EP0521066A1 - Procede et dispositif de separation de textiles decoupes empiles. - Google Patents

Procede et dispositif de separation de textiles decoupes empiles.

Info

Publication number
EP0521066A1
EP0521066A1 EP19910906697 EP91906697A EP0521066A1 EP 0521066 A1 EP0521066 A1 EP 0521066A1 EP 19910906697 EP19910906697 EP 19910906697 EP 91906697 A EP91906697 A EP 91906697A EP 0521066 A1 EP0521066 A1 EP 0521066A1
Authority
EP
European Patent Office
Prior art keywords
blank
hold
loading device
gripping
blanks
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19910906697
Other languages
German (de)
English (en)
Other versions
EP0521066B1 (fr
Inventor
Fritz Bayer
Georg Schulz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Institut fur Textil- und Verfahrenstechnik Der De
Original Assignee
Deutsche Institute fuer Textil und Faserforschung Denkendorf DITF
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deutsche Institute fuer Textil und Faserforschung Denkendorf DITF filed Critical Deutsche Institute fuer Textil und Faserforschung Denkendorf DITF
Publication of EP0521066A1 publication Critical patent/EP0521066A1/fr
Application granted granted Critical
Publication of EP0521066B1 publication Critical patent/EP0521066B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/22—Separating articles from piles by needles or the like engaging the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B65H3/50—Elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile

