12 and Figure 13 are side views showing the operation of picking up the parts P by the holding head 90.

[0202] As described above, the pickup device 40 supports the front end tool 80 in a manner that can be rotated to an arbitrary orientation about the Z axis. That is, the orientation of the holding head 90 changes depending on the operation. Therefore, the X axis direction and the Y axis direction in the holding head 90 described below can also be inconsistent with the X axis direction and the Y axis direction in the entire sewing system 100 during the operation, but the X axis direction and the Y axis direction are described below as the premise of the orientation of the holding head 90 shown in Figure 12 and Figure 13 .

[0203] In the following description, the direction of forward and backward movement of the claw member 94, which is parallel to the flat bottom surface of the claw member 94 described below, is defined as the X-axis direction; the direction that is parallel to the flat bottom surface of the claw member 94 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.

[0204] The holding head 90 includes a base 91 supporting the whole, a horizontal pressure cylinder 92 supported by the base 91 in a manner that allows it to move up and down along the Z-axis, a vertical pressure cylinder 93 that is given a horizontal reciprocating motion along the X-axis by the horizontal pressure cylinder 92, a claw member 94 that moves up and down along the Z-axis by the vertical pressure cylinder 93, and a traction suction cup 95 located at the lower part of the horizontal pressure cylinder 92 as a traction nozzle. The horizontal pressure cylinder 92, the vertical pressure cylinder 93, and the claw member 94 constitute the holding mechanism for holding part P.

[0205] The base 91 is fixedly supported by the extended end of the first support member 821 or the second support member 831 of the front end tool 80 described above.

[0206] A sliding shaft 911 is installed at the lower part of the base 91 along the Z-axis direction to support the horizontal pressure cylinder 92 in a way that allows it to slide up and down.

[0207] A push spring 912, including a disc spring, is inserted through the sliding shaft 911, which pushes the horizontal cylinder 92 downward relative to the base 91, maintaining the lowest position of the movable range. When the traction suction cup 95, located below the horizontal cylinder 92, comes into contact with an external object from above for some reason, the sliding shaft 911 and the push spring 912 can be pushed up by the contact pressure, thus providing a clearance structure to prevent damage to the traction suction cup 95.

[0208] The horizontal cylinder 92 is a cylinder that includes a plunger that can protrude along the X-axis direction, and the upper and lower cylinders 93 are connected to the front end of the plunger.

[0209] The horizontal cylinder 92 operates via a solenoid valve 921 controlled by the controller 31. Normally, the horizontal cylinder 92 is in a protruding plunger state; during operation, the plunger retracts. Thus, when the horizontal cylinder 92 is not operating, the upper and lower cylinders 93 and the claw member 94 are separated from the horizontal cylinder 92, and during operation, they move to the side of the horizontal cylinder 92.

[0210] The upper and lower cylinder 93 is a cylinder including a plunger that can protrude downwards, with a claw member 94 connected to the front end of the plunger.

[0211] The upper and lower cylinders 93 are operated by a solenoid valve 931 controlled by the controller 31. Normally, the upper and lower cylinders 93 are in a retracted state; during operation, the piston protrudes downwards. Consequently, the claw member 94 is positioned upwards when the upper and lower cylinders 93 are not in operation, and descends during operation.

[0212] The claw member 94 is generally flat, and the end on the side of the horizontal pressure cylinder 92 in the X-axis direction (hereinafter referred to as the front end) has a sharp shape that thins as it approaches the horizontal pressure cylinder 92. As a result, the front end of the claw member 94 can be easily inserted into the underside of the part P.

[0213] Furthermore, the orientation of the front end of the claw member 94 in the four holding heads 90 held by the front end tool 80 is set such that the front ends of the claw members 94 of the two holding heads 90 located at both ends of each axis on the x1 axis and x2 axis face each other.

[0214] When holding part P, the holding head 90 first lowers the claw member 94 by the protruding action of the upper and lower pressure cylinders 93. Figure 13 Arrow a1), then, through the retraction action of the horizontal pressure cylinder 92, the claw component 94 is pulled to the side of the traction suction cup 95 ( Figure 13 Arrow a2), through the retraction action of the upper and lower pressure cylinders 93, causes the claw component 94 to rise ( Figure 13 Arrow a3).

[0215] Thus, the part P is held between the bottom surface of the traction suction cup 95 and the upper surface of the front end of the claw member 94.

[0216] The controller 31 controls the holding head 90 as follows: when the part P is being held, after the traction suction cup 95 has held the part P, the controller 31 performs a gripping action using the claw member 94. That is, the controller 31 functions as a holding control unit.

