CN108251979A - Sewn object conveying device - Google Patents

Abstract

The sewn object conveying device of the present invention steadily conveys sewn object.Have：Flat mounting portion (20) can be overlapped the multiple sewn objects (C) of mounting；Grasping mechanism (70) is grasped to being overlapped the sewn object in the sewn object of mounting positioned at the top in mounting portion；And conveying mechanism (40), to being conveyed by the sewn object that grasping mechanism grasps, grasping mechanism has：First and second holding part (71,72), grasps sewn object；And elevating mechanism (74), first and second holding part is lifted, there is lid mechanism (50), cover (51) is inserted into the downside of sewn object for being grasped by first and second holding part and being risen.

Description

Sewn object conveying device

Technical field

The present invention relates to the sewn object conveying devices conveyed to the sewn object for implementing sewing.

Background technology

Following sewn object conveying devices are used in the past, that is, are loaded with the multiple sewn objects overlapping that will be sewed State carries out stock, and the sewn object of the top is lifted and is delivered to defined target location.

The sewn object conveying device has to lift the sewn object of the top from the sewn object of overlapping mounting Holding part and tine.

Moreover, tine can be contacted by actuator relative to holding part or separate mobile, utilized by close The sewn object of the top is grasped and lifted (for example, referring to patent document 1) by holding part and tine.

Patent document 1：Japanese Unexamined Patent Application 59-172341 bulletins

In above-mentioned sewn object conveying device, conveyed to the sewn object by holding part and tine grasping When, since the end of sewn object becomes the state of suspension, the sewn object sliding contact in its lower Chong Die mounting has Shi Fasheng is dragged and is caused the sewn object of lower section at random.

Sewn object at random is possible to not grasped by holding part and tine or can not be carried out in conveying destination Subsequent processing, become sewn object supply it is bad the reason of.

Invention content

It is an object of the invention to steadily convey sewn object, there is the feature of following (1) or (2).

(1)

A kind of sewn object conveying device, which is characterized in that have：

Flat mounting portion can be overlapped the multiple sewn objects of mounting；

Grasping mechanism, to being overlapped being sewn positioned at the top in the sewn object of mounting in the mounting portion Object is grasped；And

Conveying mechanism, to being conveyed by the sewn object that the grasping mechanism grasps,

The grasping mechanism has：First and second holding part grasps the sewn object；And lifting Mechanism makes first and second holding part lifting,

The sewn object conveying device have lid mechanism, the lid mechanism by first and second described holding part grasping and Cover is inserted into the downside of the sewn object of rising.

(2)

In the sewn object conveying device recorded in above-mentioned (1), which is characterized in that

The lid mechanism is by the cover to the conveying direction of the sewn object realized by the conveying mechanism Negative direction extraction, be inserted by first and second described holding part grasp and rise sewn object downside,

Together return to the cover with the conveying of the sewn object action realized by the conveying mechanism.

The effect of invention

The present invention have above-mentioned (1) or (2) feature, so as to grasped by first and second holding part and on The lid mechanism of cover is inserted into the downside of the sewn object risen, therefore when the sewn object of the top is conveyed to operation post, The sliding contact with second piece and its following sewn object can be prevented, second piece can be inhibited as caused by the sliding contact And its following sewn object is at random, and sewn object is steadily conveyed.

Description of the drawings

Fig. 1 is the oblique view of the cloth conveying device of the embodiment as invention.

Fig. 2 is the oblique view of the cloth conveying device other than frame.

Fig. 3 is the oblique view of the cloth conveying device other than frame from the direction different from Fig. 2.

Fig. 4 is the oblique view on grasping mechanism periphery.

Fig. 5 is the oblique view of grasping mechanism.

Fig. 6 is the oblique view of the grasping mechanism from the direction different from Fig. 5.

Fig. 7 is the side view of grasping mechanism, and Fig. 7 (A) shows the state before grasping, and Fig. 7 (B) shows the state after grasping.

Fig. 8 is the side view of the position relationship for the structure for representing grasping mechanism periphery.

Fig. 9 is the side view of grasping mechanism, after Fig. 9 (A) shows that the state before grasping, Fig. 9 (B) show that holding part declines State, Fig. 9 (C) show holding part rise after state.

Figure 10 is the side view of grasping mechanism, and Figure 10 (A) shows the state after holding part rising, and Figure 10 (B) is shown State of the downside of holding part inserted with cover.

Figure 11 is the side view of grasping mechanism, and Figure 11 (A) shows the state after cloth grasping and before conveying, and Figure 11 (B) shows Go out to convey the state of midway, Figure 11 (C) shows the relieving state of cloth.

Figure 12 is the block diagram for the control system for representing cloth conveying device.

Figure 13 is the flow chart for the cloth conveying action for representing cloth conveying device.

