JPH03149090A - Cloth end control device - Google Patents

Abstract

PURPOSE:To finely sew clothes from a leading end to a trailing end without any wrinkle by integrally retaining the trailing ends of both upper and lower clothes suitably positioned, and applying constant tension to the clothes moving toward a sewing machine upon the start of a sewing process. CONSTITUTION:With a sewing progress under way, plain clothes are taken into an automatic sewing machine 30 and a cloth retaining device 2 for holding the trailing ends of the clothes approaches the machine 30 together with a bracket 16, while giving relative displacement with a robot 3. Also, a motor 21 is always supplied with electric power and a pulley 20 wound with a wire connected to the bracket 16 pays out a wire against the torque of the motor 21. As a result, the displacement of the cloth retaining device 2 is subjected to constant resistance due to the torque of the motor 21. Upper and lower plain clothes maintain pertinent tension due to the aforesaid resistance, and are fed to the automatic sewing machine 30 without looseness during travel. According to the aforesaid construction, the plain clothes can be finely sewn with the machine 30 along the predetermined seam up to the trailing ends without any wrinkle.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to automatic sewing machines, and more particularly to means for maintaining a fabric fed to a sewing machine in a predetermined preferred state.

(Prior Art) Various automatic sewing machines have already been proposed for automating the L%WJ work of sewing cloth together. In this method, sewing is performed while controlling the position of the material in front of the needle, so that sewing is performed according to a preset sewing line.

(Problem to be solved by the invention) By the way, when sewing the starting ends and ending ends of two pieces of fabric together, the starting ends of the fabrics are generally aligned and inserted under the needle of the sewing machine so that no sagging occurs during sewing. In this way, it is necessary to hold the ends of the fabric together and feed the fabric toward the sewing machine while applying an appropriate amount of tension to prevent any slack in the middle. Even if the sewing work itself is automated by an automatic sewing machine, Holding the trailing edge of the fabric still had to be done manually.

In order to solve the above problems and completely automate the sewing work, the present invention provides a device that feeds the upper and lower fabrics to a sewing machine while applying a predetermined tension while properly holding the ends of the upper and lower fabrics. The purpose is to

(Means for Achieving the Object) The present invention includes a means for vertically separating two overlapping sheets of cloth whose tips are inserted into a sewing machine, and a means for vertically separating two overlapping sheets of cloth whose tips are inserted into a sewing machine, and a means for separating the side edges of the separated upper and lower cloths into predetermined positions. Means for positioning each in a plane position, and means for integrally grasping the terminal ends of the positioned upper and lower fabrics and applying a constant tension to these fabrics as they are driven toward the sewing machine at the start of sewing. We are prepared.

(Function) The positioning means positions the side edges of the upper and lower cloths separated by the separating means at a predetermined plane position, and the gripping means integrally grips the terminal end of each positioned cloth to apply a predetermined tension. By applying the load, the upper and lower fabrics supplied to the sewing machine are properly overlapped and are supplied to the sewing machine while maintaining appropriate tension. As a result, the fabric is neatly sewn together by the sewing machine along a predetermined seam line from the starting end to the ending end without any sagging.

(Example) Embodiments of the present invention are shown in FIGS. 1 to 7.

In FIG. 1, reference numeral 1 denotes a fabric handling module for positioning the rear part of the fabric whose tip is inserted into the automatic sewing machine 30;
3 is a fabric gripping device that grips the rear end of the fabric, and 3 is a robot that supports these, which moves the fabric manipulation module 1 and the fabric gripping device 2 in any direction in response to control signals sent from a controller, which will be described later. do. Further, reference numeral 4 denotes a separation unit that separates two pieces of cloth stacked on the table 5 into upper and lower parts.

As shown in FIG. 6, the separation unit 4 extends a telescoping arm 6 from the side of the dough stacked on a table 5 over the dough, and attaches a gripping member 9 to the tip of the telescoping arm 6 via an air cylinder 8. The retractable arm 6 responds to the expansion and contraction drive of the air cylinder 7. A piece of clothing is attached to the tip of the gripping member 9, which presses against the upper cloth to attract the upper cloth, and lifts the suctioned cloth according to the contraction drive of the air cylinder 8. Further, at the tip of the telescoping arm 6, a fixing member 11 driven by another air cylinder 10 is attached to a gripping member 9.
It is supported downward in a different position.

This fixing member 11 presses the lower cloth against the table 5 to prevent the lower cloth from shifting when the gripping member 9 lifts the upper cloth.

Details of the fabric manipulation module 1 are shown in FIGS. 2 and 3. The fabric handling module 1 includes a separating plate 12 that enters between the upper fabric lifted by the separation unit 4 and the lower fabric pressed against the table, a fabric scooping plate 13 that lifts the lower fabric, and the upper fabric. A force bar 14 located above the separation plate 12, and four types of edge sensors for detecting the edges of the cloth that have entered the upper and lower sides of the separation plate 12, respectively, and for driving these cloths in the vertical and horizontal directions in FIG. rollers. These rollers are each driven by an independent motor, thereby moving each cloth in the vertical direction of the second "E", positioning each cloth at a predetermined plane position, and sending it out to the left in the figure.

A retracting cylinder 15 is provided for retracting in the upward direction in FIG. 2.

The fabric gripping device 2 is disposed adjacent to the fabric manipulation module 1, and is fixed to a bracket 16 that engages with the robot 3 so as to be movable in the left-right direction in FIG. In addition, in order to apply appropriate resistance to the displacement of this bracket 16,
A motor 21 to which a 1-ree 20 is directly connected is fixed to the robot 3, and a wire wound around this pulley 20 is connected to a bracket 16.

