Sewn object positioning device

Abstract

To achieve a sewn object positioning device capable of positioning a sewn object by a constitution at relatively low cost.SOLUTION: A sewn object positioning device 100 uses reflective photosensors (21 to 26) as sensors of a detection part 20 and uses a moving force applying part 30 constituted of a nozzle 31, a solenoid valve 32, and others. Such a constitution allows a sewn object N placed on a mounting table 10 to be positioned at a prescribed position. The sewn object positioning device 100 does not require an expensive constitution such as various sensors and robot arms, therefore, the device can position the sewn object by the constitution at relatively low cost.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a positioning device for a workpiece to be sewn.

Background Art

[0002] Conventionally, there has been known a technique of accurately detecting the position and orientation of a workpiece to be sewn by various sensors (two-dimensional displacement sensors, magnetic sensors, touch sensors, photoelectric sensors), holding the workpiece to be sewn with a robot arm, and adjusting the orientation and position thereof to supply it to a sewing device (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the case of the technique of Patent Document 1 described above, there is a problem that the configuration for accurately detecting the position and orientation of the workpiece to be sewn using various sensors and the configuration for adjusting the orientation and position of the workpiece to be sewn with a robot arm are expensive.

[0005] An object of the present invention is to provide a positioning device for a workpiece to be sewn that can position the workpiece to be sewn with a relatively inexpensive configuration.

Means for Solving the Problems

[0006] To solve the above problems, the invention according to claim 1 is a positioning device for a workpiece to be sewn, a mounting table on which the workpiece to be sewn is placed on its upper surface, a detection unit that detects a plurality of locations on the outer edge of the workpiece to be sewn placed on the mounting table, A moving force applying unit that applies a moving force in each of the different directions to the workpiece so as to move the workpiece placed on the placement table in different directions. A control unit that controls the moving force applying unit so as to correct the position and orientation of the workpiece until the arrangements of a plurality of locations on the outer edge of the workpiece detected by the detection unit reach a predetermined arrangement. It is characterized by comprising the above.

[0007] The invention according to claim 2 is the positioning device for a workpiece according to claim 1, The detection unit is characterized by having a plurality of sensors that detect the presence or absence of the outer edge of the workpiece at a single target position.

[0008] The invention according to claim 3 is the positioning device for a workpiece according to claim 1, The detection unit is characterized by having a plurality of sensors that detect the outer edge of the workpiece in a linear range.

[0009] The invention according to claim 4 is the positioning device for a workpiece according to any one of claims 1 to 3, The moving force applying unit is characterized by having a plurality of nozzles that blow air onto the workpiece.

[0010] The invention according to claim 5 is the positioning device for a workpiece according to any one of claims 1 to 3, The control unit is characterized by performing operation control regarding correction of the orientation of the workpiece after performing operation control regarding correction of the position of the workpiece.

Effect of the Invention

[0011] According to the present invention, a positioning device for a workpiece capable of positioning a workpiece with a relatively inexpensive configuration can be obtained.

Brief Description of the Drawings

[0012]

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Mode for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present invention will be described in detail. The positioning device for the sewing object is a device for performing positioning to properly adjust the position and orientation of the sewing object before supplying the sewing object to the sewing device.

[0014] The positioning device 100 for the sewing object of the present embodiment includes, for example, as shown in FIGS. 1 to 3, a mounting table 10 on which the sewing object N is placed on its upper surface, a detection unit 20 that detects a plurality of locations on the outer edge of the sewing object N placed on the mounting table 10, and a moving force applying unit 30 that applies a moving force in each different direction to the sewing object N so as to move the sewing object N placed on the mounting table 10 in different directions, and a control unit 50 that controls the moving force applying unit 30 so as to correct the position and orientation of the sewing object N until the arrangement of the plurality of locations on the outer edge of the sewing object N detected by the detection unit 20 becomes a predetermined arrangement.

[0015] The detection unit 20 has a plurality of sensors that detect the presence or absence of the outer edge of the sewing object N at a single target position. The detection unit 20 of the present embodiment has six sensors, namely, a first sensor 21, a second sensor 22, a third sensor 23, a fourth sensor 24, a fifth sensor 25, and a sixth sensor 26. The first sensor 21 and the second sensor 22 are fixed to a first bracket 41, and the first sensor 21 and the second sensor 22 are installed at a position on the mounting table 10 closer to the front left via the first bracket 41. Also, the third sensor 23 and the fourth sensor 24 are fixed to a second bracket 42, and the third sensor 23 and the fourth sensor 24 are installed at a position on the mounting table 10 closer to the front center via the second bracket 42. Also, the fifth sensor 25 and the sixth sensor 26 are fixed to a third bracket 43, and the fifth sensor 25 and the sixth sensor 26 are installed at a position on the mounting table 10 closer to the front right via the third bracket 43. A plurality of locations on the outer edge of the sewing object N are detected by these plurality of sensors (21 to 26).

