CN108457010A

CN108457010A - Sewing system

Info

Publication number: CN108457010A
Application number: CN201810153899.9A
Authority: CN
Inventors: 朝见健; 平冈浩次; 平山元树
Original assignee: Juki Corp
Current assignee: Juki Corp
Priority date: 2017-02-17
Filing date: 2018-02-22
Publication date: 2018-08-28
Anticipated expiration: 2038-02-22
Also published as: JP2018130499A; JP6978209B2; CN108457010B; DE102018103591A1

Abstract

The present invention provides a kind of sewing system, can inhibit the reduction of the productivity of dress material.Sewing system has：Sewing machine；And cloth conveying device, the cloth supplied from textile supplying device is kept and is delivered to sewing machine.

Description

Sewing system

Technical field

The present invention relates to a kind of sewing systems.

Background technology

In the manufacturing process of dress material, such as patent document 1 and sewing machine disclosed Patent Document 2 are used.

Patent document 1：Japanese Unexamined Patent Publication 2016-131614 bulletins

Patent document 2：Japanese Unexamined Patent Publication 2016-131632 bulletins

The process that dress material is sutured by the process that is for example sutured to cloth and label and to cloth and cloth this Multiple processes of sample and manufactured.In order to inhibit dress material productivity reduction, it is desirable that cloth can quickly and accurately be supplied To the technology to sewing machine.

Invention content

The purpose of the mode of the present invention is, provides a kind of sewing system of the reduction for the productivity that can inhibit dress material.

Mode according to the invention provides a kind of sewing system, has：Sewing machine；And cloth conveying device, it is right The cloth supplied from textile supplying device is kept and is delivered to the sewing machine.

The effect of invention

Mode according to the present invention provides a kind of sewing system of the reduction for the productivity that can inhibit dress material.

Description of the drawings

Fig. 1 is the vertical view for an example for showing schematically the sewing system involved by present embodiment.

Fig. 2 is the side section view for an example for showing schematically the cloth position regulator involved by present embodiment Figure.

Fig. 3 is by the oblique view of a part of cutting of the cloth position regulator involved by present embodiment.

Fig. 4 is the sectional view for an example for showing schematically the 1st textile supplying device involved by present embodiment.

Fig. 5 is the oblique view for an example for indicating the adsorption element involved by present embodiment.

Fig. 6 is the vertical view for an example for indicating the adsorption element involved by present embodiment.

Fig. 7 is the side view of an example of the action for showing schematically the movable member involved by present embodiment.

Fig. 8 is the functional block diagram of an example of the control device for indicating the sewing system involved by present embodiment.

Fig. 9 is the action for showing schematically the cloth conveying device conveyed to front of clothes involved by present embodiment An example vertical view.

Figure 10 is show schematically the cloth conveying device conveyed to back coat involved by present embodiment dynamic The vertical view for the example made.

Figure 11 is the action of the cloth conveying device in the textile supplying device showed schematically involved by present embodiment An example side view.

Figure 12 is the one of the action of the cloth conveying device in the 1st sewing machine showed schematically involved by present embodiment The oblique view of a example.

Figure 13 is the front of clothes and the respective figure of back coat showed schematically involved by present embodiment.

Figure 14 is showed schematically the figure of the state of front of clothes and back coat coincidence involved by present embodiment.

Figure 15 is the action of the cloth position regulator in the 2nd sewing machine showed schematically involved by present embodiment An example vertical view.

Figure 16 is an example of the front of clothes and back coat in the 2nd sewing machine showed schematically involved by present embodiment The vertical view of son.

Figure 17 is the vertical view of an example of the action for showing schematically the 2nd sewing machine involved by present embodiment.

Figure 18 is the one of the action of the cloth conveying device in the 2nd sewing machine showed schematically involved by present embodiment The vertical view of a example.

Figure 19 is the one of the action of the cloth conveying device in the 2nd sewing machine showed schematically involved by present embodiment The vertical view of a example.

Figure 20 is the vertical view of an example of the action for showing schematically the 2nd sewing machine involved by present embodiment.

Figure 21 is the flow chart of an example of the action for indicating the sewing system involved by present embodiment.

The explanation of label

1 ... sewing system, 2 ... sewing machines, 3 ... textile supplying devices, 4 ... cloth conveying devices, 5 ... robots, 6 ... inhale Attached component, 7 ... base components, 8 ... label supply devices, 9 ... label transport devices, 10 ... control devices, 11 ... front of clothes positions Set data acquisition, 12 ... back coat position data acquisition units, 13 ... the 1st sewing machine control units, the control of 14 ... the 2nd sewing machines Portion, 15 ... conveying control units, 16 ... storage parts, 17 ... input and output portions, 21 ... the 1st sewing machines, 22 ... the 2nd sewing machines, 31 ... 1st textile supplying device, 32 ... the 2nd textile supplying devices, 33 ... board members, the upper surfaces 33S ..., the lower surfaces 33T ..., 34 ... branch Support arrangement, 35 ... base components, 36 ... springs, 37 ... holes, 51 ... arms, 60 ... main elements, the 1st components of 60A ..., 60B ... the 2nd Component, the 3rd components of 60C ..., the 4th components of 60D ..., the 5th components of 60E ..., the 6th components of 60F ..., 61 ... the 1st attract component, 61A ... upper plates, 61B ... lower plates, 61C ... side plates, 62 ... the 2nd attraction components, 63 ... movable members, 64 ... connectors, 65 ... the 1st Support member, 66 ... the 2nd support members, 67 ... fixed mechanisms, 68 ... fixed mechanisms, 69 ... guiding mechanisms, 70 ... vacuum systems, 71 ... connecting members, 72 ... board members, 73 ... actuators, 81 ... the 1st label supply devices, 82 ... the 2nd label supply devices, 83 ... the 3rd label supply devices, 84 ... labels accommodate component, 85 ... label transfer mechanisms, 91 ... clamp systems, 92 ... vectoring aircrafts Structure, 93 ... actuators, 211 ... workbench, 211S ... setting faces, 212 ... sewing machine heads, 213 ... needles, 214 ... drivings Mechanism, 215 ... the 1st presser feet components, 216 ... the 2nd presser feet components, 217 ... position sensors, 221 ... workbench, 221K ... are opened Mouthful, 221S ... setting faces, 222 ... sewing machine heads, 223 ... needles, 224 ... driving mechanisms, 225 ... presser feet components, 230 ... Cloth pressing conveying device, 231 ... cloth pressing components, 232 ... arm members, 233 ... sliding blocks, 234 ... guide members, 235 ... Actuator, 240 ... cloth pressing components, the 1st cloth pressing components of 240L ..., the 2nd cloth pressing components of 240R ..., 241 ... branch Support arrangement, the 1st support devices of 241L ..., the 2nd support devices of 241R ..., 250 ... cloth position regulators, 251 ... board members, 251S ... retaining surfaces, the lower surfaces 251T ..., 252 ... actuators, 253 ... suction holes, 254 ... support members, 255 ... base portions Part, 256 ... duct members, 311 ... accommodation apparatus, 312 ... setting tables, 313 ... detection devices, 321 ... accommodation apparatus, 322 ... set Set platform, 323 ... detection devices, C ... clothes, Ca ... front of clothes (the 1st cloth), Cb ... back coats (the 2nd cloth), HS ... absorption Face, HS1 ... adsorption planes, HS2 ... adsorption planes, K ... shoulder portions, KR ... right shoulders point, KL ... left shoulders point, L ... labels, L1 ... the 1 label, the 2nd labels of L2 ..., the 3rd labels of L3 ..., the 1st supply positions PF1 ..., the 2nd supply positions PF2 ..., PH1 ... the 1st sew Seat in the plane is set, the 2nd sewing machine positions PH2 ..., the 1st suture locations of PM1 ..., the 2nd suture locations of PM2 ..., SL ... jointing lines, and SR ... connects Suture, the spaces VS ..., W ... flanks, the right flanks of WR ..., the left flanks of WL ....

Specific implementation mode

In the following, on one side with reference to attached drawing, embodiment according to the present invention is illustrated on one side, but the present invention and unlimited Due to this.The structural element for the embodiment being illustrated below can be appropriately combined.In addition, not using the knot of a part sometimes Structure element.

In the following description, XYZ orthogonal coordinate system is set, with reference to the XYZ orthogonal coordinate system, to the position in each portion The relationship of setting illustrates.The direction parallel with the X-axis in predetermined surface is set as X-direction, by being parallel in predetermined surface and X-axis The direction of orthogonal Y-axis is set as Y direction, and the direction parallel with the Z axis for being orthogonal to predetermined surface is set as Z-direction.In addition, will Direction of rotation or inclined direction centered on X-axis are set as θ X-directions, by centered on Y-axis direction of rotation or inclined direction set For θ Y-directions, by centered on Z axis direction of rotation or inclined direction be set as θ Z-directions.In addition, in the following description, will advise Determine face and is properly termed as X/Y plane.In the present embodiment, it is parallel to be set as X/Y plane with horizontal plane.

[construction]

Fig. 1 is the vertical view for an example for showing schematically the sewing system 1 involved by present embodiment.Such as Fig. 1 institutes Show, sewing system 1 has：Sewing machine 2；Textile supplying device 3；And cloth conveying device 4, to from textile supplying device 3 The cloth C of supply is kept and is delivered to sewing machine 2.

Cloth conveying device 4 has：Robot 5；And adsorption element 6, it is held in robot 5.Robot 5 can be It is moved on base component 7.In X/Y plane, base component 7 configures between sewing machine 2 and textile supplying device 3.Adsorption element 6 couples of cloth C carry out absorption holding.

In the present embodiment, sewing machine 2 includes：1st sewing machine 21 and the 2nd sewing machine 22.Textile supplying device 3 wraps Contain：1st textile supplying device 31 and the 2nd textile supplying device 32.Cloth C includes：1st cloth Ca and the 2nd cloth Cb.1st cloth Material feedway 31 supplies the 1st cloth Ca.2nd textile supplying device 32 supplies the 2nd cloth Cb.

In the present embodiment, sewing system 1 manufactures T-shirt as dress material.1st cloth Ca is the front of clothes of T-shirt. 2nd cloth Cb is the back coat of T-shirt.In the following description, the 1st cloth Ca is properly termed as front of clothes Ca, by the 2nd cloth Material Cb is properly termed as back coat Cb.

The 1st sewing machine ＞ of ＜

1st sewing machine 21 is the label sewing machine for sewing sutured to back coat Cb and label L.Label L is small pieces of cloth. The information about dress material of the size of dress material and the type of fiber etc or the points for attention etc. that use are recorded in label L.Mark L is signed to supply to the 1st sewing machine 21 via label transport device 9 from label supply device 8.

Label supply device 8 supplies label L.Label supply device 8 has：Label accommodates component 84, to layer Folded multiple label L are accommodated；And label transfer mechanism 85, it is moved the label L accommodated in component 84 is accommodated in label It send to label transport device 9.

In the present embodiment, label L includes：1st label L1, the 2nd label L2 and the 3rd label L3.Label supply device 8 Including：1st label supply device 81 supplies the 1st label L1；2nd label supply device 82, to the 2nd label L2 It is supplied；And the 3rd label supply device 83, the 3rd label L3 is supplied.1st label supply device the 81, the 2nd is marked Feedway 82 and the 3rd label supply device 83 is signed to configure along X-direction.

The label L supplied from label supply device 8 is delivered to the 1st sewing machine 21 by label transport device 9.Label transport fills Setting 9 has：Clamp system 91 keeps label L；Guiding mechanism 92 guides clamp system 91 in X-direction； And actuator 93, generation make the power that clamp system 91 is moved in X-direction.Clamp system 91 is supplied from the 1st label respectively The 1st label L1, the 2nd label L2 and the 3rd are received successively to device 81, the 2nd label supply device 82 and the 3rd label supply device 83 Label L3 and kept.Clamp system 91 protects the 1st label L1, the 2nd label L2 and the 3rd label L3 with the state being laminated It holds.Actuator 93 generates the clamp system 91 for making to maintain the 1st label L1, the 2nd label L2 and the 3rd label L3 in X-direction shifting Dynamic power.Clamp system 91 is based on the power generated by actuator 93, to the 1st sewing while being guided mechanism 92 and guiding Machine 21 moves.The 1st label L1, the 2nd label L2 and the 3rd label L3 are delivered to the 1st sewing machine 21 with the state being laminated as a result,.