[0217] In addition, as described above, the holding head 90 is preferably held by performing a gripping action using the claw member 94 after the part P is set to a state of being held, but it can also be held by inserting the claw member 94 under the part P placed on the plane when the traction suction cup 95 is not holding it.

[0218] Additionally, a detection object (permanent magnet) 941 for detecting the height of the claw member 94 is installed at the end opposite to the front end (designated as the rear end).

[0219] Correspondingly, at the end of the upper and lower pressure cylinders 93 opposite to the horizontal pressure cylinder 92, a fabric thickness sensor 932, including a magnetic sensor, is dangling and supported in a configuration facing the object being detected 941.

[0220] The fabric thickness sensor 932 can detect the position of the object 941, including a permanent magnet, in the Z-axis direction and input its detection signal to the controller 31.

[0221] As described above, the claw component 94 clamps and holds part P between itself and the traction suction cup 95.

[0222] When holding part P, the controller 31 can determine whether the gripper member 94 (the object being detected 941) is in an appropriate state for holding part P or an inappropriate state where the gripping has failed, based on the height of the gripper member 94 (the object being detected) detected by the fabric thickness sensor 932. That is, the controller 31 functions as a determination processing unit that determines whether part P has been successfully held based on the thickness of part P detected by the fabric thickness sensor 932.

[0223] The traction suction cup 95 is a so-called Bernoulli chuck, located at the lower part of the horizontal pressure cylinder 92. A circular opening is formed on the opposite side of part P, i.e. the bottom surface, from which air is ejected downwards.

[0224] The traction suction cup 95 is connected to an air supply source 951 such as a fan, pump, or positive pressure tank to supply positive pressure air.

[0225] Therefore, if air is blown out from the circular opening toward the part P, since there is no escape path for the air at the center of the circular opening, the air will be blown outward in the radial direction. Thus, according to Bernoulli's principle, a low-pressure region is generated at the center of the bottom surface of the traction suction cup 95.

[0226] Therefore, even if the bottom surface of the traction suction cup 95 does not contact the part P, as long as it is close enough, the part P can be picked up in a non-contact adsorption state.

[0227] Furthermore, an example of air being ejected from the opening of the traction suction cup 95 along the vertical direction (part P side) towards the bottom surface has been described, but the air ejection direction may also be tilted outward in the radial direction of the circular opening.

[0228] Figure 14 This is a structural diagram showing the circuit structure that can adjust the attractive force of the traction suction cup 95.

[0229] An operating solenoid valve 952 for determining whether to supply air is provided is provided on the upstream side of the air supply path from the air supply source 951 to the traction suction cup 95, and an adjusting solenoid valve 953 for switching the strength of the suction force of the traction suction cup 95 is provided on its downstream side.

[0230] Two air supply paths are connected downstream of the regulating solenoid valve 953. A low-pressure regulator 954 is installed in one supply path, and a high-pressure regulator 955 is installed in the other supply path. These air supply paths then merge downstream and are connected to the traction suction cup 95. In addition, a check valve 956 is installed upstream of the merging point of each air supply path to prevent air from flowing back to the air supply source 951.

[0231] The working solenoid valve 952 is a two-position three-way single solenoid valve that can be switched between open and closed orientations towards the downstream side. The working solenoid valve 952 is normally closed and is turned on by opening a switch to supply power according to the control signal from the controller 31.

[0232] The regulating solenoid valve 953 is a two-position five-way single solenoid valve that can selectively connect the air supply source 951 to one of the two air supply paths. Normally, the regulating solenoid valve 953 is connected to the air supply path on the low-pressure regulator 954 side. Based on the control signal from the controller 31, it switches to the state of being connected to the air supply path on the high-pressure regulator 955 side by opening a switch to supply power.

[0233] Both the low-pressure regulator 954 and the high-pressure regulator 955 are pneumatic regulators. The low-pressure regulator 954 supplies air to the traction suction cup 95 side at a set low pressure, while the high-pressure regulator 955 supplies air to the traction suction cup 95 side at a pressure higher than the set pressure of the low-pressure regulator 954.

[0234] Therefore, when the air supply path of the regulating solenoid valve 953 is connected to the low-pressure regulator 954, low-pressure air is supplied to the traction suction cup 95, and low-pressure air is ejected from the opening. As a result, the attraction force of the traction suction cup 95 on the part P decreases.

[0235] Furthermore, when the air supply path of the regulating solenoid valve 953 is connected to the high-pressure regulator 955, high-pressure air is supplied to the traction suction cup 95, and high-pressure air is ejected from the opening. Therefore, the attraction of the traction suction cup 95 to part P increases.