[0016] Each sensor (21 to 26) of the detection unit 20 is, for example, a reflection type photosensor including a light emitting element and a light receiving element, and can detect the presence or absence of an object by the reflected light of the detected object. For example, as shown in FIGS. 3(a) and 3(b), since the workpiece N is present at the target positions of the second sensor 22, the fourth sensor 24, and the sixth sensor 26, the second sensor 22, the fourth sensor 24, and the sixth sensor 26 detect the ON signals indicating the detection of the workpiece N. Also, since the workpiece N is not present at the target positions of the first sensor 21, the third sensor 23, and the fifth sensor 25, the first sensor 21, the third sensor 23, and the fifth sensor 25 detect the OFF signals indicating the detection of the mounting table 10. The detection signals of each sensor (21 to 26) are sent to the control unit 50.

[0017] Note that the number and arrangement of the sensors in the detection unit 20 vary depending on the shape of the workpiece N. In this embodiment, an example is described in the case where the body fabric shown in FIG. 2 or the like is the workpiece N. That is, it is assumed that the workpiece N has a known shape and size.

[0018] The moving force applying unit 30 has a plurality of nozzles 31 that blow air onto the workpiece N. In this embodiment, 28 nozzles 31 are installed on the upper surface of the mounting table 10. Note that the number and arrangement of the nozzles 31 of the moving force applying unit 30 vary depending on the shape of the workpiece N. In this embodiment, an example is described in the case where the body fabric shown in FIG. 2 or the like is the workpiece N.

[0019] For example, as shown in FIG. 4, the nozzle 31 is provided with an air ejection hole 31a that ejects air in one direction obliquely upward. That is, the nozzle 31 blows air obliquely upward from below the workpiece N placed on the mounting table 10, and moves the workpiece N by the airflow of the air. The nozzle 31 is fixed by a nut 31b screwed on the lower surface side of the mounting table 10. By loosening the nut 31b, the direction of the nozzle 31 (air ejection hole 31a) can be adjusted, and the direction of blowing air can be adjusted. Then, as will be described later, the plurality of nozzles 31 of the moving force applying unit 30 include a nozzle 31a that ejects air forward to move the sewing object N on the mounting table 10 forward, a nozzle 31b that ejects air backward to move the sewing object N on the mounting table 10 backward, a nozzle 31c that ejects air rightward to move the sewing object N on the mounting table 10 rightward, a nozzle 31d that ejects air leftward to move the sewing object N on the mounting table 10 leftward, a nozzle 31e that ejects air in the clockwise direction to move the sewing object N on the mounting table 10 clockwise, and a nozzle 31f that ejects air in the counterclockwise direction to move the sewing object N on the mounting table 10 counterclockwise (see FIGS. 5, 6, and 7). By switching the air ejection from these nozzles 31 (31a, 31b, 31c, 31d, 31e, 31f), it is possible to apply moving forces in different directions to the sewing object N on the mounting table 10 and move the sewing object N in different directions.

[0020] Also, the upper surface of the nozzle 31 has a spherical shape and can be smoothly in sliding contact with the sewing object N placed on the mounting table 10.

[0021] Each nozzle 31 of the moving force applying unit 30 is connected to a high-pressure air supply source (not shown), such as an air tank, via an air supply path (not shown), such as a tube. An electromagnetic valve 32 that is controlled by the control unit 50 to switch between opening and closing is provided in the air supply path. That is, the moving force applying unit 30 is composed of the nozzle 31, the electromagnetic valve 32, the air supply path, the high-pressure air supply source, etc. Of course, the electromagnetic valve 32 is provided for each nozzle 31, and the control unit 50 controls the operation so that the electromagnetic valve 32 corresponding to the nozzle 31 that blows out air is opened and the electromagnetic valve 32 corresponding to the nozzle 31 that does not blow out air is closed.

