CN107227563B - Transportation system - Google Patents

Abstract

The present invention relates to a kind of transportation system, which can accurately and securely be configured the cloth conveyed by conveying device in the delivery position that can be sewed machine receiving.The CPU of conveying device controls mobile mechanism, keeps adsorbing mechanism mobile to allocation position.CPU drives Charging system, the cloth in allocation position is adsorbed in Charging system, and Charging system is made to be moved to delivery position.CPU drives aspirating valve, is attracted using the attracting mechanism being arranged in delivery position cloth.CPU stops driving Charging system, and Charging system is made to decontrol cloth.Cloth is positioned at delivery position by attracting mechanism.CPU stops driving aspirating valve after sewing machine pushes down cloth using pressing plate.Sewing machine reliably can receive the cloth being accurately positioned from conveying device.

Description

Transportation system

Technical field

The present invention relates to a kind of transportation systems.

Background technique

Have it is a kind of for receive by conveying device conveying Lai cloth and sewing machine that the cloth is sewed.Sewing machine Receive the cloth for being transported to delivery position by conveying device, and the cloth is kept using keeping body.Sewing machine makes to keep Body moves in the horizontal direction relative to shank, to sew to cloth.Japanese Unexamined Patent Publication No. 32125 bulletin institute in 2001 Cloth can be fixed on Charging system by generating electrostatic by the electrostatic generating means stated, so as to convey using conveying device Cloth is fixed when cloth.Mistake is less likely to occur when being conveyed for the cloth that Charging system is adsorbed under the action of electrostatic Position.Therefore, cloth accurately can be transported to delivery position by conveying device.

To sewing machine join cloth when, there are it is such a possibility that: even if electrostatic generating means stop driving, cloth Electriferous state can be maintained, the state being adsorbed is kept to stay on Charging system.Accordingly, there exist it is such a possibility that: because cloth is in Electriferous state makes the Part portions of the cloth be difficult to be detached from Charging system, deviates delivery position so as to cause the cloth.

Summary of the invention

The object of the present invention is to provide a kind of transportation system, which can accurately and securely will be by conveying The cloth configuration of device conveying is in the delivery position that can be sewed machine receiving.

The transportation system of technical solution 1 includes conveying device, which includes adsorbing mechanism, can adsorb work For the cloth for sewing object；And mobile mechanism, the adsorbing mechanism can be made to be moved to defined delivery position, the movement Mechanism keeps the adsorbing mechanism for adsorbing the cloth mobile, and the cloth is transported to the delivery position；And sewing machine, The sewing machine includes shank, is equipped with eedle in the lower end of the shank, and the shank can move up and down；Needle plate is set to institute The lower section of shank is stated, which has horizontally extending upper surface, which has and can wear up and down for the eedle The appearance pin hole crossed；And keeping body, it is used to keep to be transported to the cloth of the delivery position, the seam by the conveying device The machine of threading moves the keeping body and the up and down motion of the shank cooperatively in the horizontal direction on the needle plate, to institute It states cloth to be sewed, which is characterized in that, the sewing machine has accessory plate, which is located at the needle plate Around, which has the upper surface parallel with the upper surface of the needle plate, and the conveying device has attracting mechanism, the suction Draw the downside that mechanism is located at the accessory plate, which is used to attract the cloth in suction surface, In, suction surface is set to specified position, that is, delivery position on the accessory plate.

Transportation system is when cloth is transported to delivery position by conveying device, by attracting cloth using attracting mechanism, from And remove cloth from adsorbing mechanism.Therefore, sewing function reliably receives cloth in delivery position, and by the cloth It is held in keeping body, so as to sew to cloth.

It is also possible in the transportation system of technical solution 2, the conveying device includes mobile control division, is used to make The adsorbing mechanism for adsorbing the cloth is moved to the delivery position by the mobile mechanism；Attract beginning portion, uses In after the mobile control division makes the adsorbing mechanism be moved to the delivery position, starting to drive the attracting mechanism； Stop is adsorbed, is used for after the attraction beginning portion starts to drive the attracting mechanism, stops driving the adsorption machine Structure；And attract stop, it is used for after the absorption stop stops driving the adsorbing mechanism, stops driving the suction Draw mechanism, the sewing machine, which has, keeps control unit, which makes the keeping body pair for controlling the keeping body The cloth is kept, and stops driving the adsorbing mechanism in the absorption stop, and the holding control unit controls institute After stating keeping body and keeping the keeping body to the cloth, the attraction stop stops driving the attractor Structure.Conveying device sewing machine keeping body before delivery position keeps cloth, maintenance attracted by attracting mechanism The state of cloth.Therefore, conveying device can prevent the case where cloth misplaces when joining cloth, so as to reliably to seam Machine of threading joins cloth.

It is also possible in the transportation system of technical solution 3,4, the sewing machine includes base portion, is equipped with the needle Plate；Column sections extend upwards from the base portion；And horn portion, from the upper end of the column sections with the base The mode that the upper surface in portion is opposite extends, which maintains the shank, when the conveying device is in overlook view with The position that the horn portion is staggered, the delivery position is on the accessory plate, when overlook view to the conveying device side Deviate the position in the horn portion.Cloth can not be moved to handover with interfering with each other with the horn portion of sewing machine by conveying device Position.Therefore, conveying device reliably can join cloth to sewing machine.

It is also possible in the transportation system of technical solution 5, the attracting mechanism includes attraction box, and it is box shaped, it should Attract the top of box open；Flow plate covers the top for attracting box, has multiple recirculation holes for air circulation；And Aspirating valve is set to the attraction box, and for attracting the air in the attraction box, the upper surface of the flow plate is the suction Draw face, the size of the quantity of the recirculation hole of the flow plate, the diameter of the recirculation hole can be installed toward the attraction box And appointing at least one different multiple described flow plate of aspect in the forming position of the recirculation hole these aspects One.Conveying device is able to maintain that the attraction to cloth by using the flow plate to match with cloth.Therefore, conveying device The case where cloth misplaces when joining cloth can be prevented, so as to reliably join cloth to sewing machine.

Detailed description of the invention

Fig. 1 is the perspective view of transportation system 300.

Fig. 2 is the perspective view of sewing machine 1.

Fig. 3 is the perspective view of horicontal motion mechanism 6.

Fig. 4 is the perspective view of conveying device 100.

Fig. 5 is the main view of cloth grasping device 150.

Fig. 6 is the perspective view of attracting mechanism 140.

Fig. 7 is the block diagram for indicating the electrical structure of sewing machine 1.

Fig. 8 is the block diagram for indicating the electrical structure of conveying device 100.

Fig. 9 is the block diagram for indicating the electrical structure of computer 200.

Figure 10 is the figure for the process for indicating that cloth grasping device 150 holds cloth.

Figure 11 is the figure being connected with Figure 10.

Figure 12 is the figure being connected with Figure 11.

Figure 13 is the flow chart of system control processing.

Figure 14 is the flow chart being connected with Figure 13.

Figure 15 is the flow chart of conveying control processing.

Figure 16 is the flow chart of cloth supply processing.

Figure 17 is the flow chart that cloth accepts processing.

Figure 18 is the flow chart of cloth recovery processing.

Figure 19 is the flow chart of sewing control processing.

Figure 20 is the flow chart of sewing processing.

Figure 21 is to indicate under holding position and base position unanimous circumstances, makes cloth 105A from allocation position to handover The figure of the movement of Charging system 135 when position is mobile.

Figure 22 is to indicate in the case where holding position is in allowed band, makes cloth 105A from allocation position to handover The figure of the movement of Charging system 135 when position is mobile.

Figure 23 is to indicate except holding position is in allowed band, makes cloth 105A from allocation position to tune The figure of the movement of Charging system 135 when whole position is mobile.

Figure 24 is to indicate except holding position is in allowed band, makes cloth 105A from position is adjusted to friendship Connect the figure of the movement of the Charging system 135 when the movement of position.

Specific embodiment

It is described with reference to one embodiment of the present invention.Illustrate the schematic structure of transportation system 300.Following explanation Using the attached left and right being indicated by arrows in Fig., front and back, up and down.

As shown in Figure 1, transportation system 300 have this two sewing machines of sewing machine 1A, sewing machine 1B, conveying device 100A, This two conveying devices of conveying device 100B and a computer 200.Sewing machine 1A and sewing machine 1B is roughly the same knot Structure.In the following description, sewing machine 1A and sewing machine 1B are referred to as sewing machine 1.Conveying device 100A and conveying device 100B is same structure.In the following description, conveying device 100A and conveying device 100B are referred to as conveying dress Set 100.

Transportation system 300 has a frame 301, frame 302 the two frames, and frame 301, frame 302 the two frames are By the way that the bar of iron or aluminum is barricaded as what rectangle was made into.Frame 301 configures on the right side of frame 302.Frame 301, frame 302 Frame plate 305 is equipped in middle section.Sewing machine 1A is fixed on the frame plate 305 of frame 301.Conveying device 100A is located at sewing machine 1A's Right.Sewing machine 1B is fixed on the frame plate 305 of frame 302.Conveying device 100B is located at the right of sewing machine 1B.

Conveying device 100A has mobile mechanism 120A and cloth grasping device 150A.Mobile mechanism 120A is located at sewing machine The right of 1A is fixed on frame plate 305.Cloth grasping device 150A is located at the right front of sewing machine 1A, and cloth magazine 102A is located at Near cloth grasping device 150A.Machine 1A the to be sewed cloth 105A sewed is contained in cloth magazine in a manner of piling up 102A.Cloth grasping device 150A and cloth magazine 102A are fixed on the accessory plate 5 of sewing machine 1A.

Conveying device 100B has mobile mechanism 120B, cloth grasping device 150B and cloth grasping device 150C.It is mobile Mechanism 120B is located at the right of sewing machine 1B, is fixed on frame plate 305.Before cloth grasping device 150B is located at the right side of sewing machine 1B Side, cloth magazine 102B are located near cloth grasping device 150B.By the cloth 105B of machine 1B to be sewed sewing to pile up Mode is contained in cloth magazine 102B.Cloth grasping device 150B and cloth magazine 102B are fixed on the accessory plate 5 of sewing machine 1B.Cloth Material grasping device 150C is located at the left front of sewing machine 1B, and cloth magazine 102C is located near cloth grasping device 150C.By by The cloth 105C that sewing machine 1B has been sewed is contained in cloth magazine 102C in a manner of piling up.Cloth grasping device 150C and cloth Box 102C is fixed on the accessory plate 5 of sewing machine 1B.Frame 301 is in the left and right sides of sewing machine 1A and accessory plate 5 substantially phase Same height and position is equipped with plate 306, with accessory plate 5 roughly the same height position of the frame 302 in the left and right sides of sewing machine 1B Plate 306 is installed.