[0236] As described above, through Figure 14 The circuit structure shown allows the traction suction cup 95 to switch between strong and weak attraction.

[0237] The attraction force of the traction suction cup 95 can also be switched from the input section 32 connected to the controller 31.

[0238] In addition, when the part information mentioned above includes judgment information such as the thickness or weight of part P and whether it is a material suitable for attraction, the controller 31 can be configured to determine whether the traction suction cup 95 is used and the strength of the attraction based on the part information.

[0239] Figure 15 This is a flowchart illustrating the process of switching between strong and weak attraction forces using the controller 31. As shown in the figure, after obtaining the part information, the controller 31 determines whether to use the traction suction cup 95 (process S1) based on the presence or absence of information such as whether the material is suitable for attraction.

[0240] At this time, if the information does not include whether the material is suitable for attraction or if the information includes whether the material is unsuitable for attraction, it is determined that the traction suction cup 95 will not be used, the switch of the working solenoid valve 952 (shown as SW1) and the switch of the regulating solenoid valve 953 (shown as SW2) will be turned off, and air will not be supplied to the traction suction cup 95.

[0241] On the other hand, when using the traction suction cup 95, the controller 31 determines the strength of the attraction force based on the weight information of the part P using the part information (process S5).

[0242] Furthermore, when part P is light, the switch (SW1) of the working solenoid valve 952 is turned on and the switch (SW2) of the regulating solenoid valve 953 is turned off, and low-pressure air is supplied to the traction suction cup 95 (process S7).

[0243] In addition, when the part P is heavy, the switch (SW1) of the working solenoid valve 952 is turned on and the switch (SW2) of the regulating solenoid valve 953 is turned on to supply high-pressure air to the traction suction cup 95 (process S9).

[0244] In addition, Figure 14 In the circuit structure shown, the attractive force of the traction suction cup 95 can be adjusted in two stages, strong and weak, through two air supply paths. However, by increasing the number of air supply paths and setting pneumatic regulators with different pressures in each path, the attractive force of the suction cup 95 can be adjusted to more stages.

[0245] Alternatively, the system can be configured such that a single, unbranched air supply path connects the working solenoid valve 952 to the traction suction cup 95, with an electro-pneumatic regulator installed along the path. In this configuration, the pressure of the air ejected from the traction suction cup 95 can be arbitrarily adjusted by controlling the through pressure of the electro-pneumatic regulator using the controller 31, thereby allowing for arbitrary adjustment of the strength of the attraction force of part P without any steps.

[0246] [Description of the transport operation of the pickup device]

[0247] Figure 16 This is a flowchart illustrating the motion control of the pickup device 40 during the conveying operation performed by the controller 31. Figure 17 This is a timing diagram of the picking action. The following explanation is based on these diagrams to describe the motion control of the picking device 40 during the conveying action.

[0248] The controller 31 obtains part information from the relay terminal 110. After receiving a pick-up permission (process S11), it uses the shape, size, and other information of the part P that is to be picked up, as described above, to... Figure 9 or Figure 10The process shown determines the configuration of the four holding heads 90 held by the front-end tool 80 (process S13).

[0249] Next, the controller 31 determines whether the part information includes the rotation correction information mentioned above (step S15). If the rotation correction information is included, the controller controls the rotation motor 444 to perform rotation correction (step S17). Then, the part P is picked up at the target position (step S19).

[0250] In addition, if the part information does not include information on rotation correction, rotation correction is not performed, and part P is picked up at the target position (process S19).

[0251] When picking up, such as Figure 17 As shown, the controller 31 controls the vertical movement motor 443 at the target position to lower the front tool 80 from the specified highest position to the specified lowest position, and controls the working solenoid valve 952 to set each traction suction cup 95 to the suction state.

[0252] Therefore, the traction suction cup 95 approaches part P, and part P is attracted by the bottom surface of the traction suction cup 95 (see reference). Figure 12 ).

[0253] Then, the controller 31 controls the vertical movement motor 443 again to raise each traction suction cup 95 to the specified intermediate position.

[0254] As the traction suction cup 95 reaches the middle position, the controller 31 lowers the claw component 94 via the solenoid valve 931 of the upper and lower pressure cylinders 93 of each holding head 90. Figure 13 Arrow a1). Furthermore, after the descent, the solenoid valve 921 controlling the horizontal cylinder 92 causes the claw member 94 to enter the traction suction cup 95 side (…). Figure 13 Arrow a2). Furthermore, after entering the movement, the claw member 94 is raised via the solenoid valve 931 of the upper and lower cylinders 93. Figure 13 Arrow a3).