The explanation of label

10 cloth conveying devices

11 frames

20 loading plates (mounting portion)

21 supporting mechanisms

25 operation posts

30 presser foot devices

31 presser feet components

32 friction pieces

33 microswitches

40 conveying mechanisms

50 lid mechanisms

51 covers

60 smooth mechanisms

61 extension plates

70 grasping mechanisms

71 first holding parts

72 second holding parts

73 grasping cylinders

74 elevating mechanisms

75 adjustment portions

100 control devices

101 CPU

251 rear ends

252 openings (fall-part)

712nd, 722 bottom surface

713rd, 723 friction piece

C clothes (sewn object)

Specific embodiment

[outlines of embodiments of the present invention]

In the following, based on attached drawing, dress is conveyed to the cloth as the sewn object conveying device in embodiments of the present invention 10 are put to illustrate.

Fig. 1 is the integrally-built oblique view for representing cloth conveying device 10.

Above-mentioned cloth conveying device 10 is the conveying device for being used to implement following actions, that is, will be as the seam of sewing machine etc. The sewn object of object processed, that is, multiple clothing bodies cloth (hereinafter, referred to cloth C) carries out stock to be overlapped carrying state, by the cloth Material C lifts and is delivered to the operation post of operation as defined in progress one by one.

Herein, it as the defined operation carried out in operation post, exemplifies by supplying cloth C to the machine of sewing machine Robot arm (illustration omitted) receive the situation of the operation of cloth C, but about the content of the operation carried out in operation post, not Particularly limit.

[cloth conveying device]

Cloth conveying device 10 has：Frame 11 is supported to whole；Loading plate as flat mounting portion 20, the multiple cloth C of mounting can be overlapped；Grasping mechanism 70 is located at most to being overlapped on loading plate 20 in the cloth C of mounting The cloth C of top is grasped；Conveying mechanism 40 conveys the cloth C grasped by grasping mechanism 70；Flat operation Platform 25, to by conveying mechanism 40 convey Lai cloth C load；Presser foot device 30, from top on loading plate 20 The end of cloth C is pressed (with reference to Fig. 8)；Lid mechanism 50, to the downside of cloth C for being grasped by grasping mechanism 70 and being risen It is inserted into cover 51；Smooth mechanism 60, the end of the conveyance direction downstream side of the cloth C in operation post 25 makes cloth C's The end of conveyance direction downstream side along operation post 25 upper surface；And control device 100, the action to above-mentioned each structure It is controlled (with reference to Figure 12).

In addition, in the following description, level and the direction parallel with the conveying direction of cloth C are set as Y direction, it will The horizontal and direction orthogonal with Y direction is set as X-direction, and vertical upper and lower directions is set as Z-direction.

In addition, the conveyance direction downstream side of cloth C is set as " preceding ", conveying direction upstream side is set as " rear ", from front Left side is set as " left side " by observation, is set as on " right side " from forward observation by right side.

[frame]

Frame 11 is that the column material of section rectangle is assembled into rectangular shape and is formed.In addition, about frame 11, thereon Portion extends along Y direction, operation post 25 is fixedly fastened on front side with horizontal state, by loading plate 20 with horizontal state Releasably it is supported on rear side.

In addition, frame 11 is not provided with the column material along X-direction in latter half, above, rear and lower section be open 's.

Loading plate 20 is taken with the state that advance overlapping is placed with multiple cloth C and is carried to cloth in trolley (not shown) Conveying device 10.Frame 11 becomes following constructions, that is, as described above, top, rear and the lower section of latter half are open , therefore can move in loading plate 20 to inside together with trolley from the rear end of frame 11, which is set to Frame 11 only moves out trolley from the rear end of frame 11.

[loading plate]

Fig. 2 and Fig. 3 is respectively only to remove frame 11 and remaining from different views from cloth conveying device 10 The oblique view of each structure.

Loading plate 20 is made of the tablet of oblong-shaped, by its platen surface towards horizontal state from below by being set to The supporting mechanism 21 of the posterior medial of frame 11 supports.

Supporting mechanism 21 has：Frame 211 is loaded, mounting support is carried out to loading plate 20 from below；Supporting guide portion 212, mounting frame 211 can be supported up or down；Motor 213 is moved up and down, becomes mounting frame 211 and mounting The driving source moved up and down of plate 20；And ball-screw 214, it is upper and lower by the torque conversion for moving up and down motor 213 Shift action.

Mounting frame 211 is viewed from above and is formed as gate, and the state at its opening portion towards rear is supported in edge Two supporting guide portions 212 of upper and lower directions.As a result, loading plate 20 to be placed in the feelings that the state of trolley is moved in from rear Under condition, the interference with trolley can be avoided.