Mobile mechanism 120A and mobile mechanism 120B is same structure.In the following description, by mobile mechanism 120A and mobile mechanism 120B are referred to as mobile mechanism 120.Cloth grasping device 150A, cloth grasping device 150B and cloth handle Holding device 150C is same structure.In the following description, by cloth grasping device 150A, cloth grasping device 150B Cloth grasping device 150 is referred to as with cloth grasping device 150C.Cloth magazine 102A, cloth magazine 102B and cloth magazine 102C are big Cause identical structure.In the following description, cloth magazine 102A, cloth magazine 102B and cloth magazine 102C are referred to as cloth magazine 102, cloth 105A, cloth 105B and cloth 105C are referred to as cloth 105.

Sewing machine 1 and conveying device 100 have the control unit 50 (referring to Fig. 7) and conveying device 100 for containing sewing machine 1 Control unit 110 (referring to Fig. 8) control cabinet 307.Control cabinet 307 is located under frame 301, the respective frame plate 305 of frame 302 Side.Frame 301, frame 302 are equipped with the backplate made of strengthened glass or transparent acrylic board in front frame upper section.Backplate energy It is enough to be opened and closed by horizontally slipping.

Frame 302 is equipped with frame plate 308 in lower section.Computer 200 configures on frame plate 308.Computer 200 and sewing machine 1 Control unit 50 and conveying device 100 control unit 110 be electrically connected.Computer 20 is, for example, laptop, for controlling seam It threads the movement of machine 1 and conveying device 100.

Sewing machine 1 has base portion 2, column sections 3 and horn portion 4.Base portion 2 configures on frame plate 305.2 edge of base portion Front-rear direction extends, and has vertical shuttle etc. in inside.Column sections 3 extend upwards from the rear section in base portion 2.Column sections 3 have motor of sewing machine 31 (referring to Fig. 7) etc. in inside.Horn portion 4 is from the upper end of column sections 3 with the upper surface with base portion 2 Opposite mode extends forwards, has front end 7 in front end.Horn portion 4 has main shaft, needle bar drive device etc. in inside. Shank 10 is extended downward from the lower end of front end 7.Eedle 11 is assemblied in the lower end of shank 10.

Sewing machine 1 has accessory plate 5 and horicontal motion mechanism 6 in the top in base portion 2.Accessory plate 5 is located at than shank 10 Position on the lower has horizontally extending upper surface.Accessory plate 5 has needle plate 12.The upper surface of needle plate 12 and auxiliary The upper surface of plate 5 is helped to be in roughly the same height.Needle plate 12 has in the underface for the eedle 11 for being assemblied in shank 10 holds needle Hole 13, eedle 11 can be passed through from the appearance pin hole 13.

As shown in Figures 2 and 3, horicontal motion mechanism 6 has pressure arm 65, X-axis moving plate, Y-axis moving arm 66, cylinder 69, X Axis mobile mechanism, Y-axis moving mechanism and keeping body 70.X-axis mobile mechanism is located at the inside in base portion 2.X-axis mobile mechanism is used for It is that driving source keeps X-axis moving plate mobile along the x axis (left and right directions) with X-axis motor 32 (referring to Fig. 7).X-axis moving plate it is upper Surface has the track extended along the longitudinal direction.Pressure arm 65 is set in orbit, can be moved along the longitudinal direction along track.Pressure arm 65 are in the position more against the top than accessory plate 5.Pressure arm 65 moves along the x axis together with X-axis moving plate.

Y-axis moving arm 66 has supporting part 67 and arm 68.Supporting part 67 extends in left-right direction.Supporting part 67 is with pressure arm 65 modes that can be moved along the x axis support the rear portion of the pressure arm 65.Arm 68 and the rear section of supporting part 67 are connected, And arm 68 extends along the longitudinal direction.Arm 68 is connected with the Y-axis moving mechanism being located in base portion 2.Y-axis moving mechanism is used In being that driving source keeps arm 68 mobile along the y axis (front-rear direction) with Y-axis motor 34 (referring to Fig. 7).Supporting part 67 along with The movement of arm 68 is moved along the y axis.Pressure arm 65 moves along the y axis together with Y-axis moving arm 66.

Keeping body 70 is mounted on the front end of pressure arm 65.Keeping body 70 has lifter plate 71, cylinder 72, presser feet 73, pressing plate 74, track 75 and sliding block 76.The cylinder 69 that pressure arm 65 has left and right pairs of.The bar of cylinder 69 is connected with elevating lever.Lifter plate 71 are connected with elevating lever, and the driving with cylinder 69 correspondingly moves up and down.Cylinder 72 and sliding block 76 are fixed on lifter plate 71 Front surface.The bar of cylinder 72 can be stretched out to the left and can be retracted after stretching.Presser feet 73 is in letter L shape in side view, with cylinder The left part of 72 bar is connected.The driving correspondingly side-to-side movement of presser feet 73 and cylinder 72.Track 75 extends in left-right direction, It is fixed on the rear surface of presser feet 73.Sliding block 76 fastens with track 75, can support the pressure in a manner of side-to-side movement by presser feet 73 Foot 73.

Pressing plate 74 is, for example, made of metal, is fixed on the lower end of presser feet 73.Pressing plate 74 is the plate structure configured in the horizontal direction Part has the opening of rectangular shaped when overlooking.When cylinder 69, which carries out driving, declines lifter plate 71, pressing plate 74 and accessory plate 5 will be clipped between the pressing plate 74 and accessory plate 5 as the cloth 105 of sewing object from upper and lower two sides and keep the cloth 105.? Cylinder 69 drive when increase lifter plate 71, and pressing plate 74 leaves accessory plate 5 upwards, releases the holding to cloth 105.? Cylinder 72 drive when presser feet 73 being made to be moved to the front of lifter plate 71, and pressing plate 74 is located at the positive center position of pressure arm 65. As shown in the double dot dash line in attached drawing, when cylinder 72, which carries out driving, makes presser feet 73 be moved to the left of lifter plate 71, pressing plate 74 Positioned at the side position for moving rear place to the left from 65 front of pressure arm.

As shown in figure 4, conveying device 100 has mobile mechanism 120, adsorbing mechanism 130, cloth grasping device 150, shooting Device 117 and attracting mechanism 140.Mobile mechanism 120 has multiple arm drive motor 121A~arm drive motor 121D in inside (referring to Fig. 8).Mobile mechanism 120 has support column portion 131, the first arm 132, the second arm 133 and third arm 134.Branch Bearing column portion 131 vertically extends, and the lower end in support column portion 131 is fixed on frame plate 305.The upper end in support column portion 131 Portion and the one end of the first arm 132 are connected, and support first arm in such a way that the first arm 132 can horizontally rotate 132.Support column portion 131 has arm drive motor 121A in upper end, and the first arm 132 can be arm drive motor 121A's It is rotated by.First arm 132 is horizontally extending.One end of the other end of the first arm 132 and the second arm 133 Portion is connected, and supports second arm 133 in such a way that the second arm 133 can horizontally rotate.Second arm 133 is along level side To extension, and its other end vertically extends.Second arm 133 has arm drive motor 121B in portion at one end, the Two arms 133 can rotate under the driving of arm drive motor 121B relative to the first arm 132.

Third arm 134 be vertically extend it is rodlike.The other end of second arm 133 is with third arm 134 It can move up and down and the third arm 134 can be kept around the mode that the shaft centre line of third arm 134 rotates.Second arm 133 have arm drive motor 121C, arm drive motor 121D the two arm drive motors, third arm 134 in the other end Can arm drive motor 121C, arm drive motor 121D driving under move up and down and rotated.Under third arm 134 End is connected with the erecting bed 124 of adsorbing mechanism 130.

Adsorbing mechanism 130 has erecting bed 124 and Charging system 135.Erecting bed 124 is shape in the form of a substantially rectangular when overlooking Board member.Charging system 135 realizes electrification by being powered.Charging system 135 is the plate overlooked when in the form of a substantially rectangular, Gu It is scheduled on the lower part of erecting bed 124.The lower surface of Charging system 135 is adsorption plane 136.Charging system 135 is carried quiet by electrification Cloth 105 can be adsorbed on adsorption plane 136 by electricity.The control unit 110 (referring to Fig. 8) of conveying device 100 drives for control arm Motor 121A~arm drive motor 121D driving, can be such that Charging system 135 is moved on accessory plate 5 with any direction Any position in the movable range of motivation structure 120.

Cloth grasping device 150 is used to take out cloth 105 from the muti-piece cloth 105 that pile is got up.Cloth holds dress Setting 150 has rotating mechanism 160, up-down mechanism 170 and handle sturcture 180.Rotating mechanism 160 has base portion 161, gas Cylinder 162, support column 163 and cursor 164.Base portion 161 is box shaped, and bottom is fixed on accessory plate 5.Support column 163 is What is vertically extended is rodlike.Base portion 161 can be around the side that the shaft centre line of the support column 163 rotates with support column 163 Formula supports the support column 163.The lower end of support column 163 is in base portion 161.Cylinder 162 is set to the side of base portion 161. The bar 165 of cylinder 162 extends in base portion 161, can stretch in left-right direction in the side of support column 163.Support column 163 Lower end has pinion gear.The bar 165 of cylinder 162 has rack gear, which is meshed with pinion gear.When cylinder 162 is driven When dynamic, support column 163 is rotated.The one end of cursor 164 is fixed on the upper end of support column 163.Cursor 164 is along level side To extension, up-down mechanism 170 is fixed in the other end of cursor 164.As shown in figure 5, up-down mechanism 170 is Rectangular cylinder has two bars 171 that can be stretched out downwards and can retract after stretching.Handle sturcture 180 and two bars 171 Lower end be connected.

Handle sturcture 180 is with 181, two legs 182 of supporting part, 183, two handle parts 184 of Liang Ge foot and two Holding mechanism.Supporting part 181 extends in left-right direction, is become in side view in the shape of falling letter U by bending machining Board member.The lower end of the bar 171 of up-down mechanism 170 is fixed on the approximate centre of the upper surface of supporting part 181.Leg 182 be the component that the plate in side view in letter U shape is become by bending machining.Supporting part 181 with leg 182 can on The mode of lower movement supports the leg 182.Leg 182 can be between upper position (referring to Fig.1 1) and lower position (referring to Fig. 5) on Lower movement, upper position be leg 182 for supporting part 181 be located at position relatively against the top when leg 182 position It sets, lower position is the position of the leg 182 when leg 182 is located at position relatively on the lower for supporting part 181.Leg The lower end in portion 182 is projected into the position than supporting part 181 on the lower.Supporting part 181, which has, exerts a force downwards to leg 182 Spring.When leg 182 is located at lower position, when it is by upward stress, and is moved to upper position from lower position, machine is kept Leg 182 is maintained at upper position by structure.When leg 182 be located at it is upper set when again by upward stress when, holding mechanism Release the state that leg 182 is maintained to upper position.