Back coat Cb is delivered to the 1st sewing machine 21 by cloth conveying device 4, from the 2nd textile supplying device 32.Label L By label transport device 9, the 1st sewing machine 21 is delivered to from label supply device 8.1st sewing machine 21 from the 2nd cloth to supplying The back coat Cb and sutured from the label L of the supply of label supply device 8 that device 32 supplies.

1st sewing machine 21 has：Workbench 211 has the setting face 211S being configured to back coat Cb；And seam It threads head 212, back coat Cb and label L to being set to workbench 211 are sutured.Setting face 211S includes workbench 211 upper surface.Setting face 211S and X/Y plane are substantial parallel.Back coat Cb is delivered to workbench by cloth conveying device 4 211。

Sewing machine head 212 has：Driving mechanism 214 makes needle 213 move in above-below direction；1st presser feet component 215, the back coat Cb for being set to workbench 211 is pressed from top；And the 2nd presser feet component 216, from top pair Label L is pressed.It is pressed by the 1st presser feet component 215 in back coat Cb, is set to the label L on back coat Cb by the 2nd presser feet In the state that component 216 presses, needle 213 moves in above-below direction, is thus sutured to back coat Cb and label L. In the following description, the location-appropriate for implementing suture by needle 213 is known as the 1st suture location PM1.1st suture Position PM1 includes the needle downing position that needle 213 declines.

The 2nd sewing machine ＞ of ＜

2nd sewing machine 22 sutures front of clothes Ca and back coat Cb.In the present embodiment, the 2nd sewing machine 22 is The conjunction shoulder seam sewing machine that the shoulder portion K of the shoulder portion K and back coat Cb of front of clothes Ca are sutured.

Front of clothes Ca is delivered to the 2nd sewing machine 22 by cloth conveying device 4, from the 1st textile supplying device 31.Back coat Cb is delivered to the 2nd sewing machine 22 by cloth conveying device 4, from the 1st sewing machine 21.Back coat Cb is in the shape for being sewed with label L Under state, the 2nd sewing machine 22 is delivered to from the 1st sewing machine 21.2nd sewing machine 22 is to before the supply of the 1st textile supplying device 31 Clothing body Ca and the back coat Cb supplied from the 2nd sewing machine 22 are sutured.

2nd sewing machine 22 has：Workbench 221 has the setting face being configured to front of clothes Ca and back coat Cb 221S；And sewing machine head 222, front of clothes Ca and back coat Cb to being set to workbench 221 are sutured.Setting face 221S includes the upper surface of workbench 221.Setting face 221S and X/Y plane are substantial parallel.Cloth conveying device 4 is by front of clothes Ca and back coat Cb are respectively delivered to workbench 221.

Sewing machine head 222 has：Driving mechanism 224 makes needle 223 move in above-below direction；And pressing part Part 225 presses the front of clothes Ca and back coat Cb that are set to workbench 221 from top.In front of clothes Ca and rear clothing In the state that body Cb is pressed by presser feet component 225, needle 223 moves in above-below direction, thus to front of clothes Ca and rear clothing Body Cb is sutured.In the following description, the location-appropriate for implementing suture by needle 223 is known as to the 2nd suture Position PM2.2nd suture location PM2 includes the needle downing position that needle 223 declines.

In addition, the 2nd sewing machine 22 has：Cloth pressing conveying device 230, workbench 221 to front of clothes Ca and after Clothing body Cb is conveyed；Cloth pressing component 240, from top to being set to the front of clothes Ca and back coat Cb of workbench 221 It is pressed and is fixed；And cloth position regulator 250, to be set to workbench 221 front of clothes Ca position into Row adjustment.

Cloth pressing conveying device 230 has：Cloth pressing component 231, from top to being set to workbench 221 before Clothing body Ca and back coat Cb are pressed；Sliding block 233 links via arm member 232 with cloth pressing component 231；Guiding Component 234 guides sliding block 233 in X-direction；And actuator 235, generation make sliding block 233 be moved in X-direction Dynamic power.

Cloth pressing component 240 includes：1st cloth pressing component 240L and the 2nd cloth pressing component 240R.1st cloth Presser feet component 240L and the 2nd cloth pressing component 240R is configured along X-direction.1st cloth pressing component 240L and the 2nd cloth pressure Foot part 240R is compared and is configured at 222 side of sewing machine head.

Cloth pressing component 240 is supported in workbench 221 via support device 241.Support device 241 is for example comprising all Such as the actuator of cylinder, cloth pressing component 240 is at least movably supported in Z-direction.In addition, support device 241 It can be removable at least one direction of X-direction, Y direction, θ X-directions, θ Y-directions and θ Z-directions by cloth pressing component 240 It supports dynamicly.Support device 241 includes：1st cloth pressing component 240L is movably supported by the 1st support device 241L； And the 2nd support device 241R, the 2nd cloth pressing component 240R is movably supported.Including the 1st support device 241L and The support device 241 of 2nd support device 241R can make the 1st cloth pressing component 240L and the 2nd cloth pressing component 240R only On the spot move.

Fig. 2 is to show schematically that the side of an example of the cloth position regulator 250 involved by present embodiment is cutd open View.Fig. 3 is by the oblique view of a part of cutting of the cloth position regulator 250 involved by present embodiment.2nd sewing The workbench 221 of machine 22 has the setting face 221S being configured to cloth C.Setting face 221S includes the upper table of workbench 221 Face.Setting face 221S and X/Y plane are substantial parallel.

Cloth position regulator 250 carries out at least part of position for being set to the front of clothes Ca of workbench 221 Adjustment.Cloth position regulator 250 is adjusted the position of a part of the front of clothes Ca in X/Y plane.

Cloth position regulator 250 has：Board member 251 is set to the setting face 221S of workbench 221, has The retaining surface 251S that front of clothes Ca is kept；And actuator 252, be set to the inside of workbench 221, with setting Board member 251 is moved in direction parallel face 221S, is adjusted to being held in the position of front of clothes Ca of board member 251.

Retaining surface 251S includes the upper surface of board member 251.Retaining surface 251S and X/Y plane are substantial parallel.Board member 251 have：Retaining surface 251S；Lower surface 251T, towards the opposite direction of retaining surface 251S；And suction hole 253, it will protect Hold face 251S and lower surface 251T perforations.In the direction parallel with retaining surface 251S, 253 interval of suction hole and in board member 251 settings are multiple.Retaining surface 251S and setting face 221S are substantial parallel.

The setting face 221S of workbench 221 has opening 221K.Board member 251 is configured to the opening of setting face 221S 221K is covered.Setting face 221S configurations are around retaining surface 251S.It the outer edge area of the lower surface 251T of board member 251 and opens A part of setting face 221S around mouth 221K is opposite.

Cloth position regulator 250 has the support member 254 being supported to board member 251.Support member 254 At least part is fixed on the lower surface 251T of board member 251.Support member 254 is supported in base component 255.Support member 254 and base component 255 be set to the inner space of workbench 221.

Base component 255 is fixed at least part of workbench 221 in the inner space of workbench 221.Base portion Support member 254 is movably supported by part 255.Support member 254 is movably supported on base component in X/Y plane 255.Support member 254 is supported in base component 255 via the sliding equipment for example comprising ball or roller.In addition, support portion As long as part 254 can move in X/Y plane, then sliding equipment can not also include ball or roller.The generation of actuator 252 makes plate The power that component 251 moves.Actuator 252 for example configures between support member 254 and base component 255.As long as in addition, branch Support part part 254 can be moved relative to base component 255, then actuator 252 can not be configured in support member 254 and base portion Between part 255.Actuator 252 moves board member 251 via support member 254.Actuator 252 is by making support member 254 It is mobile, to make the board member 251 for being fixed on support member 254 be moved in X/Y plane.Base component 255 rises as fixing piece Effect, support member 254 work as movable member.By the work of actuator 252, board member 251 with setting face 221S It is moved in parallel X/Y plane.

Support member 254 forms SPACE V S between the lower surface 251T of board member 251.Board member 251 and support portion SPACE V S between part 254 is connect with the vacuum system 70 comprising vacuum pump and control valve.In a part of shape of support member 254 At opening and duct member 256 connect.Duct member 256 has flexibility.Vacuum system 70 and SPACE V S connect via duct member 256 It connects.

If making SPACE V S become negative pressure, the sides retaining surface 251S of board member 251 by the work of vacuum system 70 At least part of gas be attracted to SPACE V S via suction hole 253.As shown in Fig. 2, before retaining surface 251S is provided with Vacuum system 70 works in the state of clothing body Ca, and thus front of clothes Ca absorption is held in retaining surface 251S.

Board member 251 keeps at least part of front of clothes Ca by retaining surface 251S absorption.It is adsorbed in front of clothes Ca It is held in the state of retaining surface 251S, actuator 252 works, and board member 251 moves, thus to being held in board member 251 The position of front of clothes Ca is adjusted.Cloth position regulator 250 is to being set at least the one of the front of clothes Ca of workbench 221 Partial position is adjusted.Cloth position regulator 250 carries out the position of a part of the front of clothes Ca in X/Y plane Adjustment.

＜ textile supplying devices ＞

1st textile supplying device 31 supplies front of clothes Ca.As shown in Figure 1, the 1st textile supplying device 31 has： Accommodation apparatus 311 accommodates multiple front of clothes Ca；Setting table 312 is configured front of clothes Ca；And the 10th Device is taken, the multiple front of clothes Ca accommodated from accommodation apparatus 311 keep 1 front of clothes Ca and are set to setting table 312. Multiple front of clothes Ca are laminated in accommodation apparatus 311.1st pick device is to being located at most in multiple front of clothes Ca of stacking 1 front of clothes Ca of top is kept and is delivered to setting table 312.1 front of clothes Ca is set to setting by the 1st pick device Platform 312.

2nd textile supplying device 32 supplies back coat Cb.As shown in Figure 1, the 2nd textile supplying device 32 has： Accommodation apparatus 321 accommodates multiple back coat Cb；Setting table 322 is configured back coat Cb；And the 20th Device is taken, Cb couples of 1 back coat Cb of the multiple back coats accommodated from accommodation apparatus 321 is kept and be set to setting Platform 322.Multiple back coat Cb are laminated in accommodation apparatus 321.2nd pick device is in multiple back coat Cb of stacking 1 back coat Cb positioned at the top is kept and is delivered to setting table 322.1 back coat Cb is arranged 2nd pick device In setting table 322.

Fig. 4 is the side section view for an example for showing schematically the 1st textile supplying device 31 involved by present embodiment Figure.The construction of 1st textile supplying device 31 and the construction of the 2nd textile supplying device 32 are substantially the same.In the following, to the 1st cloth Feedway 31 illustrates, and simplifies or omit the explanation about the 2nd textile supplying device 32.

As shown in figure 4, the 1st textile supplying device 31 has the setting table 312 being configured to front of clothes Ca.In setting table 312 couples of 1 front of clothes Ca are configured.Setting table 312 has：Board member 33；And support device 34, to board member 33 into Row support.

Board member 33 has：Upper surface 33S is configured front of clothes Ca；Lower surface 33T, towards upper surface 33S Opposite direction；And hole 37, upper surface 33S and lower surface 33T is penetrated through.Upper surface 33S is parallel with lower surface 33T. The direction parallel with upper surface 33S, 37 interval of hole and be arranged in board member 33 multiple.

The diameter phi in hole 37 is smaller than the interval d between adjacent hole 37.In the present embodiment, the diameter in hole 37 is determined as Less than or equal to 2 [mm].

Support device 34 is supported board member 33 in a manner of parallel with upper surface 33S and X/Y plane.Support device 34 are movably supported board member 33 at least one direction of θ X-directions, θ Y-directions and Z-direction.

Support device 34 has：Base component 35；And spring 36, configuration base component 35 and board member 33 it Between.The upper end of spring 36 is connect with board member 33.The lower end of spring 36 is connect with base component 35.In X/Y plane, bullet Spring 36 configures multiple.

In the case of not to 33 external force action of board member, the upper surface 33S and X/Y plane of board member 33 are substantial parallel.It is right In the case of 33 external force action of board member, the upper surface 33S of board member 33 is in θ X-directions, at least one of θ Y-directions and Z-direction It moves in direction.