[0022] On the upper surface of the mounting table 10, the plurality of nozzles 31 of the moving force applying unit 30 described above are installed, and each sensor (21 to 26) of the detection unit 20 described above is installed via a bracket. Further, as shown in FIG. 1, on the upper surface of the placement table 10, a frame line 10a indicating a reference position for placing the workpiece N to be sewn is drawn. A plurality of nozzles 31 are installed inside this frame line 10a. (In FIGS. 5 to 7 described later, the illustration of the frame line 10a is omitted in order to illustrate the two-dot chain line regarding the movement of the workpiece N to be sewn.) If the workpiece N to be sewn is placed on the upper surface of the placement table 10 based on this frame line 10a, the positioning process of the workpiece N to be sewn described later can be preferably performed. Although it is premised that an operator places the workpiece N to be sewn on the upper surface of the placement table 10, the workpiece N to be sewn may be placed at a position approximately based on the frame line 10a by the workpiece supply device.

[0023] The control unit 50 has, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and comprehensively controls each part of the device by the cooperation of the program data stored in the ROM developed in the working area of the RAM and the CPU. Based on the detection signals of the sensors (21 to 26) of the detection unit 20, this control unit 50 controls the operation of the moving force applying unit 30 so as to open a predetermined solenoid valve 32 and blow air from a predetermined nozzle 31 (31a, 31b, 31c, 31d, 31e, 31f). For example, in one operation control, air is blown from a predetermined nozzle 31 for 0.5 to 1.0 seconds, and the workpiece N to be sewn is moved by the airflow of the air. The operation control is repeated a plurality of times until the arrangements of a plurality of locations on the outer edge of the workpiece N detected by the detection unit 20 become a predetermined arrangement. Alternatively, the operation control may be such that air is continuously blown from a predetermined nozzle 31 to move the workpiece N to be sewn, and the injection of air is stopped when the arrangements of a plurality of locations on the outer edge of the workpiece N detected by the detection unit 20 become a predetermined arrangement.

[0024] Specifically, when moving the workpiece N on the mounting table 10 forward (upward in the figure), as shown in Fig. 5(a), it is controlled to blow air forward from the three nozzles 31a installed on the front side of the mounting table 10. Also, when moving the workpiece N on the mounting table 10 backward (downward in the figure), as shown in Fig. 5(b), it is controlled to blow air backward from the three nozzles 31b installed on the rear side of the mounting table 10.

[0025] Also, when moving the workpiece N on the mounting table 10 to the right, as shown in Fig. 6(a), it is controlled to blow air to the right from the three nozzles 31c installed on the right side of the mounting table 10. Also, when moving the workpiece N on the mounting table 10 to the left, as shown in Fig. 6(b), it is controlled to blow air to the left from the three nozzles 31d installed on the left side of the mounting table 10.

[0026] Also, when moving the workpiece N on the mounting table 10 clockwise, as shown in Fig. 7(a), it is controlled to blow air in the clockwise direction from the six nozzles 31e installed on the mounting table 10. Also, when moving the workpiece N on the mounting table 10 counterclockwise, as shown in Fig. 7(b), it is controlled to blow air in the counterclockwise direction from the six nozzles 31f installed on the mounting table 10.

[0027] Note that instead of using all the nozzles 31 installed on the mounting table 10, the nozzles 31 that contribute to the movement of the workpiece N can be selected and controlled to blow air from them.

[0028] Then, in the present embodiment, in the arrangement of the workpiece N shown in FIGS. 3(a) and 3(b), when the workpiece N is present at the target positions of the second sensor 22, the fourth sensor 24, and the sixth sensor 26 and an ON signal is detected, and when the workpiece N is not present at the target positions of the first sensor 21, the third sensor 23, and the fifth sensor 25 and an OFF signal is detected, the control unit 50 controls the moving force applying unit 30 to correct the position and orientation of the workpiece N. That is, the arrangement of the workpiece N shown in FIGS. 3(a) and 3(b) is a predetermined arrangement of the workpiece N positioned on the mounting table 10.

[0029] Next, the positioning process of the workpiece N by the workpiece positioning device 100 of the present embodiment will be described based on the flowchart shown in FIG. 8 and the table shown in FIG. 9. In the table of FIG. 9, the detection of the first sensor 21 is shown as [I1], the detection of the second sensor 22 is shown as [I2], the detection of the third sensor 23 is shown as [I3], the detection of the fourth sensor 24 is shown as [I4], the detection of the fifth sensor 25 is shown as [I5], and the detection of the sixth sensor 26 is shown as [I6].

[0030] First, the workpiece N is placed on the mounting table 10. Then, by activating the workpiece positioning device 100, each sensor (21 to 26) of the detection unit 20 operates to detect the presence or absence of the workpiece N at the target position on the mounting table 10.