Liang Ge foot 183 is separately fixed at the lower surface of the bottom of leg 182.Foot 183 is plate, to leg 182 Side is prominent.Two handle parts 184 are respectively provided at the side of leg 182.Foot 183 is prominent to 184 side of handle part.Supporting part 181 have the shaft 185 extended between antetheca and rear wall in left and right ends portion respectively.Shaft 185 runs through the base of handle part 184 End 189 supports the handle part 184 in such a way that handle part 184 can rotate.Supporting part 181 has spring, and the spring is to handle The top end part 188 for holding portion 184 exerts a force towards the lower section of base end part 189.In this case, handle part 184 is located at release position, When handle part 184 is located at release position, top end part 188 is opposite in the side of foot 183 and foot 183.Overcome in handle part 184 When the force rotation of spring, handle part 184 is located at detent position, when handle part 184 is located at detent position, top end part 188 In the top of foot 183.

Supporting part 181 has the stop part 187 extended between antetheca and rear wall in the top of shaft 185.In handle part 184 be located at release position when, stop part 187 is abutted against with base end part 189, and top end part 188 is maintained to the side of foot 183. Handle part 184 has reclinate flexure plane 186 between top end part 188 and base end part 189.Handle part 184 is from top end part 188 surface to flexure plane 186 has pad, which is greater than the frictional force of cloth 105 to each other to the frictional force of cloth 105.? When handle part 184 is rotated from release position to detent position, handle part 184 is being abutted against using flexure plane 186 and cloth 105 Meanwhile using pad by 105 band of cloth to 182 side of leg.

As shown in figure 4, accessory plate 5 has circular window portion 101 than the part of base portion 161 rearward.Window portion 101 is set There are strengthened glass or transparent acrylic board.Frame 301, frame 302 are fixed with filming apparatus 117 in the lower section of window portion 101.It claps The top of accessory plate 5 can be shot through window portion 101 by taking the photograph device 117.Keep Charging system 135 mobile in mobile mechanism 120 To the top of window portion 101 camera site when, filming apparatus 117 is to the adsorption plane 136 of Charging system 135 and is attracted to adsorption plane Cloth 105 on 136 is shot.

Cloth magazine 102 is located at the left of base portion 161, is fixed on accessory plate 5.Cloth magazine 102 is when looking down in substantially Rectangular shape, left and right directions length are greater than its front-rear direction length.Cloth 105 as sewing object is stacked on cloth magazine 102 It is interior.The cloth 105 of present embodiment is in generally rectangular shape, is housed in the way of left and right directions by long side extending direction In cloth magazine 102.When handle sturcture 180 will hold cloth 105 from cloth magazine 102, rotating mechanism 160 makes to transport up and down Motivation structure 170 and handle sturcture 180 are moved to the top of cloth magazine 102.As shown in the double dot dash line in Fig. 4, cloth holds dress The rotating mechanism 160 for setting 150A makes substantially 90 degree of the rotation of support column 163, makes up-down mechanism 170 and handle sturcture 180 from cloth The top of window portion 101 is moved to above magazine 102A, the rotating mechanism 160 of cloth grasping device 150B makes 163 turns of support column Dynamic substantially 90 degree, makes up-down mechanism 170 and handle sturcture 180 be moved to the upper of window portion 101 above cloth magazine 102B Side.The rotating mechanism 160 of cloth grasping device 150C makes the rotation of support column 163 substantially 180 degree, makes 170 He of up-down mechanism Handle sturcture 180 is mobile from the top of cloth magazine 102C.The position near window portion 101 on accessory plate 5 is allocation position.Cloth Expect that the cloth 105 taken out from cloth magazine 102 is placed in allocation position by grasping device 150.Mobile mechanism 120 makes band Denso It sets 135 and is moved to allocation position, receive cloth 105.

Accessory plate 5 has opening portion 19 than the part of cloth magazine 102 rearward.Opening portion 19 is when looking down in substantially square Shape shape, left and right directions length are greater than front-rear direction length.As shown in fig. 6, attracting mechanism 140 is set to opening portion 19, it is fixed In the downside of accessory plate 5.Attracting mechanism 140, which has, attracts box 141, flow plate 142 and aspirating valve 145.Attraction box 141 is top Open is box-like.Flow plate 142 and opening portion 19 fasten to cover the top for attracting box 141, and by screw it is fixed come It is fixed on and attracts box 141.The upper surface of flow plate 142 and the upper surface of accessory plate 5 are in roughly the same height.Flow plate 142 have multiple recirculation holes 143 for air circulation.Aspirating valve 145 is connected with the bottom of box 141 is attracted.145 benefit of aspirating valve It is driven with air to attract the air attracted in box 141.The upper surface of flow plate 142 is the suction that can attract cloth 105 Draw face 144.The position of suction surface 144 in accessory plate 5 is delivery position, and delivery position is the Charging system of mobile mechanism 120 135 are transferred to the cloth 105 being adsorbed on adsorption plane 136 position of the pressing plate 74 of horicontal motion mechanism 6.Attracting mechanism 140 Attract the cloth 105 for being placed in delivery position by mobile mechanism 120, and keep cloth 105, until handover is completed.Delivery position is Position (the reference in the horn portion 4 to 100 lateral deviation of conveying device from sewing machine 1 to the right when on accessory plate 5, overlook view Figure 21).The position being staggered when conveying device 100 is in overlook view with horn portion 4.Make Charging system 135 in mobile mechanism 120 When mobile to the top of suction surface 144, Charging system 135 can not interfere with each other ground moving cloth 105 with horn portion 4.

It, can be into the attraction installation of box 141 flow plate 142, flow plate 442, flow plate 542 for attracting mechanism 140 Any one.Such as the quantity of the quantity and forming position of the recirculation hole 443 of flow plate 442 and the recirculation hole 143 of flow plate 142 It is different with forming position.In the case where flow plate 442 is installed on attraction box 141, even such as area is less than The cloth of the area of cloth 105 is placed in suction surface 444, and attracting mechanism 140 also can be avoided generation because of attraction caused by gas leakage Keep cloth to the case where power reduces.Such as the stream of the size of the diameter of the recirculation hole 543 of flow plate 542 and flow plate 142 The size of the diameter of through-hole 143 is different.In the case where flow plate 542 is installed on attraction box 141, even will breathe freely Property be higher than the cloth of gas permeability of cloth 105 and be placed in suction surface 544, attracting mechanism 140 can also ensure that enough suction surfaces Product, so as to keep cloth.For attracting mechanism 140, other than flow plate 142, flow plate 442, flow plate 542, It can also be installed toward attraction box 141 in these aspects of the quantity, the size of recirculation hole, the forming position of recirculation hole of recirculation hole at least Different flow plate on one side.

Cylinder 69, the cylinder 72 of sewing machine 1, cylinder 162, up-down mechanism 170 and the suction of cloth grasping device 150 The aspirating valve 145 for drawing mechanism 140 is connected by pipe with compressor.

The control unit 50 of sewing machine 1 has CPU51, ROM52, RAM53, storage device 54, communication interface (I/F) 55, defeated Enter output interface 56 and 57~driving circuit of driving circuit 59.CPU51, ROM52, RAM53 and storage device 54 by bus with Input/output interface 56 is electrically connected.CPU51 is responsible for controlling sewing machine 1, executes and sews according to the various programs stored in ROM52 Relevant various operations and processing.ROM52 is stored with various programs, various initial setup parameters etc..RAM53 is for temporarily storing Operation result, pointer, count value of CPU51 etc..Storage device 54 is defeated for the stitch data for storing multiple patterns, operator Non-volatile storage device of the various set informations entered etc..Stitch data is for keeping keeping body 70 mobile, to use It is located at the data of the underface of eedle 11 in order in multiple needle falling points of sewing pattern.Needle falling point is eedle 11 and shank 10 1 Play the predetermined position on the cloth 105 that eedle 11 is pierced into when moving downwards.Sewing starting position is and initial needle falling point The position of corresponding keeping body 70.The coordinate of needle falling point is using the origin position of keeping body 70 as the coordinate of benchmark position.It protects The origin position for holding body 70 is, for example, position when the center of pressing plate 74 is in the underface of eedle 11 where keeping body 70.It keeps The origin position of body 70 is not limited to the example of present embodiment, and the end for being also possible to such as pressing plate 74 is being in eedle 11 just Position when lower section where keeping body 70.

Communication interface 55 is electrically connected with input/output interface 56.Communication interface 55 is, for example, the interface of serial communication.It is logical Letter interface 55 is connected with the communication interface 210 of computer 200.57~driving circuit of driving circuit 59 and input/output interface 56 Electrical connection.Driving circuit 57 is electrically connected with motor of sewing machine 31.CPU51 can control driving circuit 57, drive motor of sewing machine 31. Motor of sewing machine 31 can be such that main shaft rotates.Driving circuit 58 is electrically connected with X-axis motor 32.34 electricity of driving circuit 59 and Y-axis motor Connection.CPU51 can control driving circuit 58, drive X-axis motor 32, and CPU51 can control driving circuit 59, drive Y-axis motor 34. X-axis motor 32, Y-axis motor 34 are stepper motor.X-axis motor 32 is for driving X-axis mobile mechanism, and Y-axis motor 34 is for driving Y Axis mobile mechanism.Keeping body 70 can be mobile with Y direction along the x axis.X-axis motor 32 has X-axis encoder 33 in output shaft, Y-axis motor 34 has Y-axis encoder 35 in output shaft.X-axis encoder 33 and Y-axis encoder 35 are electrically connected with input/output interface 56 It connects.X-axis encoder 33 can detect value corresponding with the rotation angle of the output shaft of X-axis motor 32, and should to CPU51 output Value, Y-axis encoder 35 can detect value corresponding with the rotation angle of the output shaft of Y-axis motor 34, and should to CPU51 output Value.CPU51 can be based on these values come the coordinate of the current location of operation keeping body 70, and the coordinate is stored to RAM53. CPU51 driving motor of sewing machine 31 in sewing rotates main shaft, controls the up and down motion of shank 10 and the drive to vertical shuttle It is dynamic.CPU51 drives X-axis motor 32 and Y-axis motor 34 while motor of sewing machine 31 drives, based on stitch data to control pair The driving of horicontal motion mechanism 6.Therefore, sewing machine 1 can sew cloth 105.