As shown in FIG. 5, the dough gripping device 2 includes a gripping base 17 similar to the separation plate 12 and gripping hands 18 disposed above and below the gripping base 17. The gripping hand 18 is driven by an air cylinder 1-9 provided at the rear of the gripping base 17, and rotates vertically symmetrically around a fulcrum 18A at the base end to grip and release the rear end of the cloth. The fabric gripping device 2 also includes an upper fabric end sensor and a lower fabric end sensor on the upper and lower surfaces of the gripping base 17 for detecting the rear end of the fabric.

T-Ishikun These upper and lower cloth end sensors, the motors that drive the rollers of the dough handling module 1, the evacuation cylinder 15, the motor 21 of the dough gripping device 2, and the air cylinder 19 are all driven by this controller. controlled by. In this controller, an appropriate gripping position is set based on the shape and dimensions of the cloth.

The conveyance of the cloth to the table 5 and the setting of the cloth to the automatic sewing machine 30 are performed by a conveyance device and a loading device provided as separate units.

Next, the action will be explained.

When two pieces of cloth are stacked on the table 5 by the conveyance device and the tips of these cloths are set under the needle of the automatic sewing machine 30 by the loading device, the controller first turns on the air as shown in FIG. The telescopic arm 6 is extended by the extension drive of the cylinder 7, and the gripping member 9 at the tip is pressed against the upper fabric by the extension drive of the air cylinder 8, and then the air cylinder 8 is contracted and the upper fabric is held by the gripping member. 9
Lift it up and separate it from the fabric underneath.

Next, the robot 3 is driven, and the dough handling module 1 is moved along with the dough gripping device 2 to the lower part of FIG. 2.
By pushing the upper cloth between the force bar 14 and the separating plate 12, and the lower cloth between the separating plate 12 and the cloth scooping plate 1,
3 respectively. Accordingly, in the dough gripping device 2, the gripping base 17 and the upper gripping hand 18 are
The upper cloth enters between the gripping base 17 and the lower gripping hand 18, and the lower cloth enters between the gripping base 17 and the lower gripping hand 18.

If this operation is successful, the controller releases the upper cloth from the gripping member 9 of the separation unit 4 and drives the air cylinder 7 to contract, thereby retracting the separation unit 4 from above the table 5.

Next, the controller drives the motor based on the input signals from each edge sensor of the fabric manipulation module 1, rotates the rollers that move the upper and lower fabrics in the vertical direction as shown in FIG. The plane position is determined, and at the same time, by rotationally driving the rollers in a different direction, the fabric is fed in the direction of the automatic sewing machine 30, that is, in the left direction in the figure, while the robot 3 is moved to manipulate the fabric fIF: the mold module 1 and the fabric gripping device. 2 to the right in the figure. As a result, the fabric is not displaced in the direction of the sewing machine 30, and the material is displaced in the direction of the sewing machine 30.
2-1- Dough manipulation module 1 and dough gripping device 2
11th, -7,4 Cloth Move toward the back of the cloth.

, -2;: fH4%J In this way, when the rear end of the cloth reaches the cloth gripping device 2, the input signal from the end sensor provided in the cloth gripping device 2 to the controller changes, and the controller receives from this signal change, It is detected that the rear end of the cloth has reached the cloth gripping device 2, and the feeding of the cloth and the driving of the robot 3 are stopped, and the gripping hand 18 is closed by driving the air cylinder 19.

As a result, the upper and lower fabrics are properly overlapped and their ends are gripped by the gripping device 2 to the wood.

Thereafter, the controller drives the retraction cylinder 15 to retract the fabric manipulation module 1 upward in FIG. 2.

The automatic sewing machine 30 starts sewing in this state.

As the fabric is made, the fabric is drawn into the automatic sewing machine 30, and the fabric gripping device 2, which grips the rear end of the fabric, approaches the automatic sewing machine 30 while being displaced relative to the robot 3 together with the bracket 16. do. In addition, the motor 21 is always energized, and the pulley 20 connected to the bracket 16 and wrapped around the wire sends out the wire against the rotational force of the motor 21. Therefore, the displacement of the dough gripping device 25 is caused by the motor 21 Constant resistance based on rotational force: ^
\%, <J: Sq. The upper and lower fabrics have a moderate level of resistance due to this resistance.
0, the seam 9 is not formed along the predetermined suture line to the end (the stitches are sewn together neatly).

(Effects of the Invention) As described above, in the present invention, the fabric handling module positions each side edge of the separated upper fabric cloth and the lower fabric fabric at predetermined plane positions, and the fabric gripping device positions them. Since the rear ends of the upper and lower fabric cloths are held together and a constant tension is applied to the fabric fabrics, the fabric fabrics are fed to the sewing machine in an appropriately overlapping state while maintaining an appropriate tension. As a result, it is possible to feed out the fabric without human intervention, which is expected to greatly contribute to the complete automation of sewing work.

BRIEF DESCRIPTION OF THE DRAWINGS Figures 1 to 7 all show embodiments of the present invention.
The figure shows an automatic sewing machine and fabric handling module, ) 14, 7th
The figure explains the control contents of the controller, -t1 3...Robot, 4...Separation unit, 5...-Table, 30...Automatic sewing machine.

Claims (1)

[Claims] means for vertically separating two overlapping sheets of cloth whose tips have been inserted into the sewing machine; means for positioning the side edges of the separated upper and lower cloths at predetermined plane positions; A fabric edge control device comprising means for integrally gripping the ends of the fabric fabrics and applying a constant tension to these fabric fabrics as they move towards the sewing machine as sewing begins.