[0255] Therefore, as Figure 13 As shown, each holding head 90 holds part P between the bottom surface of the traction suction cup 95 and the upper surface of the front end of the claw member 94.

[0256] also, Figure 17 The "automatic switch on the rear side of the horizontal cylinder" opens when the piston of the horizontal cylinder 92 is in the protruding position, and serves as a sensor to detect the operating status of the horizontal cylinder 92.

[0257] In addition, the "automatic switch on the upper side of the upper and lower cylinders" is turned on when the piston of the upper and lower cylinders 93 is in the protruding position, and serves as a sensor to detect the operating status of the upper and lower cylinders 93.

[0258] While part P is held in the gripping state, controller 31 controls the working solenoid valve 952 to stop the attraction of each traction suction cup 95.

[0259] Then, the controller 31 controls the vertical movement motor 443 to raise the front tool 80 to the highest position, and controls the first horizontal movement motor 441 and the second horizontal movement motor 442 to transport the part P to the target position.

[0260] Additionally, while holding part P, controller 31 determines whether the picking is proceeding normally via fabric thickness sensor 932 (step S21). If fabric thickness sensor 932 indicates an abnormal picking status, the number of consecutive errors is incremented, and it is determined whether the error count is within the allowable range (step S23). Then, if the error count exceeds the allowable range, the information of the erroneous part is sent to relay terminal 110, and an error is reported (step S25). The conveying operation then ends.

[0261] On the other hand, if the number of errors is within the allowable range, return to process S19 for processing and retry picking up part P.

[0262] On the other hand, when it is determined that the picking is proceeding normally, the controller 31 determines whether the part information includes information on rotation correction for the target position of the transport (step S27). If the information on rotation correction is included, the controller controls the rotary motor 444 to perform rotation correction (step S29) and releases part P at the target position of the transport (step S31).

[0263] In addition, if the part information does not include information on rotation correction, rotation correction is not performed, and the part P is released at the target position of the transport (process S31).

[0264] When releasing the parts, such as Figure 17 As shown, before reaching the target position, the controller 31 controls the vertical movement motor 443 to lower the front tool 80 to the middle position. Then, upon reaching the target position, it controls the working solenoid valve 952 to set each traction suction cup 95 to the suction state.

[0265] Next, the controller 31 lowers the claw member 94 via the solenoid valve 931 of the upper and lower cylinders 93 of each holding head 90 (and...). Figure 13 (In the opposite direction of arrow a3). Furthermore, after the descent, the solenoid valve 921 controlling the horizontal cylinder 92 causes the claw member 94 to retract towards the anti-traction suction cup 95 (in the opposite direction). Figure 13 (In the opposite direction of arrow a2). Furthermore, after the retraction movement, the claw member 94 is raised by the solenoid valve 931 of the upper and lower cylinders 93 (in the opposite direction). Figure 13(The opposite direction of arrow a1).

[0266] Then, the controller 31 controls the vertical movement motor 443 again to lower each traction suction cup 95 to its lowest position. Next, it controls the working solenoid valve 952 to stop the suction state of each traction suction cup 95.

[0267] Therefore, the traction suction cup 95 releases part P and places part P at the target position for transport.

[0268] Then, the controller 31 controls the vertical movement motor 443 to raise each traction suction cup 95 to the highest position, ending the release action.

[0269] Subsequently, it is determined whether the transfer of part P to the destination determined by the part information has been completed. If it has not been completed, the process returns to process S13 for processing and the transfer of the next part P is carried out.

[0270] In addition, when the transfer of all parts P to be transferred is completed, the motion control of the transfer operation is terminated.

[0271] [Transfer device: Reversing device]

[0272] Figure 18 This is a plan view of the reversing device 35.

[0273] The reversing device 35 is disposed between the cutting device 20 and the transfer mechanism 50 in the Y-axis direction, and adjacent to the picking device 40 in the X-axis direction.

[0274] As mentioned above, multiple parts P1 to P12 are stitched together in a paired overlapping state. Therefore, when one of the paired parts P2, P4, P6, P8, P10 and P12 is transported from the cutting device 20 to the template 70, the front and back sides of the sheet material S are reversed by the reversing device 35 along the way.

[0275] like Figure 18 As shown, the reversing device 35 includes an adsorption plate 36 and an adsorption plate 37 connected by a hinge 39. Suction ports 362 and 372 are distributed on the adsorption surfaces 361 and 371 of each adsorption plate 36 and 37, enabling the adsorption of part P. Therefore, with part P adsorbed on an adsorption plate 36, rotating the adsorption plate 36 towards the adsorption plate 37 switches the adsorption process from using the adsorption plate 36 to using the adsorption plate 37, thereby reversing the front and back sides of part P on the adsorption plate 37 side.

