WO2020162658A1 - Procédé et appareil pour maintenir un tissu brut - Google Patents

Procédé et appareil pour maintenir un tissu brut Download PDF

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Publication number
WO2020162658A1
WO2020162658A1 PCT/KR2019/017150 KR2019017150W WO2020162658A1 WO 2020162658 A1 WO2020162658 A1 WO 2020162658A1 KR 2019017150 W KR2019017150 W KR 2019017150W WO 2020162658 A1 WO2020162658 A1 WO 2020162658A1
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WO
WIPO (PCT)
Prior art keywords
fabric
hole
unit
gripping
flexible
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.)
Ceased
Application number
PCT/KR2019/017150
Other languages
English (en)
Korean (ko)
Inventor
김호영
박용래
명지혜
구수병
박용철
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.)
HOJEON Ltd
SNU R&DB Foundation
Original Assignee
HOJEON Ltd
Seoul National University R&DB Foundation
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 HOJEON Ltd, Seoul National University R&DB Foundation filed Critical HOJEON Ltd
Publication of WO2020162658A1 publication Critical patent/WO2020162658A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0883—Construction of suction grippers or their holding devices
    • 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
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0816—Suction grippers separating from the top of pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/42—Piling, depiling, handling piles
    • B65H2301/423—Depiling; Separating articles from a pile
    • B65H2301/4232—Depiling; Separating articles from a pile of horizontal or inclined articles, i.e. wherein articles support fully or in part the mass of other articles in the piles
    • B65H2301/42324—Depiling; Separating articles from a pile of horizontal or inclined articles, i.e. wherein articles support fully or in part the mass of other articles in the piles from top of the pile
    • B65H2301/423245—Depiling; Separating articles from a pile of horizontal or inclined articles, i.e. wherein articles support fully or in part the mass of other articles in the piles from top of the pile the pile lying on a stationary support, i.e. the separator moving according to the decreasing height of the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B65H2406/343—Details of sucking member
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/174—Textile; fibres

Definitions

  • the present invention relates to a technology for gripping fibers or soft fabrics having properties similar thereto, and more particularly, to a method for picking up fabrics one by one from a fabric stack in which a plurality of soft fabrics are stacked, and an apparatus therefor. About.
  • the process of manufacturing clothes using fabrics for manufacturing clothes includes various manufacturing processes.
  • the garment manufacturing process includes a number of processes, including the process of grabbing fabrics one by one and transferring or aligning them with a cutting machine or sewing machine.
  • Most of the textile fabrics used in the manufacture of clothing have a soft property of being easily folded or deformed according to the applied force. Because of these properties, it is not easy to work with textile fabrics. Delicate and elaborate handling or work is often required.
  • the development of hardware technology capable of delicate work dealing with clothing fabrics for clothing manufacturing is not sufficiently supported. For this reason, a large part of the garment manufacturing process is not automated and still relies on the manual work of workers.
  • the textile fabric to be used in the sewing process several sheets are stacked in a bundle, and it is common to pick up and use one by one.
  • German Laid-Open Patent Publication DE3830701A1 discloses a fabric tweezer for picking up fabric using a vacuum pump.
  • Many types of textile fabrics have a porous structure. Since air passes through the fabric of such a porous structure, it is almost impossible to make a pressure difference on both sides of the fabric using a vacuum. Therefore, the method of gripping fabric fabrics using a pressure difference is not suitable for many types of fabric fabrics.
  • the prior art is insufficient to satisfy the demand for versatility for various fabrics according to the automation and intelligence of the clothing process.
  • the technology utilizes a method of picking up fabric one by one by directly controlling the needle installed to move along the guide.
  • the needle installed behind the flat and hard contact surface is controlled along the guide, sequentially penetrates the contact surface and the fabric, is inserted into the fabric, and the needle is recovered again to separate the fabric.
  • This technology is currently being used in the process of picking up the soles of shoes.
  • the easy-to-control needle installed in the guide is too large to be used for clothing fabrics, and thus it may cause damage, such as making a prominent hole in the fabric. Therefore, the above technology is unreasonable to be put into the process of holding and transferring fiber fabrics for manufacturing clothes.
  • the present invention provides a flexible fabric gripper that can be used universally for various types of fabrics, and can precisely pick up fabric one by one without damaging the fabric. It is to do.
  • the present invention is to provide a fabric gripping device capable of automatically gripping fabric using the fabric gripper and transferring fabric to a desired point.
  • the present invention is also to provide an automatic fabric gripping and conveying method capable of transferring the fabric to a desired point by automatically gripping the fabric using the fabric holding device.
  • a far-end gripper includes a far-end gripping part, a pipe connection part, and a plurality of needles.
  • the distal gripping part may be made of an elastic material, and may be of a tubular shape in which a first through hole is provided inside by being surrounded by a side wall.
  • the pipe connection part is provided in a form coupled to the lower end of the distal gripping part, and may be configured to be combined with an external tube to connect the external tube and the flexible distal gripping part in communication with each other.
  • the plurality of needles may be mounted so as to protrude upward while partially embedded in the upper surfaces of both sidewalls facing the flexible fabric gripping part, and may be configured to penetrate the fabric when the fabric gripping part is close to the upper surface of the fabric.
  • the distal gripper having such a configuration, when the internal pressure of the first through hole is equal to the external atmospheric pressure, the first through hole is opened in a predetermined shape. However, in the far-end gripper, the internal pressure of the first through hole is reduced by a low-pressure atmosphere provided through the outer tube while the plurality of needles mounted on the upper surfaces of the both sidewalls penetrate the fabric.
  • the first through hole When the pressure is lower than the atmospheric pressure, the first through hole is flatly deformed due to a pressure difference between the internal pressure and the external atmospheric pressure, and the plurality of needles approach each other, so that in front of the first through hole caught in the plurality of needles When a portion of the fabric is folded, the pressure difference acts together and is sucked into the first through hole, so that both sidewalls facing the flexible fabric gripping unit may be configured to hold the suction while pressing the portion of the sucked fabric.