Mounting frame 211 be provided with four pillars 215, four pillars 215 upper end have under loading plate 20 The arranging plate that surface abuts, can be supported with the outer edge of 4 points of lower surfaces to loading plate 20 from below.In loading plate 20 when moving in, and mounting frame 211 is in the state declined, so that the upper end of four pillars 215 is less than loading plate 20, if Loading plate 20 is moved in by trolley, then loads frame 211 and rises and be supported with the state for lifting loading plate 20 upward, Only trolley can be moved out to outside frame 11.

In addition, when loading plate 20 carries out vertical motion, if the cloth C of the top of multiple cloth C of overlapping mounting The presser feet component 31 with the presser foot device 30 described below abuts from below, then in the micro- of the normally closed type of the presser feet component 31 equipment Dynamic switch 33 detects that abutting into being in an open state, is controlled as the driving for moving up and down motor 213 is stopped (with reference to Figure 12) Only.

Above-mentioned control is not only performed in the case where setting loading plate 20, also in the cloth C of the top by grasping mechanism 70 It is performed in the case of lifting.As a result, the cloth C of the top on loading plate 20 can maintain constant height always.

[conveying mechanism]

Fig. 4 is the amplification oblique drawing of grasping mechanism 70 and conveying mechanism 40.

As shown in Figures 3 and 4, conveying mechanism 40 has：The supporting rod 41 of prism-shaped along X-direction, grabs three Mechanism 70 is held to be supported；Pair of right and left side plate 42 is supported the left and right ends portion of supporting rod 41；Sliding rail 43, warp Supporting rod 41 and a pair of side plates 42 can be slided along Y direction by the sliding block (not shown) set in the lower end of each side plate 42 It supports dynamicly；Motor 44 is conveyed, becomes the mobile driving source of the Y direction of supporting rod 41 and a pair of side plates 42 (with reference to figure 12)；And synchronous belt 45, the mobile power for conveying motor 44 is given to side plate 42.

A pair of side plates 42 is linked by the link plate 46 of the strip along X-direction, supporting rod 41,42 and of a pair of side plates Link plate 46 forms the movable body 47 of rack-like.

Moreover, the side behind supporting rod 41, three grasping mechanisms 70 are fixed branch with sagging state along X-direction Support.

In addition, be linked with the synchronous belt 45 set up along Y direction respectively in the lower end of a pair of side plates 42, by from conveying The transmission belt wheel that motor 44 is endowed torque conveys synchronous belt 45, and movable body 47 is moved along Y direction.

On the mobile route of movable body 47, it is provided with the sensor determined to the origin position of grasping mechanism 70 48.About movable body 47, can grasping mechanism 70 be obtained to carrying according to the drive volume of the conveying motor 44 from origin position Put the grasping positions grasped of the cloth C on plate 20 and the ejected position for cloth C being decontroled in operation post 25, it can be each A position stops movable body 47.

[grasping mechanism]

As described above, grasping mechanism 70 is provided with three in conveying mechanism 40, but these are identical structures, therefore only One of them is illustrated.

Fig. 5 is the oblique view of the grasping mechanism 70 from oblique upper, and Fig. 6 is the oblique view from obliquely downward.

Grasping mechanism 70 is as shown in the figure, have：First and second holding part 71,72, grasps cloth；Grasping With cylinder 73, become the driving source that the grasping of first and second holding part 71,72 acts；Elevating mechanism 74, makes first And second holding part 71,72 lift；Adjustment portion 75, opening before starting to the grasping of first and second holding part 71,72 Mouth width degree is adjusted；And mounting portion 76, conveying mechanism 40 supporting rod 41 to first and second holding part 71,72 And elevating mechanism 74 is installed.

First holding part 71 described later with cylinder 73 together drop support with grasping the first of elevating mechanism 74 The lower end of support plate 741, the second holding part 72 are supported in the piston of grasping cylinder 73.

Second holding part 72 is configured at front side, the front end face of the first holding part 71 relative to the first holding part 71 711 and second holding part 72 rear end face 721 it is close and opposite.

In addition, the first holding part 71 and 72 respective bottom surface 712,722 of the second holding part are smooth and are supported in same Highly.When being grasped to cloth C, make the bottom surface 712,722 of first and second holding part 71,72 and the upper table of cloth C Face abuts, and makes first and second holding part 71,72 will relatively close to and each front end face 711 and rear end face 721 A part of cloth C sandwiches.

Therefore, in order to carry out the grasping of cloth C well, in the bottom surface of first and second holding part 71,72 712,722 It is respectively arranged with friction piece 713,723.It is that friction coefficient is big compared with smooth bottom surface 712,722 as friction piece 713,723 Sheet structure, such as enumerate fibers such as sheet rubber, sand paper, cloth etc..In addition, first and second holding part 71, 72 bottom surface 712,722 itself can implement to improve the frictional arrangement of friction coefficient, for example, annular knurl processing, sawtooth etc..

