Handling device

Abstract

To realize handling work close to manual work by a worker.SOLUTION: A handling device includes: a robot manipulator; a holding assembly attached to the robot manipulator and having one pair of finger parts which may open or close, and a first actuator which causes the one pair of finger parts to open or close. Each of the one pair of finger parts includes: a base end pulley and a tip pulley respectively disposed at a base end part and a tip part of the finger part; and an endless belt which is spanned between the base end pulley and the tip pulley and includes an outer surface forming a contact surface with a fabric. The holding assembly has a second actuator which rotationally drives the endless belt.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The technology disclosed in this specification relates to a handling device. [Background technology]

[0002] Patent Document 1 proposes a system in which a robot transports a fabric to be sewn to a sewing position and folds the fabric to form a seam allowance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-147721 Summary of the Invention [Problem to be solved by the invention]

[0004] The handling of soft fabric, such as folding it over properly and lining up the edges, can be done intuitively by a sewing worker, but is very difficult for a robot manipulator. There is a demand for a robot that can perform handling tasks similar to those performed by a human.

[0005] An object of the present invention is to realize handling operations similar to manual operations by workers. [Means for solving the problem]

[0006] According to one aspect of the present invention, there is provided a handling device for handling a fabric to be sewn, comprising: a robot manipulator; a gripping assembly attached to the robot manipulator and having a pair of openable and closable fingers; and a first actuator for opening and closing the pair of fingers, each of the pair of fingers including a base end pulley and a tip end pulley disposed at a base end and a tip end of the finger; and an endless belt stretched around the base end pulley and the tip end pulley and having an outer surface that forms a contact surface with the fabric, and the gripping assembly has a second actuator for rotating the endless belt. Effect of the Invention

[0007] According to the technology disclosed in this specification, handling operations that are close to manual operations by workers can be realized. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing a sewing device according to an embodiment. [Diagram 2] FIG. 2 is a plan view showing the sewing device according to the embodiment. [Diagram 3] FIG. 3 is a perspective view showing a handling device according to the embodiment. [Figure 4] FIG. 4 is a perspective view showing a feed assembly attached to the tip of a second robot manipulator according to an embodiment. [Diagram 5] FIG. 5 is a perspective view showing a sewing machine assembly attached to the tip of a third robot manipulator according to an embodiment. [Figure 6] FIG. 6 is a block diagram showing a control device for a sewing device according to an embodiment. [Figure 7] FIG. 7 is a perspective view of a gripper assembly according to an embodiment. [Figure 8] FIG. 8 is a perspective cross-sectional view illustrating the inside of the gripping assembly. [Figure 9] FIG. 9 is a schematic cross-sectional view showing a pair of finger portions. [Figure 10] FIG. 10 is an explanatory diagram illustrating opening and closing of the movable finger portion by the first actuator. [Figure 11] FIG. 11 is an explanatory diagram showing a pair of fingers holding the fabric therebetween. [Figure 12] FIG. 12 is an explanatory diagram showing a state in which the end ED of the fabric is placed between a pair of finger parts. [Figure 13] FIG. 13 is a flowchart showing the control of the handling system according to the embodiment. [Figure 14] FIG. 14 is a diagram illustrating the flow of operations of the handling device. [Figure 15] FIG. 15 is a perspective explanatory view showing a gripping assembly of a handling device according to the second embodiment. [Figure 16] FIG. 16 is a perspective explanatory view showing the third actuator and the movable holding portion. [Figure 17] FIG. 17 is a schematic diagram showing a state in which a pair of fingers holds the fabric, as viewed in the -X direction. [Figure 18] FIG. 18 is a schematic cross-sectional view showing fixed fingers and movable fingers of a handling device according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] [First embodiment] Hereinafter, an embodiment will be described with reference to the drawings. In the embodiment, the positional relationship of each part will be described using the terms left, right, front, rear, top, and bottom. These terms indicate relative positions or directions based on the center of the sewing device 1.

[0010] [Sewing device] Fig. 1 is a perspective view showing a sewing device 1 according to an embodiment. Fig. 2 is a plan view showing the sewing device 1 according to an embodiment. In this embodiment, a handling device HA including a robot manipulator 4 and a gripping assembly 5 is applied to the sewing device 1. As shown in Figs. 1 and 2, the sewing device 1 includes a stand 2, a top plate 3, the robot manipulator 4, the gripping assembly 5, a feed assembly 6, and a sewing machine assembly 7.

[0011] The base 2 supports both the top plate 3 and the robot manipulator 4. The top plate 3 has an upper surface that supports fabric 100. A base end of the robot manipulator 4 is fixed to the base 2 around the top plate 3. The gripping assembly 5, the feed assembly 6, and the sewing machine assembly 7 are each detachably attached to the tip of the robot manipulator 4. The gripping assembly 5, the feed assembly 6, and the sewing machine assembly 7 are each capable of performing a predetermined operation on the fabric 100 while attached to the tip of the robot manipulator 4.

[0012] The robot manipulator 4 includes a multi-joint robot. In the embodiment, the robot manipulator 4 is a vertical multi-joint robot. The robot manipulator 4 may be a horizontal multi-joint robot. The robot manipulator 4 has a base member, a rotating member, a first arm, a second arm, a third arm, a rotating actuator, a first rotation actuator, a second rotation actuator, and a third rotation actuator. The base member is fixed to the stand 2. The rotating member is supported by the base member so as to be rotatable about a rotation axis extending in the vertical direction. The first arm is rotatably connected to the rotating member. The first arm is connected to the rotating member so as to be rotatable about the first rotation axis. The first rotation axis is perpendicular to an axis parallel to the rotation axis. The second arm is rotatably connected to the tip of the first arm. The second arm is connected to the first arm so as to be rotatable about a second rotation axis. The second rotation axis is parallel to the first rotation axis. The third arm is connected to a tip of the second arm so as to be rotatable about a third rotation axis. The third arm is connected to the second arm so as to be rotatable about a third rotation axis. The third rotation axis is parallel to the second rotation axis. One of the gripping assembly 5, the feed assembly 6, and the sewing machine assembly 7 is attached to the tip of the third arm. The pivot actuator generates power to pivot the pivot member. The first pivot actuator generates power to pivot the first arm. The second pivot actuator generates power to pivot the second arm. The third pivot actuator generates power to pivot the third arm.

[0013] A plurality of robot manipulators 4 are provided. In the embodiment, three robot manipulators 4 are provided. The robot manipulators 4 include a first robot manipulator 4A, a second robot manipulator 4B, and a third robot manipulator 4C. The structure of the first robot manipulator 4A, the structure of the second robot manipulator 4B, and the structure of the third robot manipulator 4C are substantially the same. The sewing device 1 may include a robot having a plurality of robot manipulators 4 attached to one body part, such as a so-called dual-arm robot.

[0014] The gripping assembly 5 is detachably attached to each of the tip portions of the first robot manipulator 4A, the second robot manipulator 4B, and the third robot manipulator 4C. The feeding assembly 6 is detachably attached to each of the tip portions of the first robot manipulator 4A, the second robot manipulator 4B, and the third robot manipulator 4C. The sewing machine assembly 7 is detachably attached to each of the tip portions of the first robot manipulator 4A, the second robot manipulator 4B, and the third robot manipulator 4C.

[0015] The gripping assembly 5 performs a handling operation to handle the fabric. The gripping assembly 5 grips the fabric during the handling operation. The feed assembly 6 performs a feeding operation to feed the fabric 100 in a predetermined direction when stitching the fabric 100. The sewing machine assembly 7 performs a sewing operation to stitch the fabric 100.

[0016] Hanging member 8, hanging member 9, and hanging member 10 are fixed to stand 2 around the upper surface of top board 3. Grip assembly 5 is supported by hanging member 8 when not attached to robot manipulator 4. Feeding assembly 6 is suspended from hanging member 9 when not attached to robot manipulator 4. Sewing machine assembly 7 is suspended from hanging member 10 when not attached to robot manipulator 4.