Input/output interface 56 and X-direction origin sensor 36, Y-direction origin sensor 37, solenoid valve 38, solenoid valve 39 Electrical connection.X-direction origin sensor 36 is set to X-axis mobile mechanism.X-direction origin sensor 36 is used to set the original of keeping body 70 Point.Y-direction origin sensor 37 is set to Y-axis moving mechanism.Y-direction origin sensor 37 is used to set the origin of keeping body 70. CPU51 can control the driving of X-axis motor 32 based on the testing result of X-direction origin sensor 36, and CPU51 can be former based on Y-direction The driving of the testing result control Y-axis motor 34 of point sensor 37.Before sewing starts, CPU51 makes keeping body 70 to origin position Set movement.Solenoid valve 38 is set to the feed path that compressor supplies the air of air to cylinder 69.CPU51 is by making solenoid valve 38 It is opened and closed to control the driving of cylinder 69, goes up and down pressing plate 74.Solenoid valve 39 is set to compressor and supplies to the cylinder 72 of keeping body 70 The feed path of the air of air.CPU51 controls the driving of cylinder 72 by making the opening and closing of solenoid valve 39, makes pressing plate 74 along left and right Direction is mobile.

There are the control unit 110 of conveying device 100 CPU111, ROM112, RAM113, communication interface 114, input and output to connect 115 and driving circuit 116A~driving circuit 116D of mouth.CPU111, ROM112, RAM113 are by bus and input/output interface 115 electrical connections.CPU111 is responsible for controlling conveying device 100, executes processing according to the various programs stored in ROM112.ROM112 It is stored with various programs, various initial setup parameters etc..RAM113 is for the temporarily operation result of storage CPU111, various data Deng.Communication interface 114 is electrically connected with input/output interface 115.Communication interface 114 is, for example, the interface of serial communication.Communication Interface 114 is connected with the communication interface 210 of computer 200.

Driving circuit 116A~driving circuit 116D is electrically connected with input/output interface 115.Driving circuit 116A and arm drive Dynamic motor 121A is connected, and driving circuit 116B is connected with arm drive motor 121B, driving circuit 116C and arm drive motor 121C is connected, and driving circuit 116D is connected with arm drive motor 121D.Arm drive motor 121A~arm drive motor 121D It is stepper motor.CPU111 can control driving circuit 116A, and arm drive motor 121A, CPU111 is driven to can control driving circuit 116B drives arm drive motor 121B, CPU111 to can control driving circuit 116C, drives arm drive motor 121C, CPU111 energy Driving circuit 116D is controlled, arm drive motor 121D is driven.Arm drive motor 121A is used to drive the first arm of mobile mechanism 120 Portion 132, arm drive motor 121B are used to drive the second arm 133 of mobile mechanism 120, and arm drive motor 121C, arm drive horse It is used to drive the third arm 134 of mobile mechanism 120 up to 121D, passes through arm drive motor 121A~arm drive motor 121D drive It is dynamic, keep Charging system 135 mobile.Arm drive motor 121A in output shaft there is arm encoder 122A, arm drive motor 121B to exist There is output shaft arm encoder 122B, arm drive motor 121C to have arm encoder 122C, arm drive motor 121D in output shaft There is arm encoder 122D in output shaft.Arm encoder 122A~arm encoder 122D is electrically connected with input/output interface 115.Arm Encoder 122A can detect value corresponding with the rotation angle of the output shaft of arm drive motor 121A, and export to CPU111 The value, arm encoder 122B can detect value corresponding with the rotation angle of the output shaft of arm drive motor 121B, and to CPU111 exports the value, and arm encoder 122C can detect corresponding with the rotation angle of the output shaft of arm drive motor 121C Value, and the value is exported to CPU111, arm encoder 122D can detect the rotation angle with the output shaft of arm drive motor 121D Corresponding value, and the value is exported to CPU111.CPU111 can be based on these values to the first arm 132, the second arm 133, the The current location of three arms 134 carries out operation, and operation result is stored to RAM113.CPU111 passes through control arm drive motor 121A~arm drive motor 121D driving, moves Charging system 135 between allocation position and delivery position.

Input/output interface 115 is electrically connected with multiple arm origin sensors 123, Charging system 135.Multiple arm origin sensings Device 123 is set to the upper end position of the first arm 132, the second arm 133, the respective rotary shaft of third arm 134 and third arm 134 It sets.Arm origin sensor 123 is for pattern when mobile mechanism 120 is set as standby.CPU111 is not carried out in mobile mechanism 120 When movement, the testing result based on arm origin sensor 123 controls arm drive motor 121A~arm drive motor 121D driving, Pattern when mobile mechanism 120 is set as standby.Pattern is that the pattern of mobile mechanism 120 does not affect other devices when standby The pattern acted.Charging system 135 has driving circuit, is charged under the control of CPU111.

Input/output interface 115 is electrically connected with filming apparatus 117, solenoid valve 118, solenoid valve 151, solenoid valve 152.Shooting Device 117 when cloth 105 is adsorbed on adsorption plane 136 by mobile mechanism 120 using Charging system 135, to adsorption plane 136 into Row shooting.The image that CPU111 takes filming apparatus 117 parses, and detects holding position.Holding position is band Denso Set 135 positions that cloth 105 is kept using adsorption plane 136.CPU111 presets the base position of adsorption plane 136.Benchmark position Setting is position in order to which cloth 105 to be shifted exactly to benchmark as holding position of the delivery position on adsorption plane 136. CPU111 can control mobile mechanism 120 based on the testing result of holding position, by the deviation between amendment and base position, So as to which cloth 105 is shifted exactly to delivery position.

Solenoid valve 118 is set to the feed path that compressor supplies the air of air to aspirating valve 145.CPU111 can make electromagnetism Valve 118 is opened and closed, and controls the driving of aspirating valve 145 and without driving.Solenoid valve 151 is set to compressor and supplies sky to cylinder 162 The feed path of the air of gas.CPU111 can be such that solenoid valve 151 is opened and closed, and control turning for the support column 163 of cloth grasping device 150 It is dynamic, move handle sturcture 180 between the top of cloth magazine 102 and the top of allocation position.Solenoid valve 152 is set to compressor The feed path of the air of air is supplied to up-down mechanism 170.CPU111 can be such that solenoid valve 152 is opened and closed, control-rod 171 It is flexible, so that handle sturcture 180 is moved up and down.

Computer 200 has CPU201.CPU201 is responsible for controlling computer 200.CPU201 is connected with chipset 204, It is electrically connected by chipset 204 with ROM202, RAM203, display control section 208.Chipset 204 be for CPU management 201 with The a series of circuit group of data is transmitted and received between ROM202, RAM203, display control section 208.ROM202 is stored with BIOS Deng.RAM203 is for storing various ephemeral datas.Display control section 208 shows image for controlling to display unit 209.

Chipset 204 is connected with chipset 205.CPU201 is by chipset 205 and storage device 206, input unit 207, communication interface 210 is electrically connected.Chipset 205 is for CPU management 201 and storage device 206, input unit 207, communicates and connect The a series of circuit group of data is transmitted and received between mouth 210.Storage device 206, which is, for example, that HDD, SSD etc. are non-volatile, to be deposited Storage device.Storage device 206 is stored with operating system, various application programs, data etc..Input unit 207 is the energy such as keyboard, mouse Carry out the device of the input of the operation for computer 200.Communication interface 210 is, for example, the interface of serial communication.Communication connects Mouth 210 is connected with sewing machine 1 (sewing machine 1A, sewing machine 1B), conveying device 100 (conveying device 100A, conveying device 100B) It connects.

Referring to Fig. 5, Figure 10~Figure 12, illustrate the movement that cloth grasping device 150 holds cloth 105.Such as Fig. 5 institute Show, cloth grasping device 150 will take out a piece of cloth from the cloth 105 for being accommodated in cloth magazine 102 in a manner of piling up When expecting 105, up-down mechanism 170 and handle sturcture 180 is set to be moved to the top of cloth magazine 102 using rotating mechanism 160.Leg Portion 182 is located at lower position, and handle part 184 is located at release position.As shown in Figure 10, up-down mechanism 170 makes bar 171 downwards It stretches out, drops to handle sturcture 180 on cloth 105.Foot 183 abuts against in uppermost cloth 105, pushes down cloth 105.Since supporting part 181 declines, leg 182 is relatively moved upward.The flexure plane 186 of handle part 184 is in leg 182 be positioned against from down position it is mobile during be in uppermost cloth 105 and abut against.Handle part 184 is with shaft 185 rotate for fulcrum from release position towards detent position.Top end part 188 is while being close to leg 182 relative to supporting part 181 are moved upward.The position that flexure plane 186 is abutted with cloth 105 along with handle part 184 rotation, from 188 side of top end part It is mobile to 189 side of base end part.Pad will 105 band of cloth that is abutted against with flexure plane 186 to 188 side of top end part.Pad is to cloth 105 Frictional force is greater than the frictional force of cloth 105 to each other.Therefore, handle part 184 only takes up in uppermost cloth 105.Top Portion 188 and foot 183 are opposite.Thus, the part abutted against with flexure plane 186 in cloth 105 is sent to foot by handle part 184 183.When handle part 184 turns to detent position, top end part 188 is located at the top of foot 183.As shown in figure 11, in leg 182 when being located at upper position, and the part got up by rim strip in cloth 105 is in substantially letter S shape complications.Handle part 184 and foot 183 clip the meanders of cloth 105 from upper and lower two sides.

As shown in figure 12, up-down mechanism 170 retracts bar 171 upwards, increase handle sturcture 180.Holding machine Leg 182 is maintained at upper position by structure, and handle sturcture 180 keeps hold cloth using handle part 184 and foot 183 105 state.Rotating mechanism 160 makes up-down mechanism 170 and handle sturcture 180 be moved to the top of allocation position, up and down Movement mechanism 170 declines handle sturcture 180.When foot 183 abuts against in the upper surface of allocation position and accessory plate 5, make leg When portion 182 is moved upward relative to supporting part 181, holding mechanism releases the holding to leg 182.In up-down mechanism 170 when rising handle sturcture 180, and leg 182 is moved to lower position from upper position under the action of the force of spring, holds Portion 184 turns to release position from detent position under the action of the force of spring.Therefore, cloth grasping device 150 releases handle The holding of portion 184 and foot 183 to cloth 105 is held, cloth 105 is placed in allocation position.