  • the one piece of fabric when the plurality of needles penetrate through one piece of fabric of the fabric stack, and the one piece of fabric is sucked into the first through hole, the one piece of fabric is caught by the plurality of needles and the It may be configured to serve as a stopper limiting a portion sucked into the first through hole to a predetermined range.
  • the plurality of needles are at least one needle located on an upper surface of one sidewall of the both sidewalls and at least one needle located on the upper surface of the other sidewalls are interposed from the root to the distal end. It may be mounted inclined in an outward direction opposite to the axial direction of the first through hole so that the gap is further widened.
  • the flexible fabric gripping part and the pipe connection part may be integrally connected using the same material.
  • the elastic material forming the flexible fabric gripping portion may cause shape deformation in which the first through hole is flattened when the pressure difference between the inside and the outside of the first through hole is greater than or equal to a predetermined size. If the pressure difference is resolved, the first through hole may be restored to its original shape.
  • the elastic material may be silicone, rubber, polydimethylsiloxane, or a material having elasticity corresponding to polydimethylsiloxane.
  • the fabric gripper may further include a flexible film.
  • the flexible film is bonded to the upper surface of the flexible fabric gripping part while covering the first through hole of the flexible fabric gripping part while passing the plurality of needles therethrough. 1 It is sucked into the through hole, and the first through hole is flattened, so that the first through hole is divided in half and folded into a superimposed form.
  • the fabric gripper may further include a sensing unit.
  • the sensing unit may be configured to detect whether the fabric is gripped between both sidewalls facing the flexible fabric gripping part while the first through hole is flattened.
  • the sensing unit may be a capacitive sensor.
  • the capacitive sensor may include at least a pair of first and second capacitance probes respectively installed in two regions of the flexible film facing each other when the flexible film is folded in about half in the first through hole;
  • a signal input unit for applying an input signal for forming an AC electric field around the first capacitance probe to the first capacitance probe;
  • a signal detector for detecting an electric signal appearing on the second capacitance probe by an AC electric field formed around the first capacitance probe may be included.
  • Such a capacitance sensor detects the magnitude of an output signal appearing on the second capacitance probe while the input signal is applied to the first capacitance probe to determine whether the far end is gripped by the flexible far end gripping unit. You can provide information that you can.
  • the sensing unit may be an optical sensor.
  • the optical sensor includes: a light emitting unit configured to output light toward the second sidewall of the opposite side by an input signal installed on the first sidewall of the facing first and second sidewalls of the flexible fabric gripping unit and applied thereto; A light-receiving unit installed on the second sidewall facing the light-emitting unit to receive light output from the light-emitting unit and output an electric signal corresponding to an intensity of light; A signal input unit for applying an input signal required for light output to the light emitting unit; And it may include a signal detector for detecting an electric signal corresponding to the received light amount by converting the electric signal output from the light receiving unit into a digital signal.
  • the optical sensor may provide information capable of determining whether the fabric is gripped by the flexible fabric gripping unit by detecting a change in the electric signal corresponding to the intensity of light input to the light receiving unit.
  • a far-end gripping device includes a far-end gripping device, a vacuum unit, and a control unit.
  • the fabric gripper may include a tubular flexible fabric gripping unit made of an elastic material and surrounded by sidewalls and having a first through hole therein; A pipe connecting portion provided in a form coupled to the lower end of the distal gripping part and configured to be combined with an external tube to connect the external tube and the flexible distal gripping part in communication with each other; And a plurality of needles which are mounted so as to protrude upward while partially embedded in upper surfaces of both sidewalls facing the flexible fabric gripping part, and configured to penetrate the fabric when the fabric gripping part is close to the upper surface of the fabric.
  • the vacuum unit is configured to communicate with the far-end gripper and apply a negative pressure to the inside of the first through hole of the far-end gripper according to a driving control signal or to relieve a negative pressure trapped inside the first through hole.
  • the control unit provides the driving control signal to the vacuum unit to apply negative pressure to the inside of the flexible fabric gripping unit or to relieve the negative pressure applied to the inside of the flexible fabric gripping unit. It is configured to be able to control the gripping and disengaging of the fabric.
  • the fabric holding device having such a configuration, when the internal pressure of the flexible fabric gripping part is equal to the external atmospheric pressure, the first through hole of the flexible fabric gripping part is opened in a predetermined shape, and the first through hole is opened in a predetermined shape by the operation of the vacuum part. 1
  • the internal pressure of the through hole is lower than the external atmospheric pressure, due to the pressure difference between the internal pressure and the external atmospheric pressure, the first through hole is flatly deformed and the plurality of needles approach each other, so that the plurality of needles While a portion of the fabric in front of the first through hole is folded and the pressure difference acts together and is sucked into the first through hole, both sidewalls facing the flexible fabric gripping part press the part of the sucked fabric Can be gripped.
  • the far-end holding device may further include a transfer robot.
  • the transfer robot includes an arm member configured to hold one side of the pipe connection portion or an external pipe; And a moving unit configured to move the arm member to move the fabric gripper holding the fabric to a desired position by moving the arm member on the basis of the position information on the transfer point of the fabric. I can.
  • the far-end gripping device may further include a sensing unit.
  • the sensing unit may be configured to detect whether the fabric is gripped between both sidewalls facing the flexible fabric gripping part while the first through hole is flattened.
  • the sensing unit may be a capacitive sensor.
  • the capacitive sensor may include at least a pair of first and second capacitance probes installed to face each other on opposite sidewalls of the flexible fabric gripping portion;
  • a signal input unit for applying an input signal for forming an AC electric field to the first capacitance probe;
  • the input signal may include a signal detector that measures an output signal appearing on the second capacitance probe by the AC electric field and provides it to the control unit.
