JPH036595Y2 - - Google Patents

Description

[Detailed Description of the Invention] Technical Field of the Invention The present invention relates to a fabric separation device for separating laminated fabric one by one.

Prior Art In the field of mechanical technology, industrial robots are often used to supply parts and steel plates. Industrial robots can also be used in the textile industry for the automatic feeding of pieces of cloth, for example welt cloth. However, unlike various parts and steel plates, fabric is flexible, and when stacked,
intertwined with each other. For this reason, special measures are required to feed each piece of fabric, and automatic feeding devices for mechanical parts, electrical parts, steel plates, etc. cannot of course be applied as is.

Purpose of the invention Therefore, the purpose of the present invention is to take into account the physical properties of the fabrics and to ensure that stacked fabrics can be picked up one by one.

Therefore, in the present invention, in the process of picking up the topmost fabric among stacked fabrics by the gripping function of the pick up head, the first rod and air nozzle remove the fabric being picked up. , brush off the second piece of fabric that is tangled in it,
Next, while holding this second fabric, a second separation rod is moved along the length of the fabric between the fabric being picked up and the second fabric, thereby separating both fabrics. I try to separate them completely. The rods and the like are operated by, for example, an air cylinder, and the order of their operations can be realized by program control or sequence control in relation to the movements of each part.

Configuration of the Embodiment Below, the configuration of the present invention will be specifically described based on an embodiment shown in the drawings.

In FIGS. 1 and 2, the fabric separating device 1 according to the present invention is incorporated into an automatic feeding device 11. In FIG.

This automatic feeding device 11 includes a base table 3 on which a plurality of pieces of fabric 2 that have been previously cut into appropriate shapes are stacked, and a pick-up head 5 that is moved, for example, in a portal shape by the movement of an industrial robot 4.
It consists of For example, as shown in the figure, the base table 3 is controlled by a lifting cylinder 6 to a raised position 3a where the topmost fabric 2a of the stacked fabrics 2 is always at the same height, and a fixed position from that raised position 3a. It is configured such that it can be moved up and down between the lower position 3b and the lower position 3b. Also pick up head 5
As shown in FIG.
have.

The fabric separation device 1 of the present invention has a first separation cylinder 7 as a characteristic part.
It includes an air nozzle 8, a presser cylinder 9, and a second separation cylinder 10. The first separation cylinder 7 is connected to the base table 3
The fabric 2a is placed laterally in the rising path of the fabric 2a in front of the pick up head 5, that is, on the right side in the drawing, and is activated during the time when the pick up head 5 is raised from the first position to the second position. The first rod 7a is inserted from there. Also,
The air nozzle 8 is disposed on the side of the base table 3 near the lower surface of the pick up head 5 in the second position, and is activated when the pick up head 5 is in the second position. Air is injected downward from the side to the cloth 2a held by the cloth 2a. The presser cylinder 9 is disposed on the side of the base table 3 at approximately the same position as the air nozzle 8, and is operated after the air nozzle 8 is activated when the pick-up head 5 is in the second position, and the presser cylinder 9 operates to pick up the air nozzle 8. After a presser rod 9a is inserted from the lateral direction immediately below the fabric 2a held by the head 5, it is lowered to the top surface of the fabric 2 stacked on the base table 3. The second separation cylinder 10 is disposed on the side of the base table 3 behind the presser cylinder 8, that is, on the left side in the drawing, and is connected to the presser cylinder 9 when the pick up head 5 is in the second position. Almost simultaneously, after inserting the second rod 10a from the lateral direction just below the fabric 2a held by the pick up head 5, the horizontal cylinder 12 moves the pick up head 5 in the horizontal movement direction A.
The fabric 2 is moved in the opposite direction to the rear end of the fabric 2. Note that these cylinders 7,
9, 10 and the air nozzle 8 are attached to a frame (not shown) or the like.

Effects of the Embodiment Next, the effects of the embodiment of the present invention constructed as described above will be explained with reference to FIG.

First, in the initial state shown in Figures 1 and 2,
The base table 3 is in the raised position 3a and the pick up head 5 is in the second position. Further, the first and second separation cylinders 7 and 10, the air nozzle 8, and the presser cylinder 9 are all inactive and on standby.

From this initial state, the pick up head 5 is lowered to the first position by the movement of the industrial robot 4, and its lower surface abuts the upper surface of the uppermost fabric 2a of the fabrics 2 stacked on the base table 3. , the fabric 2a is held by protruding the gripping needles 5a. At this time, the first separation cylinder 7 is activated and the first separation cylinder 7 is activated.
a is inserted into the ascending path of the fabric 2a (Fig. 4A)
reference).

Next, the pick up head 5 is raised from the first position to the second position, and the fabric 2a is lifted, but at this time, the front end of the fabric 2a is attached to the first rod 7 of the first separation cylinder 7.
By coming into contact with a, the tangles at the front end between this fabric 2a and other fabrics 2 entangled underneath are brushed off and removed.
When the pick up head 5 reaches the second position, the air nozzle 8 is activated and air is injected to the side edge of the fabric 2a held by the pick up head 5, thereby causing the fabric 2a and the bottom thereof to be sprayed. The tangles at this side edge with other fabrics 2 that are covered are completely removed, leaving a gap between them. Simultaneously with the rise of the pick up head 5, the base table 3 is lowered to the lowered position 3b, thereby ensuring that the gap created at the side edge is widened and the second fabric 2 is scraped off. After that, the operation of the first separation cylinder 7 is completed, and the first separation cylinder 7
a retreats (see Figure 4B).