[0017] Top plate 3 includes a needle plate 11. Needle plate 11 is fixed to the center of top plate 3. An opening 12 is provided in needle plate 11. A shuttle is disposed directly below needle plate 11. A bobbin case is housed in the shuttle. The bobbin case holds a bobbin wound with a bobbin thread. The shuttle supplies the bobbin thread. A shuttle guide mechanism 13 is disposed below top plate 3. The shuttle is movable between a sewing position directly below needle plate 11 and a replacement position forward of stand 2 while being guided by shuttle guide mechanism 13. The shuttle can move between the sewing position and the replacement position while being guided by shuttle guide mechanism 13 by power generated by a shuttle movement actuator. For example, when replacing a bobbin, the shuttle is moved to the replacement position.

[0018] [Gripping Assembly] FIG. 3 is a perspective view showing a handling device HA (a gripping assembly 5 attached to a tip of a first robot manipulator 4A) according to an embodiment. As shown in FIG. 3, the gripping assembly 5 is attached to the tip of the first robot manipulator 4A. The handling device HA is composed of the robot manipulator 4 and the gripping assembly 5 attached to the robot manipulator 4. The gripping assembly 5 has a joint unit 5A connected to the tip of the first robot manipulator 4A. The gripping assembly 5 is attached to the tip of the first robot manipulator 4A via the joint unit 5A. The gripping assembly 5 may be attached to the tip of the second robot manipulator 4B or the tip of the third robot manipulator 4C.

[0019] The gripping assembly 5 grips the fabric 100 by pinching the fabric 100. The gripping assembly 5 has a pair of openable and closable fingers 5B (see FIG. 7) and a first actuator 51 (see FIG. 7) that opens and closes the pair of fingers 5B. The gripping assembly 5 is covered by a cover 5C. The cover 5C exposes the joint 5A and the pair of fingers 5B of the gripping assembly 5 to the outside, and covers the parts of the gripping assembly 5 other than the joint 5A and the pair of fingers 5B. In the position of FIG. 3, the pair of fingers 5B protrude downward from the lower end of the cover 5C. The gripping assembly 5 will be described in detail later.

[0020] A camera 14 is attached to the tip of the first robot manipulator 4A. The camera 14 can photograph the fabric 100. The camera 14 photographs the fabric 100 supported on the top board 3 from above. The camera 14 has a main body 14A, a first lens 14L, and a second lens 14R. The main body 14A includes an image sensor that receives light incident through the first lens 14L and the second lens 14R. The image sensor includes a CCD (Couple Charged Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The main body 14A is fixed to the tip of the first robot manipulator 4A via a connecting member 15. The first lens 14L and the second lens 14R are each disposed at the lower part of the main body 14A. The second lens 14R is disposed next to the first lens 14L. Since camera 14 has first lens 14L and second lens 14R, the shooting range of camera 14 is large. Note that camera 14 including first lens 14L and second lens 14R may be a stereo camera.

[0021] The first robot manipulator 4A is provided with a force sensor 16 at its tip. The force sensor 16 detects the strength and direction of a force applied to the tip of the first robot manipulator 4A. The force sensor 16 is, for example, a six-axis sensor, and detects forces in a total of six axial directions, including three orthogonal axial directions set in the force sensor 16 and rotational directions around each axis. The detection method of the force sensor 16 is not particularly limited. The force sensor 16 may adopt detection methods such as an electrical resistance type (strain gauge type), a capacitance type, and a piezoelectric type. The force sensor 16 detects an external force applied to the tip via the gripping assembly 5 attached to the tip of the first robot manipulator 4A. Based on the detection result of the force sensor 16, it is possible to detect contact between the pair of finger portions 5B of the gripping assembly 5 and an object. Based on the detection result of the force sensor 16, it is possible to control the gripping assembly 5 to move while pressing the fabric 100 with a constant pressing force by the pair of finger portions 5B of the gripping assembly 5. Based on the magnitude and direction of the force detected by the force sensor 16, it can be determined whether only one of the pair of fingers 5B of the gripping assembly 5 is pressing against the fabric 100, or whether both of the pair of fingers 5B are pressing against the fabric 100.

[0022] [Feed Assembly] FIG. 4 is a perspective view showing a feed assembly 6 attached to the tip of a second robot manipulator 4B according to the embodiment. As shown in FIG. 4, the feed assembly 6 is attached to the tip of the second robot manipulator 4B. The feed assembly 6 has a joint unit 6A that is connected to the tip of the second robot manipulator 4B. The feed assembly 6 is attached to the tip of the second robot manipulator 4B via the joint unit 6A. The feed assembly 6 may be attached to the tip of the first robot manipulator 4A or the tip of the third robot manipulator 4C.

[0023] The feed assembly 6 has a first presser 61 and a second presser 62 that press the fabric 100 from above, a first belt 6L supported by the first presser 61, and a second belt 6R supported by the second presser 62. Each of the first belt 6L and the second belt 6R is ring-shaped. Each of the first belt 6L and the second belt 6R is an endless belt. A part of the first belt 6L is disposed between the first presser 61 and the fabric 100. A part of the second belt 6R is disposed between the second presser 62 and the fabric 100. Each of the first belt 6L and the second belt 6R is rotated by a feed motor (not shown). The first presser 61 presses the first belt 6L against the fabric 100. The second presser 62 presses the second belt 6R against the fabric 100. The first belt 6L and the second belt 6R rotate against the fabric 100, so that the fabric 100 is fed in a predetermined direction.

[0024] [Sewing machine assembly] FIG. 5 is a perspective view showing a sewing machine assembly 7 attached to the tip of a third robot manipulator 4C according to the embodiment. As shown in FIG. 5, the sewing machine assembly 7 is attached to the tip of the third robot manipulator 4C. The sewing machine assembly 7 has a joint unit 7A that is connected to the tip of the third robot manipulator 4C. The sewing machine assembly 7 is attached to the tip of the third robot manipulator 4C via the joint unit 7A. The sewing machine assembly 7 may be attached to the tip of the first robot manipulator 4A or the tip of the second robot manipulator 4B.

[0025] The sewing machine assembly 7 has a sewing machine motor 7C, a thread take-up lever 7D, and a needle bar 7E. The needle bar 7E holds a sewing machine needle 7F. The sewing machine motor 7C generates power to move the needle bar 7E back and forth in the vertical direction. The thread take-up lever 7D supplies the needle thread to the sewing machine needle 7F. The power generated by the sewing machine motor 7C is transmitted to the needle bar 7E and the thread take-up lever 7D via a power transmission mechanism. The needle bar 7E, the thread take-up lever 7D, and the shuttle are interlocked. When the power generated by the sewing machine motor 7C is transmitted to the needle bar 7E, the needle bar 7E and the sewing machine needle 7F held by the needle bar 7E move back and forth in the vertical direction. When the power generated by the sewing machine motor 7C is transmitted to the thread take-up lever 7D, the thread take-up lever 7D moves back and forth in the vertical direction in conjunction with the needle bar 7E. The shuttle rotates in conjunction with the needle bar 7E and the thread take-up lever 7D. The sewing machine needle 7F can pass through an opening 12 in a needle plate 11. The shuttle is disposed directly below the needle plate 11. The shuttle cooperates with the sewing needle 7F to form a stitch on the fabric 100 by supplying a lower thread. When forming a stitch on the fabric 100, the sewing machine assembly 7 is disposed directly above the needle plate 11 so that the sewing needle 7F passes through the opening 12 of the needle plate 11. When forming a stitch on the fabric 100, the third robot manipulator 4C disposes the sewing machine assembly 7 directly above the needle plate 11. When forming a stitch on the fabric 100, the feed assembly 6 is disposed near the sewing machine assembly 7. When forming a stitch on the fabric 100, the second robot manipulator 4B disposes the feed assembly 6 near the sewing machine assembly 7. While the fabric 100 is fed in a predetermined direction by the feed assembly 6, the needle bar 7E of the sewing machine assembly 7 is reciprocated in the up and down direction. The sewing machine assembly 7 forms a stitch on the fabric 100 by cooperation between the sewing needle 7F held by the needle bar 7E and the shuttle.

[0026] As described with reference to Fig. 3, the camera 14 is attached to the tip of the first robot manipulator 4A. The camera 14 may be attached to the tip of the second robot manipulator 4B. The camera 14 may be attached to the tip of the third robot manipulator 4C.