In the following description, by each position of sewing machine 1A and conveying device 100A and sewing machine 1B and conveying device The each position of 100B distinguishes when being illustrated, and for ease of description, each position of sewing machine 1A, conveying device 100A are known as The each position of sewing machine 1B, conveying device 100B are known as position B by position A.Conveying device 100A is taken from cloth magazine 102A The cloth 105 of machine 1A to be sewed sewing out is known as cloth 105A, and conveying device 100B is taken out from cloth magazine 102B Cloth 105 is known as cloth 105B.Cloth 105A and cloth 105B are superimposed together and are sewed by sewing machine 1B.

Transportation system 300 carries out following a series of processing: the CPU201 of computer 200 is executed to be deposited in storage device 206 The program of the system control processing of storage, controls the movement of sewing machine 1 and conveying device 100, sews to cloth 105.Such as figure Shown in 15, when operator connects the power supply of conveying device 100, CPU111 reads the program of conveying control processing simultaneously from ROM112 Execute the program.The various instructions to be received sent by computer 200 such as CPU111 signal (S41: no, S48: no, S51: It is no, S53: no, S56: no, S41).As shown in figure 19, when operator connects the power supply of sewing machine 1, CPU51 is read from ROM52 The program of sewing control processing simultaneously executes the program.The signal of the various instructions to be received sent by computer 200 such as CPU51 (S121: no, S129: no, S132: no, S121).

As shown in figure 13, it when operator connects the power supply of computer 200, is stored in CPU201 booting ROM 202 BIOS reads in the operating system stored in storage device 206 and executes the operating system.When operator's operation computer 200, refer to When showing the control processing of execution system, CPU201 controls the program of processing from 206 read-out system of storage device and executes the program.

CPU201 can receive the input to processing number that the operation based on operator is carried out.Number is processed wait be sewn Sew the quantity of object.The cloth 105A of block number corresponding with processing number is housed in cloth in advance by operator in a manner of piling up In magazine 102A, the cloth 105B of block number corresponding with processing number is housed in cloth magazine 102B in a manner of piling up. CPU201 stores the processing number that operator inputs to RAM203, setting processing number (S1).CPU201 is to all device (sewing machines 1A, sewing machine 1B, conveying device 100A, conveying device 100B) initial configuration signal (S2) is sent, it is standby later (S3: no), directly Signal is completed to configuration is received from all devices.

As shown in figure 15, when the CPU111 of conveying device 100A, conveying device 100B receive initial configuration signal (S41: yes), makes processing proceed to S42.CPU111 make solenoid valve 152 work, drive up-down mechanism 170, by bar 171 to Top retracts.The rising of handle sturcture 180 of cloth grasping device 150A, cloth grasping device 150B, cloth grasping device 150C (S42).CPU111 makes solenoid valve 151 work, and drives cylinder 162, makes support column 163 around rotating in an anti-clockwise direction when overlooking. The up-down mechanism 170 and handle sturcture 180 of cloth grasping device 150A is mobile to the top of cloth magazine 102A, and cloth is held The up-down mechanism 170 and handle sturcture 180 of device 150B is mobile to the top of cloth magazine 102B, cloth grasping device 150C Up-down mechanism 170 and handle sturcture 180 it is mobile (S43) to the top of cloth magazine 102C.CPU111 drives mobile mechanism 120, the processing (S44) of pattern when carrying out being set as standby.CPU111 based on arm encoder 122A~arm encoder 122D value and The testing result of arm origin sensor 123 controls arm drive motor 121A~arm drive motor 121D driving, until moving machine Pattern (S46: no, S44) when structure 120 becomes standby.(S46: yes), CPU111 when pattern when mobile mechanism 120 becomes standby Configuration, which is sent, to computer 200 completes signal (S47).CPU111 makes to wait to be received from computer 200 processing returns to S41 Various instructions signal.

As shown in figure 19, when the CPU51 of sewing machine 1A, sewing machine 1B receive initial configuration signal (S121: yes), make Processing proceeds to S122.CPU51 makes solenoid valve 38 work, and drives cylinder 69, so that keeping body 70 is risen (S122) by elevating lever. The pressing plate 74 of keeping body 70 rises, and leaves the upper surface of accessory plate 5 upwards.CPU51 makes solenoid valve 39 work, and drives cylinder 72, move presser feet 73 to the left relative to lifter plate 71.Pressing plate 74 is mobile (S123) to side position.CPU51 driving is horizontal Movement mechanism 6 keeps keeping body 70 mobile (S126) to origin position.Value of the CPU51 based on X-axis encoder 33, Y-axis encoder 35 With the testing result of X-direction origin sensor 36, Y-direction origin sensor 37, the drive of X-axis motor 32 and Y-axis motor 34 is controlled It is dynamic, until keeping body 70 is moved to origin position (S127: no, S126).When keeping body 70 is moved to origin position (S127: It is), CPU51 sends configuration to computer 200 and completes signal (S128).CPU51 makes to wait to be received come from processing returns to S121 The signal of the various instructions of computer 200.

As shown in figure 13, when the CPU201 of computer 200 receives configuration completion signal from all devices (S3: yes), Process number is set as 0, and the value is stored to RAM203 (S4).The a series of processing that CPU201 carries out all devices Number of repetition is counted as process number, carries out the control to each device.If process number is not before 0, CPU201 makes processing S7 (S6: no) is entered, if process number is that 0, CPU201 makes processing proceed to S9 (S6: yes).Because being in S4 by process number It is set as after 0, therefore, CPU201 makes processing proceed to S9.If process number is different from processing number, CPU201 makes processing advance To S11 (S9: no), if process number is identical as processing number, CPU201 makes processing proceed to S13 (S9: yes).In the processing of S9 When process number is 0, CPU201 sends supply commencing signal (S11) to conveying device 100A, receives preparation to sewing machine 1A transmission Signal (S12).CPU201 makes processing proceed to S13.

As shown in figure 15, when the CPU111 of conveying device 100A receives supply commencing signal (S48: yes), cloth is executed Expect supply processing (S49).As shown in figure 16, CPU111 makes solenoid valve 152 work, and drives the fortune up and down of cloth grasping device 150A Motivation structure 170 drops to handle sturcture 180 in cloth magazine 102A (S61).The foot 183 of handle sturcture 180 and handle part 184 abutting against with the uppermost cloth 105A that is in cloth magazine 102A, and cloth 105A is clipped in handle part 184 and foot Between 183.CPU111 makes solenoid valve 152 work, and drives up-down mechanism 170, and handle sturcture 180 is made to rise (S62).Work as leg When portion 182 is moved to position, holding mechanism work, the state for making handle sturcture 180 maintain holding cloth 105A is risen to The top of cloth magazine 102A.CPU111 makes solenoid valve 151 work, and drives cylinder 162, makes support column 163 around up time when overlooking Substantially 90 degree of needle direction rotation.Up-down mechanism 170 and handle sturcture 180 are mobile (S63) to the top of allocation position A.

CPU111 makes solenoid valve 152 work, and drives up-down mechanism 170, makes handle sturcture 180 towards allocation position A Decline (S64).When foot 183 abuts against in allocation position A and the upper surface of accessory plate 5, make leg 182 by upward pressing When power, holding mechanism releases the holding to leg 182.CPU111 makes solenoid valve 152 work, and drives up-down mechanism 170, makes Handle sturcture 180 rises (S66).Handle sturcture 180 releases the holding to cloth 105A, rises to the top of allocation position A.Cloth Material 105A to rotate the direction after substantially 90 degree relative to direction when being housed in cloth magazine 102A clockwise Stay in allocation position A (referring to Figure 21).CPU111 makes solenoid valve 151 work, and drives cylinder 162, makes support column 163 around when overlooking Rotate in an anti-clockwise direction substantially 90 degree.Up-down mechanism 170 and handle sturcture 180 are rotated to the top of cloth magazine 102A (S67)。

CPU111 drives arm drive motor 121A~arm drive motor 121D of mobile mechanism 120A, makes Charging system 135 It is mobile (S68) to allocation position A.CPU111 moves Charging system 135 according to the process control mobile mechanism 120A finished in advance Move the specified position of allocation position A.When making Charging system 135 be moved to allocation position A, CPU111 makes mobile mechanism 120A Third arm 134 rotate.As shown in the chain-dotted line in Figure 21, Charging system 135 with when looking down relative to it is standby when pattern When substantially 90 degree of direction (referring to Fig. 4) rotation after direction be located at allocation position A.

CPU111 drives Charging system 135 (S69).Charging system 135 carries electrostatic, will be in the cloth of allocation position A 105A is adsorbed on adsorption plane 136.CPU111 drives arm drive motor 121A~arm drive motor 121D of mobile mechanism 120A, Keep Charging system 135 mobile (S71) to camera site A.CPU111 shoots adsorption plane 136 using filming apparatus 117, will The image taken is saved to RAM113 (S72).CPU111 is parsed (S73) to the image taken.CPU111 use example Such as the sample image of preprepared adsorption plane 136 and cloth 105A, well known collation process is carried out to the image taken. As shown in figure 21, the position at four angle of the CPU111 based on adsorption plane 136 and cloth 105A in sample image, setting by with cloth Base position shown in the rectangular area that the corresponding point P1~point P4 in position at four angles of material 105A fences up, setting is for example Using point P1 as the coordinate system of origin.CPU111 is by the point of the position at four angles of the cloth 105A in the image taken by expression It is detected as holding position the rectangular area that Q1~point Q4 fences up.

As shown in figure 16, CPU111 is to the relative position coordinates and rotation angle for base position of holding position Degree carries out operation (S74).In particular, CPU111 is sat based on the relative position for point P1, point P2 of point Q1, point Q2 Mark, distance and line segment Q1-Q2 to point P1 to point Q1 carry out operation relative to the angle of line segment P1-P2.In point P1 to point Q1 Distance be predetermined distance hereinafter, and line segment Q1-Q2 relative to line segment P1-P2 angle within the scope of predetermined angular when, CPU111 is judged as that holding position is in allowed band.Allowed band is to meet the range of the holding position of following conditions: When being modified to holding position relative to the deviation of base position and cloth 105 being made to be moved to delivery position, when overlook view, Charging system 135 is not interfered with each other with horn portion 4 and keeping body 70.It is judged as that holding position is in allowed band in CPU111 When (S76: yes), operation result of the CPU111 based on holding position, drive mobile mechanism 120A arm drive motor 121A~arm Drive motor 121D keeps Charging system 135 mobile (S81) to delivery position A.Sometimes as shown in Figure 21, such as protect Position (point Q1~point Q4) is held to be aligned with base position (point P1~point P4).In this case, CPU111 controls mobile mechanism 120A makes to indicate that point P1~point P4 of base position is overlapped with the point R1~point R4 set in delivery position A, makes Charging system 135 are moved to position shown in double dot dash line.CPU111 makes processing proceed to S82.