  • the control unit may determine whether the fabric is gripped by the flexible fabric gripping unit using the output signal provided from the capacitance sensor.
  • the sensing unit may be an optical sensor.
  • the optical sensor includes: a light emitting unit configured to output light toward the second sidewall of the opposite side by an input signal installed on the first sidewall of the facing first and second sidewalls of the flexible fabric gripping unit and applied thereto; A light-receiving unit installed on the second sidewall facing the light-emitting unit to receive light output from the light-emitting unit and convert it into an output electric signal corresponding to an intensity of light; A signal input unit for applying an input signal required for light output to the light emitting unit; And it may include a signal detector for detecting by converting the output electrical signal from the light receiving unit into a digital signal.
  • the control unit may determine whether or not the fabric is gripped by the flexible fabric gripping unit using the output electrical signal provided from the optical sensor.
  • the fabric when the plurality of needles penetrate the top one piece of fabric of the fabric stack, and the fabric is sucked into the first through hole, the fabric is caught by the plurality of needles and the first It may be configured to act as a stopper limiting a portion sucked into the through hole to a predetermined range.
  • the vacuum unit extracts air inside the flexible fabric gripping unit to the outside through a tube connected to the tube connection unit to apply a negative pressure inside the first through hole or inside the first through hole.
  • a vacuum pump capable of relieving the stuck negative pressure;
  • a pump driving unit configured to provide a driving signal required for driving the vacuum pump to the vacuum pump according to the driving control signal.
  • the elastic material forming the gripping portion of the flexible fabric may be a material having elasticity corresponding to silicone, rubber, polydimethylsiloxane, or polydimethylsiloxane.
  • the fabric holding device may further include a flexible film.
  • the flexible film is bonded to the top surface of the flexible fabric gripping part while covering the outlet of the fabric gripping part while passing through the plurality of needles, and the surface area is increased by the pressure difference so that the first It is sucked into the through hole and can be folded in about half as the first through hole is flattened.
  • the protruding length of the plurality of needles may be longer than the thickness of one sheet of fabric to be gripped and shorter than the thickness of two sheets.
  • the automatic fabric gripping and conveying method includes: a tube-shaped flexible fabric gripping unit made of an elastic material and surrounded by a side wall and having a first through hole therein; A pipe connecting portion provided in a form coupled to the lower end of the distal gripping part and configured to be combined with an external tube to connect the external tube and the flexible distal gripping part in communication with each other; And the fabric including a plurality of needles that are mounted to protrude upward while partially embedded in the upper surfaces of both sidewalls facing the flexible fabric gripping part, and configured to penetrate the fabric when the fabric gripping part is close to the upper surface of the fabric.
  • the first through hole is kept at the same pressure as the external atmospheric pressure, and the first through hole is opened in a predetermined shape, and the distal gripper is approached to the distal stack. And penetrating a plurality of needles mounted on the upper surface of the fabric gripper into one piece of fabric at the top of the fabric stack.
  • the first through hole is flatly deformed due to a pressure difference between the internal pressure of the first through hole and the external atmospheric pressure by applying a negative pressure to the inside of the first through hole.
  • the needles approach each other, and a portion of the top piece of fabric hung on the plurality of needles is folded and sucked into the first through hole, so that both sidewalls facing the flexible fabric gripping part are sucked. Gripping while pressing a portion of the fabric; And moving, by the robot device, the fabric gripper holding a part of the fabric to transfer the fabric to a desired point.
  • the automatic fabric gripping and transporting method is performed by releasing negative pressure applied to the inside of the fabric gripper while the fabric is transferred to a desired point, thereby controlling the elasticity of the flexible fabric gripping unit. 1
  • a step of releasing the holding state of the fabric while the through hole is restored to its original shape may be further included.
  • the method of automatically gripping and transferring the far end is performed by using a detection signal of a sensing unit for detecting whether the far end is further included in the far end gripping device between the gripping step and the transferring step. Determining whether the fabric is gripped between both sidewalls facing the flexible fabric gripping unit while the first through hole is flattened; And as a result of the determination, if it is determined that the fabric is not gripped or two or more sheets are gripped, the step of releasing the negative pressure applied to the inside of the fabric gripper and then performing the gripping step again from the beginning may be further included. have.
  • the detection signal of the sensing unit for detecting whether the far-end is further included in the far-end gripper is further included in the far-end gripping device to distinguish between two or more pieces of the far-end gripped, and one piece of the far-end gripped. It can be done using
  • the negative pressure applied to the inside of the far-end gripper may be formed by driving a vacuum pump connected to the far-end gripper via a tube.
  • the flexible fabric gripper by changing only the pressure inside the fabric gripper using a vacuum pump, the flexible fabric gripper can be deformed to pick up the fabric, transfer it to a desired point, and put it down.
  • the fine needle inserted in the fabric gripper may also indirectly deform, helping the fabric to be sucked into the fabric gripper and picked up. Accordingly, since it is not necessary to directly use manpower to accurately classify or transport fabrics into single sheets, it can contribute to the automation of the garment production process. The range of automation of the fabric handling process can be further expanded. In addition, it is economical because it is possible to effectively reduce labor and cost in a simple operation of sorting and transferring fabrics into sheets. It can improve organicity and productivity between garment manufacturing processes.
  • the fabric can be picked up in sheet units while minimizing damage to the fabric by holding the fabric by using a difference in air pressure and a fine needle and a flexible fabric gripping part.
  • the fabric gripper made of a material such as silicone or rubber according to the present invention can effectively pick up a single piece of fabric even in a situation where several fabrics are overlapped by utilizing the soft and flexible material properties.
  • the present invention can be utilized as an element technology that enables automation that encompasses the entire range of the clothing production process by being used to build a smart factory for clothing in the future. Through this, the organicity of the clothing production system can be improved and productivity can be improved.