[0027] [Control device] 6 is a block diagram showing the control device 17 of the sewing device 1 according to the embodiment. The control device 17 controls the robot manipulator 4, the gripping assembly 5 attached to the robot manipulator 4, the feed assembly 6 attached to the robot manipulator 4, and the sewing machine assembly 7 attached to the robot manipulator 4. The control device 17 includes a computer system. The control device 17 has a processor such as a CPU (Central Processing Unit), a memory such as a ROM (Read Only Memory) or a RAM (Random Access Memory), and an input / output interface including an input / output circuit capable of inputting and outputting signals and data.

[0028] The control device 17 has an image data acquisition unit 17A, an image processing unit 17B, a robot control unit 17C, a gripping assembly control unit 17D, a feed assembly control unit 17E, and a sewing machine assembly control unit 17F.

[0029] The image data acquisition unit 17A acquires image data of the fabric 100 photographed by the camera 14. The image processing unit 17B calculates the position of the fabric 100 based on the image data of the fabric 100 acquired by the image data acquisition unit 17A. In an embodiment, the image processing unit 17B calculates the position, orientation, and positions of individual parts of the fabric 100 based on the image data of the fabric 100 acquired by the camera 14. When the fabric 100 has marks for alignment, the image processing unit 17B may calculate the position of the target part of the fabric 100 based on the image data of the marks. When the fabric 100 has a pattern (design), the image processing unit 17B may calculate the position of the target part of the fabric 100 based on the image data of the pattern (design).

[0030] The robot control unit 17C controls the robot manipulator 4.

[0031] When the gripping assembly 5 is attached to the tip of the robot manipulator 4, the robot control unit 17C controls the robot manipulator 4 so that the tip of the robot manipulator 4 approaches the gripping assembly 5 supported by the hanging member 8. The gripping assembly 5 is attached to the robot manipulator 4 by connecting the joint unit 5A of the gripping assembly 5 supported by the hanging member 8 to the tip of the robot manipulator 4. When the gripping assembly 5 is removed from the tip of the robot manipulator 4, the robot control unit 17C controls the robot manipulator 4 so that the gripping assembly 5 attached to the tip of the robot manipulator 4 approaches the hanging member 8. After the gripping assembly 5 is supported by the hanging member 8, the connection between the tip of the robot manipulator 4 and the joint unit 5A of the gripping assembly 5 is released.

[0032] When the feed assembly 6 is attached to the tip of the robot manipulator 4, the robot control unit 17C controls the robot manipulator 4 so that the tip of the robot manipulator 4 approaches the feed assembly 6 suspended from the suspension member 9. The feed assembly 6 is attached to the robot manipulator 4 by connecting the joint unit 6A of the feed assembly 6 suspended from the suspension member 9 to the tip of the robot manipulator 4. When the feed assembly 6 is removed from the tip of the robot manipulator 4, the robot control unit 17C controls the robot manipulator 4 so that the feed assembly 6 attached to the tip of the robot manipulator 4 approaches the suspension member 9. After the feed assembly 6 is suspended from the suspension member 9, the connection between the tip of the robot manipulator 4 and the joint unit 6A of the feed assembly 6 is released.

[0033] When the sewing machine assembly 7 is attached to the tip of the robot manipulator 4, the robot control unit 17C controls the robot manipulator 4 so that the tip of the robot manipulator 4 approaches the sewing machine assembly 7 suspended from the hanging member 10. The sewing machine assembly 7 is attached to the robot manipulator 4 by connecting the joint portion 7A of the sewing machine assembly 7 suspended from the hanging member 10 to the tip of the robot manipulator 4. When the sewing machine assembly 7 is removed from the tip of the robot manipulator 4, the robot control unit 17C controls the robot manipulator 4 so that the sewing machine assembly 7 attached to the tip of the robot manipulator 4 approaches the hanging member 10. After the sewing machine assembly 7 is suspended from the hanging member 10, the connection between the tip of the robot manipulator 4 and the joint portion 7A of the sewing machine assembly 7 is released.

[0034] The robot control unit 17C controls the first robot manipulator 4A, for example, to bring the pair of fingers 5B of the gripping assembly 5 into contact with the target portion of the fabric 100 calculated by the image processing unit 17B, to lift the fabric 100 gripped by the gripping assembly 5 and transport it to a working position, and to perform an operation of folding the fabric 100.

[0035] The gripping assembly control unit 17D controls the gripping assembly 5. After the target portion of the fabric 100 comes into contact with the pair of finger portions 5B of the gripping assembly 5, the gripping assembly control unit 17D controls the gripping assembly 5 so that the pair of finger portions 5B pinch the target portion of the fabric 100. As will be described later, the gripping assembly control unit 17D also controls the gripping assembly 5 so as to perform a feeding operation of the fabric 100 in a state in which the fabric 100 is pinched (held) by the pair of finger portions 5B.

[0036] The feed assembly control unit 17E controls the feed assembly 6. The sewing machine assembly control unit 17F controls the sewing machine assembly 7. The feed assembly 6 feeds the fabric 100 placed at the sewing position, while the sewing machine assembly 7 forms stitches, thereby sewing the fabric 100.

[0037] [Gripping Assembly] Fig. 7 is a perspective view showing a gripping assembly 5 according to an embodiment. Fig. 8 is a perspective cross-sectional view illustrating the inside of the gripping assembly 5. Fig. 7 shows the gripping assembly 5 with a cover 5C removed. As shown in Figs. 7 and 8, the gripping assembly 5 has a pair of fingers 5B, a first actuator 51, a second actuator 52, a transmission mechanism 53, a joint 5A, and a chassis 54. The pair of fingers 5B, the first actuator 51, the second actuator 52, the transmission mechanism 53, and the joint 5A are assembled to the chassis 54.

[0038] In the following description, an orthogonal coordinate system (XYZ coordinate system) set for the gripping assembly 5 will be used. Three mutually orthogonal coordinate axes are designated as the X-axis, Y-axis, and Z-axis. Here, the joint portion 5A and the pair of finger portions 5B are arranged along the Z-axis, which is the up-down direction (vertical direction) of the gripping assembly 5. The pair of finger portions 5B face each other along the X-axis. The X-axis is the left-right direction (width direction) of the gripping assembly 5. The Y-axis is the thickness direction (depth direction) of the gripping assembly 5. These terms indicate relative positions or directions based on the center of the gripping assembly 5.

[0039] The joint unit 5A is connected to the tip of the first robot manipulator 4 A. The joint unit 5A is provided at the end of the chassis 54 in the +Z direction.

[0040] The chassis 54 extends in the Z-axis direction. The chassis 54 has a box-like shape surrounding the first actuator 51, the second actuator 52, and the transmission mechanism 53. The -Z direction end of the chassis 54 has a tapered shape in which the width dimension in the X direction decreases toward the -Z direction.

[0041] The pair of fingers 5B are disposed at the -Z direction end of the chassis 54. The pair of fingers 5B are provided so as to protrude from the chassis 54 in the -Z direction. The +Z direction end of the pair of fingers 5B is the base end, and the -Z direction end of the pair of fingers 5B is the tip end. The pair of fingers 5B are attached to the chassis 54 at the base end. The pair of fingers 5B can be opened and closed. That is, the pair of fingers 5B can move relatively to approach and move away from each other in the X-axis direction. The pair of fingers 5B can expand and reduce the distance between the pair of fingers 5B with the relative movement. Note that only one of the pair of fingers 5B may be openable and closable, or both may be openable and closable.

[0042] In this embodiment, the pair of fingers 5B includes a fixed finger 55 whose position is fixed, and a movable finger 56 that moves toward and away from the fixed finger 55 by the first actuator 51. The pair of fingers 5B is composed of one fixed finger 55 and one movable finger 56. Note that the pair of fingers 5B means a pair of fingers (fixed finger 55) on one side and fingers (fixed finger 55) on the other side for sandwiching the fabric 100, and a plurality of fingers on one side may be provided, or a plurality of fingers on the other side may be provided. The gripping assembly 5 may also include a plurality of pairs of fingers 5B.

[0043] (A pair of fingers) Fig. 9 is a schematic cross-sectional view showing a pair of fingers 5B. As shown in Fig. 9, each of the pair of fingers 5B includes a base end pulley, a tip pulley, and an endless belt. That is, the fixed finger 55 includes a base end pulley 55A, a tip pulley 55B, and an endless belt 55C. The movable finger 56 includes a base end pulley 56A, a tip pulley 56B, and an endless belt 56C.