Grasping, state of the piston towards front is supported in the first support plate 741, is not carrying out cloth C with cylinder 73 The state protruded forwards as piston during grasping is retreated as piston to the state of cylinder side when being grasped.

The second holding part 72 is retreated relative to the first holding part 71 from the state detached forwards as a result, switching The state that the rear end face 721 of 711 and second holding part 72 of front end face for the first holding part 71 crimps.

Adjustment portion 75 is abutted with the front end face of the second holding part 72, under non-grasping state, is become through grasping gas The piston of cylinder 73 release forwards in the state of the second holding part 72 retainer, to first and second holding part 71, Opening width before 72 grasping starts is provided.

Specifically, adjustment portion 75 uses the micrometer without frame and anvil block.The adjustment portion 75 is grabbed with being in second Hold the configuration in the front of component 72, the main shaft 751 that will can be moved forward and backward towards in the state of rear by the first support plate 741 Support.

Moreover, the front end towards the main shaft at rear is abutted with the front end face of the second holding part 72, thus to being grabbed non- Hold and provided under state by grasping with the stop position of the second holding part 72 that cylinder 73 is released forwards, to first and Opening width before the grasping of second holding part 71,72 starts is provided.

Moreover, adjustment portion 75 is made of micrometer, therefore can be by its main shaft, by first and second holding part Grasping start before opening width arbitrarily adjusted for unit with 0.01 [mm].

Fig. 7 (A) and Fig. 7 (B) is that the grasping realized from right by first and second holding part 71,72 acts Action specification figure.

First holding part 71 and the second holding part 72 have friction piece 713,723 in respective bottom surface 712,722, separately Outside, the adjustment portion 75 being adjusted to grasping the opening width before starting is attached in first and second holding part 71,72.

Relative to the thickness of cloth C, if the grasping of first and second holding part 71,72 start before opening width mistake Width is then greater than or equal to two pieces of cloth C in grasping and is grasped simultaneously and cause superposition conveying occurs.

On the other hand, relative to the thickness of cloth C, if before the grasping of first and second holding part 71,72 starts Opening width is narrow, then in grasping, bottom surface 712,722 occurs to skid and grasping error easily occurs.

Therefore, it as shown in Fig. 7 (A) and Fig. 7 (B), is set in the bottom surface of first and second holding part 71,72 712,722 Friction piece 713,723, the opening width before starting to grasping can be adjusted by adjustment portion 75, and thus, it is possible to by being suitable for pair The narrow opening width that cloth C is grasped more reliably carries out one piece one piece of grasping.

Elevating mechanism 74 has：The first aforementioned support plate 741；And lifting cylinder 742, via the first support plate 741 make first and second holding part 71,72 be lifted in rear oblique direction.

Fig. 8 is the definition graph of the relationship of the structure of first and second holding part 71,72 and surrounding from right.

First and second holding part 71,72 is when by the lifting side decline obliquely downward forward of cylinder 742, respective bottom surface 712nd, 722 become the grasping height abutted with the cloth C of the top of the upper surface of loading plate 20, are passing through lifting cylinder 742 during rising, do not interfere with each structure of surrounding on the upside of retreading and become the delivery head that can be moved forwards.

In addition, the moving direction of the piston of lifting cylinder 742 is towards relative to Y direction rear and to upper fluctuating of retreading 45~60 ° or so of angle of inclination.In the relationship of the presser feet component 31 of this presser foot device 30 described below, become suitable for from The angle that the cloth C of lower section only removes the cloth C of the top well.

Mounting portion 76 has：Second support plate 761, by the lifting of elevating mechanism 74 with cylinder 742 with aforementioned posture Support is fixed；Attachment rail 762, fixed equipment is in the rear surface of the supporting rod 41 of conveying mechanism 40；And mounting blocks 763, the second support plate 761 is installed on attachment rail 762.

Lifting is supported by the second support plate 761 in its platen surface with cylinder 742 with aforementioned angle of inclination, at it Front end is fixed with mounting blocks 763.

Attachment rail 762 is fixed on supporting rod 41 along X-direction, mounting blocks 763 relative to attachment rail 762 along its length Direction can position be adjustably mounted.That is, can via mounting blocks 763 to first and second holding part 71,72 along X-direction Carry out position adjusting.That is, when being adjusted in position, it, can be in attachment rail 762 using the index pin assembled in indicator board 761 Installing plate on arbitrarily positioned using the location hole for arranging and being formed on the direction identical with the length direction of track.

In addition, attachment rail 762 shares in three grasping mechanisms 70.

[presser foot device]

Fig. 9 is to represent the side view that the grasping using the cloth C of presser foot device 30 acts, with the suitable of Fig. 9 (A)~Fig. 9 (C) Sequence carries out grasping action.