That is, in the present embodiment, including the support device 34 of spring 36 has and swingably to support board member 33 Float function.In the case where board member 33 has not acted on external force, support device 34 is with the upper surface 33S and XY with board member 33 Parallel mode is supported board member 33 on flat surface.In the case where the effect of board member 33 has external force, support device 34 by the upper surface 33S of board member 33 θ X-directions, θ Y-directions and Z-direction at least one direction movement in a manner of to plate portion Part 33 is supported.

In addition, the 1st textile supplying device 31 has the detection device 313 being detected to the position of front of clothes Ca.Detection Device 313 is detected the position of the front of clothes Ca in X/Y plane.In the present embodiment, detection device 313 includes and passes through Image data obtains the filming apparatus of the optical imagery of front of clothes Ca.Detection device 313 is set to compared with setting table 312 Side.Detection device 313 is detected the position of the front of clothes Ca of the setting of board member 33 in setting table 312.Detection device 313 The image data in the front of clothes Ca of the setting of board member 33 of setting table 312 is obtained from the top of front of clothes Ca.

Similarly, the 2nd textile supplying device 32 has the detection device 323 being detected to the position of back coat Cb.Inspection Device 323 is surveyed to be detected the position of the back coat Cb in X/Y plane.In the present embodiment, detection device 323 includes logical Cross the filming apparatus that image data obtains the optical imagery of back coat Cb.Detection device 323 is set to compared with setting table 322 Side.Detection device 323 is detected the position of the back coat Cb of the setting of board member 33 in setting table 322.Detection device 323 The image data in the back coat Cb of the setting of board member 33 of setting table 322 is obtained from the top of back coat Cb.

＜ cloth conveying devices ＞

As shown in Figure 1, cloth conveying device 4 has：Robot 5 is movably supported on base component 7；And it inhales Attached component 6 is held in robot 5.In the present embodiment, robot 5 is horizontal articulated robot (SCARA： Selective Compliance Assembly Robot Arm).Robot 5 has the arm kept to adsorption element 6 51.Robot 5 can move in this 4 directions in X-direction, Y direction, Z-direction and θ Z-directions.Adsorption element 6 is being protected It is held in the state of the arm 51 of robot 5, in X-direction, Y direction, Z-direction and θ Z-directions, this 4 directions can be moved It is dynamic.

Cloth conveying device 4 uses adsorption element 6, and absorption holding is carried out to cloth C from top.Adsorption element 6 and vacuum System 70 connects, and absorption holding is carried out to cloth C from top.

Robot 5 can move on base component 7.Adsorption element 6 can be respectively moved to lower rheme by robot 5 It sets：The 1st supply position PF1 opposite with the setting table 312 of the 1st textile supplying device 31, it is set with the 2nd textile supplying device 32 Set platform 322 opposite the 2nd supply position PF2, the 1st sewing machine position PH1 opposite with the workbench 211 of the 1st sewing machine 21 and The 2nd sewing machine position PH2 opposite with the workbench 221 of the 2nd sewing machine 22.1st supply position PF1, the 2nd supply position PF2, 1st sewing machine position PH1 and the 2nd sewing machine position PH2 are different position in X/Y plane.Adsorption element 6 can move respectively It moves to the top of the top of setting table 312, the top of setting table 322, the top of workbench 211 and workbench 221.

Fig. 5 is the oblique view for an example for indicating the adsorption element 6 involved by present embodiment.Fig. 6 is to indicate this reality Apply the vertical view of an example of the adsorption element 6 involved by mode.

As shown in Figures 5 and 6, adsorption element 6 has the adsorption plane HS for carrying out absorption holding to cloth C from top.Absorption Face HS includes the lower surface of adsorption element 6.Adsorption plane HS and X/Y plane are substantial parallel.

Adsorption element 6 has：Main element 60；1st attracts component 61, and absorption holding is carried out to cloth C from top；With And the 2nd attract component 62, absorption holding is carried out to cloth C from top.In the present embodiment, adsorption plane HS includes：Absorption Face HS1 is set to the 1st attraction component 61；And adsorption plane HS2, it is set to the 2nd attraction component 62.

Adsorption plane HS1 includes the 1st lower surface for attracting component 61.Adsorption plane HS1 and X/Y plane are substantial parallel.It is flat in XY In face, the shape of adsorption plane HS1 is quadrilateral shape.Adsorption plane HS2 includes the 2nd lower surface for attracting component 62.Adsorption plane HS2 with X/Y plane is substantial parallel.In X/Y plane, the shape of adsorption plane HS2 is round.Adsorption plane HS1 and adsorption plane HS2 configurations In in same plane.1st attracts the adsorption plane HS1 of component 61 to attract the adsorption plane HS2 of component 62 big than the 2nd.

Main element 60 is the component of frame-shaped.Main element 60 has：1st component 60A, the 2nd component 60B, the 3rd component 60C, the 4th component 60D.The component that 1st component 60A, the 2nd component 60B, the 3rd component 60C and the 4th component 60D are bar-like respectively. 1st component 60A and the 2nd component 60B are substantially parallel configured.3rd component 60C and the 4th component 60D substantially parallel match It sets.

1st component 60A is than the 2nd component 60B long.3rd component 60C respectively with the one end and the 2nd component of the 1st component 60A The one end of 60B connects.4th component 60D is connect with the other end of the middle part of the 1st component 60A and the 2nd component 60B respectively. 3rd component 60C is orthogonal with the 1st component 60A and the 2nd component 60B respectively.4th component 60D respectively with the 1st component 60A and the 2nd Part 60B is orthogonal.

In addition, main element 60 has：5th component 60E and the 6th component 60F.5th component 60E and the 6th component 60F difference The component being bar-like.

5th component 60E and the 6th component 60F configurations are between the 3rd component 60C and the 4th component 60D.3rd component 60C, the 4th Component 60D, the 5th component 60E and the 6th component 60F are substantially parallel configured.The one end and the 1st component 60A of 5th component 60E Connection.The other end of 5th component 60E is connect with the 2nd component 60B.The one end of 6th component 60F is connect with the 1st component 60A. The other end of 6th component 60F is connect with the 2nd component 60B.5th component 60E is configured at compared with the 6th component 60F close to the 3rd The position of component 60C.

1st attraction component 61 is the component of the box-like with inner space.1st attraction component 61 has：Upper plate 61A；Under Plate 61B；And side plate 61C, it configures between upper plate 61A and lower plate 61B.

Upper plate 61A respectively with a part of the 1st component 60A, a part of the 2nd component 60B, the 3rd component 60C, the 5th component 60E and the 6th component 60F connections.Lower plate 61B has adsorption plane HS1 that can be opposite with cloth C.Adsorption plane HS1 is lower plate 61B Lower surface.Side plate 61C is the board member of frame-shaped, is connect respectively with upper plate 61A and lower plate 61B.Pass through upper plate 61A, lower plate 61B It is provided with the inner space of 61C pairs the 1st attraction component 61 of side plate.

Lower plate 61B has multiple suction ports.Suction port includes to be passed through what the adsorption plane HS1 of lower plate 61B and upper surface were penetrated through Through-hole.That is, lower plate 61B is porous plate.The inner space of 1st attraction component 61 and exterior space are attached by through hole.It inhales Draw mouth configured at certain intervals in the lower surface of lower plate 61B it is multiple.

Adsorption element 6 has the connector 64 being connect with vacuum system 70.Connector 64 is multiple in upper plate 61A settings.Even Device 64 is connect to connect with the inner space of the 1st attraction component 61.Attract the inside of component 61 if vacuum system 70 works, the 1st The gas in space is attracted via connector 64 by vacuum system 70.In the shape of the adsorption plane HS1 and cloth C contacts of lower plate 61B Vacuum system 70 works under state, and thus cloth C can be carried out absorption guarantor by the 1st attraction component 61 by adsorption plane HS1 from top It holds.

2nd attraction component 62 is arranged multiple.Multiple 2 attraction components 62 respectively have absorption that can be opposite with cloth C Face HS2.

2nd attraction component 62 has the suction port for being set to adsorption plane HS2.2nd attracts the suction port and vacuum of component 62 System 70 connects.Vacuum system 70 works in the state of adsorption plane HS2 and cloth the C contact that the 2nd attracts component 62, and thus the 2 attraction components 62 can carry out absorption holding from top by adsorption plane HS2 to cloth C.

A part of 1st component 60A is protruded from the 4th component 60D.In addition, adsorption element 6, which has, is movably supported on the The 1st support member 65 and the 2nd support member 66 of 4 component 60D.1st support member 65 and the 2nd support member 66 are respectively bar-like Component.1st component 60A, the 1st support member 65, the 2nd support member 66 substantially parallel configure.

1st support member 65 is fixed on the 4th component 60D by fixed mechanism 67.Fixed mechanism 67 can decontrol to the 1st Support member 65 is fixed.2nd support member 66 is fixed on the 4th component 60D by fixed mechanism 68.Fixed mechanism 68 can Ground is decontroled the 2nd support member 66 is fixed.

There is 4th component 60D guiding mechanism 69, the guiding mechanism 69 to exist to the 1st support member 65 and the 2nd support member 66 The length direction of 4th component 60D guides.1st support member 65 and the 2nd support member 66 are respectively arranged at the 4th on one side The guiding mechanism 69 of component 60D guides, and can be moved in the length direction of the 4th component 60D on one side.

If the fixation for the 1st support member 65 and the 4th component 60D realized by fixed mechanism 67 is released from, the 1st Support part part 65 is guided the guiding of mechanism 69 and can be moved in the length direction of the 4th component 60D.If will by fixed mechanism 67 1st support member 65 and the 4th component 60D are fixed, then the position quilt of the 1st support member 65 on the length direction of the 4th component 60D It is fixed.

If the fixation for the 2nd support member 66 and the 4th component 60D realized by fixed mechanism 68 is released from, the 2nd Support part part 66 is guided the guiding of mechanism 69 and can be moved in the length direction of the 4th component 60D.If will by fixed mechanism 68 2nd support member 66 and the 4th component 60D are fixed, then the position quilt of the 2nd support member 66 on the length direction of the 4th component 60D It is fixed.

The 1st component 60A protruded from the 4th component 60D is supported multiple 2nd attraction components 62.1st support member 65 Multiple 2nd attraction components 62 are supported.2nd support member 66 is supported multiple 2nd attraction components 62.

In the present embodiment, the 2nd attraction component 62 is arranged 3 in the length direction interval of the 1st component 60A. 2nd attraction component 62 is arranged 3 in the length direction interval of the 1st support member 65.2nd attracts component 62 at the 2nd The length direction interval of support part part 66 and be arranged 3.That is, in the present embodiment, the 2nd attracts component 62 to be arranged 9.

Length direction of 1st support member 65 in the 4th component 60D moves, and thus attracts the position of component 62 to carry out to the 2nd Adjustment.Length direction of 2nd support member 66 in the 4th component 60D moves, and is thus adjusted to the position of the 2nd attraction component 62 It is whole.Such as matchingly move the 1st support member 65 and the 2nd support member 66 with the size of cloth C, thus to passing through the 2nd The absorption position of the cloth C of the realization of component 62 is attracted to be adjusted.

Adsorption element 6 has the connecting member 71 linked with robot 5.Connecting member 71 by be fixed on the 5th component 60E and The board member 72 of 6th component 60F supports.Connecting member 71 is columned component.The 5th component 60E's and the 6th component 60F Length direction, connecting member 71 are fixed on the central portion of the 5th component 60E and the central portion of the 6th component 60F.

The movable member 63 that cloth conveying device 4 is moved with respect to adsorption element 6.Movable member 63 is removable Ground is supported in adsorption element 6.In the present embodiment, movable member 63 is movably supported on the 3rd component 60C.In the 3rd component The size of the length direction of 60C, the 3rd component 60C of size ratio of movable member 63 is small.As shown in the arrow Ra of Fig. 5, movable member 63 can move in the upper and lower directions orthogonal with adsorption plane HS.Movable member 63 can relative to the adsorption plane HS of adsorption element 6 It is mobile.

There is adsorption element 6 actuator 73, the actuator 73 generation to make the power that movable member 63 moves in above-below direction. Actuator 73 is for example comprising cylinder.Movable member 63 can be moved in above-below direction by the work of actuator 73.