[0044] The base end pulleys 55A, 56A are disposed at the base end of the fingers. The base end pulleys 55A, 56A are disposed on the chassis 54 side (+Z direction) with respect to the tip pulleys 55B, 56B. The tip pulleys 55B, 56B are disposed at the tip ends (-Z side ends) of the pair of fingers 5B. The tip pulleys 55B, 56B are disposed at positions protruding in the -Z direction with respect to the chassis 54.

[0045] The base end pulley 55A of the fixed finger 55 is provided on a rotating shaft 85 extending in the Y-axis direction. Both ends of the rotating shaft 85 are rotatably supported by the chassis 54 via bearings. The base end pulley 55A rotates integrally with the rotating shaft 85. The tip pulley 55B is rotatably attached to a support shaft 55D extending in the Y-axis direction. As shown in FIG. 8, both ends of the support shaft 55D are supported by holding members 57. The holding members 57 are fixed to the chassis 54.

[0046] The endless belt 55C is wound around the base end pulley 55A and the tip pulley 55B. The base end pulley 55A and the tip pulley 55B are toothed pulleys, and the endless belt 55C is a toothed belt that meshes with the toothed pulleys. The endless belt 55C circulates between the base end pulley 55A and the tip pulley 55B as the base end pulley 55A and the tip pulley 55B rotate.

[0047] As shown in FIG. 9, the base end pulley 56A of the movable finger 56 is provided on a rotating shaft 86 extending in the Y-axis direction. Both ends of the rotating shaft 86 are rotatably supported by the chassis 54 via bearings. The base end pulley 56A rotates integrally with the rotating shaft 86. The tip pulley 56B is rotatably attached to a support shaft 56D extending in the Y-axis direction. As shown in FIG. 8, both ends of the support shaft 56D are supported by holding members 58. The holding members 58 are fixed to a sector gear 83, which will be described later. The holding members 58 rotate around the rotating shaft 86 in conjunction with the rotation of the sector gear 83.

[0048] 9, the endless belt 56C is stretched around a base end pulley 56A and a tip pulley 56B. The base end pulley 56A and the tip pulley 56B are toothed pulleys, and the endless belt 56C is a toothed belt that meshes with the toothed pulleys. The endless belt 56C circulates between the base end pulley 56A and the tip pulley 56B as the base end pulley 56A and the tip pulley 56B rotate.

[0049] The outer surfaces of the endless belts 55C, 56C are the outermost parts of the fingers (fixed finger parts 55, movable finger parts 56) and form the contact surfaces with the fabric 100. It is preferable that the outer surfaces of the endless belts 55C, 56C generate sufficient frictional force between them and the fabric 100. It is preferable that the endless belts 55C, 56C are entirely made of a material with a high friction coefficient, or that a covering material with a high friction coefficient is attached to the outer peripheral surface. The endless belts 55C, 56C are made of, for example, resin, such as urethane resin, and a rubber-based covering material is provided on the outer surface.

[0050] (First actuator, second actuator) 7, the first actuator 51 and the second actuator 52 are disposed between the joint portion 5A and the pair of finger portions 5B in the Z direction. The first actuator 51 and the second actuator 52 are controlled by the control device 17 (the gripping assembly control portion 17D).

[0051] The first actuator 51 opens and closes the pair of fingers 5B. One first actuator 51 is provided. The first actuator 51 is composed of an electric motor that generates power to open and close the pair of fingers 5B, and is disposed with its output shaft facing in the -Z direction (toward the transmission mechanism 53). The first actuator 51 is, for example, a servo motor. The first actuator 51 imparts power to open and close the pair of fingers 5B (movable fingers 56) to the pair of fingers 5B via the transmission mechanism 53.

[0052] The second actuator 52 rotates the endless belts (55C, 56C) of the pair of fingers 5B. The second actuator 52 is provided for each pair of fingers 5B. That is, the second actuator 52 includes a second actuator 52A provided for the fixed finger 55 and a second actuator 52B provided for the movable finger 56. The first actuator 51 and the second actuator 52 (52A, 52B) are aligned in the X-axis direction. The second actuators 52A and 52B are composed of electric motors that generate power to rotate the endless belts (55C, 56C), and are arranged with their output shafts facing the -Z direction (transmission mechanism 53 side). The second actuators 52A and 52B are, for example, servo motors. The second actuators 52A and 52B impart power to rotate the endless belts (55C, 56C) to the fixed finger 55 and the movable finger 56 via the transmission mechanism 53.

[0053] (Transmission mechanism) The transmission mechanism 53 is disposed between the first actuator 51 and the second actuator 52 and the pair of finger portions 5B. The transmission mechanism 53 connects the first actuator 51 and the second actuator 52 and the pair of finger portions 5B so as to be capable of transmitting power. As shown in FIG. 8, the transmission mechanism 53 is configured as a gear transmission mechanism formed by a combination of a plurality of gears. The transmission mechanism 53 includes a first transmission section 53A that transmits the driving force of the first actuator 51 to the pair of finger portions 5B (movable finger portions 56) and a second transmission section 53B that transmits the driving force of the second actuator 52 to the pair of finger portions 5B (endless belts (55C, 56C)).

[0054] The first transmission unit 53A includes a drive gear 81, an intermediate gear 82A, an intermediate gear 82B, and a sector gear 83. The drive gear 81 is attached to the output shaft of the first actuator 51 and rotates integrally with the output shaft. The drive gear 81 meshes with the intermediate gear 82A. The drive gear 81 and the intermediate gear 82A are bevel gears. The intermediate gear 82A and the intermediate gear 82B are fixed to one end side (+Y side) and the other end side (-Y side) of an intermediate shaft 84 extending in the Y-axis direction and rotate integrally with the intermediate shaft 84. Both ends of the intermediate shaft 84 are rotatably supported by the chassis 54 via bearings. The intermediate gear 82B is a spur gear and meshes with the sector gear 83. The sector gear 83 is rotatably attached to the rotating shaft 86 via a bearing 83A. The sector gear 83 can rotate around the rotary shaft 86 regardless of the rotation of the rotary shaft 86 (i.e., the rotation of the base end pulley 56A). The sector gear 83 is a gear with teeth formed only on a part of its circumference, and meshes with the intermediate gear 82B only in the toothed range. In FIG. 8, teeth are formed on the outer circumferential surface of the sector gear 83 in the range from the +Z side to the -X side, and no teeth are formed on the +X side and -Z side circumferential surfaces. The movable finger portion 56 (holding member 58) is fixed to the sector gear 83 via a connecting member 83B.

[0055] FIG. 10 is an explanatory diagram for explaining the opening and closing of the movable finger 56 by the first actuator 51. When the output shaft of the first actuator 51 rotates, the drive gear 81 rotates, and the intermediate gear 82A (see FIG. 8) meshed with the drive gear 81 rotates. The rotation of the intermediate gear 82A causes the intermediate gear 82A, the intermediate shaft 84, and the intermediate gear 82B to rotate integrally. When the intermediate gear 82B rotates counterclockwise, the sector gear 83 meshed with the intermediate gear 82B rotates clockwise. Together with the sector gear 83, the connection member 83B and the holding member 58 rotate clockwise around the rotation shaft 86. As a result, the tip pulley 56B of the movable finger 56 moves in an arc orbit in the -X direction away from the fixed finger 55, and the pair of fingers 5B are in an open state. In the open state, the tip pulley 56B of the movable finger 56 moves away from the tip pulley 55B of the fixed finger 55.

[0056] When the first actuator 51 is rotated in the reverse direction and the intermediate gear 82B rotates clockwise, the sector gear 83 rotates counterclockwise. As a result, the connection member 83B and the movable finger 56 rotate counterclockwise around the rotation shaft 86 together with the sector gear 83. As a result, the tip of the movable finger 56 moves in an arc orbit in the +X direction approaching the fixed finger 55, and the pair of fingers 5B enters a closed state. In the closed state of the pair of fingers 5B, the tip pulleys 55B, 56B of the pair of fingers 5B are close to each other. That is, in the closed state, the tip pulley 56B comes into contact with the tip pulley 55B or is disposed in a non-contact position with a small gap therebetween.