As can be seen from figures 8 and 9, presser foot device 30 has：Presser feet component 31, from top in the upper surface of loading plate 20 The front end for being overlapped the cloth C of mounting is pressed；Support structure (not shown), can be up or down by the presser feet component 31 It is supported by frame 11；As the microswitch 33 of test section, the boosting for presser feet component 31 as caused by cloth C is detected (with reference to Figure 12)；And friction piece 32, it is set to the pressing position of the presser feet component 31 in the upper surface of loading plate 20.

Presser feet component 31 is horizontal and is the band-like tablet of strip in the X-axis direction, and front end and rear end exist It is bent at along the folding line of X-direction to vertical lower.In addition, presser feet component 31 has the width with the X-direction of loading plate 20 The width of same degree.

Moreover, the entire width in the lower end at the position bent to vertical lower of the rear end of presser feet component 31, peace It, will most by having the lower end of the protection materials 311 equipped with the protection materials 311 that moulding material etc. protects cloth C The front end of the upper surface of the cloth C of top is carried out by the dead weight of presser feet component 31 in the range of the entire width of X-direction Pressing.

The support structure of presser feet component 31 liftably supports the presser feet component 31 in the state of level is maintained.

If 33 presser feet component 31 of microswitch, which becomes, is greater than or equal to scheduled specified altitude, OFF signal is exported.

Friction piece 32 is the planar structure of friction coefficient greatly, example compared with the upper surface of smooth loading plate 20 Such as enumerate sheet rubber, sand paper, cloth fiber etc..In addition, it can implement to improve friction coefficient in itself in the upper surface of loading plate 20 Frictional arrangement, for example, annular knurl processing, sawtooth etc..

The meaning of the friction piece 32 describes together with the meaning of presser feet component 31 below.

As shown in figure 9, the state of pressing force is assigned from the top of the front end of the cloth C of overlapping mounting in presser feet component 31 Under, the cloth C of first and second 71,72 pairs of the top of holding part is grasped, by elevating mechanism 74 upward and from pressure The direction (rear) that foot part 31 detaches rises.

In this case, the front end of second piece of cloth C is due to the friction with third block cloth C, confrontation and the top The sliding friction of cloth C, is able to maintain that fixed position, can inhibit and reduce the occurrence of following, that is, the cloth of the top C and second piece of cloth C is grasped together, second piece of cloth C becomes since the sliding friction of the cloth C with the top is dragged It generates the fold of relaxation, the state at random such as roll.

Particularly, if elevating mechanism 74 is made with 45~60 ° of angle of inclination on first and second holding part 71,72 It rises, then can obtain the said effect realized by presser feet component 31 well.

Also, the front end in the upper surface of loading plate 20 is provided with friction piece 32, therefore is being placed in loading plate 20 In the case of remaining two pieces of cloth C, when the cloth C of the top is risen by grasping, second piece of cloth C can not be from below Cloth C obtains the frictional force for being maintained at fixed position, but replaces, and same degree or more can be obtained from friction piece 32 Big frictional force, therefore can inhibit and reduce the occurrence of following, that is, second piece of cloth C (becomes the cloth of last block C it) is also grasped with together with the cloth C of the top, as state at random caused by the cloth C as the top.

[lid mechanism]

Figure 10 (A) and Figure 10 (B) is the action specification figure of lid mechanism 50.

Lid mechanism 50 has as shown in Fig. 2, Fig. 4 and Figure 10：Cover 51 is inserted by first and second grasping part The downside of the cloth C of the top that part 71,72 is grasped and risen；Driving rod 52, along X-direction, to the rear end of cover 51 Portion is kept；Two sliding blocks 53 are supported the left and right ends portion of driving rod 52 respectively；Two one slide rails 54, will be each Sliding block 53 can be slidably supported along Y direction；And the lid motor 56 as driving source, make driving rod 52 along sliding rail 54 It moves back and forth (with reference to Figure 12).

Driving rod 52 is slightly long compared with the X-direction width of loading plate 20, to the one end of the length direction of cover 51 (rear end) is kept.

Moreover, as shown in figure 8, driving rod 52 by a pair of of sliding block 53 and a pair of of sliding rail 54, to the upper table from loading plate 20 Face rise to rising when first and second holding part 71,72 bottom surface 712,722 until between height maintained, from Become position (the rear position of position (front position) to the rear end of loading plate 20 slightly forward compared with the front end of loading plate 20 Put) until range in be supported with being reciprocally moveable along front and rear.

In addition, above-mentioned reciprocating action using lid by the use of motor 56 as driving source, assigned through not shown belt mechanism To driving rod 52.