Sometimes as shown in Figure 22, for example, holding position (point Q1~point Q4) though deviate base position (point P1~ Point P4), but still in allowed band.In this case, the operation result in CPU111 and S74 is correspondingly to Charging system The position of 135 mobile target is modified, and makes the point Q1~point Q4 and the point R1 in delivery position setting that indicate holding position ~point R4 is overlapped.Charging system 135 is moved to position shown in double dot dash line, and CPU111 makes processing proceed to S82.

As shown in figure 16, when CPU111 is judged as that holding position is in except allowed band (S76: no), CPU111 is driven Arm drive motor 121A~arm drive motor 121D of dynamic mobile mechanism 120A keeps Charging system 135 mobile to adjustment position A (S77).Adjustment position is no matter which position of the Charging system 135 on adsorption plane 136 keeps cloth 105A, Charging system 135 can configure cloth under the premise of interfering with each other not with cloth magazine 102A and positioned at the shank 10 of top etc. for holding pin hole 13 Expect 105A, position on accessory plate 5.The adjustment position A of present embodiment is in overlook view Shi Youbu magazine 102A, needle plate 12, in the region that attracting mechanism 140 and window portion 101 fence up.As shown in figure 23, operation knot of the CPU111 based on holding position Fruit makes Charging system 135 be moved to position shown in double dot dash line.As shown in figure 16, CPU111 stops driving Charging system 135 (S78).Charging system 135 releases the absorption to adsorption plane 136 to cloth 105A, and cloth 105A is placed in adjustment position A. Operation result of the CPU111 based on holding position, the opposite position to the cloth 105A in adjustment position A relative to base position It sets and is modified (S79).As shown in figure 24, operation result of the CPU111 based on holding position drives the arm of mobile mechanism 120A Drive motor 121A~arm drive motor 121D keeps Charging system 135 mobile.Charging system 135 is so as to indicate in adjustment position The mode that point Q1~point Q4 of the position at four angles of the cloth 105A of A is overlapped with point P1~point P4 of expression base position is set, It is moved to position shown in chain-dotted line.

As shown in figure 16, CPU111 makes to drive Charging system 135 processing returns to S69, cloth 105A is adsorbed on absorption On face 136.CPU111 repeats the processing of S69~S79, until holding position is located in allowed band.If holding position is located at In allowed band, CPU111 keeps Charging system 135 mobile to delivery position A, and processing is made to proceed to S82.

CPU111 makes solenoid valve 118 work, and drives aspirating valve 145 (S82).Aspirating valve 145 will attract the air in box 141 It is discharged to outside, attracts the cloth 105A in suction surface 144 via the recirculation hole 143 of flow plate 142.Attracting mechanism 140 is by cloth Material 105A is maintained at delivery position A.CPU111 stops driving Charging system 135 (S83).Charging system 135 is released to adsorption plane The absorption of 136 couples of cloth 105A.CPU111 drives mobile mechanism 120A, the processing (S84) of pattern when carrying out being set as standby. CPU111 controls arm drive motor 121A~arm drive motor 121D driving, until pattern when mobile mechanism 120A becomes standby (S86: no, S84).When mobile mechanism 120A becomes standby when pattern (S86: yes), CPU111 sends to computer 200 and supplies It completes signal (S87).CPU111 makes to wait to be received from each of computer 200 processing returns to the S41 in conveying control processing The signal of kind instruction.

As shown in figure 19, when the CPU51 of sewing machine 1A, which is received, receives ready signal (S129: yes), the horizontal fortune of driving The X-axis mobile mechanism of motivation structure 6 and Y-axis moving mechanism keep keeping body 70 mobile (S131) to delivery position A.Delivery position exists The right of needle plate 12, delivery position is to maintain body 70 can keep the position of cloth 105 when pressing plate 74 is in center position. CPU51 makes to wait the various instructions to be received from computer 200 processing returns to S121 after keeping keeping body 70 mobile Signal.

As shown in figure 13, if the CPU201 of computer 200 is judged as that process number is not 0, CPU201 in the processing of S13 Processing is set to proceed to S14 (S13: no), if CPU201 is judged as that process number is before 0, CPU201 makes processing in the processing of S13 Enter S17 (S13: yes).When CPU201 is judged as that process number is 0 in the processing of S13, CPU201 is standby, until from all The conveying device 100 for having sent supply commencing signal receives supply and completes signal (S17: no).When CPU201 is from conveying device 100A receives supply and completes to make processing proceed to S18 when signal (S17: yes).As shown in figure 14, if CPU201 is judged as work Ordinal number is different from processing number, then CPU201 makes processing proceed to S19 (S18: no), if CPU201 is judged as process number and processing number Identical, then CPU201 makes processing proceed to S21 (S18: yes).When process number is 0 in the processing of S18, CPU201 is to sewing machine 1A sends sewing commencing signal (S19), and processing is made to proceed to S21.

As shown in figure 19, when the CPU51 of sewing machine 1A receives sewing commencing signal (S132: yes), sewing place is executed It manages (S133).As shown in figure 20, CPU51 make solenoid valve 39 work, drive cylinder 72, make presser feet 73 relative to lifter plate 71 to the right Fang Yidong.Pressing plate 74 is mobile (S141) to center position.CPU51 makes solenoid valve 38 work, and drives cylinder 69, makes by elevating lever Presser feet 73 declines (S142) relative to pressure arm 65.Pressing plate 74 delivery position A decline, by cloth 105A be clipped in the pressing plate 74 with it is auxiliary It helps between plate 5 and keeps cloth 105A.CPU51 is sent to computer 200 to be received to complete signal (S143).

CPU51 drives X-axis mobile mechanism and the Y-axis moving mechanism of horicontal motion mechanism 6, carries out making keeping body 70 to sewing The mobile processing (S147) in starting position.CPU51 drives motor of sewing machine 31 (S148), moves keeping body 70 according to stitch data It is dynamic, (S149) is sewed to cloth 105A.In particular, CPU51 is by driving motor of sewing machine 31, driving spindle makes main shaft Rotation, to control the up and down motion of shank 10 and the driving to vertical shuttle.CPU51 is synchronous with the rotation that main shaft is carried out by driving Ground, by the pulse distribution of direction of rotation, number of drive pulses shown in stitch data to X-axis motor 32 and Y-axis motor 34.CPU51 Keep keeping body 70 successively mobile to position corresponding with needle falling point, continues the sewing movement for forming stitching toward on cloth 105A (S151: no, S149).

When forming the stitching based on stitch data, when sewing is completed (S151: yes), CPU51 stops driving motor of sewing machine 31(S152).CPU51 drives X-axis mobile mechanism and the Y-axis moving mechanism of horicontal motion mechanism 6, makes keeping body 70 to undertaking position It is mobile (S153) to set A.Position is accepted in the left of needle plate 12, accepting position is that can accept to be sewn on accessory plate 5 Cloth 105A position.Accepting position A is that conveying device 100B receives the position for being sewed the cloth 105A that machine 1A has been sewed It sets.Conveying device 100B can receive cloth 105A when keeping body 70 is located at undertaking position A and pressing plate 74 is located at side position A. Accepting position B is the position that cloth grasping device 150C can hold the cloth 105C that the machine 1B of being sewed has been sewed.

CPU51 makes solenoid valve 39 work, and drives cylinder 72, moves presser feet 73 to the left relative to lifter plate 71.Pressing plate 74 is mobile (S154) to side position.The cloth 105A kept by pressing plate 74 is mobile to position A is accepted together with pressing plate 74. CPU51 makes solenoid valve 38 work, and drives cylinder 69, so that presser feet 73 is risen (S156) by elevating lever.Pressing plate 74 leaves cloth 105A。

CPU51 drives X-axis mobile mechanism and the Y-axis moving mechanism of horicontal motion mechanism 6, makes keeping body 70 to base position A is mobile (S158).Base position is the position based on the pre-set keeping body 70 of origin position.CPU51 controls X-axis motor 32 and Y-axis motor 34 driving, until keeping body 70 is moved to base position A (S159: no, S158).When keeping body 70 is mobile When to base position A (S159: yes), CPU51 sends sewing to computer 200 and completes signal (S161).CPU51 make processing returns to To the S121 in sewing control processing, the signal of the various instructions to be received from computer 200 is waited.

As shown in figure 14, if the CPU201 of computer 200 is judged as that process number is not 0, CPU201 in the processing of S21 Processing is set to proceed to S22 (S21: no), if CPU201 is judged as that process number is before 0, CPU201 makes processing in the processing of S21 Enter S23 (S21: yes).When CPU201 is judged as that process number is 0 in the processing of S21, the receiving completion to be received such as CPU201 Signal, and wait it is to be received from it is all sent sewing commencing signal sewing machines 1 sewing complete signal (S23: no, S26: It is no, S23).When CPU201 receives sewing machine 1 in the receiving completion signal sent before sewing movement starts (S23: yes), CPU201 is sent to conveying device 100 corresponding with the completion sewing machine 1 of signal transmission source is received attracts stop signal (S24).That is, CPU201 when receiving receiving completion signal from sewing machine 1A, sends to attract to conveying device 100A and stops letter Number, CPU201 sends to conveying device 100B when receiving receiving completion signal from sewing machine 1B and attracts stop signal. CPU201 makes processing proceed to S26.

As shown in figure 15, when the CPU111 of conveying device 100, which is received, attracts stop signal (S51: yes), CPU111 makes Solenoid valve 118 works, and stops driving aspirating valve 145 (S52).Attracting mechanism 140 stops attracting cloth 105A.Even if due to attracting Mechanism 140 stops attracting, and cloth 105A is still clipped between pressing plate 74 and accessory plate 5 and keeps cloth 105A by sewing machine 1A, Therefore, cloth 105A maintains the state for being positioned in delivery position A.CPU111 makes to wait to be received from meter processing returns to S41 The signal of the various instructions of calculation machine 200.