Definitions

  • the invention relates to a method for separating stacked textile blanks with the generic features of claims 1 and 11, and an apparatus for performing this method.
  • Such a method and a corresponding device is known from DE-OS 37 19 393, air nozzles being arranged between the gripper elements, by means of which the further material parts adhering to them when a blank is gripped are to be removed by a corresponding air flow or air blast. This is intended to separate the uppermost blank on a stack of blanks from the other adhering fabric parts, which stick to the first gripped blank, in particular by interlocking fibers.
  • This separation problem represents a bottleneck, particularly in automation in the clothing industry, since reliable separation of the fabric stack into individual cuts has not hitherto been able to be reliably solved.
  • the textiles are cut in a pile in a plurality of layers of fabric at the same time in accordance with the pattern provided, so that the stack has to be broken down into its individual blanks for the subsequent operations, for example sewing, etc.
  • the excess blanks are to be blown off from the topmost textile blank to be gripped.
  • the gripping element is preferably formed by a so-called solid freeze gripper, whereby partial icing of the blank adherence of the top blank is achieved.
  • Excess blanks are to be removed by air nozzles, the outlet opening of which is arranged approximately in the plane of the gripping elements.
  • it can happen that the uppermost blank is blown off by the gripping elements when operating the blowing nozzles, since an air cushion forms between the flat gripping elements and the gripped fabric layers, which partially or completely detaches the gripped cuts from the gripper.
  • adhesive grippers or needle grippers with higher gripping forces were used instead of the freezer gripper, this disadvantageous effect was shown, so that the top cut from the remaining stack could not be reliably detached.
  • the invention is therefore based on the object of a method and an apparatus for separating stacked to create textile blanks with which a reliable detachment of adhering further fabric parts from the top blank and thus a safe separation is made possible.
  • the loading device By placing the loading device directly on the surface of the raised blank, the blank is clamped and arched downward, so that the pores of the textile are expanded and thus a higher air permeability for the air flow is achieved. Evasion and misdirection of the air flow are practically excluded. This effect can be improved if the loading device is placed under an additional pretension.
  • a spatially precisely defined gap is formed between the uppermost and the possibly adhering second or third blanks, into which a hold-down for The remaining stack can be held securely because the air cushion between the first and second cut forms a kind of tunnel into which the hold-down can engage without contact with the cut.
  • This method thus reliably separates and lifts off the top blank, even if several blanks should be gripped by a needle gripper in the case of thin materials which lie on the stack of blanks with a wavy surface.
  • the object can also be achieved in that a hold-down device is inserted under the raised (top and at least one surplus) blanks and subjected to a vacuum, so that the surplus blank (s) ( e) is / are held on the hold-down device and are separated from one another by relative movement of the gripper and the hold-down device (e.g. vertical movement apart).
  • the device according to the invention for separating stacked textile blanks is characterized in that the loading device is no longer rigidly connected to the gripping elements compared to the known solution, but is arranged such that it can be moved vertically and directly onto the surface of the gripped top blank below the horizontal plane of the Needles or the lower edge of the gripping elements can be lowered.
  • This relative mobility in the sense of a kinematic reversal, also includes that the loading device is rigidly arranged and that the gripper together with the gripped blank (s) can be moved upwards against the loading device in order to achieve the desired arching of the blanks in the raised state to create.
  • a combination between the relative mobility is also possible. It is essential here that tension and arching of the gripped blanks is achieved in the area of the loading device.
  • the Load device in the form of a so-called. Blow pipe lowered under prestress of a spring element on the top blank, so that there are constant blowing conditions. In general, however, the weight of the loading device is already sufficient for a secure support and thus contact during the blowing process in order to prevent misdirection of the air flow.
  • the loading device is telescopically mounted in the Grei element, so that after the gripping of the top blank, the blow-out opening can be lowered below the gripping level (needle level) in order to obtain the bracing described above in the top blank.
  • the loading device can also be mounted on a swivel bracket, the swivel bracket in the preferred embodiment of the blowpipe also serving for the compressed air supply.
  • the same engagement position of the hold-down device is achieved, in particular if a stop is provided for the vertically movable loading device, so that the gripped top fabric layer is pressed down by the same amount under the gripping element and thus the hold-down device is at a constant distance from the gripping element between gripping top cut and surplus fabric parts can intervene.
  • the sag of the uppermost blank can be detected by detecting the swivel angle or, in the case of the translational solution, the lowering path and the entry height of the hold-down device can be controlled accordingly.
  • the detection of the swivel angle or the lowering path of the loading device can be used to control the contact force of the loading device on the uppermost blank, in order to prevent overloading by the contact force when changing different layers of fabric.
  • the common mounting of the loading device and the hold-down device regardless of the gripping elements, since this maintains the positional relationship between the loading device, in particular the lower edge of the blowpipe and the upper hold-down device, so that after the blow-pipe has been put on, the retracting position of the hold-down device is also defined .
  • FIG. 4 shows a plan view of a gripping unit according to FIG. 4. a sectional view along the line AA in Fig. 5; and FIG. 7 shows a side view of a third embodiment.
  • a gripping unit 1 is shown in its basic structure.
  • the gripping unit 1 is placed with a base plate 2 on a stack 3 of blanks 7 that are identical to one another, but is not yet in engagement connection with the individual blanks.
  • the gripping unit 1 bears on the stack 3 with its own weight, with support rods 8 engaging in an upper frame part 5, which is connected to the base plate 2 via vertical supports 4.
  • the support rods 8 can be connected to a lifting frame or a handling device such as a robot. When lifting the support rods 8, the frame 5 and the entire gripping unit 1 also raised.
  • the structure of the gripping unit 1 is further described in more detail in the unpublished DE-OS 39 14 194 by the same applicant and is not essential for the present invention.
  • the blanks 7 of the stack 3 can be woven, knitted, knitted or other textile blanks.
  • the blanks 7, for example for articles of clothing, are lifted one after the other from the stack 3 by the gripping unit 1.
  • the carriers 4 are connected by a bearing plate 6, in the center of which an actuating device 9 is provided for a plurality of gripping elements 10, 11 and 12, which are shown in detail in FIG. 2.
  • the gripping elements 10, 11 and 12 can be spread apart in openings in the base plate 2 in the horizontal plane, hook-shaped needles 13 provided on the underside penetrating into the uppermost blank 7 of the stack 3.
  • a plurality of bearing eyes 14 are provided on the upper side of the gripping elements 10, 11 and 12 and are connected in parallelogram form to the bearing plate 6 by means of levers 15.
  • the inner levers 15 are designed as two-armed levers and are each connected to a further pivot lever 16, which are connected to a bearing head 17 of the actuating device 9.
  • the actuating device 9 can be formed, for example, by a pneumatic cylinder which is moved upward when loaded into the position shown in dash-dotted lines, so that the pivot levers 16 and the levers 15 are stretched and thus the gripping elements 10, 11 and 12 are spread apart (cf. position in Fig. 3).
  • the needles 13 thus pierce obliquely outwards and downwards into the uppermost blank 7 of the stack 3.
  • the penetration depth of the needles 13 in the uppermost blank 7 can be adjusted by different upward strokes of the actuating device 9.
  • the gripping unit 1 is removed from the stack, for example by lifting the support rods 8 WO.91 / 14641-8 - PCT / EP91 / 00554
  • the gripping elements 10, 11 and 12 are shown in perspective. From this it can be seen that when actuating the actuating cylinder 9 and the associated lever gear 15, 16, the gripping elements 10, 11 and 12 are spread apart in the horizontal plane, whereby the needles 13 penetrate into the top blank 7.