[0276] In the stated state, by setting the adsorption plate 37 to the suction stop state, the pickup device 40 picks up the part P, and the part P with its front and back reversed can be supplied to the downstream side.

[0277] [Transfer device: Transfer mechanism]

[0278] Figure 19 This is a plan view of the transfer mechanism 50.

[0279] The transfer mechanism 50 sequentially transfers the template 70 to the following positions: the pick-up device 40 places the part P in the working position D1 of the template 70; the template 70 is supplied to the sewing machine 60 in the supply position D2; the return position D3 is returned from the sewing machine 60 after sewing is completed; and the removal position D4 is removed from the template 70.

[0280] The transfer mechanism 50 includes: a platform 51 for placing a template 70; a first transfer unit 52 for transferring the template 70 from the work position D1 to the supply position D2; a second transfer unit 53 for transferring the template 70 from the return position D3 to the delivery position D4; a third transfer unit 54 for transferring the template 70 from the delivery position D4 to the work position D1; and a tag reader / writer 55, which serves as a judgment result recording unit, for reading and writing data to the IC tag 73 of the template 70 located at the work position D1.

[0281] The mounting table 51 includes a mounting surface along the XY plane. On this mounting surface, a working position D1 and a take-out position D4 are provided adjacent to one end (the cutting device 20 side) along the X-axis and the Y-axis. In addition, a supply position D2 and a return position D3 are provided adjacent to the other end (the sewing machine 60 side) along the X-axis and the Y-axis of the mounting surface of the mounting table 51.

[0282] In addition, the working position D1 and the supply position D2 are adjacent to each other along the Y-axis, and the return position D3 and the transfer position D4 are adjacent to each other along the Y-axis.

[0283] Furthermore, the working position D1 and the transfer position D4 are located within the movable area R of the picking device 40 described above.

[0284] The first transfer unit 52 transfers the template 70 from the work position D1 to the supply position D2.

[0285] The first transfer unit 52 is provided on the platform 51 and includes a connecting pin that can move relative to the platform surface and a traction mechanism that pulls the template 70 to the sewing machine 60 side in the Y-axis direction via the connecting pin.

[0286] The connecting pin can be inserted into a receiving hole (not shown) formed in the lower plate 71 of the template 70, and can be moved in and out by an actuator such as a cylinder or solenoid.

[0287] The traction mechanism provides traction in the Y-axis direction to the connecting pin through a ball screw mechanism or a belt mechanism.

[0288] In addition, a sensor 513 is installed on the line of the first transfer unit 52 to monitor whether the template 70 is transferred correctly. After the sensor 513 detects that the transfer of the template 70 is completed, the positioning pin 514 is inserted into the positioning hole of the template 70, thereby accurately positioning the transferred template 70.

[0289] The second transfer unit 53 transfers the template 70 from the return position D3 to the move-out position D4.

[0290] The second transfer unit 53 is provided on the mounting platform 51 and includes a connecting pin that can move relative to the mounting surface and a traction mechanism that pulls the template 70 to the cutting device 20 side in the Y-axis direction via the connecting pin. The specific structure of the connecting pin and the traction mechanism is the same as that of the first transfer unit 52.

[0291] The third transfer unit 54 transfers the template 70 from the removal position D4 to the working position D1.

[0292] The third transfer unit 54 is disposed on the mounting platform 51 and includes a connecting pin that can move relative to the mounting surface and a traction mechanism that pulls the template 70 along the X-axis direction via the connecting pin. The specific structure of the connecting pin and the traction mechanism is roughly the same as that of the first transfer unit 52. However, the traction direction of the traction mechanism is towards the X-axis direction.

[0293] Furthermore, the transfer of template 70 from supply position D2 to return position D3 is carried out by the moving mechanism 62 of sewing machine 60.

[0294] In addition, a sensor 515 is also installed on the line of the third transfer unit 54 to monitor whether the template 70 is transferred correctly. After the sensor 515 detects that the transfer of the template 70 is completed, the positioning pin 516 is inserted into the positioning hole of the template 70, thereby accurately positioning the transferred template 70.

[0295] In addition, as mentioned above, in template 70, pressure plate 72 can undulate and rotate relative to lower plate 71.

[0296] A push rod 512 is provided at the removal position D4 in the loading platform 51 of the transfer mechanism 50. The push rod 512 passes through a through hole (not shown) provided in the lower plate 71 to push up the pressure plate 72 in the holding state, causing it to undulate and rotate.