Cover 51 is the sheet material of flexible oblong-shaped, and length direction one end is supported in driving rod 52.And And cover 51 from the driving rod 52 in front position towards front, in the position of the front side compared with the rear end of operation post 25 Place is put by (with reference to Figure 10) bending of support roller 55 and downward, the other end of cover 51 is as shape sagging downwards State.

Cover 51 is longer than the movable length of the front and rear movable range of driving rod 52, the position after driving rod 52 is moved to In the state of, become the state that sets up of range level ground in the whole length of loading plate 20, which can be covered.

Therefore, as shown in Figure 10 (A), the cloth C of the top is grasped in first and second holding part 71,72 and is risen In the state of, as shown in Figure 10 (B), can the top cloth C and remain on second piece on loading plate 20 and its less Cloth C between there are cover 51, the cloth C of the top thereafter to operation post 25 convey when, can prevent and second The sliding contact of block and its following cloth C can inhibit and reduce as caused by the sliding contact second piece and its less Cloth C's is at random.

In addition, if lid motor is by control device, by first and second holding part 71,72 by the cloth of the top Material C is grasped and is risen, then driving rod 52 is promptly made to be moved to rear position from front position, and with being realized by conveying mechanism 40 Each grasping mechanism 70 the mobile beginning of advance synchronously, driving rod 52 is made to be moved to front position from rear position.

As a result, when the advance of each grasping mechanism 70 is moved, cloth C carry out advancing together with cover 51 it is mobile and to phase Slip between mutually is inhibited, therefore can reduce the at random of the cloth C as caused by slip.In addition, cover 51 can be made fast Fastly keep out of the way, therefore can promptly carry out subsequent grasping action above the cloth C of overlapping mounting.

In addition, if driving rod 52 is made to be moved to front position from rear position, then cover 51 is reverted to via support roller 55 Sagging state again.

[operation post and smooth mechanism]

Figure 11 (A)~Figure 11 (C) is the action specification figure that conveying when representing to the conveying cloth C of operation post 25 acts.

As shown in Fig. 1~Fig. 3 and Figure 11, operation post 25 is made of the tablet of oblong-shaped, its platen surface edge is horizontal The state of direction is fixedly supported to the forward upper of frame 11.The upper level of the operation post 25 with by aforementioned loading plate 20 Supporting mechanism 21 the cloth C of the top on loading plate 20 is maintained constant highly consistent.

Rear side in the rear end 251 of above-mentioned operation post 25 is formed with the opening 252 as fall-part.The opening 252 is accurate It really says, is the rear end 251 of operation post 25 and portion that the cover 51 of lid mechanism 50 is bent downwards by support roller 55 Gap between position.

As shown in Figure 11 (A) to Figure 11 (B), when cloth C is delivered to operation post 25 from loading plate 20, in its conveying speed When degree is fast, the rear end of cloth C sometimes due to air drag and it is at random and scroll up, bend.In the situation Under, the rear end of cloth C is made to pass through in opening 252, it is temporarily sagging from the rear end of operation post 25 251, and in rear end It is slided at 251 angle, thus enables that the rear end of cloth C reverts to flat normal condition from state at random.

In addition, shown in corner such as Figure 11 (B) that the rear end 251 of operation post 25 is slided, it is preferably set to section circle Arcuation.

As shown in Fig. 1 and Figure 11, smooth mechanism 60 has：Extension plate 61, can turn about the X axis with before operation post 25 End links；And rotation cylinder 62, it is the driving source for rotating the extension plate 61 (with reference to Figure 12).

Extension plate 61 is the width of the tablet in X-direction strip, the length of X-direction and the X-direction of operation post 25 It is roughly equal.Moreover, the rear end of extension plate 61 is rotationally linked by multiple hinges with operation post 25.

If the extension plate 61 is by rotating and towards level, upper surface becomes coplanar with the upper surface of operation post 25 (becoming horizontality) can make front end rotate (become hang) downwards from the state.

Rotation cylinder 62 can make extension plate 61 rotate and to two states of above-mentioned horizontality and hang into Row switching.

As shown in Figure 11 (B) to Figure 11 (C), cloth C be by its front end position by first and second holding part 71, 72 grasp and are conveyed, but the part of front side compared with grasping position of cloth C, become sagging downwards in transmission process State.Therefore, if being delivered to target location, by the grasping status releasing of first and second holding part 71,72, by cloth C is decontroled, then the part of front side compared with grasping position of sagging cloth C falls into or bends on the downside of cloth C.

Therefore, when cloth C is conveyed, extension plate 61 is set as hang in advance, the grasping position of cloth C become with Front that the front end of operation post 25 is compared, the position preferably near front end, cloth C is decontroled from grasping state.