  • this type of needle gripper can also be replaced by an adhesive gripper or by a so-called freeze gripper or other gripping devices known to the person skilled in the art.
  • a loading device 20 is provided in the area of at least one gripping element, which is indicated here between the gripping elements 10 and 11. It is important here that the loading device 20 is arranged to be freely movable vertically relative to the gripping elements 10 and 11 and, after being raised by the amount x onto the surface of the gripped blank 7, can be lowered independently of the height position of the gripping element 10, 11 and the blanks 7, 7 'braced. It is also important that a hold-down device 21 is arranged opposite the loading device 20 (cf. also FIG. 4), which can engage after the loading device 20 has been placed below the top gripped blank 7.
  • the work step of putting the loading device 20 on is shown in FIG. 3, the view being taken from the upper edge in FIG. 2, in the vicinity of which the hold-down device 21 is arranged, according to the arrow B.
  • the gripping elements 10 and 11 have gripped an uppermost blank 7, but a further, redundant blank 7 'adheres.
  • the loading device 20, here in the form of a preferred blowpipe 20a, with a Compressed air line 22 is connected, is mounted here on the bearing plate 6 (see FIG. 1) and is freely movable in the vertical direction.
  • the loading device 20 moves downward due to its own weight and loads the top blank 7, so that in the prestressed state it sags slightly, but from the needles Gripping elements 10 and 11 is still held securely.
  • the preload on the top blank 7 can be increased by a spring-loaded loading device 20.
  • a pneumatic cylinder can also be connected to the loading device 20 by mounting in the bearing plate 6, which presses the loading device 20 down onto the blank 7 with a defined force.
  • the blanks 7 and 7 ' are arched downward and a shear force is generated between these two layers of material, which in the area of the largest arching loosens and loosens the adhesive forces and thus creates a slight gap 25.
  • the top blank 7 is thus always pressed into the same height position, so that the hold-down device 21 can retract exactly laterally at this height position.
  • This version without blowing air is particularly suitable for thicker materials, the distance between the lower edge of the loading device 20, for. B. a simple flat bar and the upper edge of the hold-down 21 can be adjusted precisely to the thickness of the fabric (or a multiple, e.g. when gripping two layers of fabric).
  • the loading device 20 is designed as a blowpipe 20a, after which an air stream flows through the compressed air line 22 via the outflow opening 23 and through the uppermost blank 7 downward onto the further excess blank 7 '.
  • the loading device 20 in the form of the blow tube 20a is firmly attached to the blank 7 by the weight of the prestress rests and is enveloped by the uppermost blank 7 in the vicinity of the outflow opening 23 and is not spaced apart, the supplied compressed air cannot escape to the outside between the gripping elements 10 and 11 and the uppermost blank 7. Rather, the compressed air takes the path of least resistance, which lies here in the region of the blank 7 which is pressed down and thereby biased. As a result, a punctured air cushion 24 is produced between the top blank 7 and the excess blank 7 ', thereby widening the gap 25 between the top blank 7 and the excess blank 7' which has already arisen due to the support, tensioning and arching.
  • This gap 25 is formed in a tunnel shape due to the opposite arrangement of the loading device 20 to the side edge to the hold-down device 21 (see FIG. 5, dotted area), so that the hold-down device 21 can be securely inserted into the gap 25. Even if the pressurization by the loading device 20 has not yet led to the complete detachment of the excess blank 7 ', the excess blank 7' is now held by the hold-down device 21 on the rest of the stack 3, so that the subsequent subsequent lifting of the gripping unit 1 with the gripping elements 10, 11 only the top blank 7 is conveyed on.
  • FIG 4 and 5 show a second embodiment of the gripping unit 1 with four gripping elements 10, 11, 12 and 12a in a side view and a top view.
  • the translationally movable loading device 20 it is mounted here in a freely movable manner in the vertical direction in the region of the gripping elements on a swivel bracket 26.
  • the swivel bracket 20 also accommodates the compressed air line 22, which leads to the tubular load device 20 which is pressurized with compressed air here.
  • the blow tube 20a is thus located above the needles 13 and then lowers by the amount x onto the surface of the uppermost surface during the lifting of the top blank (s) 7, 7 'or preferably shortly thereafter Cutting 7 by the dead weight until a stop 28 hits the base plate 2.
  • FIG. 4 The lowest possible position of the blowpipe 20a is indicated in FIG. 4, from which, depending on the material, a sag of several millimeters to centimeters can result compared to the majority of the top blank 7 adhering to the needles 13, as is shown in FIG. 3.
  • the swivel bracket 26 can be lowered by an actuating device, for example a pneumatic cylinder, not shown in detail, to the limit by the stop 28.
  • the blow-down tube 20 is adjacent to the hold-down device 21, which can be lowered in the vertical direction in accordance with the setting of the stop 28 by a few millimeters below the lower edge of the blow tube 20a and after the blowing process can be moved laterally into the gap 25 shown in FIG. 3 in the horizontal axis Y.
  • Hold-down 21 has a shape that is as flat as possible. It should be pointed out that a single hold-down device 21 is sufficient for reliable operation, but several can also be provided.
  • Fig. 5 is a top view of the cloverleaf arrangement of the gripping elements 10, 11, 12 and 12a can be seen, which engage in correspondingly shaped openings in the base plate 12. At the edge of the openings are for stripping the gripped blank 7 when retracting the gripping elements through horizontal and vertical lines wires, e.g. B. piano strings 29 indicated, on which the top blank 7 is stripped when lifting the gripping elements due to the lowering of the actuating cylinder 9 (see FIGS. 1 and 4).
  • wires e.g. B. piano strings 29 indicated, on which the top blank 7 is stripped when lifting the gripping elements due to the lowering of the actuating cylinder 9 (see FIGS. 1 and 4).
  • a resolver 30 can be provided only on account of the weight of the loading device 20, which, depending on the elasticity and thus the size of the slack (cf. accordingly controls the height position of the hold-down 21 in the Z direction.
  • the height position of the upper edge of the hold-down 21 corresponds to the lower edge of the blow tube 20a minus the respective fabric thickness of the blank 7 to be gripped, so that the hold-down 21 can be raised or lowered along the Z-axis and then in the Y-direction between the top two cuts 7 and 7 'is retracted.
  • these two components 20, 21 can be mounted on a common carrier 31 and moved together independently of the gripper 1, as shown in FIG. 4 dashed and is shown enlarged in Fig. 6. It is thereby achieved that the lower edge of the loading device 20 and the upper edge of the hold-down device 21 have a constant distance in the Z direction, which is adjusted to the respective fabric thickness being processed.
  • FIG. 6 shows the section along the line AA in FIG. 5, but the loading device 20 in the form of the blow tube 20a is not mounted on the swivel bracket 26 but on the carrier 31 together with the hold-down device 21.
  • the holding-down device 21 is now moved laterally into the gap 25 along the Y axis, the blow tube 20a being able to remain in the position shown or can also be moved in the Y direction towards the center of the gripper 1.
  • Fig. 7 the independent solution according to the independent claims 11 and 12 is shown, in which instead of acting on the top of the blanks to form the arch and gap formation, the underside of the excess blanks 7 'is acted upon by vacuum and are thus detached downwards .
  • suction openings 32 are provided on the upper side of the hold-down device 21, which attract excess blanks 7 'in the manner of a suction cup, while the uppermost blank 7 remains on the gripping element 11 of the gripper 1 due to the greater adhesive force.
  • the excess blank 7 ' is arched by the suction and thus the detachment begins in a limited area, so that further separation can be carried out by subsequently lowering the holding-down device 21 and / or lifting the gripper 1 .
  • this method can be carried out several times in succession, provided that a monitoring device, not shown in more detail, for. B. still a light barrier
  • REPLACEMENT LEAF adhering excess layers of fabric can be determined.
  • the detachment can also be supported in that, after the bottom blank 7 'has been sucked in between it and the top blank, a second hold-down 35 is laterally inserted into a gap 25 which is formed in a similar manner to the excess blank T on the remaining stack 3 push back.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