[0297] The push rod 512 can move relative to the mounting surface of the mounting platform 51 via actuators such as motors, cylinders, and solenoids, and quickly push the pressure plate 72 of the template 70 that has been transferred from the return position D3 to the take-out position D4 by the second transfer part 53.

[0298] In addition, push rods 512 are respectively set at both ends of the template 70 in the X-axis direction.

[0299] In addition, a horizontal bar 511 is provided near the sewing machine side end in the Y-axis direction of the working position D1 and the take-out position D4 of the platform 51 along the X-axis direction.

[0300] The lying rod 511 is positioned slightly higher than the thickness of the template 70 when the pressure plate 72 is in the pressed state, and is positioned in the Y-axis direction slightly closer to the sewing machine 60 than the push rod 512 mentioned above.

[0301] like Figure 5 As shown, when the template 70 with the pressure plate 72 in an undulating state (open state) is moved from the working position D1 to the supply position D2, the crouching rod 511 can be used to press down the pressure plate 72, thus setting the part P in a holding state.

[0302] Furthermore, when the template 70 is moved from the outgoing position D4 to the returning position D3, the pressure plate 72 of the template 70 is in a closed state, so it can pass through without interfering with the horizontal bar 511.

[0303] Furthermore, when the pressure plate 72 is pushed up by the push rod 512 in the out position D4, the horizontal bar 511 is configured such that the pressure plate 72 rests against the horizontal bar 511 and is tilted towards the sewing machine 60. As a result, the pressure plate 72 can maintain an undulating state.

[0304] Additionally, adjacent to the take-out position D4 and on the side of the cutting device 20 in the Y-axis direction, the sewn part P is transported to the autonomous transport body 101 for the next sewing device or sewing system for standby. The sewn part P can be stacked on the upper mounting surface of the autonomous transport body 101. Once a certain quantity is reached, it begins autonomous transport to its destination. After transport, it autonomously returns to the standby position next to the take-out position D4.

[0305] Alternatively, a stacking device for operator handling can be configured in the standby position next to the move-out position D4 instead of the autonomous moving body 101 for handling.

[0306] [Relay Terminal]

[0307] Figure 20 It is a structural diagram representing the flow of various data and instructions of each structure of the sewing system 100.

[0308] The relay terminal 110 includes an information processing terminal such as a personal computer, enabling it to communicate with the control unit 25 of the cutting device 20 and the controller 31 of the conveying device 30 via data communication. Specifically, it is connected to these wired connections via communication cables, but they can also be connected wirelessly.

[0309] In addition, the relay terminal 110 is connected to the production management server 300, which manages production management information in the sewing industry outside the network, via a network line.

[0310] [Sewing actions of the sewing system]

[0311] The overall processing flow of the sewing system 100 during sewing, including the processing performed by the relay terminal 110, is explained.

[0312] First, cutting data for performing the cutting is input from the CAD system 200 to the control unit 25 of the cutting device 20.

[0313] Next, the control unit 25 of the cutting device 20 generates cutting control information based on the cutting data, and sends the part information (specific part information) including the configuration, size, shape, orientation, etc. of multiple parts P to be formed on the sheet material S, which are included in the cutting data, to the relay terminal 110.

[0314] Then, the cutting device 20 performs the cutting and transports the cut sheet material S to a specific position on the worktable 22.

[0315] On the other hand, the relay terminal 110 obtains operation information from the cutting device 20 and sends the operation status of the cutting device 20 to the production management server 300. The production management server 300 records the sewing results and progress of the sewing system 100, as well as the operation information of the cutting device 20.

[0316] In addition, based on the operation information obtained from the cutting device 20, the relay terminal 110 notifies the controller 31 of the conveying device 30 of the permission command and part information to start the conveying operation.

[0317] The controller 31 of the conveying device 30 picks up and conveys parts P1 to P12 through the picking device 40.

[0318] At this time, the front-end tool 80 adjusts the configuration of the four holding heads 90 appropriately according to the orientation, shape, and size of the picked-up part.

[0319] Then, the part P is picked up by the four holding heads 90.

[0320] For any part P among parts P1 to P12 shown in the part information that needs to be reversed from front to back, it is transported to the template 70 waiting at the working position D1 of the transfer mechanism 50 after being reversed by the reversing device 35 and after the front and back are reversed.

[0321] In addition, for parts P that do not require front-to-back reversal, they are directly transferred to the template 70 which is waiting at the working position D1 of the transfer mechanism 50.