Fig. 7 is the side view of an example of the action for showing schematically the movable member 63 involved by present embodiment. As shown in Fig. 7 (A), in the movable range of the upper and lower directions of movable member 63, the upper of movable range is configured in movable member 63 When end, the lower end of movable member 63 is disposed above compared with the adsorption plane HS of adsorption element 6.In other words, in movable part When part 63 is configured at the upper end of movable range, the lower end of movable member 63 compared with the adsorption plane HS of adsorption element 6 not to It protrudes lower section.

As shown in Fig. 7 (B), in the movable range of the upper and lower directions of movable member 63, it is configured at movably in movable member 63 When the lower end of range, the lower end of movable member 63 is configured at lower section compared with the adsorption plane HS of adsorption element 6.In other words, When movable member 63 is configured at the lower end of movable range, the lower end of movable member 63 and the adsorption plane HS of adsorption element 6 Compared to protruding downwards.

As shown in Fig. 7 (A), by adsorption plane HS to cloth C carry out absorption keep when, the lower end of movable member 63 with The adsorption plane HS of adsorption element 6 is compared and is disposed above.As shown in Fig. 7 (B), cloth C is being carried out not over adsorption plane HS In the state that absorption is kept, the lower end of movable member 63 arranged below can compared with the adsorption plane HS of adsorption element 6 It is contacted with cloth C.

As shown in fig. 6, the cloth C comprising front of clothes Ca and back coat Cb has：2 shoulder portion K and 2 flank W.Shoulder Part K includes：Right shoulder divides KR and left shoulder to divide KL.Flank W includes：Right flank WR and left flank WL.

Including the top absorption of the cloth C of shoulder portion K is held in the 1st attraction component 61.1st attracts the adsorption plane of component 61 HS1 is fully big, can keep the whole absorption together of shoulder portion K.Adsorption element 6 attracts component 61 using the 1st, can be to shoulder The position deviation of K is divided to be inhibited and keep the upper stabilizer of cloth C.

Including the lower part absorption of the cloth C of flank W is held in the 2nd attraction component 62.2nd attracts the weight ratio of component 62 1st attracts the weight of component 61 fully small.In addition, the 1st component 60A, the 1st support portion that are kept to the 2nd attraction component 62 The component that part 65 and the 2nd support member 66 are respectively bar-like, it is light-weight.Hereby it is achieved that the lightweight of adsorption element 6.

＜ control devices ＞

Fig. 8 is the functional block diagram of an example of the control device 10 for indicating the sewing system 1 involved by present embodiment. Sewing system 1 has control device 10.Control device 10 includes computer system, is controlled sewing system 1.Control device 10 have：Arithmetic processing apparatus, it includes processors as CPU (Central Processing Unit)；And storage dress It sets, it includes memory and storages as ROM (Read Only Memory) or RAM (Random Access Memory) Device.Arithmetic processing apparatus implements calculation process according to the computer program stored in the storage device.

As shown in figure 8, control device 10 respectively with the 1st sewing machine 21, the 2nd sewing machine 22, be configured at the 1st cloth supply fill Set 31 detection device 313, the detection device 323 for being configured at the 2nd textile supplying device 32 and cloth conveying device 4 connection.

Control device 10 has：Front of clothes position data acquisition unit 11 obtains the position data of front of clothes Ca；Back coat Position data acquisition unit 12 obtains the position data of back coat Cb；1st sewing machine control unit 13 is exported to the 1st sewing machine The 21 control signals controlled；2nd sewing machine control unit 14 exports the control signal controlled the 2nd sewing machine 22； Control unit 15 is conveyed, the control signal controlled cloth conveying device 4 is exported；Storage part 16；And input and output portion 17。

Detection of the front of clothes position data acquisition unit 11 based on the detection device 313 configured in the 1st textile supplying device 31 Data obtain the position data of front of clothes Ca.Front of clothes position data acquisition unit 11 obtains the position of the front of clothes Ca in X/Y plane Set data.In the present embodiment, detection device 313 obtains the front of clothes Ca being arranged in setting table 312 as detection data Image data.Detection device 313 obtains the image of the peripheral part of the front of clothes Ca including at least shoulder portion K and flank W Data.Detection device 313 obtains the picture number of front of clothes Ca together with the image data of reference mark for being set to setting table 312 According to.In addition, reference mark can be set to the optical system of detection device 313.Front of clothes position data acquisition unit 11 is from detection Device 313 obtains the image data of front of clothes Ca and the image data of reference mark.Front of clothes position data acquisition unit 11 is to preceding The image data of clothing body Ca and the image data of reference mark carry out image procossing.Front of clothes position data acquisition unit 11 is to preceding clothing The image data of body Ca and the image data of reference mark carry out image procossing, to the peripheral part of reference mark and front of clothes Ca Relative position calculated.The position data of reference mark in X/Y plane is given data, is stored in storage part 16.Preceding clothing Position data of the body position data acquisition unit 11 based on the reference mark stored in storage part 16 and based on detection device 313 Detection data and the relative position of the peripheral part of calculated reference mark and front of clothes Ca, to the front of clothes Ca in X/Y plane The position data of peripheral part calculated.

Detection of the back coat position data acquisition unit 12 based on the detection device 323 configured in the 2nd textile supplying device 32 Data obtain the position data of back coat Cb.Back coat position data acquisition unit 12 obtains the position of the back coat Cb in X/Y plane Set data.In the same manner as detection device 313, the image data one of detection device 323 and the reference mark for being set to setting table 322 Act the image data for the peripheral part for obtaining the back coat Cb including at least shoulder portion K and flank W.In addition, reference mark can To be set to the optical system of detection device 323.Back coat position data acquisition unit 12 is based on the base stored in storage part 16 The periphery of the position data of fiducial mark note and the detection data based on detection device 323 and calculated reference mark and back coat Cb Partial relative position calculates the position data of the peripheral part of the back coat Cb in X/Y plane.

1st sewing machine control unit 13 respectively controls label supply device 8, label transport device 9 and sewing machine head 212 System.

2nd sewing machine control unit 14 respectively to support device 241, cloth position regulator 250 and sewing machine head 222 into Row control.

Position data of the control unit 15 based on the front of clothes Ca obtained by front of clothes position data acquisition unit 11 is conveyed, to cloth Material conveying device 4 is controlled.Conveying control unit 15 moves robot 5 in the XYZ orthogonal coordinate system of 1 defined of sewing system It is dynamic.The amount of movement of robot 5 is detected by being set to mobile quantity sensor as the encoder of robot 5.Conveying control On the basis of the position data of front of clothes Ca when portion 15 is to be set to setting table 312, to maintaining front of clothes via adsorption element 6 The amount of movement of the robot 5 of Ca is controlled, the target location that thus, it is possible to be delivered to front of clothes Ca in X/Y plane.Equally Ground, conveying position data of the control unit 15 based on the back coat Cb obtained by back coat position data acquisition unit 12 convey cloth Device 4 is controlled, the target location that thus, it is possible to be delivered to back coat Cb in X/Y plane.

[action]

In the following, being illustrated to an example of the action of the sewing system 1 involved by present embodiment.

The transport path ＞ of ＜ front of clothes

Fig. 9 is the cloth conveying device 4 conveyed to front of clothes Ca showed schematically involved by present embodiment The vertical view of one example of action.Cloth conveying device 4 protects the front of clothes Ca supplied from the 1st textile supplying device 31 It holds and is delivered to the 2nd sewing machine 22.In the 1st textile supplying device 31, by the 1st pick device, by 1 front of clothes Ca setting In setting table 312.Conveying control unit 15 controls cloth conveying device 4, and cloth conveying device 4 is made to be moved to and be set to The 1st opposite the front of clothes Ca of setting table 312 supply position PF1.

Cloth conveying device 4 keeps the front of clothes Ca for being set to setting table 312 from top.Conveying control unit 15 makes The cloth conveying device 4 for maintaining front of clothes Ca is moved to the 2nd sewing machine 22.Before being maintained in the 1st textile supplying device 31 Front of clothes Ca is delivered to the 2nd sewing machine 22 by the cloth conveying device 4 of clothing body Ca.Cloth conveying device 4 is by front of clothes Ca from setting Platform 312 is set to convey one by one.

Testing result of the cloth conveying device 4 based on detection device 313, is adjusted the position of front of clothes Ca.Conveying Position data of the control unit 15 based on the front of clothes Ca obtained by front of clothes position data acquisition unit 11, the movement to robot 5 Amount is controlled.As shown in figure 9, conveying control unit 15 controls robot 5, make the adsorption element for maintaining front of clothes Ca 6 are moved to the 2nd sewing machine position PH2 opposite with the workbench 221 of the 2nd sewing machine 22.

Testing result of the cloth conveying device 4 based on detection device 313, to the position of front of clothes Ca in the 2nd sewing machine 22 It sets and is adjusted.Conveying control unit 15 is adjusted the position of cloth conveying device 4, so that front of clothes Ca is configured at the The target location of the front of clothes Ca of 2 sewing machine, 22 defined.It is configured at the preceding clothing in 22 defined of the 2nd sewing machine in front of clothes Ca Behind the target location of body Ca, the absorption of the front of clothes Ca realized by adsorption plane HS is kept releasing by cloth conveying device 4.By This, front of clothes Ca is transported to the 2nd sewing machine 22, is set to workbench 221.

The transport path ＞ of ＜ back coats

Figure 10 is the cloth conveying device 4 conveyed to back coat Cb showed schematically involved by present embodiment The vertical view of one example of action.Cloth conveying device 4 protects the back coat Cb supplied from the 2nd textile supplying device 32 It holds and is delivered to the 1st sewing machine 21.In the 2nd textile supplying device 32, by the 2nd pick device, by 1 back coat Cb setting In setting table 322.Conveying control unit 15 controls cloth conveying device 4, and cloth conveying device 4 is made to be moved to and be set to The 2nd opposite the back coat Cb of setting table 322 supply position PF2.

Cloth conveying device 4 keeps the back coat Cb for being set to setting table 322 from top.Conveying control unit 15 makes The cloth conveying device 4 for maintaining back coat Cb is moved to the 1st sewing machine 21.After being maintained in the 2nd textile supplying device 32 Back coat Cb is delivered to the 1st sewing machine 21 by the cloth conveying device 4 of clothing body Cb.Cloth conveying device 4 is by back coat Cb from setting Platform 322 is set to convey one by one.

Testing result of the cloth conveying device 4 based on detection device 323, is adjusted the position of back coat Cb.Conveying Position data of the control unit 15 based on the back coat Cb obtained by back coat position data acquisition unit 12, the movement to robot 5 Amount is controlled.As shown in Figure 10, conveying control unit 15 controls robot 5, makes the adsorption section for maintaining back coat Cb Part 6 is moved to the 1st sewing machine position PH1 opposite with the workbench 211 of the 1st sewing machine 21.

Testing result of the cloth conveying device 4 based on detection device 323, to the position of back coat Cb in the 1st sewing machine 21 It sets and is adjusted.Conveying control unit 15 is adjusted the position of cloth conveying device 4, so that back coat Cb is configured at the The target location of the back coat Cb of 1 sewing machine, 21 defined.

In the present embodiment, cloth conveying device 4 is in the suture of the sewing machine head 212 of the 1st sewing machine 21, to rear clothing Body Cb is kept.That is, when the suture of back coat Cb and label L in the 1st sewing machine 21, cloth conveying device 4 is persistently protected Hold back coat Cb.Back coat Cb is sutured in the 1st sewing machine 21 with label L in the state of being held in cloth conveying device 4.

Cloth conveying device 4 will finish to be delivered to the 2nd seam from the 1st sewing machine 21 with the back coat Cb of the suture of label L It threads machine 22.As shown in Figure 10, conveying control unit 15 controls robot 5, and the adsorption element 6 for maintaining back coat Cb is made to move It moves to the 2nd sewing machine position PH2 opposite with the workbench 221 of the 2nd sewing machine 22.

Testing result of the cloth conveying device 4 based on detection device 323, to the position of back coat Cb in the 2nd sewing machine 22 It sets and is adjusted.Conveying control unit 15 is adjusted the position of cloth conveying device 4, so that back coat Cb is configured at the The target location of the back coat Cb of 2 sewing machine, 22 defined.It is configured at the rear clothing in 22 defined of the 2nd sewing machine in back coat Cb Behind the target location of body Cb, cloth conveying device 4 is released to be kept by the absorption of the adsorption plane HS back coat Cb realized.As a result, Back coat Cb is transported to the 2nd sewing machine 22, is set to workbench 221.