As shown in figure 14, it has sent sewing from all when the CPU201 of computer 200 is received in the processing of S26 and has opened The sewing of the sewing machine 1 of beginning signal is completed when signal (S26: yes), and CPU201 makes processing proceed to S27.Since CPU201 exists Sewing commencing signal is had sent to sewing machine 1A when process number is 0, therefore, is completed when CPU201 receives sewing from sewing machine 1A When signal, CPU201 makes processing proceed to S27.If CPU201 is judged as that process number is not that 0, CPU201 proceeds to processing S28 (S27: no), if CPU201 is judged as that process number is that 0, CPU201 makes processing proceed to S31 (S27: yes).In CPU201 When being judged as that process number is 0 in the processing of S27, CPU201 adds 1 (S31) on process number.Whether CPU201 is big to process number Judged (S32) in processing number, if CPU201 be judged as process number for processing number hereinafter, if CPU201 make that processing returns to S6 (S32: no).

As described above, CPU201 controls conveying device 100A when process number is 0, will be utilized using mobile mechanism 120A The cloth 105A that cloth grasping device 150A takes out from cloth magazine 102A is placed in delivery position A.CPU201 controls sewing machine 1A, So that sewing machine 1A is received cloth 105A in delivery position A, cloth 105A is sewed.The cloth that sewing machine 1A will have been sewed 105A, which is placed in, accepts position A.During this period, conveying device 100B and sewing machine 1B etc. are to be processed.

As shown in figure 13, process number be 1 more than and less than processing number when, CPU201 repeats all of S6~S32 Processing.When it is 0 that CPU201, which is judged as process number not, (S6: no), CPU201 sends to conveying device 100B and accepts commencing signal (S7).CPU201 is standby, until receiving undertaking from conveying device 100B completes signal (S8: no).

As shown in figure 15, when the CPU111 of conveying device 100B, which is received, accepts commencing signal (S53: yes), cloth is executed Expect undertaking processing (S54).As shown in figure 17, CPU111 drives arm drive motor 121A~arm drive motor of mobile mechanism 120B 121D keeps Charging system 135 mobile (S91) to position A is accepted.CPU111 is according to the process control mobile mechanism finished in advance 120B makes Charging system 135 be moved to the specified position for accepting position A.

In the following, the processing due to S92~S111 is roughly the same with the processing of S69~S86 in cloth supply processing, because This, simplifies explanation.CPU111 drives Charging system 135, will be adsorbed on adsorption plane 136 in the cloth 105A for accepting position A (S92).CPU111 keeps Charging system 135 mobile (S93) to camera site B.CPU111 is using filming apparatus 117 to adsorption plane 136 are shot (S94), are parsed (S96) to the image taken.CPU111 to holding position relative to base position and The relative position coordinates and rotation angle of speech carry out operation (S97).It is judged as that holding position is in allowed band in CPU111 When (S98: yes), operation result of the CPU111 based on holding position make Charging system 135 to delivery position B mobile (S106).? When CPU111 is judged as that holding position is in except allowed band (S98: no), CPU111 makes Charging system 135 to adjustment position B Mobile (S99).CPU111 stops driving Charging system 135 (S101).CPU111 makes Charging system based on the operation result in S97 135 is mobile, is modified (S102) relative to the relative position of base position to the cloth 105A in adjustment position B.

CPU111 makes that cloth 105A is adsorbed on adsorption plane 136 using Charging system 135 processing returns to S92. CPU111 repeats the processing of S92~S102, until holding position is located in allowed band.If holding position is located at allowed band If interior, CPU111 keeps Charging system 135 mobile to delivery position B, and processing is made to proceed to S107.

CPU111 drives aspirating valve 145 (S107), and cloth 105A is located in delivery position B.CPU111 stops driving band Electric installation 135 (S108), releases the absorption to adsorption plane 136 to cloth 105A.CPU111 is in order to mobile mechanism 120B to be set as Pattern when standby controls arm drive motor 121A~arm drive motor 121D driving (S109, S111: no).Work as mobile mechanism When 120B becomes standby when pattern (S111: yes), CPU111 stops driving aspirating valve 145 (S112), holds to the transmission of computer 200 It connects and completes signal (S113).CPU111 makes to wait to be received from computer 200 processing returns to the S41 in conveying control processing Various instructions signal.

As shown in figure 13, it has been accepted when the CPU201 of computer 200 is received in the processing of S8 from conveying device 100B At (S8: yes) when signal, processing is made to proceed to S9.When CPU201 is judged as process number and processing number difference (S9: no), CPU201 sends supply commencing signal (S11) to conveying device 100A, receives ready signal (S12) to sewing machine 1A transmission, makes Processing proceeds to S13.Sewing machine 1A makes keeping body 70 be moved to delivery position A.Conveying device 100A executes cloth supply processing, Again cloth 105A is taken out from cloth magazine 102A, and cloth 105A is placed in delivery position A.If conveying device 100A is completed If processing, conveying device 100A sends supply to computer 200 and completes signal.

When it is 0 that CPU201, which is judged as process number not in the processing of S13, (S13: no), CPU201 is to conveying device 100B Supply commencing signal (S14) is sent, receives ready signal (S16) to sewing machine 1B transmission, processing is made to proceed to S17.Sewing machine 1B makes keeping body 70 be moved to delivery position B.Conveying device 100B execute cloth supply processing, delivery position B will be from cloth The cloth 105B taken out in box 102B is stacked on cloth 105A.If conveying device 100B completion processing, conveying device 100B sends supply to computer 200 and completes signal.

When CPU201 receives supply completion signal from both conveying device 100A, conveying device 100B (S17: It is), CPU201 makes processing proceed to S18.As shown in figure 14, it is judged as process number and processing in the processing of S18 in CPU201 When number is different, CPU201 sends sewing commencing signal (S19) to sewing machine 1A, and processing is made to proceed to S21.Sewing machine 1A executes seam System processing receives the cloth 105A for being newly placed in delivery position A by conveying device 100A, sews to cloth 105A.Work as seam The machine 1A of threading terminates sewing movement, and when the cloth 105A sewed is placed in undertaking position A, CPU201 sends to computer 200 and stitches System completes signal.

When it is 0 that CPU201, which is judged as process number not in the processing of S21, CPU201 sends sewing to sewing machine 1B and starts Signal (S22), makes processing proceed to S23.Sewing machine 1B receives the cloth to be gathered into folds by conveying device 100B in delivery position B 105A and cloth 105B, sews cloth 105A and cloth 105B.It acts, will sew when sewing machine 1B terminates sewing Cloth 105C configure when accepting position B, CPU201 to computer 200 send sewing completion signal.

When CPU201 receives sewing completion signal from both sewing machine 1A, sewing machine 1B (S26: yes), make to handle Proceed to S27.Since CPU201 is judged as that process number is not 0 (S27: no), CPU201 is sent back to conveying device 100B It receives indication signal (S28).CPU201 is standby, until receiving recycling from conveying device 100B completes signal (S29: no).

As shown in figure 15, when the CPU111 of conveying device 100B receives recycling indication signal (S56: yes), CPU111 Execute cloth recovery processing (S57).As shown in figure 18, CPU111 makes solenoid valve 151 work, driving cloth grasping device 150C's Cylinder 162 makes support column 163 around the substantially 180 degree rotationally clockwise when overlooking.Up-down mechanism 170 and holding machine Structure 180 is mobile (S171) to the top for accepting position B.CPU111 makes solenoid valve 152 work, driving cloth grasping device 150C's Up-down mechanism 170 makes handle sturcture 180 decline (S172) towards position B is accepted.The foot 183 of handle sturcture 180 and handle It holds portion 184 to abut against in undertaking position B and cloth 105C, cloth 105C is clipped between handle part 184 and foot 183. CPU111 makes solenoid valve 152 work, and drives up-down mechanism 170, and handle sturcture 180 is made to rise (S173).When leg 182 is moved When moving position, holding mechanism work maintains handle sturcture 180 the state that hold cloth 105C.

CPU111 makes solenoid valve 151 work, and drives cylinder 162, makes support column 163 around rotating in an anti-clockwise direction when overlooking Substantially 180 degree.Up-down mechanism 170 and handle sturcture 180 are mobile (S174) to the top of cloth magazine 102C.CPU111 makes electricity Magnet valve 152 works, and drives up-down mechanism 170, drops to handle sturcture 180 in cloth magazine 102C (S176).Work as foot 183 abut against with the upper surface of accessory plate 5 in cloth magazine 102C or abut against with the cloth 105C in being housed in, and make leg 182 by upward pressing force when, holding mechanism releases holding to leg 182.CPU111 makes solenoid valve 152 work, driving Up-down mechanism 170 makes handle sturcture 180 rise (S177).Cloth 105C is stayed in cloth magazine 102C.CPU111 is to calculating Machine 200, which is sent back, harvests into signal (S178).CPU111 makes to wait to be received next processing returns to the S41 in conveying control processing From the signal of the various instructions of computer 200.

As shown in figure 14, it has been recycled when the CPU201 of computer 200 is received in the processing of S29 from conveying device 100B At (S29: yes) when signal, CPU201 adds 1 (S31) on process number.If CPU201 be judged as process number for processing number hereinafter, if CPU201 makes that processing returns to S6 (S32: no).

As described above, process number be 1 more than and less than processing number when, CPU201 control conveying device 100B, utilize shifting The cloth 105A that the machine 1A of being sewed has been sewed is moved to delivery position B from position A is accepted by motivation structure 120B.CPU201 control Conveying device 100B, the cloth that will be taken out from cloth magazine 102B using cloth grasping device 150B using mobile mechanism 120B 105B is moved to delivery position B, and cloth 105B is stacked on cloth 105A.CPU201 controls sewing machine 1B, in delivery position B Receive cloth 105A and cloth 105B, cloth 105A and cloth 105B are sutured.The cloth that sewing machine 1B will have been sewed 105C, which is placed in, accepts position B.Ground is carried out side by side with this, and CPU201 controls conveying device 100A, will be sharp using mobile mechanism 120A Delivery position A is placed in the cloth 105A that cloth grasping device 150A takes out from cloth magazine 102A.CPU201 controls sewing machine 1A receives cloth 105A in delivery position A, sews to cloth 105A.Sewing machine 1A sets the cloth 105A sewed In undertaking position A.CPU201 controls conveying device 100B, has been sewed the machine 1B of being sewed using cloth grasping device 150C Cloth 105C is housed in cloth magazine 102C.

As shown in figure 13, after the processing for repeating S6~S32, when process number becomes identical as processing number, CPU201 is saved Execute the processing of S11, S12, S19.CPU201 sends to conveying device 100B in the processing of S7 and accepts commencing signal.Conveying dress It sets 100B and the machine 1A of the being sewed cloth 105A for being placed in undertaking position A is moved to delivery position B, send and accept to computer 200 Complete signal.CPU201 sends supply commencing signal to conveying device 100B in the processing of S14, to seam in the processing of S16 The machine 1B that threads transmission receives ready signal.Sewing machine 1B makes keeping body 70 be moved to delivery position B.Conveying device 100B is in handover position It sets B cloth 105B is stacked on cloth 105A.After configuration is good, conveying device 100B sends supply to computer 200 and completes Signal.