[0322] Therefore, the controller 31 periodically performs these transfer failure judgments during the pickup process of the pickup device 40, and notifies the relay terminal 110 of the transfer error when a transfer failure is judged. In addition, the tag reader 55 records the occurrence of transfer failure on the IC tag 73 of the template 70 that is waiting at the work position D1.

[0323] In contrast, the relay terminal 110 that receives the transfer error will send the information about the transfer failure to the production management server 300. The production management server 300 will then record that the template 70 being picked up has experienced a transfer failure.

[0324] In addition, after obtaining part information from relay terminal 110, controller 31 reads from the part information which size part P of L-size or S-size will be sewn, and uses tag reader 55 to read IC tag 73 of template 70 to determine whether template 70 corresponding to the size of part to be sewn is configured at work position D1.

[0325] Then, when the template 70 is in the appropriate working position D1, the current configuration of the template 70 is maintained.

[0326] In addition, in the event of an inappropriate situation, the first transfer unit 52, the sewing machine 60, the second transfer unit 53 and the third transfer unit 54 are activated to transfer the template 70 in the working position D1, and the next template 70 in the take-out position D4 is transferred to the working position D1, and a suitable template 70 is placed in the working position D1.

[0327] Then, after setting all parts P that should be configured in the template 70 at the working position D1, the template 70 is transferred to the supply position D2 by the first transfer unit 52.

[0328] In contrast, after the controller 64 of the sewing machine 60 holds the template 70 in the supply position D2, it reads the information of the specific sewing pattern, such as the pattern number, recorded in the IC tag 73 on the template 70 via the tag reader 65, and performs the sewing of each part P according to the sewing pattern. Then, after sewing, the template 70 is moved to the return position D3.

[0329] Furthermore, when the controller 64 of the sewing machine 60 reads the IC tag 73 of the template 70 and records the occurrence of a poor conveying condition, it does not perform sewing but moves the template 70 to the return position D3.

[0330] In addition, the template 70, which is in the move-out position D4, is moved to the work position D1 by the third transfer unit 54.

[0331] The parts P1 to P6 of size L and parts P7 to P12 of size S formed on the worktable 22 are sewn alternately, and the template 70 corresponding to each size of part P circulates between the work position D1, the supply position D2, the return position D3, and the take-out position D4.

[0332] During the conveying operation of the aforementioned conveying device 30, the controller 31 periodically sends operation information indicating the operation status to the relay terminal 110.

[0333] In addition, the controller 64 of the sewing machine 60 also periodically sends operation information indicating the operating status to the controller 31 of the conveying device 30. When the controller 31 of the conveying device 30 periodically sends its own operation information to the relay terminal 110, it also sends the operation information of the sewing machine 60.

[0334] In contrast, the relay terminal 110 sends the operating status of the conveying device 30 and the sewing machine 60 to the production management server 300 based on the operating information of the conveying device 30 and the sewing machine 60 obtained from the conveying device 30. The production management server 300 records the status based on the operating information of the conveying device 30 and the sewing machine 60.

[0335] As described above, the controller 31 performs the transfer action by using the pick-up device 40 to pick up the sewn part P from the template 70 at the transfer position D4 and placing it on the upper mounting surface of the autonomous transport body 101.

[0336] Then, the above processing and actions are repeated for each sheet of material S.

[0337] [Technical Effects of Embodiments of the Invention]

[0338] As described above, in the sewing system 100, the front tool 80 of the conveying device 30 includes a plurality of holding heads 90 for holding part P, and a variable mechanism 81 that makes the configuration of the plurality of holding heads 90 variable based on part information of a specific part P.

[0339] Therefore, when transporting parts P with different shapes, there is no need to change the head or front tool 80, which can reduce the workload.

[0340] In addition, in the front tool 80, multiple holding heads 90 are arranged on the same two-dimensional plane. The variable mechanism 81 allows the multiple holding heads 90 to move in the dual-axis direction formed by the X-axis and Y-axis along the two-dimensional plane. Therefore, each holding head 90 can be configured to correspond to parts P of various shapes, thereby further reducing the workload.

[0341] In addition, the variable mechanism 81 holds two sets of holding heads 90 that can move relative to each other along the X-axis, so that the two sets of holding heads 90 can move relative to each other along the Y-axis. Therefore, it is easier to configure each holding head 90 to correspond to parts P of various shapes, and further reduce the workload.