  • FIG. 1 is a perspective view of a fabric gripper according to an embodiment of the present invention.
  • FIG. 2 is a perspective view illustrating a state in which the flexible fabric gripping portion of the fabric gripper shown in FIG. 1 is flattened because the internal pressure is lower than the external atmospheric pressure.
  • FIG. 3 exemplarily shows the configuration of a fabric automatic gripping and conveying device capable of gripping fabric using a pressure difference according to an embodiment of the present invention.
  • FIG. 4 shows an exemplary configuration of the sensing unit shown in FIG. 3.
  • FIG. 5 shows a process of picking up a piece of fabric from a fabric stack by applying negative pressure to the fabric gripper of FIG. 1.
  • FIG. 6 is a flowchart illustrating a method of automatically gripping and transferring a fabric using the apparatus of FIG. 3 according to an embodiment of the present invention.
  • FIG. 7 is a perspective view of a fabric gripper according to another embodiment of the present invention.
  • FIG. 8 is a perspective view illustrating a state in which the fabric gripper shown in FIG. 7 is flattened because the internal pressure is lower than atmospheric pressure.
  • FIG. 9 shows a process of picking up a piece of fabric by applying negative pressure to the fabric gripper of FIG. 7.
  • FIG. 10 illustrates various cross-sectional shapes of a flexible fabric gripping portion of the fabric gripper shown in FIG. 1 or 7.
  • first, second, A, B, (a) and (b) may be used. These terms are only for distinguishing the component from other components, and the nature, order, or order of the component is not limited by the term.
  • FIG. 1 is a perspective view of a fabric gripper 10 according to an embodiment of the present invention.
  • FIG. 2 shows a state in which the flexible fabric gripping portion 30 of the fabric gripper 10 shown in FIG. 1 is flattened because the internal pressure is lower than the external atmospheric pressure.
  • the fabric gripper 10 may include a flexible fabric gripper 30, a pipe connection part 20, and a plurality of needles 40.
  • the flexible fabric gripping portion 30 is a tubular structure in which a first through hole 50 is provided inside by being surrounded by a side wall.
  • the flexible fabric gripping part 30 may be made of an elastic material.
  • the elastic material forming the flexible fabric gripping part 30 causes shape deformation in which the first through hole 50 is flattened when the pressure difference between the inside and the outside of the first through hole 50 is greater than a predetermined size. In addition, when the pressure difference is resolved, the first through hole 50 may be restored to its original shape.
  • the elastic material having such properties may include, for example, silicone, rubber, polydimethylsiloxane, or a material having elasticity corresponding to polydimethylsiloxane.
  • the original cross-sectional shape of the first through hole 50 is shown in a rectangular shape. This is only an example and other cross-sectional shapes are possible.
  • the illustrated rectangular first through hole 50 will be described as an example.
  • the flexible fabric gripping portion 30 may have a larger overall cross-sectional area of the lower end than the total cross-sectional area of the upper end.
  • the cross-sectional area of the first through hole 50 toward the lower end ie, toward the pipe connection part 20
  • the lower end of the flexible fabric gripping portion 30 may be coupled to the upper end of the pipe connection portion 20 in a form connected.
  • the pipe connection part 20 may include a tubular body in which the second through hole 22 is provided.
  • the second through-hole 22 may be opened so that at least a portion of the outlet thereof communicates with the first through-hole 50, and the remaining area may be closed.
  • the second through hole 22 communicates with the outer tube 60 connected to the vacuum pump 140 to be described later, and may be sealedly coupled to the outside.
  • the pipe connection part 20 may be made of the same material as the flexible fabric gripping part 30 to be integrally connected.
  • the pipe connection part 20 may be separately made by using a material different from the flexible fabric gripping part 30. In this case, the pipe connection part 20 and the flexible fabric gripping part 30 may be connected through assembly.
  • Each connection portion may be provided in a structure that can be kept sealed in a connected state.
  • a plurality of needles 40 may be mounted on the upper surface of the flexible fabric gripping portion 30. At least one of the plurality of needles 40 may be disposed on an upper surface of the two sidewalls 34a and 34b facing each other of the first through hole 50.
  • the drawing shows two arrangements on each of the two side walls 34a and 34b, three or more may be arranged.
  • the two side walls 34a and 34b on which the plurality of needles 40 are mounted are spaced apart by a predetermined interval while the first through hole 50 is not a pressure difference between the inside and the outside, and the pressure difference increases to a predetermined size or more.
  • flattened ie, in the state shown in Fig. 2
  • Each of the plurality of needles 40 may have a lower portion thereof embedded in the flexible fabric gripping portion 30 and fixed, and the remaining portion may protrude upward. It is preferable that the protruding length is longer than the thickness of one sheet of fabric to be gripped and shorter than the thickness of two sheets.
  • Each of the plurality of needles 40 may have a form in which the cross section becomes narrower while going to the distal end of the root portion to facilitate penetration into the fabric.
  • Each of the plurality of needles 40 may have a conical shape with a pointed end.
  • the plurality of needles 40 may have various lengths and thicknesses, shapes of end portions, etc. according to the type and thickness of the fabric to be gripped. In actual use, various types of flexible fabric gripping portions 30 employing these various types of needles 40 may be prepared, and may be replaced if necessary.
  • the plurality of needles 40 are formed of at least one needle 40a and the other side wall 34b located on the upper surface of any one side wall 34a of the two sidewalls 34a and 34b of the flexible fabric gripper 30.
  • At least one needle 40b located on the upper surface may be mounted to be inclined in a direction opposite to each other outwardly based on the axial direction of the first through hole 50 (in the z direction in FIG. 1 ). That is, as the at least one needle 40a and the at least one needle 40b go from the root portion to the distal portion, the gap between each other may increase.