CPU201 sends sewing commencing signal to sewing machine 1B in the processing of S22.Sewing machine 1B receives in handover position The cloth 105A and cloth 105B for setting B, sew cloth 105A and cloth 105B.After sewing, sewing machine 1B will Cloth 105C, which is placed in, accepts position B, sends sewing to computer 200 and completes signal.CPU201 is filled in the processing of S28 to conveying It sets 100B and sends recycling indication signal.Cloth 105C is housed in cloth magazine using cloth grasping device 150C by conveying device 100B In 102C, is sent back to computer 200 and harvest into signal.During this period, conveying device 100A and sewing machine 1A etc. are to be processed. CPU201 adds 1 in the processing of S31 on process number.Process number becomes larger than processing number (S32: yes).CPU201 terminates to execute System control processing.

As explained above, transportation system 300 is led to when cloth 105 is transported to delivery position by conveying device 100 It crosses and attracts cloth using attracting mechanism 140, so that cloth 105 reliably be made to remove from adsorbing mechanism 130.Therefore, 1 energy of sewing machine Reliably receive cloth 105 in delivery position, and the cloth 105 is held in keeping body 70, so as to be carried out to cloth 105 Sewing.

Conveying device 100 sewing machine 1 keeping body 70 before delivery position keeps cloth 105, maintain by Attracting mechanism 140 has attracted the state of cloth 105.Therefore, conveying device 100 can prevent the cloth 105 when joining cloth 105 The case where dislocation, so as to reliably join cloth 105 to sewing machine 1.

Delivery position is on accessory plate 5, when overlook view to the right i.e. to 100 lateral deviation of conveying device from sewing machine 1 The position (referring to Figure 21) in horn portion 4.The position being staggered when conveying device 100 is in overlook view with horn portion 4.In moving machine When structure 120 keeps Charging system 135 mobile to the top of suction surface 144, Charging system 135 can not be interfered with each other with horn portion 4 Ground moving cloth 105.Therefore, conveying device 100 reliably can join cloth 105 to sewing machine 1.

For attracting mechanism 140, any one of flow plate 142, flow plate 442, flow plate 542 can be installed.It is defeated It send device 100 by using the flow plate to match with cloth 105, is able to maintain that the attraction to cloth 105.Therefore, conveying dress The case where cloth 105 misplaces when joining cloth 105 can be prevented by setting 100, so as to reliably join cloth to sewing machine 1 105。

The present invention is other than above embodiment, additionally it is possible to make various changes.Transportation system 300 both can have one Platform sewing machine 1 and a conveying device 100, it is possible to have the conveying device of three or more sewing machines 1 and three or more 100.When transportation system 300 has more sewing machines 1 and Duo Tai conveying device 100, non-necessity makes all sewing machines 1 and conveying Device 100 all carries out each process of sewing movement, can also be by the dump of the sewing machine 1 of a part and conveying device 100. Motor, actuator also can be used in rotating mechanism 160, up-down mechanism 170, the handle sturcture 180 of cloth grasping device 150 It is driven Deng in electronic mode.The up and down motion of keeping body 70, the side-to-side movement of pressing plate 74 are not limited to carry out using cylinder Driving, also can be used motor, actuator etc. and is driven in electronic mode.

Pressing plate 74 by cloth 105 is clipped between the pressing plate 74 and accessory plate 5 keep cloth 105 but it is also possible to be, The holding plate of horizontally extending plate is set in the front end of pressure arm 65, cloth 105 is clipped in pressing plate 74 and the holding Cloth 105 is kept between plate.

Being also possible to adsorbing mechanism 130 has multiple air holes in adsorption plane 136, by utilizing aspirating valve to cloth 105 Attracted and cloth 105 is adsorbed on adsorption plane 136.It is also possible to such as adsorbing mechanism 130 in adsorption plane 136 with viscous Cloth 105 is adsorbed on adsorption plane 136 using the bonding force of adhesive pad by connection pad.

It is also possible to attracting mechanism 140 with Charging system, is attracted cloth 105 in suction surface by generating electrostatic 144.Being also possible to such as attracting mechanism 140 has adhesive pad in suction surface 144, using the bonding force of adhesive pad by cloth 105 Attract in suction surface 144.In this case, can also not have and attract box 141, recirculation hole 143, aspirating valve 145.It can also save Slightly flow plate 142.In this case, the opening portion 19 in accessory plate 5 can be omitted.Recirculation hole 143 is set to accessory plate 5, The part equipped with recirculation hole 143 in the upper surface of accessory plate 5 is equivalent to suction surface.Box 141 is attracted to be equipped with recirculation hole 143 Part is fixed on the downside of accessory plate 5.

The CPU111 for being also possible to conveying device 100 releases the suction to cloth 105 in delivery position in adsorbing mechanism 130 After attached, stop driving attracting mechanism 140 before sewing machine 1 keeps cloth 105.It is also possible to CPU111 inhaling Random structure 130 stops while sewing machine 1 keeps cloth 105 after delivery position is released to the absorption of cloth 105 Only drive attracting mechanism 140.

It is also possible to attracting mechanism 140 to be set as in addition to other than delivery position attracts cloth 105, additionally it is possible to accept Position attracts cloth 105, wherein accepting position is that conveying device 100 receives the position for being sewed the cloth 105 that machine 1 has sewed It sets.In this case, when cloth 105 and pressing plate 74 move together undertaking position in the S154 in Figure 20, attractor is utilized Structure 140 attracts cloth 105.

Delivery position sets the right side in the horn portion 4 of sewing machine 1 in plan view, but can also set in plan view Sewing machine 1 horn portion 4 left side or the sewing machine 1 when overlook view horn portion 4 front side.Delivery position is in pressing plate The position that 74 adsorbing mechanisms 130 when can push down the position of cloth 105 and be overlook view are not interfered with each other with horn portion 4 is i.e. It can.

In the above description, transportation system 300 is equivalent to transportation system of the invention.When the processing of execution S81 CPU111 is equivalent to mobile control division.CPU111 when executing the processing of S82, which is equivalent to, attracts beginning portion.Execute the processing of S83 When CPU111 be equivalent to absorption stop.CPU111 when executing the processing of S52 is equivalent to attraction stop.Execute S143's CPU51 when processing is equivalent to holding control unit.

Claims (5)

1. a kind of transportation system, which is included

Conveying device (100), the conveying device include adsorbing mechanism (130), can adsorb the cloth as sewing object； And mobile mechanism (120), the adsorbing mechanism can be made to be moved to defined delivery position, the mobile mechanism makes to adsorb The adsorbing mechanism of the cloth is mobile, and the cloth is transported to the delivery position；And

Sewing machine (1), the sewing machine include shank (10), are equipped with eedle (11) in the lower end of the shank, and the shank can It moves up and down；Needle plate (12), is set to the lower section of the shank, which has horizontally extending upper surface, the needle Plate has the appearance pin hole (13) that can be passed through up and down for the eedle；Keeping body (70) is used to keep by the conveying device It is transported to the cloth of the delivery position；And pressing plate (74), the keeping body have the pressing plate, which makes the guarantor The up and down motion for holding body and the shank is cooperatively moved on the needle plate in the horizontal direction, to stitch to the cloth System,

The transportation system is characterized in that,

The sewing machine has accessory plate (5), which is located at around the needle plate, which has and the needle plate The parallel upper surface in upper surface, in the delivery position, which clips the cloth together with the pressing plate to keep Cloth is stated,

The origin position of the keeping body is that the central point of the pressing plate is located at the following location directly i.e. needle falling point of the eedle Coordinate base position, the needle falling point when just being moved downwardly together by the eedle with the shank eedle be pierced into The cloth on predetermined position,

The conveying device has attracting mechanism (140), which is located at the downside of the accessory plate, which uses Attract in the cloth on suction surface (144,444,544), wherein suction surface is set on the accessory plate Specified position, that is, the delivery position.

2. transportation system according to claim 1, which is characterized in that

The conveying device includes

Mobile control division (111) is used to that the mobile mechanism to be made to be moved to the adsorbing mechanism for adsorbing the cloth The delivery position；

Attract beginning portion, is used for after the mobile control division makes the adsorbing mechanism be moved to the delivery position, opens Begin to drive the attracting mechanism；

Stop is adsorbed, is used for after the attraction beginning portion starts to drive the attracting mechanism, stops driving the suction Random structure；And

Attract stop, be used for after the absorption stop stops driving the adsorbing mechanism, stops driving the suction Draw mechanism,

The sewing machine, which has, keeps control unit (51), which makes the keeping body pair for controlling the keeping body The cloth is kept,

Stop driving the adsorbing mechanism in the absorption stop, and the holdings control unit controls described in the keeping body makes After keeping body keeps the cloth, the attraction stop stops driving the attracting mechanism.

3. transportation system according to claim 1, which is characterized in that

The sewing machine includes

Base portion (2) is equipped with the needle plate；

Column sections (3) extend upwards from the base portion；And

Horn portion (4) is extended from the upper end of the column sections in the mode opposite with the upper surface in the base portion, the horn Portion maintains the shank,

The position being staggered when the conveying device is in overlook view with the horn portion, the delivery position is the accessory plate On, overlook view when position to the conveying device lateral deviation from the horn portion.

4. transportation system according to claim 2, which is characterized in that

The sewing machine includes

Base portion (2) is equipped with the needle plate；

Column sections (3) extend upwards from the base portion；And

Horn portion (4) is extended from the upper end of the column sections in the mode opposite with the upper surface in the base portion, the horn Portion maintains the shank,

The position being staggered when the conveying device is in overlook view with the horn portion, the delivery position is the accessory plate On, overlook view when position to the conveying device lateral deviation from the horn portion.

5. transportation system according to any one of claims 1 to 4, which is characterized in that

The attracting mechanism includes

Attract box (141), box shaped, the top of the attraction box is open；

Flow plate (142,442,542) covers the top for attracting box, has multiple recirculation holes for air circulation (143,443,543)；And

Aspirating valve (145) is set to the attraction box, for attracting the air in the attraction box,

The upper surface of the flow plate is the suction surface,

Be capable of toward the attraction box install the quantity of the recirculation hole of the flow plate, the recirculation hole diameter size with And any in the forming position of the recirculation hole these aspects at least one different multiple described flow plate of aspect Person.