As described above, in the present embodiment, cloth conveying device 4 is from 32 to the 1st sewing machine of the 2nd textile supplying device The conveying of back coat Cb until 21, the suture of the 1st sewing machine 21 and until 21 to the 2nd sewing machine 22 of the 1st sewing machine after Back coat Cb is persistently kept in the conveying of clothing body Cb.

In the present embodiment, before it will be supplied from textile supplying device 3 using individual machine people 5 and adsorption element 6 When clothing body Ca and back coat Cb are delivered to 2 sewing machine 22, the transport path of front of clothes Ca and the transport path of back coat Cb are Different.Front of clothes Ca is fed directly to the workbench 221 of the 2nd sewing machine 22 from the 1st textile supplying device 31.Back coat Cb from 2nd textile supplying device 32 is delivered to the workbench 221 of the 2nd sewing machine 22 via the 1st sewing machine 21.

Clothes of the ＜ from textile supplying device moves out ＞

Figure 11 is the dynamic of the cloth conveying device 4 in the textile supplying device 3 showed schematically involved by present embodiment The side view for the example made.Figure 11 is the setting table for showing schematically cloth conveying device 4 from the 1st textile supplying device 31 The figure of 312 action when moving out front of clothes Ca.

Cloth conveying device 4 conveys front of clothes Ca into vacuum adsorbed holding from top.Support device 34 is can The position opposite with the adsorption plane HS of adsorption element 6 of cloth conveying device 4 is supported board member 33.

In the state that the board member 33 of setting table 312 is provided with front of clothes Ca, detection device 313 obtains front of clothes Ca's Image data.The image data of the front of clothes Ca obtained by detection device 313 is obtained by front of clothes position data acquisition unit 11.Before 11 image data based on front of clothes Ca of clothing body position data acquisition unit, counts the position of the front of clothes Ca in X/Y plane It calculates.

The hole 37 of board member 33 is small.In the present embodiment, the diameter phi in the hole 37 of board member 33 is less than or waits In 2 [mm].Therefore, even if mirroring in the image data of the front of clothes Ca obtained by detection device 313 can inhibit if having hole 37 The case where image procossing in front of clothes position data acquisition unit 11 is impacted.

Conveying control unit 15 makes the front of clothes that cloth conveying device 4 is moved to and is arranged in the board member 33 of setting table 312 The 1st opposite Ca supply position PF1.After cloth conveying device 4 is moved to the 1st supply position PF1, conveying control unit 15 is on one side Implement the attraction action of adsorption plane HS, on one side decline cloth conveying device 4.As a result, the adsorption plane HS of cloth conveying device 4 and In the front of clothes Ca contacts that the upper surface of board member 33 is arranged, front of clothes Ca vacuum suctions are held in the suction of cloth conveying device 4 Attached face HS.Cloth conveying device 4 is from top to the front of clothes Ca being arranged in the upper surface 33S of board member 33 into vacuum adsorbed guarantor It holds.

In the present embodiment, board member 33 is provided with hole 37.Cloth conveying device 4 and it is being set to plate portion as a result, The front of clothes Ca of part 33 attracts gas in the state of, in the suction hole of the adsorption plane HS from cloth conveying device 4 When, as shown in the arrow F of Figure 11, the gas in the space of the lower surface sides 33T of board member 33 flows through board member 33 via hole 37 The upper surface sides 33S space.Pass through the vacuum suction of the adsorption plane HS of the cloth conveying device 4 front of clothes Ca realized as a result, Holding is steadily implemented.

In the present embodiment, robot 5 is horizontal articulated robot, in X-direction, Y direction, Z-direction and θ This 4 directions of Z-direction can move.The adsorption plane HS of cloth conveying device 4 is in X-direction, Y direction, Z-direction and the sides Z θ To can move.Support device 34 has the float function for swingably supporting board member 33.Board member 33 is in θ X-directions, θ Y Direction and at least one direction of Z-direction are movably supported on support device 34.

That is, in the present embodiment, relative to only in X/Y plane and the moveable cloth conveying device of Z-direction 4 Adsorption plane HS can move the board member 33 that front of clothes Ca is supported in θ X-directions, θ Y-directions and Z-direction.Therefore, i.e., The upper surface 33S of the adsorption plane HS and board member 33 that make cloth conveying device 4 are not parallel, make cloth conveying device 4 decline and When the front of clothes Ca for making the adsorption plane HS of cloth conveying device 4 and being arranged in the upper surface 33S of board member 33 is contacted, board member 33 Also it can swing so that the adsorption plane HS of cloth conveying device 4 becomes parallel with the upper surface 33S of board member 33.Cloth as a result, The adsorption plane HS of conveying device 4 and the upper surface 33S of board member 33 can come into full contact with, and front of clothes Ca steadily protect by vacuum suction It is held in the adsorption plane HS of cloth conveying device 4.

In addition, referring to Fig.1 1, the action that cloth conveying device 4 is moved out front of clothes Ca from the 1st textile supplying device 31 It is illustrated.The action that cloth conveying device 4 moves out back coat Cb from the 2nd textile supplying device 32 is supplied with from the 1st cloth The action for moving out front of clothes Ca to device 31 is identical, and and the description is omitted.

The action ＞ of cloth conveying device in the 1st sewing machines of ＜

Figure 12 is the action of the cloth conveying device 4 in the 1st sewing machine 21 showed schematically involved by present embodiment An example oblique view.

1st sewing machine 21 sutures back coat Cb and label L with 4 co-operating of cloth conveying device.Such as Figure 12 Shown, the 1st sewing machine 21 has：Workbench 211 has the setting face 211S being configured to back coat Cb；And sewing Head 212, back coat Cb and label L to being set to workbench 211 are sutured.

Sewing machine head 212 has：Driving mechanism 214 makes needle 213 move in above-below direction；1st presser feet component 215, the back coat Cb for being set to workbench 211 is pressed from top；And the 2nd presser feet component 216, from top pair The label L being set on back coat Cb is pressed.

Cloth conveying device 4 is in the suture of the back coat Cb and label L that are realized by sewing machine head 212, to back coat Cb is kept.It conveys testing result of the control unit 15 based on detection device 313 and cloth conveying device 4 is made to move, so that Label L is sutured in the target site of back coat Cb.In the present embodiment, inspection of the control unit 15 based on detection device 313 is conveyed The position for surveying result and the back coat Cb to being held in cloth conveying device 4 is adjusted, so that the flank W of back coat Cb Target site be configured at the 1st suture location PM1.

In the present embodiment, the position sensor 217 being detected to the position of the flank W of back coat Cb is set to 1st sewing machine 21.Peripheral part irradiating and detecting light from position sensor 217 to back coat Cb, optically to the position of flank W It is detected.It conveys testing result of the control unit 15 based on position sensor 217 and the cloth for maintaining back coat Cb is conveyed The position of device 4 is adjusted, so that the 1st suture location PM1 is configured at the target site of the flank W of back coat Cb.That is, In the present embodiment, testing result of the control unit 15 based on position sensor 217 is conveyed, to the flank W's of back coat Cb The relative position of target site and the 1st suture location PM1 are adjusted.

Sewing machine head 212 on one side by back coat Cb and label L sew direction conveying, while be directed at back coat Cb and label L It is sutured.The suture of cloth conveying device 4 and sewing machine head 212 synchronously, to back coat Cb kept and in sewing side To movement.In the example shown in Figure 12, sewing direction is X-direction.

1st sewing machine control unit 13 controls the 1st sewing machine 21, so that back coat Cb and label L exist on one side Defined sewing direction conveying sutures on one side.1st sewing machine 21 is on one side by back coat Cb and label L in defined sewing direction Conveying makes needle 213 move in above-below direction on one side, is sutured to back coat Cb and label L.Convey control unit 15 with The feed motion in the sewing direction of the back coat Cb and label L that are realized by the 1st sewing machine 21 synchronously, makes to maintain back coat The cloth conveying device 4 of Cb moves in defined sewing direction.Cloth conveying device 4 with by the 1st sewing machine 21 realize after Clothing body Cb and label L sewing direction feed motion synchronously, to maintain the state of back coat Cb in defined sewing side To movement.The suture of the back coat Cb and label L that are realized as a result, by the 1st sewing machine 21 are successfully implemented.

In the present embodiment, cloth conveying device 4 presses back coat Cb to workbench 211.Convey control unit 15 with The load bigger than the weight of cloth conveying device 4 is acted on to the mode of workbench 211, on one side by cloth conveying device 4 to work Make the pressing of platform 211, cloth conveying device 4 is made to be moved in defined sewing direction on one side.

In the present embodiment, it with the target site of the flank W of the back coat Cb of label L sutures, is configured at the 1st A pair the 2nd of part 60A settings attracts between component 62.With the target site of the flank W of label L suture not adsorbed portion part 6 Covering.The 1st presser feet component 215 and the 2nd presser feet component 216 can successfully press the flank of back coat Cb from top as a result, W.In addition, with the target site of the flank W of label L suture will not adsorbed portion part 6 cover, therefore pass through needle 213 The suture of realization is successfully implemented.

The action ＞ of cloth conveying device and cloth position regulator in the 2nd sewing machines of ＜

In the following, one of action to cloth conveying device 4 and cloth position regulator 250 in the 2nd sewing machine 22 Example illustrates.As described above, in the present embodiment, the 2nd sewing machine 22 is the shoulder portion K and back coat to front of clothes Ca The conjunction shoulder seam sewing machine that the shoulder portion K of Cb is sutured.

Figure 13 is the front of clothes Ca and the respective figures of back coat Cb showed schematically involved by present embodiment.Such as Figure 13 institutes Show, front of clothes Ca has：2 shoulder portion K and 2 flank W.Back coat Cb has：2 shoulder portion K and 2 flank W.2 A shoulder portion K includes：Left shoulder as a shoulder portion K divides KL and the right shoulder as another shoulder portion K to divide KR.2 Flank W includes：As the left flank WL of flank W and as the right flank WR of another flank W.The 2nd In sewing machine 22, implement suture and front of clothes Ca that the left shoulder of front of clothes Ca divides the left shoulder of KL and back coat Cb to divide KL Right shoulder divides the suture that the right shoulder of KR and back coat Cb divide KR.

Figure 14 is showed schematically the figure of the state of front of clothes Ca and back coat Cb coincidences involved by present embodiment. As shown in figure 14, when the shoulder portion K of shoulder portion K and back coat Cb to front of clothes Ca are sutured, in the 2nd sewing machine 22 In, front of clothes Ca and back coat Cb are overlapped.When front of clothes Ca and back coat Cb are overlapped, the position of the shoulder portion K of front of clothes Ca It sets and is possible to inconsistent with the position of the shoulder portion K of back coat Cb.For example, as shown in figure 14, with the left shoulder of front of clothes Ca It is preceding when the left shoulder of the position and back coat Cb of dividing KL divides the mode of the position consistency of KL to overlap front of clothes Ca and back coat Cb The right shoulder of clothing body Ca divides the position of KR and the right shoulder of back coat Cb that the position of KR is divided to be possible to be staggered.In addition, as preceding clothing The inconsistent reason in the position of the shoulder portion K of body Ca and the position of the shoulder portion K of back coat Cb, such as enumerate the stretching, extension of cloth C Or cut deviation etc..

In the state that the position of the position of the shoulder portion K of front of clothes Ca and the shoulder portion K of back coat Cb is inconsistent, if The shoulder portion K of the shoulder portion K and back coat Cb of front of clothes Ca are sutured, then can manufacture problematic dress material.

Position of the cloth position regulator 250 to the position of the shoulder portion K of front of clothes Ca and the shoulder portion K of back coat Cb Deviation be corrected.Cloth position regulator 250 is in the position and back coat Cb for dividing KL with the left shoulder of front of clothes Ca When left shoulder divides the mode of the position consistency of KL to overlap front of clothes Ca and back coat Cb, divide KR's to the right shoulder of front of clothes Ca Position be adjusted so that the position that the right shoulder of front of clothes Ca divides the position of KR and the right shoulder of back coat Cb to divide KR it is inclined Residual quantity G becomes smaller.