[0057] 8, the second transmission unit 53B has a drive gear 91A, an intermediate gear 92A, an intermediate gear 93A, and an output gear 94A corresponding to the second actuator 52A. The second transmission unit 53B also has a drive gear 91B, an intermediate gear 92B, an intermediate gear 93B, and an output gear 94B (see FIG. 9) corresponding to the second actuator 52B.

[0058] The drive gear 91A is attached to the output shaft of the second actuator 52A and rotates integrally with the output shaft. The drive gear 91A meshes with the intermediate gear 92A. The drive gear 91A and the intermediate gear 92A are bevel gears. The intermediate gear 92A and the intermediate gear 93A are fixed to the other end side (-Y side) and one end side (+Y side) of an intermediate shaft 95A extending in the Y-axis direction, and rotate integrally with the intermediate shaft 95A. Both ends of the intermediate shaft 95A are rotatably supported by the chassis 54 via bearings. The intermediate gear 93A is a spur gear and meshes with the output gear 94A, which is also a spur gear. The output gear 94A is attached to the rotating shaft 85. The output gear 94A rotates integrally with the rotating shaft 85. Therefore, the output gear 94A rotates together with the rotating shaft 85 and the base end pulley 55A.

[0059] As shown in FIG. 9, when the output shaft of the second actuator 52A rotates, the drive gear 91A rotates, and the intermediate gear 92A (see FIG. 8) meshing with the drive gear 91A rotates. The rotation of the intermediate gear 92A causes the intermediate gear 92A, the intermediate shaft 95A, and the intermediate gear 93A to rotate integrally. When the intermediate gear 93A rotates, the output gear 94A meshing with the intermediate gear 93A rotates. When the output gear 94A rotates, the output gear 94A, the rotating shaft 85, and the base end pulley 55A rotate integrally. The rotation of the base end pulley 55A causes the endless belt 55C to rotate in a circular manner. The tip pulley 55B rotates following the rotation of the endless belt 55C. 9, when the intermediate gear 93A rotates clockwise, the output gear 94A and the base end pulley 55A rotate counterclockwise, and the endless belt 55C also rotates counterclockwise. When the second actuator 52 is rotated in the reverse direction and the intermediate gear 93A rotates counterclockwise, the output gear 94A and the base end pulley 55A rotate clockwise, and the endless belt 55C also rotates clockwise.

[0060] The configuration of the second actuator 52B side of the second transmission unit 53B is the same as that of the second actuator 52A side. The drive gear 91B is attached to the output shaft of the second actuator 52B and rotates integrally with the output shaft. The drive gear 91B meshes with the intermediate gear 92B. The drive gear 91B and the intermediate gear 92B are bevel gears. The intermediate gear 92B and the intermediate gear 93B are fixed to the other end side (-Y side) and one end side (+Y side) of an intermediate shaft 95B extending in the Y-axis direction. Both ends of the intermediate shaft 95B are rotatably supported by the chassis 54 via bearings. The intermediate gear 93B is a spur gear and meshes with an output gear 94B, which is also a spur gear. The output gear 94B is attached to the rotating shaft 86. The output gear 94B rotates integrally with the rotating shaft 86. Therefore, the output gear 94B rotates together with the rotary shaft 86 and the base end pulley 56A.

[0061] As shown in FIG. 9, when the rotary shaft of the second actuator 52B rotates, the drive gear 91B rotates, and the intermediate gear 92B meshing with the drive gear 91B rotates. The rotation of the intermediate gear 92B causes the intermediate gear 92B, the intermediate shaft 95B, and the intermediate gear 93B to rotate together. When the intermediate gear 93B rotates, the output gear 94B meshing with the intermediate gear 93B rotates. When the output gear 94B rotates, the output gear 94B, the rotary shaft 86, and the base end pulley 56A rotate together. When the base end pulley 56A rotates, the endless belt 56C rotates in a circular manner. The tip pulley 56B rotates following the rotation of the endless belt 56C. In FIG. 9, when the intermediate gear 93B rotates clockwise, the output gear 94B and the base end pulley 56A rotate counterclockwise, and the circular rotation of the endless belt 56C also becomes counterclockwise. When the second actuator 52 is rotated in the reverse direction and the intermediate gear 93B rotates counterclockwise, the output gear 94B and the base end pulley 56A rotate clockwise, and the endless belt 56C also rotates clockwise.

[0062] The gripping assembly 5 can sandwich the fabric 100 between the pair of fingers 5B by bringing the pair of fingers 5B in the open state into contact with the fabric 100 from above and closing the pair of fingers 5B while in contact with the fabric 100. FIG. 11 is an explanatory diagram showing the pair of fingers 5B in a state in which the fabric 100 is sandwiched. The contact sites between the fixed finger 55 and the movable finger 56 and the fabric 100 in the open state approach each other in the X direction in the closed state, so that the fabric 100 is curved in a convex shape between the fixed finger 55 and the movable finger 56. The convexly curved fabric 100 is sandwiched between the endless belt 55C of the fixed finger 55 and the endless belt 56C of the movable finger 56.

[0063] As shown in FIG. 11, the endless belts 55C and 56C contact the fabric 100 in a range from a position on the circumference of the tip pulleys (55B and 56B) to a position between the tip pulleys (55B and 56B) and the base pulleys (55A and 56A). That is, the endless belts 55C and 56C in the closed state are closest to each other at a position P1 on the circumference of the tip pulleys (55B and 56B) and sandwich the convexly curved fabric 100. A loop LP of the fabric 100 is formed on the base end side (+Z side) from the position P1. In this embodiment, the endless belts 55C and 56C contact not only the position P1 but also the loop LP of the fabric 100. As a result, in the example of FIG. 11, the endless belt 55C contacts the fabric 100 in a range from the position P1 to a position P2A between the tip pulley 55B and the base pulley 55A. Furthermore, the endless belt 56C comes into contact with the fabric 100 in a range from position P1 to position P2B between the tip pulley 56B and the base pulley 56A. In this way, the pair of fingers 5B can come into contact with the fabric 100 not only at position P1 on the circumference of the tip pulleys (55B, 56B) but also at positions away from the tip pulleys (55B, 56B), increasing the contact area with the fabric 100. Increasing the contact area with the fabric 100 can prevent the fabric 100 from shifting in position when held and the fabric 100 from falling due to its own weight.

[0064] From the viewpoint of increasing the contact area with the fabric 100, it is preferable that the interval between the endless belt 55C and the endless belt 56C in the loop LP of the fabric 100 is small. This is because the smaller the interval, the easier it is to bring the loop LP into contact with the endless belts 55C and 56C, and the larger the contact area. Therefore, in this embodiment, it is preferable that the angle θ (see FIG. 9) formed by the pair of fingers 5B in the closed state of the pair of fingers 5B is an acute angle. The angle θ formed by the pair of fingers 5B may be considered to be the angle formed by the -X side surface of the endless belt 55C and the +X side surface of the endless belt 56C. The angle θ formed by the pair of fingers 5B is more preferably 60 degrees or less, and even more preferably 45 degrees or less. In the example of FIG. 9, the angle θ formed by the pair of fingers 5B is about 30 degrees.

[0065] In this embodiment, the gripping assembly 5 drives the endless belts 55C and 56C to feed the fabric 100 while gripping the fabric 100 as shown in Fig. 11. This allows the end ED of the fabric 100 to be aligned.

[0066] In the state of FIG. 11, the second actuators 52A and 52B rotate the endless belts 55C and 56C in a circular direction, for example, clockwise. The part of the fabric 100 that contacts the endless belt 55C of the fixed finger 55 is sent between the pair of fingers 5B (the part of the loop LP). The part of the fabric 100 that contacts the endless belt 56C of the movable finger 56 is sent out from between the pair of fingers 5B. By continuing the circular rotation of the endless belts 55C and 56C, the end ED of the fabric 100 in the +X direction passes through position P1. FIG. 12 is an explanatory diagram showing a state in which the end ED of the fabric 100 is disposed between the pair of fingers 5B. If the rotation direction of the endless belts 55C and 56C is reversed (counterclockwise), the end (not shown) of the fabric 100 in the -X direction can be moved to between the pair of fingers 5B.