Un procédé et un dispositif permettent de séparer de manière fiable des textiles découpés et des couches de tissu dans une pile (3) de textiles découpés en pièces individuelles (7). Avant qu'une pièce découpée saisie (7) ne soit séparée, un dispositif (20) applicateur d'une charge est posé sur la surface de la pièce découpée supérieure soulevée (7), de manière à la recourber vers le bas, un dispositif de retenue (21) étant introduit, pendant que la pression est appliquée, dans la fente (25) qui se forme entre la pièce découpée supérieure (7) et la pièce découpée en surplus (7'). Le dispositif comprend un dispositif (20) applicateur d'une charge librement mobile par rapport aux éléments de préhension (10, 11, 12 ...), notamment des aiguilles de préhension (13). Le dispositif (20) peut être abaissé sur la surface de la pièce découpée saisie (7) jusqu'à un niveau inférieur au plan de préhension des aiguilles (13) afin de former une boucle vers le bas, notamment de manière à envelopper partiellement un tuyau soufflant (20a).
EP91906697A 1990-03-21 1991-03-21 Procede et dispositif de separation de textiles decoupes empiles Expired - Lifetime EP0521066B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE4009039 1990-03-21
DE4009039A DE4009039A1 (de) 1990-03-21 1990-03-21 Verfahren und vorrichtung zum vereinzeln von gestapelten textilen zuschnitten
PCT/EP1991/000554 WO1991014641A1 (fr) 1990-03-21 1991-03-21 Procede et dispositif de separation de textiles decoupes empiles