  • the degree of inclination is an angle at which the plurality of needles 40 are approximately parallel to the axial direction of the first through hole 50 when the first through hole 50 is flattened by the pressure difference mentioned above. I can.
  • the pipe connection part 20 may be connected to a means capable of forcing a low pressure atmosphere through an external pipe 60.
  • the internal pressure (P in ) of the first through hole 50 of the flexible fabric gripping part 30 is equal to the atmospheric pressure (P atm )
  • the first through hole 50 can be maintained in an open state in its original cross-sectional shape. Yes (see Fig. 3A).
  • the internal pressure P in in the first through hole 50 may be forced to be lower than the external atmospheric pressure P atm by the low pressure atmosphere provided through the external tube 60.
  • the first through-hole 50 may be flattened due to a pressure difference with the external atmospheric pressure.
  • the flexible fabric gripping portion 30 may be deformed into a shape in which the first sidewalls 34a and the second sidewalls 34b approach and contact each other.
  • the area and strength of the area where the first side wall 34a and the second side wall 34b abut are determined by the size of the pressure difference, the flexibility and elongation of the flexible fabric gripping portion 30, the flexibility and elongation of the pipe connection portion 20, and external It may be variable depending on the degree of entry into the pipe connection portion 20 of the pipe 60. In order to obtain the optimum gripping force considering the weight of the fabric, the values of these factors can be appropriately determined.
  • the flexible fabric gripping unit 30 In order to grip the fabric using the pressure difference, the flexible fabric gripping unit 30 needs to approach or directly contact the upper surface of the fabric. At this time, the plurality of needles 40 may penetrate the fabric.
  • the first through hole 50 is flattened due to a pressure difference from the outside (that is, the second and second side walls 34a, 34b) Both needles 40a and 40b naturally move and come close to each other while approaching and touching each other. In this approaching process, the first needle 40a and the second needle 40b pull the distal part caught on them, while the distal part 72 between the two needles 40a and 40b can be folded in an approximately U shape. have.
  • a pressure difference between the internal pressure of the first through hole 50 and the external atmospheric pressure acts together, so that the distal portion is drawn into the first through hole 50.
  • the fabric is caught by the plurality of needles 40 and the portion sucked into the first through hole 50 may be limited to a predetermined range. That is, the plurality of needles 40 may serve as a stopper for the fabric.
  • FIG. 3 exemplarily shows the configuration of a fabric automatic gripping and conveying device 100 capable of gripping fabric using a pressure difference according to an embodiment of the present invention.
  • 4 shows an exemplary configuration of the sensing unit 110 illustrated in FIG. 3.
  • the fabric gripper 10 is removed from the fabric stack 70 in which several sheets of fabric (70-1, 70-2,) are stacked. You can pick up one by one.
  • the disc gripper 10 may further include a sensing unit 110 for determining whether or not the fabric is accurately picked out one by one from the fabric stack 70.
  • a piece of fabric 70-1 is gripped between the side walls 34a and 34b facing each other of the flexible fabric gripping part 30 in a state in which the first through hole 50 is flattened. It can be configured to detect whether there is.
  • the sensing unit 110 may be configured with a capacitive sensor 110-1.
  • the capacitance sensor 110-1 may include first and second capacitance probes 112a and 112b.
  • the first and second capacitance probes 112a and 112b may be installed to face each other on inner surfaces of both sidewalls 34a and 34b facing each other of the flexible fabric gripping portion 30 as shown in FIG. 1.
  • the first and second capacitance probes 112a and 112b may be conductive electrode plates having a predetermined width.
  • the first and second capacitance probes 112a and 112b may be attached to or embedded in the inner surfaces of both side walls 34a and 34b facing each other of the flexible fabric gripping portion 30.
  • the capacitance sensor 110-1 may further include a signal input unit 114 and a signal detection unit 116 in addition to the first and second capacitance probes 112a and 112b.
  • the signal input unit 114 may apply an input signal for forming an AC electric field around the first capacitance probe 112a to the first capacitance probe 112a.
  • the input signal may be, for example, a square wave signal having a predetermined frequency.
  • the signal detection unit 116 may measure an electric signal appearing on the second capacitance probe 112b by an AC electric field formed around the first capacitance probe 112a receiving the input signal.
  • the first capacitance sensor 110-1 detects the magnitude of the output signal appearing on the second capacitance probe 112b while the input signal for generating an electric field is applied to the first capacitance probe 112a. And information about the size of the capacitance of the second capacitance probes 112a and 112b. Using this capacitance size information, it is possible to determine whether or not the fabric is gripped by the flexible fabric gripping unit 30. Furthermore, the size of the capacitance may be different depending on the number of fabrics held. Therefore, it is possible to determine whether one piece of fabric is gripped or whether two or more pieces of fabric are gripped. The capacitance size information may be provided to the controller 120 to be described later.
  • the sensing unit 110 may be configured with an optical sensor 110-2.
  • 4B shows an exemplary configuration of the photosensor 110-2.
  • the photosensor 110-2 may include a light emitting unit 312a, a light receiving unit 312b, a signal input unit 214, and a signal detection unit 216.
  • the light emitting part 312a may be installed on the first sidewall 34a of the flexible fabric gripping part 30.
  • the light-emitting unit 312a may generate light according to an applied input signal and output it toward the second sidewall 34b opposite to each other.
  • the light-emitting unit 312a may be implemented as, for example, a light-emitting diode.
  • the light receiving part 312b may be installed on the second sidewall 34b of the flexible fabric gripping part 30.
  • the light-receiving unit 312b may be installed to face the light-emitting unit 312a and receive light output from the light-emitting unit 312a to output an electric signal corresponding to the intensity of the light.
  • the light receiving unit 312b may be implemented as, for example, a photodiode.
  • the signal input unit 214 may apply an input signal required for light output to the light emitting unit 312a.