[0067] In this embodiment, the control device 17 can detect the end ED of the fabric 100 in a state where it is held between the pair of finger portions 5B. That is, in a state where the fabric 100 with the loop LP formed is held as shown in FIG. 11, two sheets of the fabric 100 are held between the pair of finger portions 5B (position P1). On the other hand, in a state where the loop LP is released and the end ED is held as shown in FIG. 12, only one sheet of the fabric 100 is held between the pair of finger portions 5B. That is, when the fabric 100 is fed from the state shown in FIG. 11, the thickness of the object (fabric 100) being held is halved during the rotational driving of the endless belts 55C and 56C. Therefore, the torque of the second actuators 52A and 52B is reduced in a stepwise manner at the timing when the end ED of the fabric 100 reaches position P1 (i.e., the loop LP is released). Based on this change in torque, the end ED of the fabric 100 can be detected.

[0068] Therefore, the control device 17 (gripping assembly control section 17D) drives the second actuator 52 while the fabric 100 is held between the pair of fingers 5B closed by the first actuator 51, and detects the end ED of the fabric 100 while it is held between the pair of fingers 5B based on the torque generated by the second actuator 52. By detecting the end ED, a task such as aligning the end ED of the fabric 100 can be accurately performed without the camera 14 or in combination with the camera 14.

[0069] [Handling operation example] Fig. 13 is a flowchart showing the control of the handling device HA according to the embodiment. Fig. 14 is a diagram explaining the flow of the operation of the handling device HA. Here, as an example of the handling operation, an operation of gripping the dough 100 placed on the top plate 3, detecting the end ED of the dough 100, and transporting it to a working position on the top plate 3 will be explained. In the handling device HA, the control of the robot manipulator 4 (4A) is performed by the control device 17 through the robot control unit 17C. In the handling device HA, the control of the gripping assembly 5 is performed by the control device 17 through the gripping assembly control unit 17D.

[0070] As shown in FIG. 13 and FIG. 14, the robot control unit 17C controls the first robot manipulator 4A to place the gripping assembly 5 above the dough 100 on the top plate 3 (step S1). At this time, the gripping assembly control unit 17D opens the pair of fingers 5B using the first actuator 51 (step S21). The gripping assembly control unit 17D opens the pair of fingers 5B by rotating the movable fingers 56 to a preset angle. The robot control unit 17C controls the attitude of the gripping assembly 5 using the first robot manipulator 4A so that the tip positions of the pair of fingers 5B in the open state are parallel to the top plate 3 (dough 100). The angle at which the tip positions of the pair of fingers 5B are parallel to the top plate 3 (dough 100) varies depending on the rotation angle of the movable fingers 56. The gripping assembly 5 is in a position where the Z axis is slightly tilted from the up-down direction so that the tip positions of the pair of fingers 5B are parallel to the top board 3 (the fabric 100).

[0071] The robot control unit 17C controls the first robot manipulator 4A to lower the gripping assembly 5 from a position above the fabric 100 (step S2). The robot control unit 17C detects contact between the pair of fingers 5B of the gripping assembly 5 and the fabric 100 based on the detection signal of the force sensor 16. When the robot control unit 17C detects contact between the pair of fingers 5B and the fabric 100, it controls the first robot manipulator 4A to press the fabric 100 with a preset pressing force and maintain the pressing force. As a result, the tips of the pair of fingers 5B each come into contact with the fabric 100, and a pressing force necessary to generate a sufficient frictional force acts on the fabric 100.

[0072] Next, the robot control unit 17C outputs a close command to the gripping assembly control unit 17D (step S3). In response to the close command, the gripping assembly control unit 17D controls the first actuator 51 to close the pair of fingers 5B (step S22). In addition, the robot control unit 17C controls the first robot manipulator 4A to correct the tilt angle of the gripping assembly 5 in accordance with the rotation of the movable finger 56 (step S4). Specifically, based on the detection signal of the force sensor 16, the robot control unit 17C corrects the tilt angle of the gripping assembly 5 in accordance with the rotation angle of the movable finger 56 so that the pressing force of the fixed finger 55 and the movable finger 56 is maintained. By rotating the movable finger 56 to the closed position, the gripping assembly 5 sandwiches the fabric 100 between the pair of fingers 5B while forming a loop LP, as shown in FIG. 11.

[0073] When the pair of fingers 5B are in the closed state, the gripper assembly control unit 17D outputs information indicating the completion of the closing operation to the robot control unit 17C (step S23). Note that while the pair of fingers 5B are in the closed state, the gripper assembly control unit 17D controls the first actuator 51 so as to maintain the torque of the first actuator 51 constant. In other words, the force (pinch force) with which the pair of fingers 5B pinches the fabric 100 is maintained at a predetermined value.

[0074] When the robot control unit 17C receives the completion information, it controls the first robot manipulator 4A to raise the gripping assembly 5 to a position above the top plate 3 (step S5). As a result, the gripping assembly 5 gripping the dough 100 lifts up the gripped portion of the dough 100. When the robot control unit 17C raises the gripping assembly 5 to a predetermined position, it outputs a belt rotation command to the gripping assembly control unit 17D (step S6).

[0075] The gripping assembly control unit 17D controls the second actuators 52A and 52B in response to the belt rotation command so as to circulate and rotate the endless belts 55C and 56C while the fabric 100 is being clamped (step S24). The rotation direction of the endless belts 55C and 56C is set in advance according to the gripped part of the fabric 100, for example. As shown in FIG. 12, the gripping assembly control unit 17D drives the second actuators 52A and 52B until the end ED of the fabric 100 reaches the position P1 between the endless belts 55C and 56C in the closed state (see step S24 in FIG. 14). Then, the gripping assembly control unit 17D detects the end ED of the fabric 100 while being clamped between the pair of fingers 5B based on the torque generated by the second actuators 52A and 52B.

[0076] When the gripper assembly control unit 17D detects the end ED of the fabric 100, it outputs belt rotation completion information to the robot control unit 17C (step S25). Then, the gripper assembly control unit 17D stops the rotation of the endless belts 55C and 56C by the second actuators 52A and 52B.

[0077] When the robot control unit 17C receives the completion information, it controls the first robot manipulator 4A to move the gripping assembly 5 from above the gripping position (the placement position of the fabric 100) to a conveying position (for example, a sewing work position) (step S7). As a result, the fabric 100 is conveyed to the next work position. When the robot control unit 17C moves the gripping assembly 5 to above the conveying position, it controls the first robot manipulator 4A to lower the gripping assembly 5 until the force sensor 16 detects a reaction force due to contact between the fixed finger unit 55 and the top plate 3 (step S8). Note that the movement to the conveying position and the lowering operation can be performed simultaneously. As a result, the end opposite to the end ED gripped by the gripping assembly 5 can be placed at the placement start position on the top plate 3, and the fabric 100 can be laid flat over the conveying position. Also, by moving the gripping assembly 5 horizontally while lowering it, the fabric 100 can be placed on the top plate 3 while being folded. The position where the contact between the fixed finger portion 55 and the top board 3 is finally detected is the position where the end ED of the dough 100 is positioned.

[0078] When the force sensor 16 detects a reaction force caused by contact between the pair of fingers 5B and the top plate 3, the robot control unit 17C outputs an open command to the gripper assembly control unit 17D (step S9). In response to the open command, the gripper assembly control unit 17D controls the first actuator 51 to open the pair of fingers 5B (step S26). At this time, the gripper assembly control unit 17D may rotate the endless belt 56C so that the dough 100 does not shift position as the movable fingers 56 rotate. When the pair of fingers 5B switches from the closed state to the open state, the grip of the dough 100 is released, and the dough 100 is placed at the transport position on the top plate 3.

[0079] When the gripping assembly control unit 17D places the pair of fingers 5B in the open state, it transmits completion information of the opening operation to the robot control unit 17C and ends the control (step S27). When the robot control unit 17C receives the completion information, it ends the control. Although details are omitted, for example, the robot control unit 17C and the gripping assembly control unit 17D return the first robot manipulator 4A and the gripping assembly 5, respectively, to the initial position and initial state for the next task.

[0080] This completes one example of the operation of the handling device HA (first robot manipulator 4A, gripping assembly 5). In the sewing device 1, the control device 17 controls, for example, the second robot manipulator 4B and the feed assembly 6, and the third robot manipulator 4C and the sewing machine assembly 7 so as to sew the fabric 100 prepared in the previous process of the handling device HA.