Subsequently, the presser cylinder 9 and the second separation cylinder 10 operate almost simultaneously,
These rods 9a, 10a are moved directly below the fabric 2a held by the pick up head 5 and inserted into the gap (see Figure 4C). From this state, the presser rod 9a of the presser cylinder 9 descends to the uppermost surface of the second fabric 2 stacked on the base table 3, that is, to the lowered position 3b, whereby the pick up head 5 holds it. The other second fabric 2 that is entwined under the second fabric 2a is pressed down on the base table 3 so that it does not move. Thereafter, the second rod 10a of the second separation cylinder 10 is moved horizontally backwards by the horizontal cylinder 12 over the rear edge of the fabric 2, so that the pick up head 5 retains it. The tangle between the fabric 2a and the other fabric 2 entangled underneath it is completely removed over the entire area of the fabrics 2a, 2, and the separation of the fabric 2a held by the pick up head 5 is completed. At this point, the rod 9a of the presser cylinder 9 is raised to its original inserted position while remaining in the operating state (see FIG. 4D).

In this way, when the separation of the fabric 2a is completed, the pick up head 5 is first moved in the horizontal direction A from the second position to the third position by the movement of the industrial robot 4, and thereby the pick up head 5 is held. The fabric 2a being held is conveyed forward, but at this time, the rear end of the fabric 2a is supported by the rod 9a of the presser cylinder 9, so that the fabric 2a and other fabrics 2 underneath are This will prevent contact displacement.

Next, the pick up head 5 is lowered from the third position to the fourth position, where the gripping needles 5a of the pick up head 5 are retracted, thereby releasing the fabric 2a from the pick up head 5 and moving it to the next position (not shown). It is supplied to a predetermined location in the process, for example on a belt conveyor. At this time, the presser cylinder 9 and the second separation cylinder 10 complete their operation, and the respective rods 9
While retracting a and 10a from the insertion position,
The second separation cylinder 10 is moved horizontally and returned to its original position. Further, the base table 3 is raised to the raised position and the pick up head 5 is returned to the second position, thereby returning to the initial state.

By repeating the series of operations described above, the fabric separating device 1 prevents malfunctions during automatic feeding, especially taking out two sheets.

Modifications of the Invention Note that the drive source is not limited to a cylinder, and may be, for example, an electromagnetic plunger or a combination of a motor and a feed screw unit.

Effects of the invention In this invention, in the process of the pick up head picking up the top fabric, the fabric is brushed off by the action of the first rod and the air nozzle.
Thereafter, at the same time as the presser rod presses down the second fabric, a second separating rod enters between the fabric being picked up and the second fabric, and moves in a direction to separate them. Therefore, there is no need to pick up two pieces of fabric in the process of picking up the fabric by the pick-up head, and regardless of their entanglement, each piece of fabric can be reliably fed, and the automatic feeding operation can be made stable without malfunction.

[Brief explanation of the drawing]

FIG. 1 is a schematic side view showing an embodiment of the fabric separating device according to the present invention, FIG. 2 is a schematic plan view of the embodiment of FIG. 1, FIG. 3 is an enlarged bottom view of the pick up head, and FIG. FIG. 2 is an explanatory diagram sequentially showing the operation of the embodiment of FIG. 1; 1...fabric separation device, 2...fabric in a laminated state,
2a...Fabric on top, 3...Base table, 4...Industrial robot, 5...Pickup head, 6...Cylinder, 7...First separation cylinder, 7a...First Rod, 8...
Air nozzle, 9... Presser cylinder, 9a... Rod for presser foot, 10... Second separation cylinder, 10a... Second rod.

Claims (1)

[Claims for Utility Model Registration] (1) While maintaining the laminated fabrics at a predetermined height by the vertical movement of the base table, the uppermost of the fabrics is In an automatic feeding device that picks up fabric using the gripping function of the pick up head and supplies it to a predetermined position, while the pick up head is rising, the fabric is inserted laterally into the fabric rising path on the side in the horizontal movement direction of the pick up head. A first rod, an air nozzle that also injects air laterally to the fabric held by the pick up head when the pick up head is raised, and an air nozzle that is placed horizontally just below the fabric held by the pick up head when the pick up head is raised. A presser rod that descends after being inserted from the opposite direction and presses down the second fabric, and a presser rod that operates almost simultaneously with the presser rod when the pick up head rises and presses the fabric immediately below the fabric that the pick up head is holding. the second which is inserted from the side and then moved horizontally.
A fabric separating device characterized in that it is equipped with a rod. (2) With the pick up head in the first position,
Only when the base table holds this fabric in contact with the top surface of the fabric stacked on it is the base table holding the top fabric of the fabric stacked on it at a predetermined level, and otherwise. The fabric separating device according to claim 1, wherein the fabric separating device is lowered by a certain amount when .