Publications (2)

Publication Number Publication Date
EP0521066A1 true EP0521066A1 (fr) 1993-01-07
EP0521066B1 EP0521066B1 (fr) 1994-06-22

Family

ID=6402710

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91906697A Expired - Lifetime EP0521066B1 (fr) 1990-03-21 1991-03-21 Procede et dispositif de separation de textiles decoupes empiles

Country Status (4)

Country Link
US (1) US5356126A (fr)
EP (1) EP0521066B1 (fr)
DE (2) DE4009039A1 (fr)
WO (1) WO1991014641A1 (fr)

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DE102008053278A1 (de) * 2008-10-27 2010-05-06 Rheinisch-Westfälische Technische Hochschule Aachen Handhabungsvorrichtung für Gegenstände mit planen, insbesondere glatten Oberflächen
US8141920B2 (en) * 2010-02-23 2012-03-27 Accel Pak, Incorporated Gripper
DE102010050745A1 (de) * 2010-11-08 2012-05-10 Li-Tec Battery Gmbh Verfahren zur Ablage von blattförmigen Objekten und Anordnungen zur Durchführung dieses Verfahrens
ES2614875T3 (es) * 2014-11-05 2017-06-02 Anhui Yongcheng Electronic & Mechanical Technology Co., Ltd. Dispositivo de apertura de bolsas biónico para línea de llenado automática
US12157222B2 (en) * 2020-06-01 2024-12-03 Softwear Automation, Inc. Compliant perimeter end effectors
DE102023114946A1 (de) * 2023-06-07 2024-12-12 Silana Gmbh Effektor mit adaptiver Kontur und variabler Greiffähigkeit

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Also Published As

Publication number Publication date
DE59102027D1 (de) 1994-07-28
DE4009039A1 (de) 1991-09-26
WO1991014641A1 (fr) 1991-10-03
US5356126A (en) 1994-10-18
EP0521066B1 (fr) 1994-06-22

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