[0081] [effect] As described above, in the embodiment, the handling device HA comprises a robot manipulator 4, a gripping assembly 5 attached to the robot manipulator 4 and having a pair of openable and closable fingers 5B, and a first actuator 51 for opening and closing the pair of fingers 5B, each of the pair of fingers 5B includes a base end pulley (55A, 56A) and a tip pulley (55B, 56B) arranged at the base end and tip end of the finger, and an endless belt (55C, 56C) that is stretched around the base end pulley (55A, 56A) and the tip pulley (55B, 56B) and whose outer surface forms a contact surface with the fabric 100, and the gripping assembly 5 has a second actuator 52 that rotates and drives the endless belt (55C, 56C).

[0082] According to the embodiment, the dough 100 can be fed by driving the endless belts (55C, 56C) of the pair of finger portions 5B while the dough 100 is held between the pair of finger portions 5B. This allows the worker to perform delicate movements similar to manual work, such as finely adjusting the position of the dough 100 by sliding the fingertips while holding the dough 100 between the fingers. This allows the robot manipulator 4 to realize handling operations similar to manual work by the worker.

[0083] In the handling device HA, the pair of fingers 5B includes fixed fingers 55 whose positions are fixed, and movable fingers 56 which move toward and away from the fixed fingers 55 by a first actuator 51. This allows the operator to pinch the dough 100 by holding down the dough 100 with a first finger (thumb) and moving the dough 100 toward the first finger with a second finger (index finger), using the fixed fingers 55 (corresponding to the first finger) and the movable fingers 56 (corresponding to the second finger).

[0084] The second actuator 52 is provided on each of the pair of fingers 5B. This allows the endless belts 55C and 56C to be driven independently. Various feeding operations can be performed while the fabric 100 is being held.

[0085] In the closed state of the pair of finger parts 5B, the tip pulleys 55B, 56B of the pair of finger parts 5B are close to each other, and the endless belts 55C, 56C contact the fabric 100 in the range from the position P1 on the circumference of the tip pulleys 55B, 56B to the positions P2A, P2B between the tip pulleys 55B, 56B and the base pulleys 55A, 56A. This allows contact with the fabric 100 even at positions away from the outer periphery of the tip pulleys (55B, 56B). For example, when the contact surface with the fabric 100 is configured by a rotating roller, the contact with the fabric 100 is limited to the outer periphery of the rotating roller, so the diameter of the rotating roller needs to be increased in order to increase the contact area. In that case, the tip dimensions of the finger parts become large, and fine work performed by the worker with his / her fingers cannot be realized. However, in this embodiment, since the contact area can be secured as described above, the diameter of the tip pulleys 55B, 56B can be reduced accordingly. As a result, the tips of the pair of fingers 5B can be made thin, making it possible to perform delicate work such as that performed by a worker.

[0086] When the pair of fingers 5B is in a closed state, the angle θ formed by the pair of fingers 5B becomes an acute angle. This reduces the distance between the endless belts 55C and 56C in the closed state, so that the contact area between the loop LP formed when the fabric 100 is clamped and the endless belts 55C and 56C can be increased.

[0087] The handling device HA further includes a control device 17 that controls the first actuator 51 and the second actuator 52. The control device 17 drives the second actuator 52 while the fabric 100 is held between the pair of fingers 5B closed by the first actuator 51, and detects the end ED of the fabric 100 while it is held between the pair of fingers 5B based on the torque generated by the second actuator 52. This makes it possible to control the position of the end ED of the fabric 100 while the fabric 100 is still held between the pair of fingers 5B. This makes it possible to perform a wider variety of handling operations, such as aligning the end ED.

[0088] [Second embodiment] A second embodiment will be described. In the following description, the same or similar to the first embodiment described above will be used. Equivalent components are given the same reference numerals, and descriptions of those components are simplified or omitted.

[0089] Fig. 15 is a perspective explanatory view showing a gripping assembly 5 of a handling device HA according to the second embodiment. In Fig. 15, for convenience, a part of a chassis 54 (-Y direction side) is shown by a two-dot chain line. In the second embodiment, the handling device HA further includes, in addition to the first actuator 51 and the second actuators 52A and 52B, a third actuator 110 that moves at least one of the pair of finger portions 5B in the Y axis direction along the rotation axis of the tip pulleys (55B and 56B).

[0090] In the example of FIG. 15, the fixed finger 55, which is one of the pair of fingers 5B, is movable in the Y-axis direction. The gripping assembly 5 has a movable holding part 120 attached to the chassis 54 so as to be movable in the Y-axis direction. The third actuator 110 generates a driving force that moves the movable holding part 120 in the Y-axis direction. The fixed finger 55 is provided on the movable holding part 120, and the movable finger 56 is provided on the chassis 54. As a result, when the third actuator 110 moves the movable holding part 120 in the Y-axis direction, the fixed finger 55 moves in the Y-axis direction in conjunction with the movement of the movable holding part 120 in the Y-axis direction. Since the movable finger 56 is provided on the chassis 54, it cannot move in the Y-axis direction.

[0091] FIG. 16 is a perspective explanatory diagram showing the third actuator 110 and the movable holding part 120. The chassis 54 is provided with a guide shaft 121 extending in the Y-axis direction. The movable holding part 120 has a slider 122 slidably attached to the guide shaft 121. The movable holding part 120 is movable only in the Y-axis direction by the multiple guide shafts 121, and movement in other axial directions and rotational directions is restricted. The third actuator 110 is fixed to the upper part of the chassis 54 with the output shaft facing the X-axis direction. A pinion gear 123 is attached to the output shaft of the third actuator 110. The movable holding part 120 is provided with a rack gear 124 that meshes with the pinion gear 123 of the third actuator 110. When the third actuator 110 rotates the pinion gear 123, the movable holding part 120 is fed and moved in the Y-axis direction via the rack gear 124.

[0092] 15, the fixed fingers 55 (tip pulley 55B, base pulley 55A, endless belt 55C) and the second actuator 52A are attached to the movable holding part 120. The fixed fingers 55 and the second actuator 52A move along the Y-axis direction together with the movable holding part 120. This allows the gripping assembly 5 to move the fixed fingers 55 relative to the movable fingers 56 in the Y-axis direction while gripping the fabric 100 with the pair of fingers 5B in a closed state.

[0093] 17 is a schematic diagram of a pair of fingers 5B clamping fabric 100, viewed from the +X direction toward the -X direction. As shown in FIG. 17, when fabric 100 is pinched and clamped by the pair of fingers 5B, a portion 101 of the clamped fabric 100 in contact with the endless belt 55C of the fixed finger portion 55 and a portion 102 of the clamped fabric 100 in contact with the endless belt 56C of the movable finger portion 56 may be misaligned in the Y axis direction. In this case, the third actuator 110 moves the fixed finger portion 55 in the Y axis direction, so that the portions 101 and 102 of the clamped fabric 100 can be slid and aligned.

[0094] Fig. 18 is a schematic cross-sectional view showing a fixed finger 55 and a movable finger 56 of a handling device HA according to the second embodiment. As shown in Fig. 18, in the second embodiment, when the pair of fingers 5B is in a closed state, the tip pulleys (55B, 56B) of the pair of fingers 5B approach each other in the opening / closing direction, and the base pulleys (55A, 56A) of the pair of fingers 5B approach each other in the opening / closing direction. The opening / closing direction of the pair of fingers 5B may be regarded as the X-axis direction.

[0095] In the example shown in FIG. 18, the fixed finger 55 has a tip pulley 55B, a base pulley 55A, and a drive pulley 131. The base pulley 55A is disposed in a position in the +Z direction relative to the tip pulley 55B. The endless belt 55C stretched between the base pulley 55A and the tip pulley 55B has a surface on the movable finger 56 side (-X direction side) that extends linearly in the Z axis direction. A transmission belt 132 is stretched between the base pulley 55A and the drive pulley 131. The drive pulley 131 is rotationally driven by the second actuator 52A. The rotation of the drive pulley 131 rotates the base pulley 55A via the transmission belt 132, and the endless belt 55C and the tip pulley 55B rotate in accordance with the rotation of the base pulley 55A.