Before front of clothes Ca is delivered to the 2nd sewing machine 22, the left shoulder of the front of clothes Ca in X/Y plane divides the position of KL And the right shoulder of front of clothes Ca divides the position of KR to be detected by the detection device 313 for being configured at the 1st textile supplying device 31.Will after Before clothing body Cb is delivered to the 2nd sewing machine 22, the left shoulder of the back coat Cb in X/Y plane divides the position of KL and the right side of back coat Cb It is detected by the detection device 323 for being configured at the 2nd textile supplying device 32 position of shoulder portion KR.

Front of clothes position data acquisition unit 11 is based on the image data obtained by detection device 313, before in X/Y plane The left shoulder of clothing body Ca divides the position data of KL and the right shoulder of front of clothes Ca that the position data of KR is divided to be calculated.Back coat position Data acquisition 12 is set based on the image data obtained by detection device 323, to the left shoulder point of the back coat Cb in X/Y plane The position data of KL and the right shoulder of back coat Cb divide the position data of KR to be calculated.

2nd sewing machine control unit 14 is based on the left shoulder by 11 calculated front of clothes Ca of front of clothes position data acquisition unit The right shoulder of the position data and front of clothes Ca of dividing KL is divided the position data of KR and is calculated by back coat position data acquisition unit 12 The left shoulder of the back coat Cb gone out divides the position data of KL and the right shoulder of back coat Cb to divide the position data of KR, to front of clothes The left shoulder of Ca divide the position of KL and the left shoulder of back coat Cb divide KL position consistency mode by front of clothes Ca and back coat When Cb the is overlapped, right shoulder of front of clothes Ca divide the position of KR and the right shoulder of back coat Cb divide KR position departure G into Row calculates.It is stored in storage part 16 by 14 calculated departure G of the 2nd sewing machine control unit.

Figure 15 is the cloth position regulator 250 in the 2nd sewing machine 22 showed schematically involved by present embodiment Action an example vertical view.Figure 15 shows schematically defeated from the 1st textile supplying device 31 by cloth conveying device 4 Send the front of clothes Ca of the workbench 221 to the 2nd sewing machine 22.

Testing result of the cloth conveying device 4 based on detection device 313, so that being set to front of clothes Ca in the 2nd seam Front of clothes Ca is delivered to workbench 221 by the mode of target location of 22 defined of machine of threading.Cloth conveying device 4 is with by front of clothes The left shoulder of Ca divides the KL setting face 221S for being set to workbench 221, divides KR to be set to cloth material position the right shoulder of front of clothes Ca Front of clothes Ca is delivered to workbench 221 by the mode for setting the retaining surface 251S of the board member 251 of adjusting apparatus 250.

After front of clothes Ca is set to workbench 221, the implementation of cloth position regulator 250 is realized by suction hole 253 Attraction action, divide KR to carry out absorption holding the right shoulder of front of clothes Ca by the retaining surface 251S of board member 251.As a result, In the state of being provided with the left shoulder of front of clothes Ca in the setting face 221S of workbench 221 and divide KL, in the retaining surface of board member 251 251S divides KR to keep the right shoulder of front of clothes Ca.

2nd sewing machine control unit 14 controls the actuator 252 of cloth position regulator 250, with setting face Board member 251 is moved in direction parallel 221S, divides the position of KR to be adjusted the right shoulder of front of clothes Ca.2nd sewing machine Control unit 14 makes absorption maintain right shoulder the board member 251 of KR is divided to move in the direction parallel with setting face 221S, so that The testing result of testing result and detection device 323 based on detection device 313 and calculate and stored in storage part 16 Departure G becomes smaller.

That is, the 2nd sewing machine control unit 14 controls actuator 252, the right shoulder to maintaining front of clothes Ca divides KR The amount of movement of board member 251 be adjusted so that the right shoulder for the front of clothes Ca being arranged in workbench 221 divides KR and hereafter The right shoulder for being delivered to the back coat Cb of workbench 221 divides the departure G of KR to become smaller.

As a result, as shown in figure 15, the right shoulder of front of clothes Ca divide the position of KR from the position shown in dotted line adjust to by Position shown in solid.Even if making the right shoulder of front of clothes Ca that KR be divided to move by movement by board member 251, front of clothes Ca's Left shoulder divide KL also due to the frictional force of the setting face 221S of workbench 221 and it is substantially static.Furthermore, it is possible to working The suction port being connect with vacuum system 70 is arranged in the setting face 221S of platform 221, and the left shoulder of front of clothes Ca divides KL absorption to be held in The setting face 221S of workbench 221.The left shoulder of front of clothes Ca divides the setting face 221S that KL absorption is held in workbench 221, by Even if this makes the right shoulder of front of clothes Ca that KR be divided to move by board member 251 by movement, absorption is held in setting for workbench 221 The left shoulder for setting the front of clothes Ca of face 221S divides KL also can be substantially static.

The left shoulder that cloth position regulator 250 is provided with front of clothes Ca in the setting face 221S of workbench 221 divides KL In the state of, make the right shoulder that absorption maintains front of clothes Ca that the board member 251 of KR be divided to be moved in X/Y plane, thus, it is possible to right The right shoulder of the front of clothes Ca for being held in retaining surface 251S in X/Y plane divides KR and the front of clothes Ca for being set to setting face 221S Left shoulder divide the relative position of KL to be adjusted.

The position of KR is divided to pass through cloth position regulator 250 in the right shoulder for the front of clothes Ca for being set to workbench 221 After adjustment, by cloth conveying device 4, back coat Cb is delivered to the workbench 221 of the 2nd sewing machine 22.Convey control unit 15 Based on the testing result of detection device 323, cloth conveying device 4 is controlled, the position of back coat Cb is adjusted, with So that back coat Cb is configured in the target location of 221 defined of workbench.Cloth conveying device 4 is to back coat Cb relative to setting The position for being placed in the front of clothes Ca of workbench 221 is adjusted, so that before being set to the workbench 221 of the 2nd sewing machine 22 Clothing body Ca and back coat Cb are overlapped.

Convey testing result of the control unit 15 based on detection device 313 and detection device 323, to cloth conveying device 4 into Row control is so that the left shoulder in the front of clothes Ca of the setting face 221S settings of workbench 221 divides KL and conveys dress by cloth The left shoulder for setting the back coat Cb that 4 are delivered to workbench 221 divides KL consistent.As a result, at the setting face 221S of workbench 221 The left shoulder of front of clothes Ca divide the position of KL and the left shoulder of back coat Cb divide KL position consistency mode, to being set to work Back coat Cb is conveyed on the front of clothes Ca of platform 221.After back coat Cb is delivered to workbench 221 by cloth conveying device 4, Control unit 15 is conveyed to keep releasing by the absorption of the back coat Cb realized by the adsorption plane HS of adsorption element 6.

Figure 16 is front of clothes Ca and back coat Cb in the 2nd sewing machine 22 showed schematically involved by present embodiment The vertical view of one example.Before conveying back coat Cb to workbench 221, the 2nd sewing machine control unit 14 adjusts cloth discharge position The actuator 252 of device 250 is controlled, the right shoulder point of the front of clothes Ca of the retaining surface 251S to being held in board member 251 The right shoulder of KR and the back coat Cb conveyed by cloth conveying device 4 divide the relative position of KR to be adjusted, so that deviation Amount G becomes smaller.2nd sewing machine control unit 14 controls the actuator 252 of cloth position regulator 250, by board member 251 It is mobile, so that the right shoulder of front of clothes Ca divides the right side of the position and back coat Cb of KR at the retaining surface 251S of board member 251 The position consistency of shoulder portion KR.That is, being adjusted by cloth position regulator 250, so that being set to workbench 221 The right shoulder of front of clothes Ca divides KR and the left shoulder relative position for dividing KL, with the back coat Cb conveyed by cloth conveying device 4 The right shoulder relative position of dividing KR to divide KL with left shoulder it is consistent.Therefore, by cloth conveying device 4 to being set to workbench Back coat Cb is conveyed on 221 front of clothes Ca, thus as shown in figure 16, in workbench 221, with the right shoulder of front of clothes Ca point The position of KR and the right shoulder of back coat Cb divide the position consistency of KR, the left shoulder of front of clothes Ca to divide position and the back coat Cb of KL Left shoulder divide the mode of the position consistency of KL to overlap front of clothes Ca and back coat Cb.

Figure 17 is the vertical view of an example of the action for showing schematically the 2nd sewing machine 22 involved by present embodiment Figure.The position of KR and the right shoulder of back coat Cb is being divided to divide the position consistency of KR with the right shoulder of front of clothes Ca, front of clothes Ca's Left shoulder divides the position of KL and the left shoulder of back coat Cb that the position consistency of KL is divided to be that mode is heavy by front of clothes Ca and back coat Cb After conjunction, as shown in figure 17, the 2nd sewing machine control unit 14 is by the 1st cloth pressing component 240L to the left shoulder point of front of clothes Ca The left shoulder of KL and back coat Cb divide KL to be fixed.The left shoulder of front of clothes Ca divides the left shoulder of KL and back coat Cb to divide KL logical The 1st cloth pressing component 240L is crossed to be pressed from top, be thereby secured to the 1st cloth pressing component 240L and workbench 221 it Between.

Figure 18 and Figure 19 is the cloth conveying device 4 in the 2nd sewing machine 22 showed schematically involved by present embodiment Action an example vertical view.The left shoulder of front of clothes Ca is divided by the 1st cloth pressing component 240L KL and after After the left shoulder of clothing body Cb divides KL to fix, as described in illustrating with reference to Fig. 7 (B), conveying control unit 15 makes the movable part of adsorption element 6 Part 63 declines, so that the lower end of movable member 63 is configured at lower section compared with adsorption plane HS.

Conveying control unit 15 is adjusted the position of cloth conveying device 4, makes the lower end of movable member 63 and rear clothing Body Cb contacts.Control unit 15 is conveyed in the state that at least part of back coat Cb and movable member 63 contact, to robot 5 It is controlled, so that the movable member 63 that at least part with back coat Cb contacts is moved in X/Y plane, in X/Y plane The position of back coat Cb and the position of front of clothes Ca are adjusted.

As shown in figure 18, in the present embodiment, conveying control unit 15 is in the right shoulder point for making movable member 63 and cloth C It moves in X/Y plane cloth conveying device 4 in the state of being contacted near KR, divides KR relative in the 1st cloth right shoulder The fixed left shoulders of presser feet component 240L divide the position of KL to be adjusted.As shown in figure 19, conveying control unit 15 is to right shoulder point KR divides the position of KL to be adjusted relative to left shoulder, so that right shoulder divides KR and left shoulder that KL is divided linearly to configure.

Figure 20 is the vertical view of an example of the action for showing schematically the 2nd sewing machine 22 involved by present embodiment Figure.After right shoulder divides KR to divide the position of KL to be adjusted relative to left shoulder, as shown in figure 20, the 2nd sewing machine control unit 14 is logical Crossing the 2nd cloth pressing component 240R divides KR to be fixed right shoulder.Left shoulder divides the jointing line SL and right shoulder point of KL as a result, The jointing line SR of KR is configured on same straight line.

[sequence]

Figure 21 is the flow chart of an example of the action for indicating the sewing system 1 involved by present embodiment.In the 1st cloth Expect that 1 front of clothes Ca positioned at the top in the multiple front of clothes Ca being laminated in the accommodation apparatus 311 of feedway 31 passes through 1st pick device is delivered to setting table 312.The front of clothes Ca for being set to setting table 312 is detected by detection device 313.In the 2nd cloth Expect that 1 back coat Cb positioned at the top in the multiple back coat Cb being laminated in the accommodation apparatus 321 of feedway 32 passes through 2nd pick device is delivered to setting table 322.The back coat Cb for being set to setting table 322 is detected by detection device 323.Front of clothes Detection data of the position data acquisition unit 11 based on detection device 313 carries out the position data of the front of clothes Ca in X/Y plane It calculates.12 detection data based on detection device 323 of back coat position data acquisition unit, to the position of the back coat Cb in X/Y plane Data are set to be calculated (step S10).

The position data of front of clothes Ca includes the position data of the peripheral part of front of clothes Ca, the peripheral part of front of clothes Ca Including：The left shoulder of front of clothes Ca in X/Y plane divides KL, right shoulder to divide KR, left flank WL and right flank WR.Back coat The position data of Cb includes the position data of the peripheral part of back coat Cb, and the peripheral part of back coat Cb includes：In X/Y plane The left shoulder of back coat Cb divide KL, right shoulder to divide KR, left flank WL and right flank WR.