[0031] When the control unit 50 determines that the workpiece N on the mounting table 10 is at the rear (lower in the figure) of the mounting table 10 (step S1; YES), the control unit 50 executes a process of blowing air forward from the three nozzles 31a installed on the front side of the mounting table 10 (step S2; see FIG. 5(a)). Note that based on the ON / OFF states of the detection signals of the respective sensors in step S1 of FIG. 9, the control unit 50 determines that the workpiece N is at the rear (lower in the figure) of the mounting table 10. Also, based on the ON / OFF states of the detection signals of the respective sensors in step S2 of FIG. 9, the control unit 50 ends the process of blowing air forward from the three nozzles 31a and proceeds to step S5.

[0032] If the sewing object N is not at the rear (lower in the figure) on the mounting table 10 (step S1; NO), and the control unit 50 determines that the sewing object N on the mounting table 10 is at the front (upper in the figure) on the mounting table 10 (step S3; YES), the control unit 50 executes a process of blowing air backward from the three nozzles 31b installed on the rear side of the mounting table 10 (step S4; see FIG. 5(b)). Note that based on the ON / OFF states of the detection signals of the respective sensors in step S3 of FIG. 9, the control unit 50 determines that the sewing object N is at the front (upper in the figure) on the mounting table 10. Also, based on the ON / OFF states of the detection signals of the respective sensors in step S4 of FIG. 9, the control unit 50 ends the process of blowing air backward from the three nozzles 31b and proceeds to step S5.

[0033] Next, in step S5, if the control unit 50 determines that the sewing object N on the mounting table 10 is on the right side of the mounting table 10 (step S5; YES), the control unit 50 executes a process of blowing air leftward from the three nozzles 31d installed on the left side of the mounting table 10 (step S6; see FIG. 6(b)). Note that based on the ON / OFF states of the detection signals of the respective sensors in step S5 of FIG. 9, the control unit 50 determines that the sewing object N is on the right side of the mounting table 10. Also, based on the ON / OFF states of the detection signals of the respective sensors in step S6 of FIG. 9, the control unit 50 ends the process of blowing air leftward from the three nozzles 31d and proceeds to step S9.

[0034] Instead of the workpiece N being on the right side of the mounting table 10 (step S5; NO), when the control unit 50 determines that the workpiece N on the mounting table 10 is on the left side of the mounting table 10 (step S7; YES), the control unit 50 executes a process of blowing air rightward from the three nozzles 31c installed on the right side of the mounting table 10 (step S8; see Fig. 6(a)). Based on the ON / OFF states of the detection signals of the respective sensors in step S7 of Fig. 9, the control unit 50 determines that the workpiece N is on the left side of the mounting table 10. Also, based on the ON / OFF states of the detection signals of the respective sensors in step S8 of Fig. 9, the control unit 50 ends the process of blowing air rightward from the three nozzles 31c and proceeds to step S9.

[0035] Next, in step S9, when the control unit 50 determines that the workpiece N on the mounting table 10 is shifted counterclockwise on the mounting table 10 (step S9; YES), the control unit 50 executes a process of blowing air in the clockwise direction from the six nozzles 31e installed on the mounting table 10 (step S10; see Fig. 7(a)). Based on the ON / OFF states of the detection signals of the respective sensors in step S9 of Fig. 9, the control unit 50 determines that the workpiece N is shifted counterclockwise on the mounting table 10. Also, based on the ON / OFF states of the detection signals of the respective sensors in step S10 of Fig. 9, the control unit 50 ends the process of blowing air in the clockwise direction from the six nozzles 31e and proceeds to step S13.

[0036] Instead of the workpiece N being shifted counterclockwise on the mounting table 10 (step S9; NO), when the control unit 50 determines that the workpiece N on the mounting table 10 is shifted clockwise on the mounting table 10 (step S11; YES), the control unit 50 executes a process of blowing air in the counterclockwise direction from the six nozzles 31f installed on the mounting table 10 (step S12; see Fig. 7(b)). Based on the ON / OFF states of the detection signals of each sensor in step S11 of FIG. 9, the control unit 50 determines that the workpiece N is displaced clockwise on the mounting table 10. Also, based on the ON / OFF states of the detection signals of each sensor in step S12 of FIG. 9, the control unit 50 ends the process of blowing air counterclockwise from the six nozzles 31f and proceeds to step S13.

[0037] Next, in step S13, it is determined whether the workpiece N on the mounting table 10 is in a predetermined arrangement (step S13). If the control unit 50 determines that the workpiece N on the mounting table 10 is not in a predetermined arrangement (step S13; NO), it returns to step S1. On the other hand, if the control unit 50 determines that the workpiece N on the mounting table 10 is in a predetermined arrangement (step S13; YES), the positioning process of the workpiece N is ended. Note that based on the ON / OFF states of the detection signals of each sensor in step S13 of FIG. 9, the control unit 50 determines that the workpiece N is in a predetermined arrangement on the mounting table 10.