[0096] The movable finger 56 has a tip pulley 56B, a base pulley 56A, and drive pulleys 133 and 134. The base pulley 56A is disposed in the +Z direction relative to the tip pulley 56B. The endless belt 56C is stretched around the base pulley 56A, the tip pulley 56B, and the drive pulley 134. The surface of the endless belt 56C on the fixed finger 55 side (+X direction side) extends linearly in the Z-axis direction between the base pulley 56A and the tip pulley 56B. A transmission belt 135 is stretched around the drive pulley 133 and the drive pulley 134. The second actuator 52B drives the drive pulley 133 to rotate. The drive pulley 134 is rotated via the transmission belt 135 by the rotation of the drive pulley 133. As the drive pulley 134 rotates, the base end pulley 56A, the tip pulley 56B, and the endless belt 56C rotate.

[0097] In Fig. 18 (closed state), the distance between the base end pulley 55A and the base end pulley 56A in the opening / closing direction (X-axis direction) and the distance between the tip pulley 55B and the tip pulley 56B in the opening / closing direction (X-axis direction) are substantially equal in size CL. Therefore, the opposing surfaces of the endless belt 55C and the endless belt 56C are close to each other and are approximately parallel. As a result, when the fabric 100 is clamped by the pair of fingers 5B, it is possible to reliably clamp the loop LP of the fabric 100 between the endless belt 55C and the endless belt 56C at a position in the +Z direction from the tip pulleys 55B and 56B.

[0098] In the example shown in FIG. 18, the first actuator 51 rotates the driving pulley 136 via the driving gear 81 and the intermediate gear 82A attached to the output shaft. The driving pulley 136 is connected to a pulley (not shown) provided on the rotating shaft 86 via a transmission belt 137. The rotating shaft 86 rotates integrally with the holding member 58 (see FIG. 15). The tip pulley 56B and the base end pulley 56A are rotatably attached to the holding member 58. The first actuator 51 rotates the rotating shaft 86 via the transmission belt 137, so that the holding member 58 rotates around the rotating shaft 86. The rotation of the holding member 58 causes the tip pulley 56B and the base end pulley 56A to move in an arc orbit around the rotating shaft 86 in the +X direction and the -X direction. As a result, the first actuator 51 opens and closes the movable finger portion 56.

[0099] [effect] As described above, in the second embodiment, when the pair of fingers 5B is in a closed state, the tip pulleys (55B, 56B) of the pair of fingers 5B approach each other in the opening / closing direction, and the base pulleys (55A, 56A) of the pair of fingers 5B approach each other in the opening / closing direction. As a result, when the pair of fingers 5B is in a closed state, the opposing surfaces of the base pulley 55A and the base pulley 56A are approximately parallel and approach each other. This effectively increases the contact area between the fabric 100 sandwiched between the pair of fingers 5B and the endless belts 55C and 56C.

[0100] The handling device HA further includes a third actuator 110 that moves at least one of the pair of fingers 5B (fixed finger 55) in a direction (Y-axis direction) along the rotation axis of the tip pulley (55B, 56B). This allows one finger (fixed finger 55) to move in the Y-axis direction relative to the other finger (movable finger 56) while holding the fabric 100 in a closed state of the pair of fingers 5B. This allows the operator to perform an action using the pair of fingers 5B such as sliding the fingertips to correct the positional deviation of the fabric 100 along the Y-axis direction. Therefore, the handling work that can be performed by the handling device HA can be made closer to manual work.

[0101] [Other embodiments] In the above embodiment, an example in which the fixed finger portion 55 and the movable finger portion 56 are provided has been shown, but both of the pair of fingers 5B may be movable fingers. In addition, when the fixed finger portion 55 and the movable finger portion 56 are provided, the finger portion in the +X direction may be the movable finger portion 56, and the finger portion in the -X direction may be the fixed finger portion 55. Although an example in which the movable finger portion 56 moves to open and close by rotating the holding member 58 has been shown, the movable finger portion 56 may move translationally in the opening and closing direction (X direction).

[0102] In the above embodiment, an example is shown in which two second actuators 52A, 52B are provided to rotate the endless belts 55C, 56C. However, one second actuator 52 may rotate both of the endless belts 55C, 56C.

[0103] In the above-described embodiment, an example was shown in which the first actuator 51 and the second actuator 52 (52A, 52B) are installed on the chassis 54 so that their output axes face the -Z direction, but the first actuator 51 and the second actuator 52 (52A, 52B) may also be installed so that their output axes face the Y-axis direction. [Explanation of symbols]

[0104] 1...sewing device, 2...frame, 3...top plate, 4...robot manipulator, 4A...first robot manipulator, 4B...second robot manipulator, 4C...third robot manipulator, 5...gripping assembly, 5A...joint portion, 5B...pair of fingers, 5C...cover, 6...feed assembly, 6A...joint portion, 6L...first belt, 6R...second belt, 7...sewing machine assembly, 7A...joint portion, 7C...sewing machine motor, 7D...balance, 7E...needle bar, 7F...sewing machine needle, 8, 9, 10...suspension 1. Member, 11... needle plate, 12... opening, 13... shuttle guide mechanism, 14... camera, 14A... main body, 14L... first lens, 14R... second lens, 15... connecting member, 16... force sensor, 17... control device, 17A... image data acquisition unit, 17B... image processing unit, 17C... robot control unit, 17D... gripping assembly control unit, 17E... feed assembly control unit, 17F... sewing machine assembly control unit, 51... first actuator, 52, 52A, 52B... second actuator, 53... transmission mechanism, 53A... first transmission unit, 5 3B...second transmission part, 54...chassis, 55...fixed finger part, 55A...base end pulley, 55B...tip pulley, 55C...endless belt, 55D...support shaft, 56...movable finger part, 56A...base end pulley, 56B...tip pulley, 56C...endless belt, 56D...support shaft, 57...holding member, 58...holding member, 81...driving gear, 82A, 82B...intermediate gear, 83...sector gear, 83A...bearing, 83B...connecting member, 84...intermediate shaft, 85, 86...rotating shaft, 91A, 91B...driving gear, 92A, 92B, 93A, 93B... Intermediate gear, 94A, 94B...output gear, 95A, 95B...intermediate shaft, 100...base, 101, 102...part, 110...third actuator, 120...movable holding part, 121...guide shaft, 122...slider, 123...pinion gear, 124...rack gear, 131...driving pulley, 132...transmission belt, 133, 134...driving pulley, 135...transmission belt, 136...driving pulley, 137...transmission belt, ED...end, HA...handling device, LP...loop, P1, P2A, P2B...position, θ...angle.

Claims

1. A handling device for handling fabric, comprising: A robot manipulator; a gripping assembly attached to the robot manipulator, the gripping assembly having a pair of openable and closable fingers and a first actuator for opening and closing the pair of fingers; Each of the pair of fingers includes a base end pulley and a tip end pulley that are disposed at the base end and tip end of the finger, and an endless belt that is stretched around the base end pulley and the tip end pulley and has an outer surface that forms a contact surface with the fabric, The gripping assembly includes a second actuator that drives the endless belt in rotation. Handling device.

2. The pair of fingers includes a fixed finger whose position is fixed, and a movable finger that moves toward and away from the fixed finger by the first actuator. Handling device according to claim 1.

3. The second actuator is provided individually on the pair of fingers. Handling device according to claim 1.

4. When the pair of fingers is in a closed state, the tip pulleys of the pair of fingers are close to each other, The endless belt contacts the fabric in a range from a position on the circumference of the tip pulley to a position between the tip pulley and the base pulley. A handling device according to any one of claims 1 to 3.

5. When the pair of fingers is in a closed state, an angle formed by the endless belt of each of the pair of fingers is an acute angle. Handling device according to claim 4.

6. A control device for controlling the first actuator and the second actuator is further provided. The control device includes: The second actuator is driven in a state where the fabric is sandwiched between the pair of fingers that are closed by the first actuator, detecting an end of the fabric while being held by the pair of fingers based on a torque generated by the second actuator; A handling device according to any one of claims 1 to 3.

7. When the pair of fingers are in a closed state, the tip pulleys of the pair of fingers approach each other in an opening / closing direction, and the base pulleys of the pair of fingers approach each other in the opening / closing direction. Handling device according to claim 4.

8. Further, a third actuator is provided which moves at least one of the pair of fingers in a direction along the rotation axis of the tip pulley. A handling device according to any one of claims 1 to 3.

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