As a result, shown in part such as Figure 11 (C) of the sagging front side compared with the grasping position of cloth C, become along sagging The state of the extension plate 61 of state.In this state, it is controlled such that extension plate 61 from sagging type in rotation cylinder 62 State is rotated to horizontality, is fallen into, is bent to the front end of cloth C thus without generation, can be set as the shape flatly loaded State.

[cloth conveying device：Control system]

As shown in figure 12, in the control device 100 of cloth conveying device 10 respectively via driving circuit 213a, 44a, 56a It is connected with the lid electricity consumption for conveying motor 44, lid mechanism 50 for moving up and down motor 213, conveying mechanism 40 of supporting mechanism 21 Motivation 56.

In addition, being connected with respectively via driving circuit 62b, 73b, 742b in control device 100 makes turning for smooth mechanism 60 The solenoid valve 62a for employing the work of cylinder 62, the solenoid valve 73a that the grasping cylinder 73 of grasping mechanism 70 is made to work, make elevator The solenoid valve 742a that the lifting of structure 74 is worked with cylinder 742.

In addition, grasping mechanism 70 has three, but in fig. 12, only scheme about grasping cylinder 73, lifting cylinder 742 It shows one and omits remaining diagram.On the other hand, make the solenoid valve 73a and its driving electricity that three grasping cylinders 73 work Road 73b is only one, works at the same time three cylinders by sharing.

In addition, the solenoid valve 742a that lifting is worked with cylinder 742 is made to be also only one with its driving circuit 742b, by altogether It is worked at the same time with three cylinders are made.

Also, it is connected with the microswitch 33, defeated of presser foot device 30 via interface 33a, 48a respectively in control device 100 Send the sensor 48 of mechanism 40.

Moreover, control device 100 has：CPU 101 is directed to each motor 213,44,56 and each cylinder 62,73,742 It is controlled as defined in carrying out；And memory 102, it is written with the control program for performing the control and setting data.

[action control of cloth conveying device]

Based on the action control performed by control device 100, by the flow chart of Figure 13 to the defeated of cloth conveying device 10 Operation is sent to illustrate.

First, if moved in multiple cloth C to frame to be overlapped the loading plate 20 that the state of mounting loads by trolley 11 rear portion, then the CPU 101 of control device 100 control moving up and down motor 213, make loading plate 20 rise (step Rapid S1).

Moreover, if loading plate 20 reaches certain height, become disconnected in the microswitch 33 that presser feet component 31 is set Open state, CPU 101, which makes to move up and down motor 213, to be stopped, and the cloth C of the top is maintained constant object height (step Rapid S3).

Next, CPU 101 controls the solenoid valve 742a of lifting cylinder 742, make in the top of grasping position First and second holding part 71,72 waited for declines (step S5), and the solenoid valve 73a of grasping cylinder 73 is controlled, Carry out the grasping (step S7) of the cloth C of the top.

Also, CPU 101 controls the solenoid valve 742a of lifting cylinder 742, makes first and second holding part 71st, 72 rise (step S9), and then lid is controlled with motor 56, and the driving rod 52 of lid mechanism 50 is made to be moved from front position To rear position (step S11).As a result, in the cloth C of the top lifted upward and remaining second piece and its following cloth Expect to be inserted into cover 51 between C.

In addition, after the cloth C of the top just lifts, second piece of cloth C rises and adjusts to the height of the top.

Moreover, CPU 101 controls conveying motor 44, start the advance of first and second holding part 71,72 Mobile (step S13), while lid is controlled with motor 56, driving rod 52 is made to be moved to front position (step from rear position S15).Cover 51 is conveyed forwards in a manner of following transported cloth C as a result, is back to backoff state (sagging type State).

If the moreover, drive volume of the conveying motor 44 origin positions of the CPU 101 according to from sensor 48 And detect to reach stop position, then conveying motor 44 is controlled, make the advance of first and second holding part 71,72 It is mobile to stop (step S17).At this point, just stop before transported cloth C rear end to the rear end than operation post 25 rearward The opening 252 of side is fallen into, and is slided in the corner of the rear end of operation post 25 251, the progress at random to the rear end of cloth C Correction.

Next, CPU 101 controls the solenoid valve 73a of grasping cylinder 73, by the grasping status releasing of cloth C (step S19).Cloth C is placed in operation post 25 as a result, and the front end profiling of cloth C is in the extension plate for being in hang 61 and as sagging state.

Also, CPU 101 controls the solenoid valve 62a of rotation cylinder 62, and it is horizontal to make the rotation of extension plate 61 State (step S21).The front end of cloth C also becomes level as a result, is integrally corrected to horizontal and flat state.

In addition, first and second holding part 71,72 after cloth C relievings, is back to the grasping position of cloth C immediately.

The conveying action control of cloth C terminates as a result,.

The operation of subsequent handling is transferred in the cloth C that operation post 25 loads.That is, before cloth C is held in robots arm End supplies to sewing machine and performs defined sewing.