Left shoulder of the 2nd sewing machine control unit 14 based on calculated front of clothes Ca in step slo divides the positional number of KL Divide the position data and back coat Cb that the position data of KR, the left shoulder of back coat Cb divide KL according to the right shoulder of, front of clothes Ca Right shoulder divides the position data of KR, divides the position of KL and the left shoulder of back coat Cb to divide the position of KL the left shoulder with front of clothes Ca It sets when consistent mode overlaps front of clothes Ca and back coat Cb, front of clothes Ca right shoulder and divides position and the back coat Cb of KR Right shoulder divide the departure G of the position of KR to be calculated.Storage part 16 is to indicating that the data of calculated departure G are deposited Storage.

Conveying control unit 15 controls cloth conveying device 4, is conveyed from the 1st textile supplying device 31 by front of clothes Ca To the 2nd sewing machine 22 (step S20).

Conveying control unit 15 makes cloth conveying device 4 be moved to the 1st supply position PF1.Conveying control unit 15 makes in the 1st cloth Expect that 1 front of clothes Ca that the setting table 312 of feedway 31 is arranged is kept by the adsorption plane HS absorption of cloth conveying device 4.It is defeated Send control unit 15 that the cloth conveying device 4 for maintaining front of clothes Ca is made to be moved to the 2nd sewing machine position PH2.Convey control unit 15 The position for being held in the front of clothes Ca of cloth conveying device 4 is adjusted in the 2nd sewing machine position PH2, so that by preceding clothing Body Ca is delivered in the target location of 221 defined of workbench of the 2nd sewing machine 22.

In the present embodiment, conveying control unit 15 is to divide KL to be set to workbench 221 left shoulder of front of clothes Ca Setting face 221S divides the right shoulder of front of clothes Ca to the KR retaining surface 251S for being set to the board member 251 being arranged in workbench 221 Mode, front of clothes Ca is delivered to by workbench 221 by cloth conveying device 4.

Control unit 15 is conveyed in the workbench 221 that front of clothes Ca is delivered to the 2nd sewing machine 22 by cloth conveying device 4 And after being adjusted to the position of front of clothes Ca, it releases through the adsorption plane HS of the cloth conveying device 4 front of clothes Ca's realized Absorption is kept.Front of clothes Ca is transported to the workbench 221 of the 2nd sewing machine 22 as a result,.In front of clothes Ca from cloth conveying device 4 After being transported to the workbench 221 of the 2nd sewing machine 22, conveying control unit 15 makes cloth conveying device 4 be moved to the 2nd supply position PF2。

2nd sewing machine control unit 14 controls cloth position regulator 250, before being set to workbench 221 The right shoulder of clothing body Ca divides the position of KR to be adjusted (step S30A).

As described in 5 explanations referring to Fig.1, the right shoulder of front of clothes Ca divides KR absorption to be held in board member 251.Front of clothes Ca's Left shoulder divides the KL setting face 221S for being set to workbench 221.2nd sewing machine control unit 16 is to cloth position regulator 250 Actuator 252 controlled, board member 251 is moved in the direction parallel with setting face 221S, absorption is made to maintain right shoulder The board member 251 of part KR moves in the direction parallel with setting face 221S, so that the departure G stored in storage part 16 Become smaller.

Divide the processing that the position of KR adjusts with the right shoulder of the front of clothes Ca realized by cloth position regulator 250 At least part concurrently, controls cloth conveying device 4 by conveying control unit 15, will from the 2nd textile supplying device 32 Back coat Cb is delivered to the 1st sewing machine 21 (step S30B).

Conveying control unit 15 makes cloth conveying device 4 be moved to the 2nd supply position PF2.Conveying control unit 15 makes in the 2nd cloth Expect that 1 back coat Cb that the setting table 322 of feedway 32 is arranged is kept by the adsorption plane HS absorption of cloth conveying device 4. Conveying control unit 15 makes the cloth conveying device 4 for maintaining back coat Cb be moved to the 1st sewing machine position PH1.Convey control unit 15 are adjusted the position for being held in the back coat Cb of cloth conveying device 4 in the 1st sewing machine position PH1 so that will after Clothing body Cb is delivered in the target location of 211 defined of workbench of the 1st sewing machine 21.

As described in 2 explanations referring to Fig.1, conveying control unit 15 is to being held in the position of the back coat Cb of cloth conveying device 4 It is adjusted, so that the target site of the flank W of back coat Cb is configured at the 1st suture location PM1.Convey control unit 15 Based on the testing result of position sensor 217, in the 1st sewing machine position PH1, to being held in the back coat of cloth conveying device 4 The relative position of Cb and the 1st suture location PM1 are finely adjusted.

1st sewing machine control unit 13 controls the 1st sewing machine 21, and the suction of cloth conveying device 4 is held in absorption The back coat Cb of attached face HS and the label L supplied from label supply device 8 are sutured (step S30C).

Sewing machine head 212 on one side by back coat Cb and label L sew direction conveying, while be directed at back coat Cb and label L It is sutured.Convey the seam of back coat Cb and label L that control unit 15 is realized with the sewing machine head 212 by the 1st sewing machine 21 The cloth conveying device 4 that closing synchronously makes to maintain back coat Cb moves in sewing direction.In addition, conveying control unit 15 is on one side Back coat Cb is pressed to workbench 211 by cloth conveying device 4, cloth conveying device 4 is made to be moved in sewing direction on one side.

In the 1st sewing machine 21 after the suture of back coat Cb and label L, conveying control unit 15 is to cloth conveying device 4 are controlled, and the 2nd sewing machine 22 (step S40) is delivered to from the 1st sewing machine 21 by back coat Cb.

Conveying control unit 15 makes the cloth conveying device 4 for maintaining back coat Cb be moved to the 2nd sewing machine position PH2.It is defeated Control unit 15 is sent to be adjusted to the position for being held in the back coat Cb of cloth conveying device 4 in the 2nd sewing machine position PH2, with So that being delivered to back coat Cb in the target location of 221 defined of workbench of the 2nd sewing machine 22.In the present embodiment, Conveying control unit 15 controls cloth conveying device 4, to back coat Cb relative to the workbench 221 in the 2nd sewing machine 22 The position of the front of clothes Ca of setting is adjusted.

Conveying control unit 15 is adjusted the position of cloth conveying device 4, so that being set to the preceding clothing of workbench 221 Body Ca and the back coat Cb for being held in cloth conveying device 4 are overlapped in workbench 221.In the present embodiment, passing through cloth Before material conveying device 4 conveys back coat Cb to workbench 221, in step S30A, divide KR's to the right shoulder of front of clothes Ca Position is adjusted.Therefore, conveying control unit 15 is controlled such that setting in workbench 221 to cloth conveying device 4 The left shoulder for setting the front of clothes Ca of face 221S settings divides KL and is delivered to the back coat of workbench 221 by cloth conveying device 4 The left shoulder of Cb divides KL consistent,, can be with the right shoulder of front of clothes Ca in workbench 221 thus as described in 6 explanations referring to Fig.1 The position of part KR and the right shoulder of back coat Cb divide the position consistency of KR, the left shoulder of front of clothes Ca to divide the position of KL and rear clothing The left shoulder of body Cb divides the mode of the position consistency of KL, and front of clothes Ca and back coat Cb are overlapped.

Conveying control unit 15 controls cloth conveying device 4, in the back coat Cb that will be held in cloth conveying device 4 The workbench 221 of the 2nd sewing machine 22 is delivered to after being adjusted to the position of back coat Cb, releasing passes through cloth conveying device The absorption for the back coat Cb that 4 adsorption plane HS is realized is kept.Back coat Cb is transported to the workbench of the 2nd sewing machine 22 as a result, 221, it is overlapped with front of clothes Ca.Front of clothes Ca and back coat Cb divides position and the back coat Cb of KR with the right shoulder of front of clothes Ca Right shoulder divides the position consistency of KR, the left shoulder of front of clothes Ca that the position of KL and the left shoulder of back coat Cb is divided to divide the position one of KL The mode of cause overlaps.

It is set to the workbench 221 of the 2nd sewing machine 22 in front of clothes Ca and back coat Cb, it is real by cloth conveying device 4 After the absorption holding of existing back coat Cb is released from, as described in 7 explanations referring to Fig.1, the 2nd sewing machine control unit 14 passes through the 1st cloth Material presser feet component 240L divides KL and the left shoulder of back coat Cb that KL is divided to be fixed (step S50) left shoulder of front of clothes Ca.

The left shoulder of front of clothes Ca divides the left shoulder of KL and back coat Cb that KL is divided to be fixed by the 1st cloth pressing component 240L Afterwards, as described in illustrating with reference to Fig. 7 (B), conveying control unit 15 makes the movable member 63 of adsorption element 6 decline, so that movable part The lower end of part 63 is configured at lower section compared with adsorption plane HS.

Conveying control unit 15 is adjusted the position of cloth conveying device 4, makes the lower end of movable member 63 and from cloth The back coat Cb contacts of the adsorption plane HS separation of material conveying device 4.Conveying control unit 15 makes movable member 63 and back coat Cb In the state of contact, robot 5 is controlled and moves movable member 63 in X/Y plane, to back coat Cb and front of clothes The position of Ca is adjusted.

As described in 8 explanations referring to Fig.1, conveying control unit 15 divides near KR and movable member making the right shoulder of cloth C It moves cloth conveying device 4 in X/Y plane in the state of 63 contacts, divides KR relative in the 1st cloth pressing portion right shoulder The fixed left shoulders of part 240L divide the position of KL to be adjusted.

As described in 9 explanations referring to Fig.1, conveying control unit 15 divides KR to divide the position of KL to carry out relative to left shoulder right shoulder Adjustment, so that right shoulder divides KR and left shoulder to divide KL linearly to configure.With reference to as described in Figure 20 explanations, conveyed control unit 15 KR is divided to divide the position of KL to be adjusted relative to left shoulder right shoulder, so that left shoulder divides the jointing line SL and right shoulder of KL The jointing line SR of KR is divided to be configured on same straight line (step S60).

In addition, dividing KR to divide the position of KL to be adjusted so that right shoulder divides KR and left shoulder relative to left shoulder right shoulder Part KL is linearly to configure, and thus at least part of the cloth C between right shoulder divides KR and left shoulder to divide KL is possible to Fold occurs.Conveying control unit 15 makes robot 5 be moved in X/Y plane in the state of making movable member 63 and cloth C contacts Dynamic, thus, it is possible to stretch fold.

After dividing the position of KR to be adjusted right shoulder by the movable member 63 of cloth conveying device 4, such as with reference to figure 20 explanation described in, the 2nd sewing machine control unit 14 by the 2nd cloth pressing component 240R to the right shoulder of front of clothes Ca divide KR and after The right shoulder of clothing body Cb divides KR to be fixed (step S70).

Front of clothes Ca and back coat Cb are consolidated by the 1st cloth pressing component 240L and the 2nd cloth pressing component 240R After fixed, the 2nd sewing machine control unit 14 controls cloth pressing conveying device 230, and front of clothes Ca and back coat Cb is made to keep In cloth pressing conveying device 230.2nd sewing machine control unit 14 controls sewing machine head 222, along jointing line SL and seam Line SR sutures (step S80) front of clothes Ca and back coat Cb.Front of clothes Ca and back coat Cb is on one side flat with X-direction Capable sewing direction movement, is sewn by sewing machine head 222 on one side.

[effect]

As described above, according to the present embodiment, sewing system 1 has cloth conveying device 4, cloth conveying dress The cloth C that 4 couples supply from textile supplying device 3 is set to be kept and be delivered to sewing machine 2.By setting comprising robot 5 Cloth conveying device 4, to which cloth C is quickly and accurately supplied to sewing machine 2.Therefore, inhibit the reduction of the productivity of dress material.

In addition, in the present embodiment, cloth conveying device 4 keeps cloth C from top.Cloth conveying device 4 exists as a result, 1st supply position PF1, the 2nd supply position PF2, the 1st sewing machine position PH1 and the respective tops the 2nd sewing machine position PH2 are moved It is dynamic, cloth C can be kept from top or is released to keep, and promptly conveyed.