  • the signal detection unit 216 may convert the electric signal output from the light receiving unit 312b into a digital signal to detect an electric signal corresponding to an amount of received light.
  • the degree to which the output light of the light-emitting part 312a is received by the light-receiving part 312b is significantly different between when a far end exists and does not exist between them.
  • the electrical signal output from the light receiving unit 312b may be information capable of determining whether or not the far end is gripped by the flexible far end gripping unit 30.
  • the electric signal may be information capable of distinguishing between a case where only one piece of fabric is gripped by the flexible fabric gripping unit 30 and a case where two or more sheets are gripped.
  • Information on the electric signal output from the light receiving unit 312b may be provided to the controller 120 to be described later.
  • the automatic far-end gripping and transporting device 100 may include a control unit 120 and a vacuum unit 150 in addition to the far-end gripping device 10 and the sensing unit 110.
  • the vacuum unit 150 may communicate with the inside of the far-end gripper 10 through the tube 60, that is, the first and second through holes 22 and 50.
  • the vacuum unit 150 applies a negative pressure to the inside of the first through hole 50 of the far-end gripper 10 according to a drive control signal provided by the control unit 120 or inside the first through hole 50. It can be configured to relieve the jammed negative pressure.
  • the vacuum unit 150 may include a pump driving unit 130 and a vacuum pump 140.
  • the vacuum pump 140 operates as a driving signal to extract the air inside the flexible fabric gripping part 30 to the outside through the pipe 60 connected to the pipe connection part 20 to create a negative pressure inside the first through hole 50. By walking or stopping the operation, the negative pressure applied to the inside of the first through hole 50 may be eliminated.
  • the pump driving unit 140 may generate a driving signal required for driving the vacuum pump 140 according to a driving control signal provided by the controller 120.
  • the pump driving unit 140 may drive the vacuum pump 140 by providing the generated driving signal to the vacuum pump 140.
  • the vacuum unit 150 may include a tube 60 connecting the vacuum pump 140 and the far-end gripper 10. This pipe 60 may be a pipe having a strength that can withstand the shape deformation even in an internal low pressure atmosphere. The end portion of the pipe 60 may be connected to the pipe connection portion 20 of the far-end gripper 10, and airtightness is maintained between each other.
  • the vacuum unit 150 is disposed on the pipe line of the pipe 60 to open and close the pipe 60 to deliver the low pressure atmosphere generated by the vacuum pump 140 to the far end gripper 10. It may also include a valve 145 that can control it. The control unit 120 may control the opening and closing of the valve 145.
  • the control unit 120 provides the driving control signal to the pump driving unit 130 of the vacuum unit 150 so that a negative pressure is applied to the inside of the flexible fabric gripping unit 30 or caught inside the flexible fabric gripping unit 30.
  • the negative pressure can be relieved.
  • the control unit 120 may be configured to control the gripping and release of the fabric by the flexible fabric gripping unit 30 through this.
  • the controller 120 may control the gripping and releasing the gripping of the fabric by the flexible fabric gripping unit 30 through the opening and closing control of the valve 145. .
  • the automatic far-end gripping and transporting device 100 may further include a transport robot 170.
  • the transfer robot 170 is configured to hold one side of the pipe connection part 20 of the far-end gripper 10 or the external pipe 60 connected to the pipe connection part 20, and the other side It may include an arm member 165 mounted on a moving part to be described later.
  • the transfer robot 170 may include a moving unit 160.
  • the arm member 165 may be mounted on the moving part 160.
  • the moving unit 160 operates the arm member 165 to grip the fabric gripper 10 to a point at which the fabric can be gripped based on the location information on the transfer point of the fabric, and grip the fabric. In one state, it may be configured to move the fabric gripper 10 to a desired position.
  • the transfer robot 170 may be implemented using a known movable or fixed industrial robot.
  • FIG. 5 shows a process of picking up a piece of fabric from a fabric stack by applying negative pressure to the fabric gripper 10 of FIG. 1.
  • FIG. 6 is a flowchart illustrating a method of automatically gripping and transferring a fabric to a desired point by using the fabric automatic gripping and transporting device 100 of FIG. 4 according to an embodiment of the present invention.
  • the fabric automatic gripping and conveying device 100 uses a fabric gripper using a robot device 170 equipped with a fabric gripper 10 ( 10) can be accessed to the fabric stack 70 in which a plurality of fabrics are stacked in a vertical direction (S10). Then, as shown in (B) of Figure 5, the robot device 170 precisely controls the arm member 165 to cut a plurality of needles 40a, 40b mounted on the upper surface of the far end gripper 10 It can penetrate into the top one of the fabric (70-1) of the stack (70) (S20). Until this point, the pressure (P in ) inside the fabric gripper 10 is equal to the atmospheric pressure (P atm ) outside.
  • the vacuum unit 150 may be in a state in which the pressure P in inside the far-end gripper 10 has no effect. In this state, the cross-sectional shape of the entrance of the first through hole 50 of the distal gripper 10 can maintain its original open shape.
  • negative pressure can be applied to the inside of the far-end gripper 10 (.
  • the negative pressure inside the far-end gripper 10 can be obtained by driving the vacuum unit 150.
  • the vacuum pump 140 By driving, it is possible to form a vacuum atmosphere formed up to the inside of the fabric gripper 10 through the tube 60.
  • FIG. As shown in (C) of, due to the pressure difference with the atmospheric pressure outside the fabric gripper 10, a portion of the top one fabric 70-1 of the fabric stack 70 is a plurality of needles 40a, 40b It can be sucked into the first through hole 50 inside the flexible fabric gripping portion 30 while being caught in (S30).
  • the first through hole 50 is flattened, so that both side walls 34a and 34b facing each other of the flexible fabric gripping part 30 become the fabric 70-1. It is possible to grip while pressing a part of the (S40).