[effect of embodiment]

Above-mentioned cloth conveying device 10 is in the bottom surface 712,722 of first and second holding part 71,72 of grasping mechanism 70 Friction piece 713,723 is set, and grasping mechanism 70 has opening before starting to the grasping of first and second holding part 71,72 The adjustment portion 75 that mouth width degree is adjusted.

Therefore, it is possible to more reliably carry out one piece one by the narrow opening width for being suitable for grasping cloth C The grasping of block.

In addition, even if the cloth C grasped thickness change in the case of, by adjustment portion 75 to grasping start before Opening width be adjusted, can not need to the replacement operation of first and second cumbersome holding part 71,72 yet.

In addition, cloth conveying device 10 has presser foot device 30, the presser foot device 30 is from top to the cloth on loading plate 20 The front end of material C is pressed, therefore in the case where the cloth C of the top is lifted, the front end of second piece of cloth C passes through With the friction of third block cloth C, it is able to maintain that fixed position, can inhibit and reduce the occurrence of following, that is, the top Cloth C and second piece of cloth C is grasped together, second piece of cloth C since the sliding friction of the cloth C with the top is dragged and As generating the fold of relaxation, the state at random such as roll.

In addition, the pressing position pressed by presser foot device 30 in the upper surface of loading plate 20 is provided with friction piece 32, Therefore in a state that the cloth C for being placed in loading plate 20 is two pieces remaining, even if the cloth C in the top is risen by grasping In the case of, second piece of cloth C can also obtain the frictional force for remaining fixed position by friction piece 32, can inhibit simultaneously Cloth C is reduced as state at random.

In addition, cloth conveying device 10 has lid mechanism 50, which grasps by first and second holding part And cover 51 is inserted into the downside of the sewn object risen, therefore when the cloth C of the top is conveyed to operation post 25, Neng Goufang Only with second piece and its sliding contact of following cloth C, can inhibit and reduce as caused by the sliding contact second piece and Cloth C's below it is at random.

In addition, above-mentioned lid mechanism 50 by cover 51 to as with the conveying side of cloth C realized by conveying mechanism 40 Rear round about extracts out and is inserted into the downside of cloth C for being grasped by first and second holding part 71,72 and being risen, The control returned to together into enforcement cover 51 with the conveying of the cloth C action realized by conveying mechanism 40.

Therefore, when cloth C is conveyed, cover 51 and cloth C advance mobile and mutual slip are pressed down together System, therefore the at random of the cloth C as caused by slip can be reduced.In addition, make cloth C of the cover 51 promptly from overlapping mounting Top keep out of the way, therefore can promptly carry out subsequent grasping action.

In addition, cloth conveying device 10 has in the front end of operation post 25 makes the front end of cloth C along operation post 25 The smooth mechanism 60 of upper surface, therefore the part of the front side of cloth C can be avoided to fall into, bend and be set as what is flatly loaded The front end of cloth C after conveying can be set as good state by state.

In addition, cloth conveying device 10 is provided with the rear end sliding contact for making cloth C in the rear end of operation post 25 251 Opening 252, therefore the rear end of the cloth conveyed C is made to be slided at the angle of the rear end of operation post 25 251, by This can restore the rear end of cloth C to flat normal condition from state at random, can will be after the cloth C after conveying End is set as good state.

[other]

In cloth conveying device 10, front end of the presser feet component 31 to cloth C of aforementioned presser foot device 30 is exemplified The structure pressed, but presser foot device 30 can also be set as the structure pressed the rear end of cloth C.

In this case, each grasping mechanism 70 is preferably configured as making first and second holding part 71,72 oblique upside forward Rise.

In addition, the opening 252 in the setting of the rear of operation post 25 is that have to construct and the rear end with cloth C by drop The construction in the corner of sliding contact is not limited to be open.

Claims (2)

1. a kind of sewn object conveying device, which is characterized in that have：

Flat mounting portion can be overlapped the multiple sewn objects of mounting；

Grasping mechanism, to be overlapped in the mounting portion in the sewn object of mounting positioned at the top sewn object into Row grasping；And

Conveying mechanism, to being conveyed by the sewn object that the grasping mechanism grasps,

The grasping mechanism has：First and second holding part grasps the sewn object；And elevator Structure makes first and second holding part lifting,

The sewn object conveying device has lid mechanism, which rises by the grasping of first and second described holding part Sewn object downside be inserted into cover.

2. sewn object conveying device according to claim 1, which is characterized in that

The lid mechanism is by the cover to the anti-of the conveying direction of the sewn object realized by the conveying mechanism Direction is extracted out, is inserted into the downside of sewn object for being grasped by first and second described holding part and being risen,

Together return to the cover with the conveying of the sewn object action realized by the conveying mechanism.