[0342] Additionally, the front-end tool 80 includes two second motors 835 as drive sources. These second motors 835 target a set of retaining heads 90 on the x2 axis side, causing one retaining head 90 and the other retaining head 90 to move along the X-axis respectively. Therefore, compared to the configuration of the retaining heads 90 on the x1 axis side, the limitations on the X-axis configuration of the two retaining heads 90 on the x2 axis side are reduced, allowing for the configuration of each retaining head 90 to accommodate a wider variety of part shapes P, thereby further reducing workload.

[0343] In addition, the number of individual motors that serve as the driving source can be reduced, thereby lowering costs.

[0344] In addition, the pickup device 40 of the conveying device 30 includes a rotary motor 444 as an angle adjustment mechanism. The rotary motor 444 causes the front tool 80, which includes a plurality of holding heads 90, to rotate around the Z-axis perpendicular to the two-dimensional plane (XY plane) to adjust the angle. Therefore, when errors occur in the placement of the part P, the orientation of each holding head 90 can be corrected by angle adjustment, so as to properly pick up the part P or accurately place the part P in the target position.

[0345] In addition, the holding head 90 includes a traction suction cup 95 that pulls the part P upward, and a horizontal pressure cylinder 92, an upper and lower pressure cylinder 93, and a claw member 94 that serve as a holding mechanism for holding the part P. Therefore, it can pick up both parts P suitable for attraction and parts P suitable for holding, and can pick up a wider variety of parts P.

[0346] In addition, in the conveying device 30, the controller 31 controls the holding head 90 to be held by the holding mechanism including the claw member 94 after the part P is pulled by the traction suction cup 95. Therefore, even if the part P is made of a material that is difficult to pick up, it can be held after being pulled, thereby reducing holding errors and improving reliability.

[0347] Furthermore, in the conveying device 30, the airflow of the traction suction cup 95 is adjusted using a low-pressure regulator 954 and a high-pressure regulator 955, thereby adjusting the traction force on the part P. Therefore, appropriate suction can be applied according to the weight of the part P, enabling the effective picking up of a wider variety of parts P.

[0348] In addition, the conveying device 30 includes a fabric thickness sensor 932, which is a detection unit for detecting the thickness of the part P held by the holding head 90. The controller 31 can determine whether the part P has been successfully held based on the thickness of the part P detected by the fabric thickness sensor 932.

[0349] Therefore, it can detect the occurrence of control errors and take countermeasures such as reporting, retrying, or recording the errors. Thus, it can minimize the impact of control errors.

[0350] [other]

[0351] The details shown in the embodiments of the invention may be appropriately changed without departing from the spirit of the invention.

[0352] For example, the conveying device 30 conveys part P between the cutting device 20 and the transfer mechanism 50, but it can perform all the conveying required for conveying sewn items such as sewn objects between the sewing machine and the stacker.

[0353] In addition, in the front tool 80, the position of each holding head 90 is adjusted by using a combination of x1 axis, x2 axis and y axis, but the number of motors can also be increased to increase the movement direction of each holding head 90.

Claims

1. A conveyance device which picks up a workpiece to be sewn and conveys it, characterized by Comprising: a plurality of holding heads that hold the sewn article; and a variable mechanism that makes the arrangement of the plurality of holding heads variable based on information including the shape of the sewn article, the plurality of holding heads are arranged on the same two-dimensional plane, the variable mechanism moves the plurality of holding heads in a two-axis direction formed by an X-axis and a Y-axis along the two-dimensional plane, the variable mechanism holds two groups of one pair of holding heads that can move relative to each other along the X-axis, holds the two groups of holding heads in a manner that they can move relative to each other along the Y-axis, the conveyance device includes two drive sources that move one holding head and another holding head of a pair of holding heads in one group of the two groups along the X-axis, respectively.

2. The conveyance device according to claim 1, characterized in that: the conveyance device includes an angle adjustment mechanism that makes the plurality of holding heads angle-adjustable by rotating them around an axis perpendicular to the two-dimensional plane.

3. The conveyance device according to claim 1 or 2, characterized in that: the holding head includes: a pulling nozzle that pulls the sewn article upward; and a gripping mechanism that grips the sewn article.

4. The conveyance device of claim 3, wherein including: a holding control section that controls the holding head to grip the sewn article by the gripping mechanism after the sewn article is pulled by the pulling nozzle.

5. The conveyance device according to claim 3, characterized in that: the pulling force of the sewn article can be adjusted by air flow adjustment of the pulling nozzle.

6. The conveyance device according to claim 3, characterized in that: the holding head includes a detection section that detects the thickness of the sewn article gripped by the gripping mechanism, the conveyance device includes a determination processing section that determines whether the sewn article is successfully gripped based on the thickness of the sewn article detected by the detection section.

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