  • a plurality of arm members 150 are mounted on the robot device 170, and the distal gripper 10 may be coupled to each arm member 150.
  • the robot device 170 operates the arm member 165 to move the fabric gripper 10 to a desired position. Thereby, the fabric 70-1 can be transferred to a desired point (S50).
  • the controller 120 controls the vacuum unit 150 to release the negative pressure applied to the inside of the fabric gripper 10. Yes (S60).
  • the flexible fabric gripping portion 30 that has been crushed flat can be restored to its original shape by its elasticity. That is, as the first through hole 50 is restored to its original shape, the gap between the two side walls 34a and 34b that pressed the fabric 70-1 from both sides may be widened. As a result, the gripping state for the fabric 70-1 may be released. Accordingly, the fabric 70-1 can be put down by the weight of the fabric 70-1 (S70).
  • the controller 120 After applying negative pressure to the inside of the fabric gripper 10 to hold a piece of fabric 70-1 (S30), and before transporting the fabric (S50), the controller 120 transmits the detection signal of the sensing unit 110 It can be determined whether or not one of the fabric 70-1 is properly gripped between the side walls 34a and 34b of the flexible fabric gripping part 30. As a result of the determination, if it is detected that the fabric 70-1 is not gripped between the side walls 34a and 34b of the flexible fabric gripper 30, after releasing the negative pressure applied to the inside of the fabric gripper 10 The fabric gripping operation (S20, S30) may be performed again from the beginning.
  • a reference value for distinguishing between a case where one piece of fabric is gripped and a case where two or more sheets are gripped at a time is set in the control unit 120 and the sensing unit 110 By comparing the detection signal with the reference value, it is possible to determine whether or not only one piece of the far end is held.
  • FIG. 7 shows a fabric gripper 210 according to another embodiment of the present invention
  • FIG. 8 is a flattened state in which the inner pressure of the fabric gripper 210 shown in FIG. 7 is lower than atmospheric pressure. Shows.
  • the fabric gripper 210 shown in FIGS. 7 and 8 has the following structural differences when compared to the fabric gripper 210 shown in FIGS. 1 and 2.
  • the rest of the configuration of the far end gripper 210 is substantially the same as that of the far end gripper 10.
  • the first difference is that the flexible film 220 is further included.
  • the flexible film 220 is bonded to the upper surface of the flexible fabric gripping part 30 while covering the first through hole 50 of the flexible fabric gripping part 30 while passing through the plurality of needles 40a and 40b.
  • the flexible film 220 can be made of, for example, a durable material that can be folded well and is not easily damaged even when the number of folding is increased. It is also recommended that the flexible film is made of a material that does not slip well when picked up.
  • the flexible film 220 may be a thin film having a thickness of approximately 1 mm or less.
  • the second difference is that the sensing unit 110 is configured as a capacitive sensor, but the position where the first and second capacitance probes 212a and 212b are installed is not the upper surface of the flexible film 220 but the sidewalls 34a and 34b. Is that.
  • the first and second capacitance probes 212a and 212b (34a, 34b) and side by side) can be installed in two areas facing each other, respectively.
  • FIG. 9 shows a process of picking up a piece of fabric by applying negative pressure to the fabric gripper 210 of FIG. 7.
  • the process of picking up a piece of fabric using the fabric gripper 210 is substantially the same as that described in FIG. 5. That is, after the fabric gripper 210 is brought close to the fabric stack 70, a plurality of needles 40a, 40b penetrate into the top single fabric 70-1 (FIG. 9A) And (B)). Then, the first and second capacitance probes 212a and 212b may be in close contact with the uppermost distal end 70-1. In this process, the internal pressure (P in ) of the far-end gripper 210 is maintained equal to the external atmospheric pressure (P atm ).
  • the vacuum unit 150 is operated so that negative pressure is applied to the inside of the fabric gripper 210. That is, the internal pressure (P in ) of the far end gripper 210 is made to be lower than the external atmospheric pressure (P atm ). Then, while the flexible film 220 is sucked into the first through hole 50, a part of the fabric 70-1 in contact with the flexible film 220 may also be sucked. At the same time, both side walls 34a and 34b of the flexible fabric gripping portion 30 are also deformed flat (see FIG. 9C).
  • the side walls 34a and 34b of the flexible fabric gripping unit 30 are completely flattened due to the pressure difference with the external atmospheric pressure, while the flexible film 220 ) And a part of the fabric 70-1 may be divided into approximately half and folded in a superposed form, and sandwiched between the two side walls 34a and 34b.
  • the fabric suction power of the fabric gripper 10 in which the flexible film 220 is not used may not be as large as desired. That is, if air easily escapes through the fabric, there is a limit to the size of the negative pressure that the vacuum unit 150 can form inside the fabric gripper 10 and the gripping force may be weak.
  • the fabric gripper 210 employing the flexible film 220 may be particularly useful in the case of inhaling such a loose fabric. Since the flexible film 220 closes the first through hole 50, it is relatively easy for the vacuum unit 150 to apply a negative pressure inside the first through hole 50 and can accurately apply a negative pressure of a desired size. In addition, even loose fabrics can be strongly gripped.
  • the embodiment described above has been described as an example that the cross-sectional shape of the flexible fabric gripping portion 30 is a rectangular or similar rectangular tube.
  • the cross-sectional shape of the flexible fabric gripping part 30 is also possible in other shapes.
  • 10 shows another example of the cross-sectional shape of the flexible fabric gripping portion 30.
  • the cross-sectional shape of the flexible fabric gripping portion 30 may be, for example, a track type. That is, as shown in FIG. 10A, a pair of facing sidewalls 334a and 334b may be planar sidewalls, and the remaining pair of facing sidewalls 334c and 334d may be curved sidewalls.