In addition, in the present embodiment, the 1st sewing machine 21 has：Workbench 211；And sewing machine head 212, it pair sets The back coat Cb for being placed in workbench 211 is sutured, and back coat Cb is delivered to workbench 211 by cloth conveying device 4.As a result, 1st sewing machine 21 can promptly implement the suture for being delivered to the back coat Cb and label L of workbench 211.In addition, the 2nd sewing Machine 22 has：Workbench 221；And sewing machine head 222, to be set to the front of clothes Ca and back coat Cb of workbench 221 into Front of clothes Ca and back coat Cb are delivered to workbench 221 by row suture, cloth conveying device 4.The 2nd sewing machine 22 can as a result, Promptly implement the suture for being delivered to the front of clothes Ca and back coat Cb of workbench 212.

In addition, in the present embodiment, when suture of the cloth conveying device 4 in sewing machine head 212, to back coat Cb into Row is kept.For example, if the holding of the back coat Cb realized by cloth conveying device 4 before suture in sewing machine head 212 It is released from, it is likely that in addition setting is needed to be adjusted for the relative position to the 1st suture location PM1 and back coat Cb Position adjusting mechanism.Furthermore, it is possible to be necessary to ensure that the time needed for the position adjustment realized by position adjusting mechanism.It is tied Fruit, it is possible to which installation cost increases or the productivity of dress material reduces.In the present embodiment, back coat Cb is to be held in cloth defeated It send and is sutured with label L in the 1st sewing machine 21 in the state of device 4.Therefore, the increase of restraining device cost and productivity Reduction.

In addition, in the present embodiment, sewing machine head 212 is stitched on one side by back coat Cb while sewing direction and conveying It closes, cloth conveying device 4 synchronously, keeps back coat Cb and sewing with the suture realized by sewing machine head 212 It moves in direction.The suture in sewing machine head 212 is successfully implemented as a result,.

In addition, in the present embodiment, cloth conveying device 4 presses back coat Cb to workbench 211.1st seam as a result, The suture threaded in machine 21 is successfully implemented.

In addition, in the present embodiment, back coat Cb is delivered to the 2nd sewing by cloth conveying device 4 from the 1st sewing machine 21 Machine 22.Even if as a result, in the case where dress material will be manufactured via the multiple processes realized by multiple sewing machines 2, cloth C Also multiple sewing machines 2 are quickly and accurately respectively fed to.Therefore, inhibit the reduction of the productivity of dress material.

In addition, in the present embodiment, cloth conveying device 4 is being from 31 to the 1st sewing machine 21 of the 1st textile supplying device The conveying of back coat Cb only, the suture of the back coat Cb in the 1st sewing machine 21 and from 21 to the 2nd sewing machine 22 of the 1st sewing machine Until back coat Cb conveying in, persistently keep back coat Cb.If the back coat Cb's realized by cloth conveying device 4 Keep release and holding frequently repeat, then cloth conveying device 4 be necessary to ensure that by back coat Cb holding release needed for when Between and keep the required time to back coat Cb.In addition, when the holding of clothing body Cb is released and kept after each iteration, need The position that implement back coat Cb by position adjusting mechanism set in addition adjusts.As a result, it is possible that installation cost increase, The productivity of dress material reduces.In the present embodiment, cloth conveying device 4 persistently keeps back coat Cb, therefore can omit cloth Material conveying device 4 releases the time needed for the holding of back coat Cb and keep the required time to back coat Cb.Therefore, press down The reduction of the productivity of clothing material.

In addition, in the present embodiment, cloth conveying device 4 the 1st sewing machine 21 and the 2nd sewing machine 22 respectively in, with The state for maintaining cloth C is adjusted the position of cloth C.As a result, the 1st sewing machine 21 and the 2nd sewing machine 22 respectively in, Cloth C is accurately delivered to target location.

In addition, in the present embodiment, cloth conveying device 4 has the contact component that can be contacted with cloth C i.e. movable Component 63 makes cloth conveying device 4 move in the state of making at least part of cloth C and the lower end of movable member 63 contacts It is dynamic, the position of cloth C is adjusted.Thereby, it is possible to utilize the high position precision of the cloth conveying device 4 comprising robot 5, Accurately the position of cloth C is adjusted.

In addition, in the present embodiment, the detection device 313 being detected to the position of front of clothes Ca is set and to rear clothing The detection device 323 that the position of body Cb is detected, testing result and detection of the cloth conveying device 4 based on detection device 313 The position of the testing result of device 323, position and back coat Cb to front of clothes Ca is adjusted.Cloth conveying device 4 as a result, Cloth C can be accurately delivered to target location in the coordinate system of 1 defined of sewing system.

In addition, in the present embodiment, detection device 313 is configured at the 1st textile supplying device 31, detection device 323 is matched It is placed in the 2nd textile supplying device 32.To front of clothes Ca in the 1st textile supplying device 31 as the conveying starting point of front of clothes Ca Position be detected, therefore cloth conveying device 4 can be from the 1st textile supplying device of the conveying starting point as front of clothes Ca 31 until as the 2nd sewing machine 22 of conveying terminal, based on the testing result of detection device 313, accurately to front of clothes The position of Ca is adjusted.Similarly, to back coat in the 2nd textile supplying device 32 as the conveying starting point of back coat Cb The position of Cb is detected, therefore cloth conveying device 4 can be supplied from the 2nd cloth of the conveying starting point as back coat Cb and be filled 32 are set until as the 2nd sewing machine 22 of conveying terminal, based on the testing result of detection device 323, accurately to rear clothing The position of body Cb is adjusted.

In addition, in the present embodiment, the adjustment of the position of the cloth C realized by cloth conveying device 4 includes：Cloth It sews relative to the 2nd relative in the adjustment of the target location of 21 defined of the 1st sewing machine and the position of cloth C the position of C The adjustment of the target location of 22 defined of machine.Cloth C is accurately configured in 2 institute of sewing machine by cloth conveying device 4 Defined target location, therefore the target site of cloth C is sutured well.Therefore, inhibit the manufacturing issue of dress material.

In addition, in the present embodiment, the 2nd sewing machine 22 has divides KL the 1st cloth being fixed to the left shoulder of cloth C Expect that presser feet component 240L, right shoulder of the adjustment comprising cloth C of the position of the cloth C realized by cloth conveying device 4 divide KR Divide the adjustment of the position of KL relative to left shoulder.As a result, as described in 8 and Figure 19 explanations referring to Fig.1, cloth conveying dress can be used 4 are set, jointing line SL and jointing line SR are accurately configured on same straight line.

In addition, in the present embodiment, cloth conveying device 4 has：Adsorption element 6, have from top to cloth C into The adsorption plane HS that row absorption is kept；And movable member 63, it is movably supported on adsorption element 6.The absorption of adsorption element 6 After keeping the left shoulder of cloth C being released from that KL is divided to be fixed by the 1st cloth pressing component 240L, cloth conveying device 4 make from The state of the lower end contact of the cloth C and movable member 63 of adsorption plane HS separation moves in X/Y plane, to the right shoulder of cloth C The position of part KR is adjusted.The adjustment that the left shoulder in X/Y plane divides KL and right shoulder to divide the relative position of KR as a result, is suitable Implement sharply.

In addition, in the present embodiment, the adjustment of the position of the cloth C realized by cloth conveying device 4 includes rear clothing Adjustment of the body Cb relative to the position of the front of clothes Ca of the setting of workbench 221 in the 2nd sewing machine 22.As a result, in the 2nd sewing machine In 22 workbench 221, back coat Cb can be made accurately to be overlapped with front of clothes Ca.

In addition, in the present embodiment, cloth conveying device 4 is conveyed from the 1st textile supplying device 31 by front of clothes Ca After being adjusted to the 2nd sewing machine 22 to the position of front of clothes Ca, it is delivered to from the 2nd textile supplying device 32 by back coat Cb 2nd sewing machine 22 is adjusted back coat Cb relative to the position for the front of clothes Ca being arranged in the 2nd sewing machine 22.In this reality Apply in mode, by including the cloth conveying device 4 of individual machine people 5 and adsorption element 6, by front of clothes Ca and back coat Cb according to It is secondary to be delivered to the 2nd sewing machine 22, it can accurately be adjusted in the position to front of clothes Ca and the position of back coat Cb.

In addition, in the present embodiment, the 1st textile supplying device 31 includes the setting table being configured to front of clothes Ca 312, cloth conveying device 4 conveys front of clothes Ca from setting table 312 one by one.In addition, the 2nd textile supplying device 32 wraps Containing the setting table 322 being configured to back coat Cb, cloth conveying device 4 by back coat Cb from setting table 322 one by one Conveying.As a result, in sewing machine 2, front of clothes Ca and back coat Cb are sutured one by one, therefore the manufacture of dress material is inhibited to ask Topic.

Claims

1. a kind of sewing system, has：

Sewing machine；And

Cloth conveying device keeps the cloth supplied from textile supplying device and is delivered to the sewing machine.

2. sewing system according to claim 1, wherein

The cloth conveying device keeps the cloth from top.

3. sewing system according to claim 1 or 2, wherein

The sewing machine has：Workbench；And sewing machine head, the cloth to being set to the workbench stitch It closes,

The cloth is delivered to the workbench by the cloth conveying device.

4. sewing system according to claim 3, wherein

The cloth conveying device keeps the cloth in the suture of the sewing machine head.

5. sewing system according to claim 3 or 4, wherein

The sewing machine head is sutured on one side by the cloth while sewing direction and conveying,

The suture of the cloth conveying device and the sewing machine head synchronously to the cloth kept and in the sewing It is moved in direction.

6. sewing system according to any one of claim 3 to 5, wherein

The cloth conveying device presses the cloth to the workbench.

7. sewing system according to any one of claim 1 to 6, wherein

The sewing machine includes：1st sewing machine and the 2nd sewing machine,

The cloth is delivered to the 2nd sewing machine by the cloth conveying device from the 1st sewing machine.

8. sewing system according to claim 7, wherein

The cloth conveying device the cloth until from the textile supplying device to the 1st sewing machine conveying, The suture of 1st sewing machine and from the conveying of the cloth until the 1st sewing machine to the 2nd sewing machine, holds The cloth is held in continuation of insurance.

9. sewing system according to any one of claim 1 to 8, wherein

The cloth conveying device is adjusted the position of the cloth in the sewing machine.

10. sewing system according to claim 9, wherein

The cloth conveying device has the contact component that can be contacted with the cloth, by least part with the cloth The contact component movement of contact, is adjusted the position of the cloth.

11. sewing system according to claim 9 or 10, wherein

With detection device, which is detected the position of the cloth,

Testing result of the cloth conveying device based on the detection device, is adjusted the position of the cloth.

12. sewing system according to claim 11, wherein

The detection device is configured at the textile supplying device.

13. the sewing system according to any one of claim 9 to 12, wherein

Position of the adjustment comprising the cloth of the position of the cloth is relative in the target location of the sewing machine defined Adjustment.

14. the sewing system according to any one of claim 9 to 13, wherein

The sewing machine has the cloth pressing component that the part 1 of the cloth is fixed,

Adjustment of part 2 of the adjustment comprising the cloth of the position of the cloth relative to the position of the part 1.

15. sewing system according to claim 14, wherein

The cloth conveying device has：Adsorption element has the adsorption plane that the cloth is kept from top absorption；And it can Dynamic component is movably supported on the adsorption element,

The contact component includes the movable member,

The absorption of the adsorption element keeps the part 1 for the cloth being released to be fixed by the cloth pressing component Afterwards,

The cloth conveying device is in the state that the cloth for making to detach from the adsorption plane and the contact component contact It is moved, the position of the part 2 is adjusted.

16. sewing system according to any one of claims 9 to 15, wherein

The cloth includes：1st cloth and the 2nd cloth,

The adjustment of the position of the cloth is comprising the 2nd cloth relative to the 1st cloth being arranged in the sewing machine The adjustment of position.

17. sewing system according to claim 16, wherein

The textile supplying device includes：1st textile supplying device supplies the 1st cloth；And the 2nd cloth supply dress It sets, supplies the 2nd cloth,

The cloth conveying device the 1st cloth is delivered to the sewing machine from the 1st textile supplying device and to described After the position of 1st cloth is adjusted, the 2nd cloth is delivered to the sewing machine from the 2nd textile supplying device, it is right 2nd cloth is adjusted relative to the position for the 1st cloth being arranged in the sewing machine.

18. the sewing system according to any one of claim 1 to 17, wherein

The textile supplying device includes the setting table being configured to the cloth,

The cloth conveying device conveys the cloth from the setting table one by one.