[0038] In this way, the workpiece N on the mounting table 10 can be positioned in a predetermined arrangement. For example, the workpiece N positioned on the mounting table 10 can be slid by a predetermined transfer device, etc., so that the workpiece N can be supplied to the sewing device in a predetermined orientation.

[0039] And, as in the above embodiment, after performing the operation control (steps S1 to S8) regarding the correction of the front - rear position and left - right position of the workpiece N on the mounting table 10, by performing the operation control (steps S9 to S12) regarding the correction of the orientation (clockwise / counterclockwise deviation) of the workpiece N on the mounting table 10, the workpiece N can be efficiently positioned.

[0040] As described above, with the positioning device 100 for the workpiece of the present embodiment, the workpiece N placed on the mounting table 10 can be positioned in a predetermined arrangement. In the positioning device 100 for the workpiece to be sewn according to this embodiment, reflective photosensors (21 to 26) are used as the sensors of the detection unit 20, and the moving force application unit 30 composed of a nozzle 31, a solenoid valve 32, etc. is used. That is, the positioning device 100 for the workpiece to be sewn according to this embodiment does not require expensive components such as various sensors and robot arms like the devices of the prior art. In this way, the positioning device 100 for the workpiece to be sewn according to this embodiment is a device that can position the workpiece to be sewn with a relatively inexpensive configuration.

[0041] Note that the present invention is not limited to the above embodiment. For example, as shown in FIGS. 10(a) and 10(b), the detection unit 20 of the positioning device 100 for the workpiece to be sewn may have a plurality of sensors that detect the outer edge of the workpiece N in a linear range. Here, the detection unit 20 has three line sensors, namely, a first line sensor 27, a second line sensor 28, and a third line sensor 29. As long as it is a line sensor, since it can detect the position of the outer edge of the workpiece N so as to straddle the workpiece N and the upper surface of the mounting table 10, it is possible to execute the positioning process of the workpiece N in the same manner as in the above embodiment.

[0042] In the above embodiment, the moving force application unit 30 has been described by taking as an example a configuration including a plurality of nozzles 31 that eject air. However, the present invention is not limited to this. For example, the moving force application unit 30 may have a configuration including a plurality of rollers (rotating bodies) that contact and rotate on the workpiece N placed on the mounting table 10 and a motor as its drive source. If the directions of the rotation axes of those plurality of rollers (rotating bodies) are adjusted to include those that move the workpiece N on the mounting table 10 in the front-rear direction, those that move it in the left-right direction, and those that move it in the clockwise direction and counterclockwise direction, the workpiece N can be moved back and forth, left and right, and rotated, so that it is possible to execute the positioning process of the workpiece N in the same manner as in the above embodiment.

[0043] Also, of course, other specific detailed structures and the like can be appropriately changed as well.

Description of Reference Numerals

[0044] 10 Mounting table 10a Frame line 20 Detection unit 21 First sensor 22 Second sensor 23 Third sensor 24 Fourth sensor 25 Fifth sensor 26 Sixth sensor 27 First line sensor 28 Second line sensor 29 Third line sensor 30 Moving force applying unit 31 Nozzle 31a Air ejection hole 32 Solenoid valve 50 Control unit 100 Positioning device for the object to be sewn N Object to be sewn

Claims

1. A placing table on which a workpiece to be sewn is placed on its upper surface, a detection unit that detects a plurality of locations on the outer edge of the workpiece placed on the placing table, a moving force applying unit that applies a moving force in each different direction to the workpiece to move the workpiece placed on the placing table in different directions, a control unit that controls the moving force applying unit to correct the position and orientation of the workpiece until the arrangement of the plurality of locations on the outer edge of the workpiece detected by the detection unit becomes a predetermined arrangement, A positioning device for a workpiece to be sewn, characterized by comprising the above.

2. The positioning device for a workpiece to be sewn according to claim 1, wherein the detection unit has a plurality of sensors that detect the presence or absence of the outer edge of the workpiece at a single target position.

3. The positioning device for a workpiece to be sewn according to claim 1, wherein the detection unit has a plurality of sensors that detect the outer edge of the workpiece in a linear range.

4. The positioning device for a workpiece to be sewn according to any one of claims 1 to 3, wherein the moving force applying unit has a plurality of nozzles that blow air against the workpiece.

5. The positioning device for a workpiece to be sewn according to any one of claims 1 to 3, wherein the control unit performs operation control regarding correction of the orientation of the workpiece after performing operation control regarding correction of the position of the workpiece.

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