  • the middle portion (indicated by a dashed-dotted line) of the pair of side walls 334c and 334d may be a folded portion.
  • the first and second capacitance probes 112a and 112b may be provided inside the pair of planar sidewalls 334a and 334b. The same applies to the case where the light emitting portion 312a and the light receiving portion 312b are provided.
  • the cross-sectional shape of the flexible fabric holding portion 30 may be hexagonal as illustrated in FIG. 10B. That is, a pair of bent sidewalls 434c and 434d face each other at both ends of the pair of planar sidewalls 434a and 434b facing each other.
  • the center edge portion (indicated by a dashed-dotted line) of the pair of foldable sidewalls 434c and 434d may become a fold.
  • the first and second capacitance probes 112a and 112b may be provided inside the pair of planar sidewalls 434a and 434b. The same applies to the case where the light emitting portion 312a and the light receiving portion 312b are provided.
  • the cross-sectional shape of the flexible fabric gripping portion 30 may be a rhombus as illustrated in FIG. 10C.
  • a corner portion (indicated by a dashed-dotted line) having a narrower structure structurally may be a folded portion.
  • the capacitance probes 112a-1, 112a-2, 112b-1, and 112b-2 of the capacitive sensor may be provided inside the four sidewalls 434a and 434b. The same applies to the case where the light emitting portion 312a and the light receiving portion 312b are provided.
  • the cross-sectional shape of the flexible fabric gripping portion 30 may be a notched square as illustrated in FIG. 10D. That is, a pair of facing sidewalls 634a and 634b are completely planar, and the other pair of facing sidewalls 634c and 634d are flat, but notches 634c-1 and 634d-1 are formed in the center. I can.
  • the notches 634c-1 and 634d-1 may be folded portions.
  • the first and second capacitance probes 112a and 112b may be provided inside the pair of planar sidewalls 434a and 434b. The same applies to the case where the light emitting portion 312a and the light receiving portion 312b are provided.
  • the present invention as long as it is a material capable of penetrating needles, as well as natural or artificial leather, as well as a fibrous fabric, and a material having a thin thickness, it can be a gripping target using the fabric gripper of the present invention. have.
  • the fabric can be held in a single sheet and transferred to a desired position. Therefore, it is economical because it can contribute to the automation of the garment production process and can effectively reduce the cost and manpower consumed for simple work.
  • the present invention is utilized to build a clothing smart factory and can be usefully utilized to enable automation covering the entire clothing process. Through this, the organicity of the production system can be improved and productivity can be improved.

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Abstract

L'invention concerne un support de tissu brut souple apte à maintenir chaque feuille de tissu brut sans endommager le tissu brut, et un appareil pour maintenir et transférer automatiquement un tissu brute à l'aide de celui-ci. Un raccord en tube est relié d'un seul tenant à l'extrémité inférieure d'un support de tissu brut souple de type tube constitué d'un matériau élastique. De multiples aiguilles font partiellement saillie vers le haut tout en étant collées dans des surfaces supérieures des deux parois latérales du support de tissu brut souple, qui se font mutuellement face. Une unité à vide peut appliquer une pression négative à l'intérieur du support de tissu brut ou éliminer la pression négative appliquée à l'intérieur de celui-ci, en fonction d'un signal de commande d'entraînement. Un dispositif de commande fournit à l'unité à vide un signal de commande d'entraînement, commandant ainsi un tissu brut devant être maintenu et devant être libéré. Si la pression à l'intérieur du support de tissu brut souple est inférieure à la pression atmosphérique de l'extérieur en raison du fonctionnement de l'unité à vide, une partie d'une feuille de tissu brut est aspirée dans le support de tissu brut souple en raison de la différence de pression, et le support de tissu brut souple est contracté à plat, maintenant ainsi une partie du tissu brut. Le tissu brut vient en prise avec les multiples aiguilles agissant comme des éléments d'arrêt, et la portion du tissu brut aspiré est ainsi limitée. Un robot de transfert peut être utilisé pour déplacer le support de tissu brut jusqu'à une position souhaitée, ce qui permet de transférer le tissu brut.
PCT/KR2019/017150 2019-02-08 2019-12-06 Procédé et appareil pour maintenir un tissu brut Ceased WO2020162658A1 (fr)

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KR101988219B1 (ko) * 2019-02-08 2019-06-12 호전실업 주식회사 원단을 파지하는 방법과 장치
KR102355823B1 (ko) 2019-12-30 2022-01-26 성균관대학교산학협력단 진공 그리퍼를 이용해 파지 대상물을 파지하여 이송하는 시스템 및 방법
KR102542530B1 (ko) 2020-11-27 2023-06-14 호전실업 주식회사 그리핑 막 기반 물체 그리핑 장치 및 이를 이용한 물체 그리핑 방법
KR102852013B1 (ko) * 2025-03-19 2025-08-29 김대업 픽 앤 플레이스 장치

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JPH031785U (fr) * 1989-05-30 1991-01-09
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KR20050019114A (ko) * 2002-06-04 2005-02-28 야마타케 코포레이션 진공흡착장치 및 흡착확인센서
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KR101887214B1 (ko) * 2018-03-30 2018-08-09 서울대학교산학협력단 바늘 패드 및 이를 포함하는 원단 집게
KR101988219B1 (ko) * 2019-02-08 2019-06-12 호전실업 주식회사 원단을 파지하는 방법과 장치

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JPH031785U (fr) * 1989-05-30 1991-01-09
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JP2004230550A (ja) * 2003-01-29 2004-08-19 J Schmalz Gmbh 真空把持装置
JP2006224200A (ja) * 2005-02-15 2006-08-31 Yamaha Motor Co Ltd 吸着体、およびシート取出装置
KR101887214B1 (ko) * 2018-03-30 2018-08-09 서울대학교산학협력단 바늘 패드 및 이를 포함하는 원단 집게
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